I used L298 and L297 pair some ago, but their are near obsolete now. And
size was not "mini".

For small actual projects you can use Allegro 4983 as also found in pololu
drivers:
http://www.pololu.com/catalog/product/1202

Comunication with a PC virtual serial port through an ftdi usb-ttl_serial
converter or similar is very easy. And the program for the PIC to control
the driver also should be easy to implement.
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