Here's a fairly simple computer designed to support Lego Power Functions devices and run either Snek or Circuit Python, or even Arduino code.
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SAMD21G18 processor. This is the same chip used in many Arduino designs, including the Adafruit Metro M0 Express
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Single cell lithium polymer battery. Compact, powerful, and easy to support.
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Built-in USB battery charger. Charges at 800mA.
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Automatic switching between USB and battery power using a TI TPS2121 power mux.
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3.3V 3A power supply. Plenty of current to support external devices.
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9V 4.5A boost power supply using a Diodes, Inc PAM2422 boost regulator. Lego Power functions all work on 9V, so this supply provides the required voltage without needing 6 1.5V cells.
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4 TI DRV8800 2.8A motor controllers. The board can drive up to 4 bi-directional motors.
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8 3.3V GPIOs. These are provided on an 8x3 header along with power and ground.
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2MB NOR flash part. This provides program storage for Circuit Python.
SnekBoard is licensed under the TAPR Open Hardware License.