This is my interpretation:
Vsat is the saturation voltage drop across the collector and emitter of the transistor. For a MPS2222 at 150ma it will be 0.4v (taken from a data sheet)
So the equation becomes (1.25+0.4)/Rsense=IOUT per leg
Rsense will have 1.25v+Vsat=1.65V (different to what they say in the text) across it and the base-emitter junction will generally drop 0.7v. So that leaves 0.95v to be dissipated by R4. For 150ma to flow in the collector (saturated), 15ma needs to flow though the base (HFE = 100). To find R4 it will be 0.95/0.015=63ohms
I’m a little rusty on transistors so there is most probably some errors in there some ware. Easiest way would be to set up one leg and take some measurements
DJ