It sounds like he wants to know how to control a commercail RC ESC with a microcontroller.
Instead of building his own H-Bridge, etc... I am faced with this same problem for a robot I am building. It is much simpler to work with a commercial ESC instead of building my own.
I have had some success with a Novak Explorer II, I can successfully accelerate, idle, and brake the ESC from the microcontroller.
It has BEC so I actually get the power for my microcontroller from the ESC. It works out nicely.