Can I control Arduino functions via PWM? I want to control small functions from an Arduino, things like moving servos or toggling lights. The purpose of these is to decrease the number of channels on a rover I'm constructing.

Using the PWM output of a channel from the receiver of the rover, can I assign certain pulse widths to functions the Arduino can perform? Thank you for reading, even if I sound a little inexperienced.
A filter and ADC should solve communication problem. However, UART would be much better.