First you need to wire the globe motor to a speed controller, then connect a PWM wire from the speed controller to one of the PWM output on the robot controller... to controller the motor from your program you set the PWM output to a certain value..
Assuming you connected the speed controller to PWM output 1
pwm01 = 0; // Full backward
pwm01 = 127; // Neutral (motor doesnt move)
pwm01 = 255; // Full foward
If you connect it to another output just change the pwm number (pwm01, pwm02, pwm03, etc...)
You can choose any value between 0 and 255 to move the motor at different speeds and directions...
You can also map it to a joystick..
pwm01 = p1_y;
This is set the motor speed to the value of the y axis on port 1
Hope that enough to get you started...
