I've just been thinking, if you want to use your ESC like a servo controller and use a motor as the servo, it ain't gonna work, due to the brake/reverse thing. Only when the motor has come to a complete halt will it engage the opposing direction. For example, if you were 'steering' right, then you wanted to steer left, you'd have to tap it left (which would brake, holding you steering right), then move it left to change direction. Hope that makes sense.