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ok theres 3 simple soulutions i just wanted to throw out; ill crack open the bible (digikey cataloge) tomorow but just consider this:
1) use a freq --> volt converter, either a RC circut or a chip. If your using the 16f/c84a then youll need an external AD.
2) get a divider (basicly a bunch of flipflops) that goes by, say /100, and then take it from there. that might make it more managable.
3) err and if im not mistaken, picbasic has the COUNT command, and if you have it counting for a specified amount of time then you can figure it out... if you have 2 drive motors, you do one and then the other, output and repeat. the count command, if you are running a 16f84a at 4mhz (NEED CRYSTAL FOR ACCURACY), should let you go up to about 500,000 hz. theres no motor first gives us that goes anywhere near that speed...
feel free to email me, and if i remember (hey ive got a robot to build) ill look up parts and play with code for ya. -jacob
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