Allegro delay

Hi Everybody,
I am putting together some PWM drives using 4 Allegro UDN2961W chips
for each drive. 2 are cross connected to form a full bridge. In their
application info it says "In order to prevent cross-over currents, a
turn-on delay time of 3us is needed between the time an input signal
for one of the half bridges goes high and the inpput signal for the
other half bridge goes low." I am not that experienced with
electronics to know how to accomplish this. Can somebody recommend
a way for me to do this? I have figured out I can use the Allegro
5804 unipolar driver to give me the proper steping signals. Is it
possible that the 5804 already has a delay built in going from step
to step?
Lonnie