Oh, and BTW this is my controller/driver combo. I am a computer person by trade and in my line of work you learn to split things into manageable chunks or modules. Since I am new to electronics maybe what I have done is silly when it could've all been done on a single PCB but I thought splitting it all up makes it more manageable and easier to troubleshoot. Please feel free to slag my "design" off as much as you like. I am still learning.
P.S. Transistors used are TIP122/BD901 and not TIP120 as per picture.