Robot arm, robot arm, epic robot arm. I spent an entire hour making a schematic for the LM5176PWP for one of my power stages, only to later realize that the current loops mayyyy be a little troublesome, especially given my FETs of choice- the IRF3806TRPBF in a DPAK package…. I suspect that the LM5176PWP was designed with another FET footprint in mind but, I, being the cheapo (no, just kidding, I like DPAK and I would prefer to keep using these specific FETs as they are…. Okay, I just made a realization halfway through writing this- guess what. Kicad, for some reason, makes pin 2 of a DPAK the gate. where… it is usually the drain. So, this entire time, even before posting this project here, I have been wiring everything in entirely the wrong fashion. yay. Well, that´ll be fun to correct!