esplora and Xbee

Hi,

A while ago I bought an RC tank. The controllers are extremely primitive, it is either full speed or nothing. I knew this in advance and I wanted to replace the electronics by something else. That time is now. I bought an arduino uno and a mosfet H-bridge. I used an accelerometer as sensor and a PWM for speed regulation. Everything works fine. Now I want to buy an esplora controller and 2 Xbees for wireless control. And my arduino uno will control the tank.

I want to know if; Is it possible to connect an Xbee module directly on a an esplora without any other arduino board? Also; is the data stream 2 ways, I want that the tank can sent feedback back to my esplora controller