>You do need 2 pwm outputs for each H bridge, both are not running at the
>same time though :-)
>>An '876 is definitely a better processor for this application.

Or 1 PWM per h-bridge and a DIRection bit.  Feed the direction
bit to an AND gate, as well as through an inverter to another AND.
The second input to each AND is a PWM signal.  This prevents
the program from turning both sides of the H-bridge on at the
same time, and makes the 877's dual PWM output able to drive
2 (bi-dir) H-bridges.

I figure ya know all that, but mentioned for the others reading
along.

- Bri

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