thay have a sample code in .asm... so you can modify it as your wish... :lol:
you can control the two motors seperatly, so the control will be like a real tank... maybe is what you mean in your message...
if you want to build you own h-bridge, I recommand you to use mosfet cause they are easier to command. I think the bipolar transistors are not a good choice for that kind of application.