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The MPR121 has support for only I2C, which can be implemented with nearly any microcontroller.
Although one can use resistors to make a divider, for high speed transfers, the resistors can add a lot of slew and cause havoc that is tough to debug.
This breakout board will solve all your power-monitoring problems. Instead of struggling with two multimeters, you can just use the handy INA219B chip on this breakout to both measure both the high side voltage and DC current draw over I2C with 1% precision.
Comes with a fully assembled board, and a stick of 0.1" header so you can plug it into a breadboard. For contacts, we suggest using copper foil, then solder a wire that connects from the foil pad to the breakout.
Finally, a way to get up to 8 same-address I2C devices hooked up to one microcontroller - this multiplexer acts as a gatekeeper, shuttling the commands to the selected set of I2C pins with your command.
We solder on TB6612 onto a breakout board for you here, with a polarity protection FET on the motor voltage input and a pullup on the "standby" enable pin.
Instead of a L293D darlington driver, we now have the TB6612 MOSFET drivers with 1.2A per channel current capability (you can draw up to 3A peak for approx 20ms at a time). It also has much lower voltage drops across the motor so you get more torque out of your batteries, and there are built-in flyback diodes as well.
The chip's fairly small so it comes on a breakout board with ferrites to keep the AVDD and AGND quiet. Interfacing is done via I2C. The address can be changed to one of four options (see the datasheet table 5) so you can have up to 4 ADS1115's connected on a single 2-wire I2C bus for 16 single ended inputs.
Here's a handy Arduino shield: we've had a lot of people looking for a dedicated and well-designed data logging shield.