Use a motordriver
instead of making a big mess with all these transistors, use a motordriver. I prefer the l298HN because it has everything you need to get it working, no need for extra flyback diodes and it can handle some current and voltage. STM has the IC for free sampling.
Not suitable
First of all, this motor draws 2.8A if it is just driving the wheels with no load. The L298H won’t cut it! And motor drivers are expensive if you need to handle 20 Amps of stall current
Second, I’m a hobbyist, I like doing things by myself. I’m not going to take the easy way and buy a motordriver but I’ll make this thing work and learn a lot of stuff I didn’t know before 
Thanks anyways 
H Bridge
It works great. Interlock circuit prevents shorts when A B are 1 1.
If your going to redo it…
Take a look at this, it may be a little bit simpler and solve your problem.
