There are two kinds of pedals out there- Analog and Digital.
Digital pedals are either on, or off- just like a button. And that's how you interface them, too, same as a button.
Analog pedals use a potentiometer (like a volume knob). The further you push the pedal down, the more you turn the pot(entiometer). Pots are interfaced through the A-Pac or AKI mentioned above. Or they are hacked to an analog PC controller, the famous example being the Microsoft Dual-Srike hack.