interfacing Arduino Mega2560 with FIRST robotics parts

Hi, I'd like some advice on interfacing an Arduino Mega with some FIRST robotics parts. I have two Jaguar PWM controllers (726-1189-ND from http://search.digikey.com/us/en/products/MDL-BDC/726-1189-ND/1952197). I also have two Spike H-Bridge Relays (http://www.vexrobotics.com/217-0220.html). We are powering 2 12volt motors with car batteries.

Is there a way to interface these parts together so I can send my motor signals through the Arduino PWM?

I'm an Electrical/Computer engineer so if you want to throw equations at me I can handle it.

Thanks in advance for the help!

V=IR! PV=NRT! E=MC^2! P=IV!

"The servo PWM input controls motor speed and direction. The digital signal must meet the timing and voltage requirements listed in the MDL-BDC24 specifications. The center pin (+) has no internal connection. Because the signal is optically isolated, both the signal (S) and GND (-) pins must be connected to the signal source. The servo-style PWM input is optically isolated. All other control inputs are non-isolated and are referenced to the power supply (-)."

Where's the "MDL-BDC24 specification?

This document shows WiFi to Digital Sidecar to the Jaguar http://www.ti.com/lit/wp/spmy002a/spmy002a.pdf

Looks like a good starting point.