Suggestions for my backdriveable dual DC motor schematic/PCB

[AClockworkOran]

Hi all

For a project I am assisting in I am working on a DC motor controller. The primary function of this board is to power motors at up to 10A at 24V while also allowing them to be backdrivable. A couple other features included are bi-directionial current sensing and a DC converter to power the control board that slots ontop.

My first design was one of the first PCBs I have ever designed and had a number of issues which I hope to have resolved. The most embarrassing of which is the inclusion of a relay that I realised would be best if I left perminatly powered on.

The main issues I hope I have fixed in the second design are:
A3941 H-Bridge drivers frying, I think this was due to the lack of capacitance across the H-Bridges and lack of a "dirty" and "clean" groundplane sections I also added additional recurculation diodes as recommended to my by one of my university professors.

The output from the current sensors was incredibly noisy (unusable levels). I have fixed this by including beads and capacitors on the incoming signal, using a proper voltage reference and including an ADC on the board as opposed to routing the output signals elsewhere. Would this be enough? I would like it to be clean enough to be used as a reference for current based control in the future.

Here is the old circuit: https://imgur.com/a/8hdoJK4

Here is my new design: https://imgur.com/a/HiuTpUn

I would really appreciate any feedback or suggestions on my new design, I'm proud of how much better it seems from the previous version but I don't want to have to make a revision 3.

[teksturi]

You seem to have many decoupling caps. In schematic but decoupling caps close to pins where your going to but them in your layout. That way you don't over do them.

In your new design many lines are way too smalls. Thous are even hard to see. Some off your lines go through mounting holes.

I like your first layout way more. It looks more that can even work.