initialization program and speed controllers

[rosebud]

does anyone know how the initialization program works? heres my problem:

1) my team wants to build a motorized cart to haul our robot around
2) we want to be able to have tank drive
3) therefore, we need some kind of speed controller
4) the victor 884 needs to be programmed or have pulses sent to it
5a) sol: use a stamp
5b) sol: something else to generate pulses???

problems with 5a)

1) the default code or something in the special stamp designed for first requires the operator interface. too complicated and not one to spare.

2) we have spare bs2 stamps that are very like the the bs2sx, except without all the fancy stuff. it uses direct contact with the pins, not serial messaging. no operator interface required. unfortunately, the programming seems to be different. it wont allow a simple pwm = ***. it has to be the command
pwm pin#, duty cycle, #of milliseconds to recharge a capacitor

i dont really get it.

so, what i need help on:

1) anyone know if its a hardware or software thing that requires the operator interface? and how to make our first robot controllers not require it?
2) to accomplish #1, anyone have documentation for the initialization program?
3) anyone know how to generate pulses to work the victor 884 speed controllers cheaply and easily without going through a stamp?
4) anyone know how to program non-first bs2 stamps?

thanks!