[InazumaDenki] wanted to answer the question: can you drive a motor with an audio amplifier chip? The answer, of course, is yes. The TDA7052 has a single input, and a bridge output meant to drive a speaker differentially. It should work if the motor doesn’t present more of a load than a speaker.
The plan was to use a resistive divider to provide several discrete voltages to the input. At precisely the half-way mark, there should be no voltage across the load. Altering the input to go higher than halfway should make the motor turn one way, and making it go lower should turn the motor the other way. As you can see in the video below, it does work, although it may not be ideal for this application.






