I picked up one of these controllers and I'm working on a couple of libraries for it and I thought I'd share them. They have two sets of protocols that can be used, the compact protocol and the Pololu protocol. Some of their other controllers may be able to leverage this library.
The first library uses the compact protocol and is available from: http://code.google.com/p/qik2s9v1arduino/
More information about the controller itself can be found at: http://www.pololu.com/catalog/product/1110
I'll be working on a library that supports the full protocol plus adding some more documentation and examples to the compact library.