I found this circuit in an English publication from 1989. This configuration can be mounted with BC548 transistors for Q1 and Q2 and the other transistors can be the TIP31 and TIP32 pair for motor currents up to 2 A. These transistors must be mounted on heat radiators and the supply must be symmetrical with a voltage of 5 to 12 V, depending on the motor controlled. For the original transistors, the current reaches 5 A.
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