How can I make Arduio, cellbot and Sabertooth dual motor controll work together

Projects General Guidance
1

How can I modify a Trrstan cellbot to work with Arduio so that I can run a Sabertooth dual motor speed controller?

Basically I am trying to run two wheelchair motors (with dual motor speed) using the Trrstan cellbot technology and a Sabertooth dual motor controller. Or said other way I am try to find a way to control wheelchair motors though SMS and get video feed back.

Thanks in advance.

cellbot kit
http://robots.allthingsgeek.com/kits/trrstan-2-cellbot-kit.html

Sabertooth video

2

There is some sample code at Google Code Archive - Long-term storage for Google Code Project Hosting. , while it hasn't been updated in some time, it may still be helpful.