AT8236 Motor Driver Board & Power Board

This project serves as the power driver module for a ROS car. All interfaces are connected to the control core board using simple horn-shaped connectors and FC cables, simplifying the board and reducing costs. Any board issues are addressed by simply replacing the faulty one. The board
 
 
also uses two TPS5450DDA converters for 5V/5A output to power the host computer, Raspberry Pi, or other modules like Luban Cat. Theoretically, the maximum output is 5A, but this hasn't been tested due to the lack of a load tester. However, both output voltages are quite good. Solid-state capacitors are used throughout the board. An INA219 was added for circuit detection, which provides more data compared to an ADC, such as current, voltage, and power.
 
The 3.3V connection was initially forgotten, so a jumper wire was used; this has now been fixed in the project, and you can confidently build a board if needed.
 
The TPS5450DDA circuit can also be extracted from the schematic and used. It has been tested and works without issue. It also provides a 3.3V output from the ASM1117 without any problems.
 
 
The board also has an onboard buzzer and two controllable 5V outputs, which can be controlled via GPIO for future expansion. I plan to add a USB hub later, using this 5V interface to power peripherals, since the ROS car will also have a depth camera and LiDAR.
 
The most important part of the motor driver board is the motor drive. One path has been tested and works without any issues. I'm unsure how to upload the video, so please feel free to discuss it. I'm not a professional, and the board certainly has many problems, so please bear with me.