I found this circuit in an English publication of 1989. This configuration can be mounted with transistors BD135 and BD136 for Q1 and Q2 and the other transistors can be the pair TIP31 and TIP32 for motor currents up to 2 A. These transistors must be mounted on radiators of heat and the supply must be symmetrical with voltage from 5 to 12 V, depending on the motor controlled. For the original transistors, the current reaches 5 A.
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