Sabertooth 2x10 Motorcontroller and Beagleboard Xm


I am trying to run my robot platform off a beagleboard. I have a sabertooth controller which I assume that I can hook up through one of the pins on the beagleboard.

I’m not sure where I should try to connect the wires up, and how to code so that the beagleboard will send signals to it.

I am using the Robot Operating System to control my robot if that help.

Can anyone point me in the right direction?