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If You want to use motors instead of servos, then You need to get/build an H-bridge (1 per motor), also, some code changes will also be required.
I haven't got either of these, but Googling one and the other will bring plenty results The thing is, if You choose not to follow tutorial to letter, that means that You have to have enough knowledge on how to achieve goal with changes in mind. For this change Google AVR Timer Tutorial, as it's the way motor is driven. Also, if You search this forum for H-bridge, You'd most likely find How to drive pMOS and nMOS H-bridge? thread.Good luck
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