Hi, I am working on converting a Lego RC Car (Dirt Crusher RC - Model #8369) to an autonomous robotic car. The plan is to replace the all the electronics with Arduino based motor and sensor controls. I am working on the Motor Control. The car has a Servo to drive the steering and a DC motor to drive the Rear Wheels. The motors and electronics are driven by a 7.2V (1200ma I think) rechargeable battery. I would like to reuse the battery. I have implemented an H-Bridge circuit using Tom Igoe's DC Motor Lab at http://itp.nyu.edu/physcomp/Labs/DCMotorControl using the SN754410. I have tested the circuit without the motor and it is working fine. I am concerned about hooking the motor to the 7.2V battery. I am wondering if this is too much current for the H bridge to handle and also the motor runs to fast any way for my needs so I think I need to reduce current and or speed. It looks like I can control speed using PWM but do I need to reduce the current? If I do need to reduce or limit current how would I enhance the DC motor circuit? Note that eventually the 7.2V battery will be controlling the servo and possibly some of the electronics.