rva1945:
Now I understand the output drop after cascading in the darlington scheme, I know what you are talking about.Yes a MOSFET H bridge would give me (almost?) 100% of power.
I'm not using the diodes as these motors are really "weak" and don't spike, but I will consider it.
Thanks
Use diodes. The motors might behave on light load and act resistive, but once
the brushes wear and spark and the motor is under stall conditions things may
be different - diodes are cheap.