Board #2  is built and I added more switches to control the current. This makes 6 control signals with fanouts 4, 3, 3, 1, 1, 1.  I'll have to wire the ULN2003s...

Now the problem is to detect the end of course through the current in the motor, which is measured by a 3.3 Ohms shunt resistor connected to the base of a transistor. The oscilloscope shows that the generated signal is far from the one I expected... End of course should be set after 50ms of "overcurrent" but  should be reset as soon as the current drops under the 0.2A. I try to do a discrete version but it's not as easy as I thought.