This is the traditional H bridge configuration for motors. The circuit is for currents up to 500 mA, but with higher power transistors such as the TIP31 motors up to 2 A can be controlled.
The circuit shown is from an old European publication. In it we have the way to activate a relay...
We found this circuit in a European publication from the 1990s. Transistors are still common types...
This circuit was found in an American documentation and can be added to common amplifiers of any...