How to play separate audio on headphones and speaker in iOS 5

I'd like to play different sound on headphones and speaker simultaneously in iOS5.

Specifically I'm using headphone output to control R/C servo motors of a robot. I'd like to play sound effect through the speaker. Switching between speaker and headphones would not work since robot is self balancing and need continuos headphone output to balance.

Is this possible?

How do I split audio between headphones and speakers?

Use an audio splitter or Bluetooth adapter A splitter offers a plug-and-play solution. Simply plug the splitter into your PC and plug the headphones into one port and the speakers into another.

Not currently. iOS only exposes one stereo audio route to an app via any public API on stock devices. You will have to use another connectivity method to get the second audio output, such as a MFi device, wifi, gamekit to a second iPhone, etc.