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I'll be posting the schematic and more info on my newest kit Mongoose. It uses the SN754410N quad half bridge and a 18F2525 with dual PWM (changing the design to a 16F877A would be trivial)
Plus although you can't see them from this angle in the drawing there are a pair of optical sensors that watch a pair of gears turn (wheel rotation / RPM)
**broken link removed**
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