Hi OldHammer,
The servo in the Clark Univeral Rotation Kit seems to be a little unusual, but yes, you can follow the Clark instructions and connect it to the TCB. Disconnect the internal wires to the servo motor, solder on new wires, and connect it to either the Onboard Motor A or B outputs on the TCB.
The only thing to note is that the motor A & B outputs on the TCB supply full battery voltage, so somewhere around ~8 volts if you are using a 2S Lipo or 7 cell NiMH. Most likely the servo circuit was designed for 5 volts, but since you are not using the servo circuit and soldering straight to the motor, it should be fine.
As the
Clark instructions say, this is not technically a 360 Turn servo. You have just converted it to a small motor with a small gearbox inside of a servo case. Technically speaking a 360 Turn servo is a servo that has been specially modified but where we still use the servo electronics. I don't know if this particular servo is capable of being modified in that way.
However it doesn't sound like you need to worry about that distinction in this case. Just know that if you tried to use the Clark instructions with a different servo it would probably not work, because the servo he has provided you is different from a common servo.