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On the left is the schematic for my motor controller. A resistor may need to be added leading up to the PNP transistor from signals 3 and 6 after the first NPN transistor. You may ask "Why didn't you just use a PNP MOSFET and avoid all this nonsense?" The answer to that is two fold - A) I ordered 10 NPN MOSFET's while considering this project and B) I didn't know any better at the time. It all worked out however, as PNP transistors were not to hard to scavenge. I'll add an additional block diagram for this portion of the project soon!