Dagu Rover 5 - Control 4 DC Motors with Adafruit Motor Shield

Hi,

I want to control 4 motors of the Rover 5.
I bought the adafruit motor shield v2 to control the motors.
Every single motor has a encoder.

Can anyone explain what I have to do, to control the motors
with my arduino?

I also want to use a external battery to power the motors.

Regards
Ronny