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If you are familiar with Arduino IDE sketch, you could program simple commands to control the motors first.
The most important thing to remember is that each motor controller is different, and each one would have a dedicated ports for you to connect up the motor. Arduino compatible boards like Gertboard or Romeo V2 allow you to controll the direction through its digital pins which you can program in Sketch.
In Arduino Sketch, you could use the Servo library to control the direction and speed of motors. Or you could also create your own PWM function to control the motors. This function is then called remotely via Serial calls depending on the communication protocol and architecture that you chose.
Example of a working sketch can be found here.
Next: Day 7 – Testing Your Robot
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