Thread:CircuitCo talk:Moto Cape/How to use the MotoCape (beagle bone black)/reply

Unfortunately there's no documentation. However, given that it is based on this design: https://www.sparkfun.com/products/9815

You make be able to leverage the tutorials, specifically https://learn.sparkfun.com/tutorials/ardumoto-shield-hookup-guide to make some progress.

Good luck. And you should document your results for future users :)