Controlling DC motors with a pic is a fairly simple process. You're best off using a H-Bridge arrangement to control each motor. National make a dual channel H-Bridge controller that has excellent characteristics, including feedback or EMF. What's more, you can, or at least could, get them under their samples programme. I got a bunch of them a few years ago now to do tests for controlling motors to open the roof panels on a green house. They worked really well.
You can find data on them here ...
http://www.national.com/pf/LM/LMD18200.htmlThe only problem with them is the unusual footprint. They don't lend themselves to easily inserting in a breadboard for experimenting. That problem was solved by Sparkfun Electronics. They've made a break out pcb for that exact purpose. Find more info on it here ...
http://www.sparkfun.com/commerce/product_info.php?products_id=747If you do a search or two in Google, you should be able to find some example code for driving the LMD1820x series from PicBasic Pro.
Good luck
