interfacing a wired rc car controller and two 24v dc mtors to an atmega8 arduino

a link to any such code you may have found which suits my specifications. . . . . .

anyway , apart from that, i found out that if my controller pins are given to the analog inputs of the arduino i.e A0 A1 A2 A3 respectively, and using the analogRead() command i can convert any voltage at the input(from a 0 to 5v range) to 10 bit resolution i.e 0 to 1023. . .now all i wanna know is how do adjust my digital outputs (not the A0 , A1 etc) on the other side of the board according to the analog values.?