Making A Simple Tank Drive Robot

I've yet to pick up an arduino (gotta get on that), but I'm trying to make sure that I'm thinking through this right.

I'd like to avoid picking up extra components, because I have a ton of robotics stuff lying around. I've got a few of these lying around, and I was wondering if I could control them directly from the arduino. The arduino doesn't have pwm connectors, so how would this work?

I'm just going to have two of these running (to start) in addition to a few sensors.
Thanks!

The arduino does have PWM outputs, particular IO pins are equipped with hardware PWM functions. However, it looks like those motors use a standard servo interface with pulses of 1-2ms. THe arduino should be able to control them with the Servo library.

Thanks for clearing that up. I'll probably be ordering an arduino in the next few days.