[marccenter]

Andrew,
I believe your answer is incomplete. As well as the required hardware modifications (you need 2 signals from a PWM wire, whereas normally we only get one), software modifications are necessary.
Forward must be implemented with one control signal being high and the other control signal being low. Vice-verse for reverse. Forward and reverse are relative terms, it depends on how you one hooks up the plus/minus motor leads and it's relationship to movement for your robot.
To summarize, both hardware and software modifications to the Cortex wiring and base program are required to make the spikes work as in the past with the IFI control systems.