Wheel drive is the densest subsystem in an AMR: it draws on more component categories than any other function. The reason is the closed loop. Driving a wheel means switching power, sensing the result, conditioning the signal, and acting on it in real time, with protection standing by throughout.
some architectures use discrete switches with separate drivers, others integrate the driver with the switch or the controller.
some architectures use discrete switches with separate drivers, others integrate the driver with the switch or the controller.