diff --git a/boards/beagley/ai/05-demos.rst b/boards/beagley/ai/05-demos.rst
index b32bba5dc313745f2d1852969f7e29941a7568bb..afa9a8114408ecba5f06d921bc86336dfd999dca 100644
--- a/boards/beagley/ai/05-demos.rst
+++ b/boards/beagley/ai/05-demos.rst
@@ -7,3 +7,5 @@ Demos and tutorials
:maxdepth: 1
demos/beagley-ai-expansion-nvme
+ demos/pca9685-motor-drivers
+
diff --git a/boards/beagley/ai/demos/pca9685-motor-drivers.rst b/boards/beagley/ai/demos/pca9685-motor-drivers.rst
new file mode 100644
index 0000000000000000000000000000000000000000..dc416bfe57ae89c74488a373d39a5376ca10d885
--- /dev/null
+++ b/boards/beagley/ai/demos/pca9685-motor-drivers.rst
@@ -0,0 +1,229 @@
+.. _pca9685-motor-drivers:
+
+.. note:: This page is a work in progress. Further drive testing and images will be added soon
+
+Using PCA9685 Motor Drivers
+#############################
+
+There are several such "Motor and Servo Driver HATs" available on Amazon, Adafruit and other marketplaces. While different manufacturers implement them slightly differently, the operating principle remains the same.
+
+This guide aims to show you examples for two, namely the Xicoolee and Adafruit variants and how you can modify the example Python userspace library for other variations.
+
+Operating Principle
+************************************
+
+The `NXP PCA9685 <https://www.nxp.com/docs/en/data-sheet/PCA9685.pdf>`_ is a simple 16-channel, 12-bit PWM controller that communicates over I2C.
+
+While originally designed as an LED driver, it's ability to output PWM also makes it suitable as a Servo Motor driver.
+
+In addition, to add the ability to drive DC motors, some board designers add one or two `Toshiba TB6612FNG <https://www.sparkfun.com/datasheets/Robotics/TB6612FNG.pdf>`_ dual motor drivers as shown in the schematic below.
+
+.. image:: ../images/xicoolee_sch1.png
+
+
+If we look at the Xicoolee board and compare it to the schematic, we see that indeed Servo Channels 3-8 on the PCB Silkscreen match mins 12 through 18 of the PWM Driver, while PWM1, PWM2, INA1/2 and INB1/2 are used in conjunction with the TB6612FNG.
+
+Looking at the `TB6612FNG Datasheet <https://www.sparkfun.com/datasheets/Robotics/TB6612FNG.pdf>`_, we can see that the IN pins for Channels A and B (INAx, INBx) are used to control the direction or "mode" of the DC motor, while the PWM signal controls the rotation speed for that particular channel.
+
+.. image:: ../images/tb6612_control_function.png
+
+Thus, we can use the decoder table above to infer that to drive motor channel A at 50% speed clockwise, we would set the PCA9685 to output INA1 High, INA2 Low and PWM1 at a 50% duty cycle.
+
+If we wanted to go counter-clockwise, we would simply swap things around so INA1 was Low, INA2 was High and assuming we want to keep the same rotation speed, PWM1 at a 50% duty cycle.
+
+Lastly, we have the option for a "Short Brake" or a full "Stop" for the motors but please note that it is not recommended to keep motors in these states as that shorts the coils internally and will cause them to heat up over time. If you want to stop your motor, you should issue a "Stop" state followed by a short delay to allow the motor to physically stop rotating and then leave the motor in the "Stop" state by setting IN1 and IN2 to LOW.
+
+But enough theory, let's use some actual code to make things spin...
+
+Using Adafruit ServoKit
+**************************
+
+If you are looking to drive Servo motors accurately and not particularly interested in driving DC motors, you may consider using the Adafruit ServoKit library which simplifies this type of use case.
+As with all python modules, make sure you do so inside a virtual environment as shown below!
+
+.. code:: console
+
+ mkdir project-name && cd project-name
+ python3 -m venv .venv
+ source .venv/bin/activate
+ sudo pip3 install --upgrade setuptools
+ sudo pip install --upgrade adafruit-python-shell
+ wget https://raw.githubusercontent.com/adafruit/Raspberry-Pi-Installer-Scripts/master/raspi-blinka.py
+ sudo python raspi-blinka.py
+ pip3 install adafruit-circuitpython-servokit adafruit-circuitpython-busdevice adafruit-circuitpython-register
+
+From here, you should be able to run some example code such as the following:
+
+.. code:: Python
+
+ import time
+ from adafruit_servokit import ServoKit
+
+ # Set channels to the number of servo channels on your kit.
+ # 8 for FeatherWing, 16 for Shield/HAT/Bonnet.
+ kit = ServoKit(channels=16)
+
+ kit.servo[0].angle = 180
+ kit.continuous_servo[1].throttle = 1
+ time.sleep(1)
+ kit.continuous_servo[1].throttle = -1
+ time.sleep(1)
+ kit.servo[0].angle = 0
+ kit.continuous_servo[1].throttle = 0
+
+To explore ServoKit further, check out the `ServoKit Github Page and Examples <https://github.com/adafruit/Adafruit_CircuitPython_ServoKit/tree/main>`_
+
+
+Python User-space Driver
+**************************
+
+As mentioned before, the PCA9685 is a rather simple I2C device, so the driver for it is equally simple:
+`PCA9685.py <https://gist.github.com/Grippy98/7ef6a75b2dc7a9470bd8c4dfc6b53f0a>`_
+
+Simply download this to the root of your project and you are most of the way there.
