A full bridge circuit includes a first switch, a second switch, a third switch, a fourth switch, a first controller, a second controller, a first operational amplifier, a first multiplexer, a second operational amplifier, and a second multiplexer. The first controller includes a first output coupled to the first switch. The second controller includes a first output coupled to the third switch. The first operational amplifier includes a first input coupled to the first switch and the second switch, and a second input for receiving a first reference voltage. The second operational amplifier includes a first input coupled to the third switch and the fourth switch, and a second input for receiving a second reference voltage. The first multiplexer is coupled to the first operational amplifier, the first controller, and the second switch. The second multiplexer is coupled to the second operational amplifier, the second controller, and the fourth switch.