Have you ever heard of VeX Robotics?
We'll what I am trying to do is control one of there motors. I have done it before, but that was in the servo library. If you have any suggestions or ideas, feel free to post them. I have seen others o this on Youtube.
Links: VeX Homepage: http://www.vexrobotics.com/ VeX Motor: http://www.vexrobotics.com/products/accessories/motion/276-2163.html
Picture of motor: