Here is 1 - 5 amp capable H-bridge DC motor driver. This keeps the final circuit in the “cheap” category which was one of the design parameters we’re optimizing for.The fast recovery diodes (shown in light blue) are optional when you are using the TIP102/107 as those transistors have a diode built into them. However you can include them for greater protection at higher currents and still keep the cost at $5 per bridge.
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