I have ever used a DPDT relay as a motor direction control instead of an H bridge device.
In some cases the relay takes care of a lot of H-bridge current limitation issues since there is negligible resistance in relay contacts. A 2n7000 mosfet can a drive large number of different relay types nicely.

And the relay only requires one control pin from the PIC.
If speed control is needed, I use a mosfet to pulse current to the motor.

Fun stuff!! :-]