Which motor shield or relay or speed controller should I get?

I am trying to setup a rc car so that I can control the motors on it with my arduino. I was first trying to find which pins on the rc car I could power from the arduino in order to make it work wihtout buying a relay/motor shield/etc. But I ended up frying the rc board. It started smoking and doesn't work anymore. I am now considering buying a motor shield/relay or something. I don't know which I should get. The motors are DC I believe and they run on 4 double a batteries. Can you all recommend which I should use? I am looking at the adafruit motor shield but I don't want to end up destroying it or something. It says it doesn't support over 1.2 amps and that its only for small motors. If you could recommend one that would work it would be great! Thank you!

Before you choose a motor shield or controller you must know the rated voltage and stall current of the motor.

Do you have an Ohm meter?