In a previous figure (Part 1) of an H-Bridge circuit (reproduced below), the current of T2 and T4 is sensed via the sense switches T2S and T4S and compared with a threshold via comparators Comp3 and ...

Even if you don’t have much (or any) experience with basic electrical circuits, [Afroninja] explains the concept of an H-Bridge motor controller in a clear, concise and easy way to understand.