February 8, 2016 12:33 PM CET
Thanks, I have it all working now. However this line on wiki
...and set channels #0 and #3 freewheeling.
should probably read
...and set channels #0 and #3 braking.
as you are setting them to 0x00
0000000x no power - brake shunt mode, x = don't care
0000001x no power - freewheeling mode, x = don't care
xxxxxxxd various speeds in direction d
1111111d full speed in direction d