I use the Keith McMillan Instruments SoftStep. It's not exactly cheap, but it is very good. Well made, strong, light and small.

You don't have to choose a setup of either Program Change or Control Change (stompbox) mode. A touch of a button allows you to toggle between those two modes. You can also have multiple layouts stored on the unit... one for your 11R, another for your Axe FX, etc...