In other articles, we reviewed some Darlington transistors that can be used in this application. The pair TIP110 and TIP115 can be used with motors up to 1 A. In this case, the reference for the control signals is also the ground. A 0.47 ?F capacitor in parallel with the motor can be necessary in some cases. The transistors must be mounted on heat sinks. The table for control logic given in the last block is valid for this block.
Figure 1 Half bridge using Darlington transistors.