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What voltage motor are you using - the link you show has several motors ranging from 24V to 90V nominal and current ratings from 60mA to 120mA, and you don't say which suffix of the motor part number for anyone to tell. What is the power supply voltage you are using. Does it have plenty of current output for the motor(s) you plan to connect?
You also wouldn't need to be using an H bridge for the servo version - it is a "smart" RC servo and just requires the usual RC PWM signal and connection to a power supply.
To design a circuit, you have to know the parameters you are designing to - that is what makes a good design versus just slapping parts together and praying. The choice of MOSFETs, diodes, drivers, etc. should be chosen appropriately for the voltage and currents you are using - otherwise it will either be over-designed and you won't like paying extra for the parts, or it will smoke (again).