most likely, u will find the arduino code much, erm, "cleaner" than the code u used (i am currently programming a robot for my hs robotics team, and damn theres so much code for simple things like enabling a digital output pin to power a spike to power hydraulics)
anyway, wanted to mention that for DC motors, you will probably use something along these lines:
http://itp.nyu.edu/physcomp/Labs/DCMotorControl
it's called an H bridge and its fairly easy to setup, code, and use in most applications