Hello, I am building a robot for a school project. I need powerful motors for driving and lifting. What is the best way to control a 7.2v gear head motor with a standard transmitter/receiver combo? Right now I am thinking about a

tamiya esc $40 http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXGMR5&P=7
and a gear head motor. $40 http://www.roboticsconnection.com/pc-51-7-dc-gearhead-robot-motor.aspx
I don't wish to use a microcontroller and want it to be as simple as possible, like in an rc car. Is there a simpler way than an esc? All I need is basic forward/reverse for driving and high torque for lifting. I am looking to save every penny because I need at least 3 of these combinations.
Any advice is appreciated

Thanks