I haven’t done it myself and I have no device to test but there are some members who seem to have worked with these devices
Spark and Sabertooth 2x60 Board - Anyone out there?
5v analog with saber tooth 2\25 motor control
Spark restarts after command
Maybe pinging one them may be able to provide some sampe code.
On the other hand the Arduino samples should get you 90% there.