Control Sabertooth Dual 10A Motor Driver

I just bought a Sabertooth Dual 10A motor driver and am looking for the proper way to connect to/interface with Arduino. I've seen where people have used digital or analog pins. I'm currently using pins 9 & 10 for servo controls.

My robot will use two gearmotors bidirectional for drive/steering.

My questions are...

  1. How should I write the code to make this word?
  2. What pins should I use (pins 9 & 10 have servos)?

Any help would be appreciated... Thanks in advance!