Target is ROS2 control of four Mecanum wheels. Built as a subsystem that I can just plug in, so controlled over MicroROS and USB comms.
I've previously used L298n motor controllers board, for this project I wanted something I could use as a daughter board rather than lots of wires connecting. So I've adopted AT8236 modules, and two of them for this project.
I'm sharing the PCB design and control code in this project here: https://github.com/DrJonEA/RP2040QuadMotorController
Plus I have a video on YouTube talking through it, because I'm. better at talking that writting: https://youtu.be/z25BiAOfUmM
This is going to be part of a bigger "droid" project but I haven't decided the release strategy for that. Stay tuned or get in touch if you would like to help.