Eric Behr's link provides a vast source of ESC designs.

http://www.math.niu.edu/~behr/RC/speed-ctl.html

It points to one on the Microchip web site where there are details outlining  Electronic Speed Controllers.  The minimal version uses the 12C508A, a One Time Programmable.  The more sophisticated version is based on the 12F628 flash PIC and incorporates low voltage detection, brakes and a throttle curve.

http://www.microchip.com/1010/suppdoc/appnote/all/an847/index.htm

Documented by Joseph Julicher, this page includes a PDF file that provides complete details of the project.  The assembler coding is provided.  It is well worth a look just to educate yourself on ESC functionality.

As of late Dec 2003, TugBoat has now run with the AN847 documentation and provided an enhanced test version running on the 12F675.  Ironsides has programmed the PIC from his code and built the motor and brake test circuitry acting as a beta tester.  See TugBoat's documentation and additional background material on ESCs at:

http://www.designsoft.com.au/ahome/rc/PIC-ESC/ESC.html

If you want to waterproof an ESC, then heed the words of Brooks on RC Groups:

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Last modified: March 18, 2004