H-Bridge Circuit for the Underwater Rover

The circuit below is what I'll be using to control the four motors. The Parts list and explanation are below. Because i do not have my motor yet some components are not specified in the parts list. This circuit will be connected to a shift register circuit so four H-bridge circuits can be controlled with three pins connected to the micro controller.

Parts List

R1-R6       1K Resistor
R7-R10     10K Resistor
Q1-Q2      2n2222a NPN Transistor or equivalent
Q3-Q6      Choose a NPN Transistor which is rated for your motor
C1-C3       0.1 μF Capacitor
D1-D4       Choose a Diode which is rated for your motor


The Circuit

INPUT A	INPUT B	MOTOR
HIGH	LOW	Clockwise
LOW	HIGH	Counterclockwise
HIGH	HIGH	N/A
LOW	LOW	OFF

When input A is High and input B remains Low, The motor turns Clockwise

When input A remains Low and input B High, The motor turns Counterclockwise

I am not responsible or liable for any damages or loss you cause with the use of this information and i am not guaranteeing that this will work.