The ROS robot driver board (including schematic diagram and PCB) has been tested and is being used
The ROS 
robot driver board, the balance car driver board, the high-power motor driver board, the ROS robot driver board, the ROS robot control board, the motor driver board, the board is designed for the high-power ros car, and can also be used for the balance car and more. For the purpose of a smart car, four motor-encoder integrated interfaces are introduced to reduce cumbersome wiring. The stm32f103zet6 is used as the controller, with 144 pins, and the hardware resources are sufficient. People, can drive 24V motors, can drive high-current motors, large-scale power input 6V-35V, using dual LM25965.0 chips, the board leads out 5V-3A dual USB ports to easily power Raspberry Pi or nanopi, in addition to lead out There are multiple serial ports and iic interfaces, which are convenient for adding peripherals and debugging. The integration of encoder and motor interface saves the trouble of wiring. It leads to oled interface and gy-85 gyroscope interface, and leads to MINIUSB and MICORUSB. All have serial port conversion circuit, support serial port download. High cost performance, the pin definition is the same as that of the rikirobot (1300 with the same board as riki), and it is fully compatible with the underlying driver code after my own test. I can provide some technical or hardware guidance.
In addition, there are existing car boards or empty boards for sale, and debugged ROS cars are also sold. If necessary, you can leave a message and reply as soon as possible.