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To my knowledge there are no I/O or gpio packages available. You could buy an arduino, this a microcontroller with a serial (over usb) interface on which you can perform analog and digital input and output. You can control it with the ros serial package I suggested before. Example of how to blink a led ( the led could also be the motor controller, with some extra components off course). http://www.ros.org/wiki/rosserial_arduino/Tutorials/Blink

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