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Ted,
I have attached a GIF that shows how to use
two SPDT relays for track direction control
and a single SSR per track for speed control
using PWM.
This can also be used for forward/off/reverse
by simply omitting the SSR.
Four relays, an SN754410 relay driver chip
and a PIC 16F876 microprocessor will fit on
a board similar to the one shown at
www.anvilus.com . Two SSRs would
be mounted external to the board.
Joe
**********************************************
Joe Sommer
2378 Nantucket Circle, State College, PA 16803
814.234.4773 anvilus9-at-adelphia.net
http://www.anvilus.com
relay and PWM.gif