Believe it or not,
yesterday there was a blackout in Southern-Sweden and K3's server, which is hosting those files, happens to be down for another couple of hours.
I will post rev3 instead, since I have tested the board successfully with DC and Steppers already.
Regarding HC. Steiner's concerns about working with haptics, board's rev1 was used in 2005 in a design I made together with my brother (I have been waiting 3 years to post this ;-) ) for the Interaction Design Institute Ivrea. You can see the video here:
(off the record, this is the same server as mentioned earlier and it is also down when I am typing these lines ... but will be up soon)
I will hook up my HD and look for that rev3 for you to look at it. --> get it from here:
Note that I want to release this as an "arduino" labeled board once it has been approved.
As for the H-bridge, you are right, it wasn't National, had a memory failure, I used ST L293N and L293D. I was powering my boards up to 24 volts without any problems.
Regarding the capacitors, we used them because we wanted very low frequency PWM to move our very powerful Maxon motor (see the video to get an idea of the size). The fact is that the motor started to scream like a child unless we were cleaning up the frequencies with those capacitors. That is the reason why we added them. They are useful for -believe it or not- noise reduction. But of course that was for our case ... I have found very few cases when they were needed again.