Basically it's our project's diagram:
The ZigBee modules could be the 4g (0.14 oz.) Maxstream XBee-PRO™ ZigBee OEM Module or others.
For initial test and development we don't want the RF link:
For initial development the motor could be from an old hard disk, laser printer or CD-ROM drive. You can get an introduction to the ESC subject at Motor CTRL Basics.