4-layer dual PCA9685 servo controller with Raspberry Pi 5, STM32 Nucleo, TXS0102 I2C level shifting, 6.0V/20A servo rail, and 5.1V logic rail.

4-layer dual PCA9685 servo controller for Raspberry Pi 5 and STM32 Nucleo with TXS0102 I2C level shifting, 6V/20A servo power distribution, OE safety disable, and VSense monitoring.