For a general discussion of H-bridges, see the Wikipedia article (en.wikipedia.org/wiki/H-bridge). For one example of the use of an H-bridge with a Propeller, see the Propeller Robot Control Board schematic used in the StingRay. The Propeller Professional Development Board also provides an H-bridge for use with the Propeller.
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www.parallax.com/Portals/0/Downloads/docs/prod/prop/28230_MSR1_A%20Schematic.pdf