Controlling PWMs through hardware

[RandomStyuff]

I tried searching for this (both here and on Google) and didn't find anything so I'm sorry if it's already been covered. If this is in the wrong section, I'm sorry too, feel free to move it (if that is possible).

My team is building (long story as to why) a scooter-like device using FRC parts, but we have one restriction: because our robot's code was wiped out when our school's IT guy 'accidentally' wiped our programming computer's hard drive (and yeah, we had backups, and my hard drive died some months ago, and the backup usb stick was lost, and ....I know, we need to be more careful) and we have an off-season soon, so we can't use the cRIO for this scooter project. We thought of using the old 2007/2008 (and earlier) system, but we can not find neither software nor anyone who remembers much about it. We came to the conclusion that the only option is to build something custom using two victors connected to some custom hardware that we are (hopefully) capable of making.

The big question is if this is possible in any way directly through some sort of lever ( we thought of using a potentiometer but the thought of the waisted electricity makes us shiver)to control the PWM signals sent to the victors?

Does anyone know where we can find what data is transmitted on which wire and the 'protocol' involved.

All we want to do is have two motors with some sort of variable speed, without having to use a control system.

(If anyone has a better idea, all ideas are accepted: keep in mind though, we are outside of the states, so ordering electronics from the USA is slightly more complicated here)

Thanks in Advance -
The Spikes 2212

EDIT:
I just managed to find the Jaguar's technical specs pdf and according to what I found there the three pins are 1)PWM 2) 5V(optional, doesn't need to be connected- can be ignored) and 3) Ground

2 can be ignored, and 3 is easy to figure out to do with (ground), but with 1WM
the refresh rates for the PWM format are:
-1= 0.67ms
0 = 1.5ms
+1= 2.33ms

I don't know what I can use to create signals that fast