I have been messing w/ motors still. Here is a schematic of the motor driver I am using to set up some software you can find here at GitHub.com: https://github.com/silver2row/flack.
This is the L298 and other components from this dual h-bridge motor driver:
Here is some software to set up your motor driver w/ the BBB/BBG/BBBW/BBGW...
P.S. If you have any questions or comments, please let me know.