Why my 2 legs inverter doesn't output the expected voltage?

Why my 2 legs inverter doesn't output the expected voltage? I expected the bridge voltage varying binary between 0 and Vbat when I want my motor turns in one sense. Or -Vbat to 0 whent I want motor turns in the other sense. instead of the bridge voltage varies from Vbat/2 to Vbat or fron -Vbat to -Vbat/2. Someone can explain to me how can I fix this issue?

Answer 1

[Sabin]

The voltage will depend on what modulation technique and which semiconductor switches we actively control. Given that only one switch in the H-bridge seems to be controlled at a time it makes sense to see the voltage waveform like this (Vbat/2 to Vbat or -Vbat to -Vbat/2).