Mariss: advice on h-bridge, please?

[guru_florida]

Hi Mariss (and everyone else),

Knowing your level of knowledge with motor control I was wondering if you could give me some advice on an h-bridge design for a 6 wheeled robot I am building?

The design is for simple brushed motors, unservo'd, just continuous rotation to power the wheels. I will probably use (edit!) T220 mosfets of the IRF variety. I would use a variable duty cycle PWM to control the speed. I would like to do regenerative braking. I will use the 9572 CPLD for a very light controller interface to the main processor.

This is not my first h-bridge motor or servo controller though. I know how to do all the above things, but what I would like to know is am I missing anything I don't know about?

Thanks,
Colin