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Half bridge and hexfet motor drive circuitry

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All that maths is dead and gone in my forever faded memory cells !!! But Google is your best freind and a guy on a French maths forum chipped in to help me out. I've given him this link, maybe he can put in a word.
 
I've given him this link, maybe he can put in a word.
I'd like to read it, but I can't read standard notation, I can read the code equivalent, but not standard notation.
 
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