Good point about making sure to test the device at a low current first. I will probably buy 10 and 100Ohm resistors and then test them at a lower amperage to see how much they decrease the PWM.
As for the ceramic decoupling, would putting some capacitors in parallel with the H-Bridge work for this?
I think that's a good start - but watch out for the high ripple currents involved overheating capacitors - low
ESR is important here
I will definitely make sure to put resistors between the H-Bridge and board, and I will probably also use a relay to prevent shoot through from a programming error
Relays unnecessary - the HIP4081 prevents static shoot-through (it would be a crazy H-bridge controller that allowed it),
but you have to set the dead-time adequately to allow for the time taken by your MOSFETs to switch off.
The datasheet shows the deadtime against resistor value on HDEL and LDEL. Even shoot-through for 100ns
can blow up MOSFETs if being PWM'd since all the power of the supply is available (augmented by decoupling