Here's another motor controller I found that is really good as long as your 
current requirements are low;

DRV8833 Dual Motor Driver Carrier <http://www.pololu.com/product/2130>
http://www.pololu.com/product/2130

It's only 5 bucks, about the size of a postage stamp, and will drive 2 DC 
motors. There are just two control pins per channel and the IOIO can drive 
them without having to use a pullup resistor.

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