L298 is a very famous H-Bridge IC for controlling DC/Stepper motors. It is essential for making wheel robots. If you plan to build a robot in year 2010, you should check this cool tutorial by PyroElectro. It teaches you all the important things to know about this motor controller and show you some samples codes.
Tutorial here: http://www.pyroelectro.com/tutorials/l298_control/index.html
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