Electronic – the correct name for a footprint that connects to a panel mount component

Generic pin headers are in the "pinhead" library. For something like the breakout board with multiple rows of headers, you can just place them in the proper locations on the board layout.

That said, do you even need to create a PCB? Since everything is on .100 inch centers, you could just get a protoboard, and solder your connectors on with point-to-point wiring.

If you want to go to the trouble and expense of making a proper PCB, you may want to consider starting from the Fio design files and integrating the motor driver on-board. The connections will be more secure, and you will save the mass of the extra PCB.

I typically use the footprint for a 0.1 inch pitch "pin header". You can then use either male or female connector strips, or just solder wires directly to the pads if you don't need to use a connector. But using the header/connector provides a convenient place to show where the external connections are in the schematic and on the board. But it does not compel you to actually use connectors (or headers) if you don't need them.

If you want to use connectors, the male pin headers are available in strips of ~40 pins and you can just snap off however many pins you need. And you can make female connectors (with however many pins) yourself. I find it rather compact, convenient, and low-cost solution.