Pipe, 2 bushings to fit either end of pipe, weld pipe to frame, get rod that fits through bushings, heat up, bend into pedal. U can either drill a pilot hole in the rod for ur cable or whatever or make it a mechanical pedal so u have the pedal connected to a bar then a rod or whatever u had.
If u want to make ur pedal a C instead of a full sort of rectangle then use threaded rod so u can put a bolt either side of the bushing so it doesnt go anywhere.