+
+From there, you simply need an import statement and to define the driver instance:
+
+.. code:: Python
+
+ from PCA9685 import PCA9685
+
+ pwm = PCA9685(0x60, debug=False) #Default I2C Address for the shield is 0x60
+ pwm.setPWMFreq(50) #Most Servo Motors use a PWM Frequency of 50Hz
+
+You can now drive LEDs or servo motors by issuing the following command (replacing pin and dutyCycle with your particular values):
+
+.. code:: Python
+
+ pwm.setDutycycle(pin, dutyCycle)
+
+WaveShare Motor and Servo Driver HAT
+************************************
+
+Waveshare writes some of the better `documentation <https://www.waveshare.com/wiki/Motor_Driver_HAT>`_ for these types of Motor Driver HATs
+
+TODO EXPAND HERE
+
+XICOOLEE Motor and Servo Driver HAT
+************************************
+
+.. image:: ../images/xicoolee_pca9685_1.jpg
+
+Photo Credit - Xicoolee
+
+Looking at the schematic for the Xicoolee HAT, we see that we need to define our DC motor pins as follows:
+
+.. code:: Python
+
+ #Xicoolee TB6612FNG
+
+ self.PWMA = 0
+ self.AIN1 = 2
+ self.AIN2 = 1
+ self.PWMB = 5
+ self.BIN1 = 3
+ self.BIN2 = 4
+
+We can then run some simple example code as shown below:
+
+.. code:: Python
+
+ #!/usr/bin/python
+
+ from PCA9685 import PCA9685
+ import time
+
+ Dir = [
+ 'forward',
+ 'backward',
+ ]
+ pwm = PCA9685(0x40, debug=False)
+ pwm.setPWMFreq(50)
+
+ class MotorDriver():
+ def __init__(self):
+ # Match these to your particular HAT!
+ self.PWMA = 0
+ self.AIN1 = 2
+ self.AIN2 = 1
+ self.PWMB = 5
+ self.BIN1 = 3
+ self.BIN2 = 4
+
+ def MotorRun(self, motor, index, speed):
+ if speed > 100:
+ return
+ if(motor == 0):
+ pwm.setDutycycle(self.PWMA, speed)
+ if(index == Dir[0]):
+ print ("1")
+ pwm.setLevel(self.AIN1, 0)
+ pwm.setLevel(self.AIN2, 1)
+ else:
+ print ("2")
+ pwm.setLevel(self.AIN1, 1)
+ pwm.setLevel(self.AIN2, 0)
+ else:
+ pwm.setDutycycle(self.PWMB, speed)
+ if(index == Dir[0]):
+ print ("3")
+ pwm.setLevel(self.BIN1, 0)
+ pwm.setLevel(self.BIN2, 1)
+ else:
+ print ("4")
+ pwm.setLevel(self.BIN1, 1)
+ pwm.setLevel(self.BIN2, 0)
+
+ def MotorStop(self, motor):
+ if (motor == 0):
+ pwm.setDutycycle(self.PWMA, 0)
+ else:
+ pwm.setDutycycle(self.PWMB, 0)
+
+ print("this is a motor driver test code")
+ Motor = MotorDriver()
+
+ print("forward 2 s")
+ Motor.MotorRun(0, 'forward', 100)
+ Motor.MotorRun(1, 'forward', 100)
+ time.sleep(2)
+
+ print("backward 2 s")
+ Motor.MotorRun(0, 'backward', 100)
+ Motor.MotorRun(1, 'backward', 100)
+ time.sleep(2)
+
+ print("stop")
+ Motor.MotorStop(0)
+ Motor.MotorStop(1)
+
+Adafruit DC & Stepper Motor HAT
+************************************
+
+.. image:: ../images/adafruit_pca9685_1.jpg
+
+Photo Credit - Adafruit
+
+Looking at the schematic for the Adafruit HAT, we see that we need to define our DC motor pins as follows:
+
+.. code:: Python
+
+ #Adafruit TB6612FNG #1
+
+ self.PWMA = 8
+ self.AIN1 = 10
+ self.AIN2 = 9
+ self.PWMB = 13
+ self.BIN1 = 11
+ self.BIN2 = 12
+
+ #Adafruit TB6612FNG #2
+
+ self.PWMA_2 = 2
+ self.AIN1_2 = 4
+ self.AIN2_2 = 3
+ self.PWMB_2 = 7
+ self.BIN1_2 = 5
+ self.BIN2_2 = 6
+
+TODO - expand on running 2 DC motor objects
\ No newline at end of file
diff --git a/boards/beagley/ai/expansion/Booting from NVMe HATs.rst b/boards/beagley/ai/expansion/Booting from NVMe HATs.rst
index f02ea50be996d508b25ee29e9712135d7a0e4303..07378fe71dd38a2b067fc58d577a25727a8e5c50 100644
--- a/boards/beagley/ai/expansion/Booting from NVMe HATs.rst
+++ b/boards/beagley/ai/expansion/Booting from NVMe HATs.rst
@@ -154,6 +154,6 @@ You should see something similar to below without further errors:
Still having issues?
-***
+************************
-Post on the (`Forum <https://forum.beagleboard.org/>`_.) and talk to us on Discord.
\ No newline at end of file
+Post on the `Forum <https://forum.beagleboard.org/>`_ and talk to us on Discord.
\ No newline at end of file
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