I used the principles from this page:  http://www.spaennare.se/pwmdig.html

Added a some relays to enable change of direction. Relays are operated by a DO on the K8055

Schematics to follow

For each motor: Driver to make mosfets more efficient (note, i do not have the LED part of the circuit)

Borrowed from  http://www.spaennare.se/pwmdig.html

From mosfetdriver to the mosfets, and on to the motors:

(just realized that my relay implementation is a H-bridge, redrew it as H-bridge to make it easier to read. Old schematics is here (D1 and D2 are swapped)

Q1	STP80NF03L-04	Power Mosfet
D1	???	Diode
D2	40EPF04	Power Diode
K1	???	12V Automotive Relay
K2	???	12V Automotive Relay