connecting an arduino to a RC car

Using Arduino Project Guidance
1

i am a noob in electronics.
i a currently trying to connect the arduino to the internal chip by "reverse engineering". if you guys think this is a bad idea and that i should try to connect the arduino directly to the motors, tell me how to do that please.

here is the car inside: RC car - Album on Imgur
it has 4 1.5V (AA) batteries and 2 motors for both axes, worked originally with a remote control as stated.

im trying to make the arduino act instead of the remote control. i started using this tutorial: http://www.instructables.com/id/Autonomous-Control-of-RC-Car-Using-Arduino/

i did steps 1-4 (removing the antenna and RC receiver - you can see where it was in the first pic).
im stuck on step 5 in those instructions - i dont know where to connect my wires.

as you can see in the image: there are points on the chip connected to the two motors: F/B/L/R.

by playing around with a 9V external battery i have managed to turns the wheels Right by connecting +/- to R/L, and Left the other way around. same goes with F/B.
but as i understand the car is powered this way by the 9V and not the internal 4 batteries. i want to hack into the internal batteries the way the remote control does.
please look at the photo/"instructables link" and help me figure this out.

please ask me for more info about what im trying to do, or more pictures.
also i would be happy to try stuff you suggest and report back.
thank you

2

I think you should take it easy . If you are not familiar with electronics do some basic stuff , circuits , serial/parallel connections , ohm law , how motors work - that sort of stuff.
Do the basics with Arduino too , the examples .
I personally think diving into something complex leads to frustration , something you see a lot on this forum IMO

3

Think you should say also how you connected the Arduino common to V+ over on another forum.