digital proportional control with PIC

has anyone done it, or know of a way to implement digital proportional control with a PIC?

i want to use it in a RC model. basically it would be if throttle stick is at 50% motor is at 50% and if direction stick is at 45 degrees wheel/rudder turns to 45 degrees.

is there a way of doing it with PICs?

The motor can be controlled via PWM, and requires a single high-current power transistor.
The rudder will be a servo driver, and will require feedback from the servo. AFAIK that will be 4 relatively small transistors in an h-bridge and a variable voltage like a potentiometer as positional feedback.

Looks like I'll need to read up on those transistor configurations. I have no problem creating PWM on the PIC as I have done it before and have controlled servo motors too.

Assuming the PIC and all the controlled elemnts are on the vehicle,how do you transmit the required speed/position to the PIC?how o you make it such that the PIC can realise the PWM needed or the position of the servo?