for the wiring, a darlington configuration H -Bridge is your best bet
to run the motor, you'll do a pwm_allocate, then a pwm_write() (I think that those are correct). the delay is just a sleep function. If you have any trouble let us know.
As a second thought, depending on your electrical skill, you might consider investing in one of these:
http://www.pololu.com/catalog/category/97