I think there's some confusion here. Mosher, the round symbol connected to P1S/P2S is the power source, not the motor. The motor connects to the rectangle at the lower right.
Sorry, you are right klunkerbus
I think the problem is with N1G and N2G being driven by PWM31 and PWM41, which is at the base of the drive transistors. PWM31 and PWM41 can never be higher than Vbe of the transistors, so the H-bridge will never see them go high.
Not sure I agree.
When the PWM signal is off (0V), the gate P1G or P2G should see VMOTOR due to Q3/Q? both being high impedance.
When the PWM signal is high (5V ?), Q3/Q? should be fully switched on and P1G/P2G should see (VMotor-1.4V) * (10K/100R)
(The 100R resistors are not really needed, I think)
Or am I getting P Channel devices wrong?
(I never could get the hang of PNP or P-Channel
)
It might be easier to use MOSFET drivers instead of the transistors. I remember that is what I did when I interfaced PIC to MOSFE H-Bridge, I used discrete FETs because I was planning to drive upto 100A, my failed Robotwars project. Did get a small scale prototype H bridge working, do not remember if it was FET or BJT though