Accurately pulse modulate output upto 10khz

Hello, I have an application where I would like to accurately pulse a digital output to drive a frequency to analog chip.  I would like to link an alalog input (0-1024) to cause a variable output pulse (1-10khz).  I realize I will lose some point resolution.

In a previous post speaking about "Peripheral Clock Speed" (http://www.makingthings.com/forum/devices/893657672#923459996)  the individual was able to "fire" the output at 200khz???  I have developed similar code in the Heavy.c program with level 7 priority, but still can only seem to get about 6khz pulse rate out of the board.  Any suggestions and code snap shot would be greatly appreciated.

I'm not super strong on C coding, or working within Embedded systems, but I'm very interested in gaining more knowlegde.  If you reply please provide an explanation that somewhat of a novice could follow.

Ultimately I plan to vary this pulse train frequency with a PID algorithm (not done yet ... available code is welcome) and drive a pair of 24VDC motors.  I'm trying to build a SegWay using the Make controller board.  Any suggestions are welcome!

Thanks