H-Bridge

From Adam Colton

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These end up getting tricky to build discretely, but high power versions get costly.

I think DRV8701 allows you to mount your own mosfets, which may allow me to increase the power capacity. look for "Full-Bridge Gate Driver" or "full-bridge pre-driver"

http://www.modularcircuits.com/blog/articles/h-bridge-secrets/

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Electronics