if your Rock Crawler came with an ESC installed, then you don't need a 
separate or additional motor controller, just connect the IOIO directly to 
the ESC without changing the RC vehicle circuitry, as shown here:

http://www.socsci.uci.edu/~jkrichma/ABR/schematic.png

More details here:

http://www.socsci.uci.edu/~jkrichma/ABR/index.html

And here is a quick video showing the results:

http://youtu.be/vkvkfcqEUkk

Have fun!

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