Maxim Integrated give a walkthrough for their MAXREFDES89, a brushed DC motor controller Arduino-compatible shield:
What could you build with a brushed DC motor controller Arduino® shield? Our Arduino-compatible brushed DC motor driver reference design drives up to four motors, and easily interfaces to an mbed® platform. Featuring MAX14871, 4.5V to 36V full-bridge DC motor driver, MAXREFDES89 can be used with a wide range of motors, from mid-voltage down to battery powered.
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