Okay TIP122, use that to connect V- to Gnd (sink current).
Don't forget a 1N4001 type diode across the relay +/- pairs (in parallel with the motor) with cathode on V+ and anod on V-
Okay TIP122, use that to connect V- to Gnd (sink current).
Don't forget a 1N4001 type diode across the relay +/- pairs (in parallel with the motor) with cathode on V+ and anod on V-