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Two PICS were connected to the master PIC as slaves to provide a PWM to each motor. From the main Xbee board came SDO, SDI and SCK all level shifted to 5V. The two PICs on this board output PWM to a driver board (TLE5206), which comes preinstalled with protection diodes.
A second jumper from the main board provides slave select lines from the master, as well as a Kicker On line that turns on the kicker motor. The L293B, in turn, acts as the H-Bridge connected to the kicker motor. The kicker motor is wired in a way such that it can only move in one direction. Lastly, a diode was placed in parallel with the actual motor to provide protection from kick back.