This is by no means a definitive circuit, there are plenty of component numbers missed out and allot of  resistor values are default values used by the schematic drawing program. So basically this will not work if you build it, it is just a taster of my next step.

You will notice that the PWM circuit has changed, OUT A and OUT B have been grounded and pin 13 coupled with R7 (pull up resistor) is now the PWM output. This should give a far more stable output than the way it was. Staying with the PWM cct, you will notice a change to the shutdown circuit, the transistor that discharged the soft start cap has gone and I am now attempting to use the shutdown pin. This should hopefully give me faster current limiting but in the past it has proved quite explosive! You will notice that the Logic and the Current limiter are the same as these two bits work very well. The main addition is the 6 digital opto isolators that keep the interference prone logic and PWM stages away from the interference producing Power driver and Power stages. Because it now uses opto’s there needs to be two separate power supplys (Power circuit A&B). At the moment they are two separate batteries supplying various different voltage regulators, in the future I hope to design a Switch Mode Power Supply (SMPS) with suitable isolated outputs so that the whole thing can work off one battery.