Here is a motor controller that only needs 2 lines for control, it communicates serially via 2400 or 9600 Baud TTL signals. It's a smart controller that has a number of parameters that can be adjusted and can return valuable data such as speed & position.
Warning: This product contains chemicals known to the State of California to cause cancer and birth defects or other reproductive harm. Please visit www.P65Warnings.ca.gov for more information. This item was manufactured prior to August 31, 2018.