What Type of Motor Shield to Use?

I have posted this in the robotic section of the forum, but I got no responses, so I decided to post it here. I want to build an omniwheel robot, and I would need a motor shield to do so. I would need to power 3 dc motors and 2 servos. I would also be using someone else code, so it's already written. The problem is they used this motor shield: http://www.makershed.com/products/motor-shield And this one is $40 and out of stock. This motor shield: http://www.adafruit.com/product/1438 would be sufficient; as in it powers all the amounts of motors I need. But I do not know if it is rc compatible. The robot I am basing this off of used an rc transmitter and receiver to control it. So the shield would need to be compatible and I'm not sure if it is. The other thing is that rc transmitters and receivers can be expensive, so I'd rather control it with something like the arduino esplora. But, I have no idea how to make this work. I think I would need another shield, along with the motor shield, and I'm not sure if this can work. I am willing to change the code if necessary to save some money and get the project done faster. So, can anyone tell me: 1. If the motor shield from adafruit is r/c compatible 2. How one would go about controlling something via the arduino esplora(not necessarily the specifics of programming, just the basics of the hardware needed)

Thanks.