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How to Control DC Motor with PWM?

Hi, 

I am working on a project and strive to create a robot where I want to control two DC motors using PWM pins of Arduino UNO. I was just wondering how to interface and connect the Arduino UNO with the motors and which Arduino Pins can I use to lay out the connection with transistors. I have got a hold of two transistors namely BC547 and 75n75, could you please help me out which one is better and stands fit with the project requirement? 

Thanks,