Can I control a motor using the same circuit setups as with the arduino [I 
plan on using a 24V dc motor and a 22.3V Li - ion battery

example -->   
 
http://garagelab.com/profiles/blogs/tutorial-l293d-h-bridge-dc-motor-controller-with-arduino

<http://api.ning.com/files/jFhR10F2nKDm5cJ0p2jcpgHpKd4hNPz01QgMS8OF6QUh82aIgvr-dp1uzQSopb*PQgSlhFEgj5ALhek3X56Zq6xDZuw-9vwD/l293dmontagem.jpeg>
I assume so because all I need to control the DC motor using the h-bridge 
is a PWM signal, and the BBB has 8 of those. If I am wrong, could somebody 
please point me in the right direction or maybe give me a step by step 
guide of how to control motors using the BBB using Debian.
Also, are there any protective measures I should take (involving the 
circuitry) to protect my BBB other than what is shown in the pic.\

Thanks ahead of time!

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