I have an old 'Cybot' robot I built from a kit. I'm trying to mount a Raspberry Pi on it to act as brains. I'm a computer programmer, but my electronics knowledge is very limited. Have access to basic tools like multimeter etc.

So far I've disconnected the bit I'm pretty sure is the motor driver board from the rest of the Cybot internals and I'm wondering if I can just wire it directly into the GPIO pins on the pi?

Schematics for the motor driver board I'm trying to connect are here:
<http://lpilsley.co.uk/cybot/driver.htm>

I'm thinking the driver board has transistors so the GPIO pin isn't connected directly. Is 3.3V enough to trigger the transistor? Do I need to connect the grounds of the systems together?