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Why my 2 legs inverter doesn't output the expected voltage?

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Theodore Elle Mbeng
Why my 2 legs inverter doesn't output the expected voltage? I expected the bridge voltage varying binary between 0 and Vbat when I want my motor turns in one sense. Or -Vbat to 0 whent I want motor turns in the other sense. instead of the bridge voltage varies from Vbat/2 to Vbat or fron -Vbat to -Vbat/2. Someone can explain to me how can I fix this issue?

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