That 9A controller is probably a little lower-power than he needs if he's using motors similar to CIM's. And CIM's have no problem with PWM signals, in fact, that's what both the Victors and Jaguars use. If you mean the 1-2 ms pulse, that's true, those pulses are ONLY signal pulses, and are not designed to drive anything. If you can make your own H-bridge and you're absolutely sure you can get the MOSFET and capacitor values correct, and you know what reverse protection diodes are, you could use 2 diodes as splitters and hook the H-bridge up to the VEX motor controller found at the bottom of
this page. It takes a 1-2ms pulse range and outputs a full-spectrum power PWM pulse used in the VEX motors. Maybe some voltage regulators to get the output in the right range of the MOSFET gates (or whatever the trigger is called, I forget the terminology for FET's, but you know what I mean). Good luck, and if you get it to work, post pictures and video!