Schematics

TODO new perfboard and check pinout

ST pinout

PC7 -> usart rx

PC6 -> usart tx

PA5 -> tim2 ch1 (encoder_sx1)

PB3 -> tim2 ch2 (encoder_sx2)

PA0 -> tim5 ch1 (encoder_dx1)

PA1 -> tim5 ch2 (encoder_dx2)

Pololu (used as a shield)

PE9 -> fault1

PA6 -> fault2

PF15 -> sleep1

PF14 -> sleep2

PF12 -> dir1

PF12 -> dir2

PD15 -> pwm2

PD14 -> pwm1

PA3 -> current1

PC0 -> current2

All the 1 pins correspond to right motor, all the 2 correspond to left motor