RCKit
HBridgeRCRx

This simple example handles 4 RCOIP receiver channels. Its configured like this: 2 Servos (receiver channels 0, 1) (left joystick on RCTx) 1 HBridge (receiver channel 3) driving 2 analog outputs (right joystick on RCTx) 1 Digital output (horn) (receiver channel 4)