Hi John,
Sorry, started writing this yesterday afternoon and then got distracted...
You can use the Pi Co-op as the Arduino on the robot, but the trouble is that the Pi Co-op doesn't have a motor driver chip like the mini driver, and so you'd need to add on an extra motor driver such as the L293D in order to make the wheel motors move on the robot.
I have considered trying to make a version of the mini driver that sits on top of the Pi to make everything more integrated in the past, but at the moment it's so much cheaper to buy the ready made mini driver board from Dagu that it doesn't make much sense economically.
Regards
Alan