Arduino Primer

Arduino IDE - tell it which arduino you're using, i.e. the Mega 2560

Motor Shield
        Motor Shield User Manual
        Shield Software Library
            from IDE:
                Sketch > Include Library > add .ZIP Library
                File > Examples > DualMC33926MotorShield > Demo   (motor demo hook up your motors)

Maxon Motor data sheet

Power - motor shield/arduino power jumper - recommend 9V battery on Arduino 11.1 LiPo on motor shield