I Bridge, didn't know what that is, googled it, nothing, please explain I Bridge
This is what I plan to try when I get some supplies in (TIP35).
The PWM NFETs on top are sourced via the current limiting transistors
at the right that are limiting the current via the ground path.
Relays will switch the + side but are not PWM and are interlocked via
the N.C. contact of the 'other' relay. The transistor set up is doing a good job of limiting the current to near 20 amps in the Spice sims. The stock motor controller limits current to about 15 amps. What I really like about this design it that it has a lot smoother feel than the stock unit, but I need to limit the high end current, the stall specs on the motor, also not stock, are Operating v: 6v - 12v, Nominal v: 12v, Stall Torque: 343.27 oz-in
Stall Current: 133A, Kt: 2.58 oz-in/A, Kv: 443 rpm/V