So for the StepDC I chose the Ti DRV8801 H-bridge chip. It can handle up to 36V at up to 2.8A and it has built in overcurrent protection and monitoring. I chose this chip because it has a wide voltage range and supports a decent amount of current. While the driver can handle up to 36V I designed the circuit to be safe for 24V since components ruggedized for 36V would increase the cost a bit. 

Anyways here is the reference schematic from the datasheet:

I'll be using these components:

https://www.digikey.com/product-detail/en/murata-electronics-north-america/GRM1885C1H102FA01D/490-6376-1-ND/3845573

https://www.digikey.com/product-detail/en/texas-instruments/DRV8801RTYR/296-23638-1-ND/1919072

https://www.digikey.com/product-detail/en/bourns-inc/CRM2512-FX-R200ELF/CRM2512-FX-R200ELFCT-ND/3438029

https://www.digikey.com/product-detail/en/panasonic-electronic-components/EEE-FTH101XAP/PCE5024CT-ND/2652079

https://www.digikey.com/product-detail/en/samsung-electro-mechanics/CL10B224KA8NNNC/1276-1111-1-ND/3889197

https://www.digikey.com/product-detail/en/tdk-corporation/CGA5L2C0G1H104J160AA/445-6984-1-ND/2673002

https://www.digikey.com/product-detail/en/panasonic-electronic-components/ERJ-3EKF1003V/P100KHCT-ND/198110

Next off is doing some component footprint creation and laying out the schematic!!