Let's Make Robots!

H_Bridge Motor Driver or how to control my DC motors

Dear, Mates ! 

For less than ten days i suffer for second time trying to construct my own HBridge so probably i really need somebody helps me, please.

The last time i bought the set i thought everything whould be fine :

- 4 Transistors (2xIRF640 and 2xIRF9540n) and two resistors(8K,0.25) this should be the most basic things to build an HBridge ?  

I am not really sure as i've been 30 minutes ago, but the most important parameters i had to suppose was

 -For IRF640       VDSS 100 V  ID 22 A