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I think using the L297 is a pretty good choice.
You would have to make your own routines if you were you use L297 with L298. Or you could try to find some modified/different ones. I used a similar approach in my micromouse robot with 4 I/Os per motor. I used two ULN2003 chips, which are arrays of 7 darlington transistors. It worked great.
hmmmmm vivek9856, a lot of your questions can be answered with just a little thought, reading the datasheet, and some google searching.Draw us a schematic of exactly how you think it should be, and we will verify it for you.