The full source is available in the file area and also in GitHub, and is well commented (the translation may not be very good). The code is fully functional, but may change in the future.

Circuit schematics are also available. The control circuit is based on the AT89C2051 which for me is quite easy to use and assemble. But the code is fully compatible with the 8051 architecture and can be used on other platforms and manufacturers.

The drive circuit is based on H-bridge with MOSFETs. I have not yet built it, so I think the components may vary a bit.