Alright, so I took a look at my Solar Tracker circuit which does have the H-Bridge, but also has the comparator, so I thought why not just remove the photo transistors and run some connections from P0 and P1 from my Parallax Board of Education to the same spots the two photo transistors were and send some HIGH/LOW connections to P0/P1......and what do you know, it worked like a charm!
So it's cool now that I can control the direction of my wheelchair motor with my computer, however, I have been looking at that VEX Robotics....from eBay you linked me to, and was wondering if I would still need to buy the Parallax Transceiver and mount onto my Parallax Board as I don't see any other way it would be able to control my board remotely?