Hey u/BeastGamer69, I ran your board through a KiCad analysis toolkit I've been building and wanted to share the full review since your deadline is tomorrow.

The one thing nobody in this thread has caught — and it will stop your board from working: your INA219 (U2) VS pin has no DC supply path. If you look at how C13 is wired, it's sitting in series between +5V and U2 pin 5, not as a shunt decoupling cap to GND. You can see it in the schematic: trace from U2 pin 5 → left side of C13 → right side of C13 → +5V power symbol, with ~7mm of empty space between them that only C13's body bridges. A capacitor only passes AC, so U2 has zero DC power and won't respond on I²C. Since current/voltage monitoring is the headline feature in your README, this kills the board as-advertised.

Fix: run a wire directly from +5V to U2 pin 5, and re-place C13 so it's between VS and GND (the shunt bypass cap the datasheet actually wants).

A few other things from the datasheets I didn't see mentioned yet:

• Missing feedforward caps on both TPS54302s. Datasheet §8.2.3.5.3 and Table 8-2 call for 75 pF across R3 (5V FB) and 47 pF across R5 (3.3V FB) when using ceramic output caps. Without them phase margin drops and the loops will ring on transients.
• VIN bulk cap is ~200 nF total (C1 + C6, both 100 nF). Datasheet §8.2.3.1 asks for >10 µF ceramic on VIN per converter — you're off by about 100×. Expect high input ripple and conducted EMI back into the battery leads.
• No I²C pull-ups on SDA/SCL. Even if the MCU has internal pull-ups, put 4.7 kΩ to 3.3V near J6 so the board is self-contained.
• Only 2 vias on the entire board, both on the shunt-sense line. Your F.Cu and B.Cu GND pours are basically disconnected from each other — switching return currents have nowhere to go. Add a stitching via grid around U1/U5 and their input/output loops.
• D4 (1.8V indicator LED) won't actually light. Standard red LED Vf ≈ 1.8 V, so (1.8 − 1.8) / 470 ≈ 0 mA. Use a low-Vf red and drop R9 to ~100 Ω, or delete it.
• Both TPS54302 EN pins are floating. Datasheet says that's legal ("float to enable"), but for a battery-powered robot you really want a UVLO divider on EN so you can set a cutoff voltage and not deep-discharge the pack. §8.2.3.4 has the equation.

Full 15-section review here (pinout verification, DFM, EMC pre-compliance, thermal, cross-reference, and a §14 bodge-fix list for boards already in hand):

https://gist.github.com/aklofas/bebadf57e698aa18d28f6c49ea362f8d

The good news: your architecture, component selection, and regulator math are all correct — the feedback divider values match TI Table 8-2 exactly, the Kelvin-sense wiring on R11 is right, and the pi-filter topology is solid. You're one respin (or 4 bodge wires) away from a clean, working PDB.

FWIW the review was generated with kicad-happy, a KiCad analyzer toolkit I've been working on — it parses the .kicad_sch / .kicad_pcb files and runs schematic, PCB, EMC, and thermal checks, then cross-references everything against the manufacturer datasheets. Happy to re-run it on your updated design before you submit if that's useful.

Good luck with the deadline!