well that did it!
now would this application make better use of the switch() case function? that's probably what i'll be using anyway since I need to drive four of these motors...
and lastly, any thoughts on the output of the h-bridge? i'm still only getting 8.6v max. I'm using a 12v battery directly which has improved the smoothness and speed (slightly) of the motor. would I do better with a regulator in the circuit or do I have to increase beyond 12v supply?