The HomeBrew Robotics Club Located in Silicon Valley have a good video on DC Motor Drive for download : http://www.hbrobotics.org/wiki/index.php5/Driving_DC_Motors In mpeg4 it is a 167MB download and lasts for 1hr 40 min There seems to be a bug at 57 mins, that I'm still investigating. Might try the mpeg2 download. Richard