Half bridge and hexfet motor drive circuitry

[Roger44]

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.

 

[Sceadwian]

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.