GM have previously said that the BAC-028*P controllers cannot be used with brushed motors, so the DC (brushed) option within the software seems pretty pointless.
It might be possible to connect a three phase rectifier to the phase wire terminals to produce a DC output for a brushed motor, but I don't think that it would work without some form of hall sensor input to trigger the controller.
I don't suppose it would work in sensorless mode either, because the rectifier diodes would prevent any back EMF from reaching the controller to enable the correct phase switching.
The only controller that GM seem to have available on their website that would be compatible with the HUB24S motors is the IM-50A Joystick Controller for Wheelchairs.
Alan