KiCad project for the SojournerST two-channel closed-loop Motor Driver Board.
The firmware project can be found here.
The board is based on the TB6612 motor driver IC controlled via an STM32G441 (F4 should work as well) microcontroller and is designed to fit into a breadboard but also provides mounting holes to integrate it into a custom platform.
The controller uses quadrature encoder input to provide closed-loop PWM control to the driver IC. Power can either be supplied via USB to supply both logic and driver voltage or via a 3V3 logic and a motor voltage input (max. 15V).
Commanding can be done via UART or SPI.