Why don't you go to the original site? Project description and schematics are available on 

http://tanjent.com/tinywrench.html

I use a dual H bridge kit for my mouse robot. It's the L298 compact motor driver from Solarbotics.

It's a small board: 40 mm x 40 mm. The good manual has step by step build instructions. And the motor driver is easy to use with a microcontroller.

The L298 is for brushed motors (it can also be used with stepper motors). I believe The OP wants a brushless controller.

BTW, L298 chips are old tech. They have a significant voltage drop. The good thing about them is they're really cheap. You can get boards off ebay for about $3.

A better (and more expensive) h-bridge is the MC33926. There are lots of other modern h-bridges which outperform the L298.

Oops, I forgot that posting a link would disable the comment. I'm really looking to learn how the circuit drives the high-side MOSFET.

Didja look around for high-side mosfet driver circuits?

I recall building an H-Bridge, long ago, and purchasing an 8-pin high-side MOSFET driver chip, made explicitly for that purpose. For some reason LCT1284 pops into my head, but it was literally over a decade ago.

(and the MOSFETs, rated for 60A 60V died a horrible red-hot-smokey death at less than 12A 12V... boggled my mind for years. Think it had to do with switching them too fast, and both the high and low sides being on simultaneously)