Yes, I have successfully driven motor controllers using the Raspberry Pi, but they were Jaguars, not Talons. The method works for anything controlled with a RC style PWM signal. I used the servoblaster drivers. These allow you to control up to 8 PWM channels simultaneously using the DIO pins. I started by creating a simple text based user interface using BASH scripting language. Then I moved to python, first controlling the motors with a joystick attached to the Pi, then using two Pi's, one which would be on the robot and the other that acts as a control station. When I paused for build season, the control station could send commands to the robot over a wi-fi link.
I posted all of my code on the Raspberry Pi forums. Once you are registered, you can find it by reviewing my posts using
this link.
Also, if you go to my youtube channel, linked in my signature, you will find videos demonstrating the various stages of the development of the system.
The goal is to develop a robot control system as cheaply as possible. I would ultimately like to be able to sit in my study and drive a teleoperated robot, with live video, around my backyard using my home wi-fi network. Right before build season, I could run 8 PWM channels and stream video from the robot controller Pi, but could not get the driver's station Pi to display the streamed video, (though I could display it on my desktop, laptop, Nexus 7, and smart phone).
We love team 71, but playing against them is not one of our favorite things to do. - Andy Baker [more] 
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