About a year ago I had posted a thread on doing something like this. I have now gotten other projects out of the way and I am diving back into this one. I have done a lot of reading about building H bridges as this is the most daunting task for me. I have looked over many types posted around the internet and I think I know enough to be dangerous and cause bodily harm. It looks to me like an all N channel bridge using IR2104 “type” drivers is the way to go. I am looking at building something that could scale to high voltage if needed. To start out with I am going to use some RFP40N10 because they are inexpensive “free ripped from old UPS” because I will more than likely toast a few before I get it right. As far as the Programming goes I remember I modified quite a few things in the code. Initially I was going to have the dsPIC set the direction on one pin and do the PWM on another latched together with shoot through protection. I also wanted to add a section to set a value for adjusting the current from the dsPIC. And ultimately add all the features of an industrial quality drive like short circuit protection, over and under current and such with a nice little Windows app to tune and configure the drive. But I got to get the H Bridge working and then go from there. As soon as the Fet drivers show up I will start playing around on the bench and see what damage I can cause. If I get crazy enough this just may work.