Pibrella as a robot controller


Hi Y’all

I’m a newbie at robotics, and I’d like to use Pibrella to control a robot my 11 y/o daughter and I are building. We are using a Whippersnapper Runt Rover
with a Rasberry Pi B+.
We’d like to use an HC-SR04 ultrasound distance sensor, and a gripper (one HS-55 servo), and whatever other sensors we can fit… 8)
Keep in mind that the rover has four wheels, all with DC motors. Can we hook TWO motors to one output port in the Pibrella? How can we connect a servo besides the DC motors?
I searched all over the forums but could not find any info.
Thanks in advance for your help.