Black jags switch different than tan jags. The tan jags are high side switchers. The black jags are locked antiphase. Allegro makes a nice fet full bridge automotive driver chip. The A3941K. The data sheet gives a good description of the different ways the Fet bridge can be driven. May be it will help.
http://www.allegromicro.com/en/Produ.../3941/3941.pdf
Warning to understand this chip requires allot of back ground Knowledge but the diagrams and tables help with the fundamentals. This chip is used on some of Pololu Robotics motor controllers.
http://www.pololu.com/
The Jags really are a deal for FIRST teams compared to many other less capable drivers.