sn754410ne h bridge questions. Robots

Ok I've got a sn754410ne, a sn74hc00n's and a pickit 2 with a 16f690. I am trying to run an R/C truck with obsticle avoidance. I saw a guy online that had this set up and now I can't find him again. It was basicly an arduino motor shield board with a pickit 2. What I need it to do is control forward and reverse movement of the dc motor, controlling the steering with a servo, and controlling the light sensors or IR sensor (Proxy). I would love some schematics and maybe even the hex / source code. I'm new at this and any help would be great thanks

I use the same hbridge with an 18f2525. Schematic in the Mongoose manual on my site.

Thanks, but what about controlling just one dc motor and one servo at the same time? Also I have the 16F917 if that would be a better chip for this project?? I also noticed you did not use the SN74HC00N. Why is that?? Is it not needed? I'm sorry I'm really new at this. THanks again