Finally got the preliminary Python interface done to the DMCC (Dual Motor Controller Cape). Here's a quick YouTube video on how to use it.
The DMCC open source schematics can be found at https://github.com/Exadler/DualMotorControlCape.
The DMCC Library can be found at https://github.com/Exadler/DMCC_Library
The DMCC boards can be bought at http://exadler.myshopify.com