I'll toss in a few as well:
USB controller
Another serial controller
If you're investing in all your parts from scratch and not using anything scrounged from your FRC team, it's worth looking into serial and USB H-Bridge motor controllers or even looking at stepper motors and controllers, though. Also, if you are scrounging, make sure your PWM generator is compatible with IFI signaling. They're ever so slightly different from the R/C standard.