Allow exposure of iOS frameworks for accessories

I'm currently looking at phonertc for an opensource accessability project of my own. One thing I'd like to be able to support is external accessories. For example, I'm hoping to support the motrr galileo (http://www.engadget.com/2013/12/02/motrr-galileo-robotic-motion-control-for-iphone/) which is a remotely operated pan/tilt robot. They supply a framework as an SDK, but I'm not sure as to how to add it to the project.

Thanks!