lego train motor

Hello

I would like to connect a arduino to a lego motor. Does anybody have some experiences with that?

Thanks for your answers

There have been some recent threads on Lego, do a search.

And /or post details of the motor..... like a link to maker's datasheet etc.

There seem to be many types of lego motor - can you identify which?
http://www.philohome.com/motors/motorcomp.htm