need help with r/c model electronic speed control

[raimain]

i was thinking 1 chip would be better so it can do (channel mixing) to mix the throttel and the steering.

the motors that im using are standard 540 motors and standard 7.2v r/c batteries.

i had a look around and there is 1 esc in a microchip app note but its for a r/c plane so it has no reverse(AN847), but will probly be usefull for getting the code for reading the pwm from the reciever from.

i also have a load of TIP120 NPN darlington transistors to use, but not sure if they are the right sort for this project.

i hope that someone can help me with this project