24v speed/direction controller circuit

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i have power source (24vdc 1amp max.), , want able control (like pwm signal) way off 24v, , able switch polarity.  know how set arduino?  relay able turn off or on, isn't able handle of states in middle (10% power, 25% power, etc.).

does know how build arduino-controllable circuit this?

by way, if matters, speed/direction control dc motor.

google 'arduino motor shield' or 'h-bridge'.


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