This shield could be a good alternative to hobby RC controllers for robots that need a customizable open-source motor controller. The PCB design and source code are available on GitHub.

The High Power H-Bridge Motor Shield for Arduino is equipped with built-in current sensing utilizing the ACS712, and is capable of driving any DC motor up to 15Amp.

Download the codes here Arduino simple shield potentiometer code: Arduino shield rc car: Arduino nano module L298P code: ...