I've recently been successful with this motor controller. Its inexpensive 
and very easy to drive;
http://www.dfrobot.com/index.php?route=product/product&product_id=66

There's just a PWM speed pin and a 0/5V direction pin for each motor. The 
board can draw its logic power from the same hookup as the motor battery 
power. So its dead easy to wire up. The controller and the IOIO can both be 
powered directly from the battery pack and there are only 4 control pins, 
but I did have to put pullup resistors on all the pins.

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