The set up to drive the motor uses a motor controller cirucit from Pololu that amplifies the pwm signal from a beaglebone. Although the circuit could use battery power, we are using a high power TI voltage regulator to try to keep the drive voltage stable. Since motor speed is directly proportional to drive voltage, this should give our motors a little more stable performance.
The schematic of the voltage regulator and motor control circuit [PDF]
Parts and Links
Pololu motor control circuit, 1213,
TI voltage regulator, PTN78020WAH [datasheet]
Housing for TI voltage regulator [CAD]
AND gate and SOIC adapter