pcb onder gemaakt

22 files changed, 4028 insertions, 46 deletions

diff --git a/pcb/pcb.sch b/pcb/pcb.sch
index 48fbab6..c9237f5 100644
--- a/pcb/pcb.sch
+++ b/pcb/pcb.sch
@@ -963,17 +963,6 @@ Wire Wire Line
 Connection ~ 10850 2200
 Connection ~ 10850 2300
 $Comp
-L Device:R R2
-U 1 1 675AF867
-P 11500 2725
-F 0 "R2" H 11570 2771 50  0000 L CNN
-F 1 "R" H 11570 2680 50  0000 L CNN
-F 2 "custom:resistor" V 11430 2725 50  0001 C CNN
-F 3 "~" H 11500 2725 50  0001 C CNN
-	1    11500 2725
-	1    0    0    -1  
-$EndComp
-$Comp
 L Device:R R3
 U 1 1 675B0045
 P 11725 2725
@@ -1907,4 +1896,15 @@ Wire Wire Line
 Connection ~ 3575 5975
 Wire Wire Line
 	3575 5975 3575 12425
+$Comp
+L Device:R R2
+U 1 1 675AF867
+P 11500 2725
+F 0 "R2" H 11570 2771 50  0000 L CNN
+F 1 "R" H 11570 2680 50  0000 L CNN
+F 2 "custom:resistor" V 11430 2725 50  0001 C CNN
+F 3 "~" H 11500 2725 50  0001 C CNN
+	1    11500 2725
+	1    0    0    -1  
+$EndComp
 $EndSCHEMATC
diff --git a/pcb/pcb.sch-bak b/pcb/pcb.sch-bak
index c22bd96..48fbab6 100644
--- a/pcb/pcb.sch-bak
+++ b/pcb/pcb.sch-bak
@@ -1864,10 +1864,10 @@ Wire Wire Line
 Connection ~ 19100 7900
 Connection ~ 20475 12425
 $Comp
-L sftn01m-05n:SFTN01M-05N PS?
+L sftn01m-05n:SFTN01M-05N PS1
 U 1 1 66490BE8
 P 1975 5400
-F 0 "PS?" H 2625 5665 50  0000 C CNN
+F 0 "PS1" H 2625 5665 50  0000 C CNN
 F 1 "SFTN01M-05N" H 2625 5574 50  0000 C CNN
 F 2 "custom:SFTN01M05N" H 3125 5500 50  0001 L CNN
 F 3 "https://www.meanwell.com/webapp/product/search.aspx?prod=SFTN01-N" H 3125 5400 50  0001 L CNN
diff --git a/pcb_boven/fp-info-cache b/pcb_boven/fp-info-cache
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/pcb_boven/fp-info-cache
@@ -0,0 +1 @@
+0
diff --git a/pcb_boven/pcb_boven-cache.lib b/pcb_boven/pcb_boven-cache.lib
index 901f9b5..22690f7 100644
--- a/pcb_boven/pcb_boven-cache.lib
+++ b/pcb_boven/pcb_boven-cache.lib
@@ -1,6 +1,26 @@
 EESchema-LIBRARY Version 2.4
 #encoding utf-8
 #
+# Device_Buzzer
+#
+DEF Device_Buzzer BZ 0 1 Y N 1 F N
+F0 "BZ" 150 50 50 H V L CNN
+F1 "Device_Buzzer" 150 -50 50 H V L CNN
+F2 "" -25 100 50 V I C CNN
+F3 "" -25 100 50 V I C CNN
+$FPLIST
+ *Buzzer*
+$ENDFPLIST
+DRAW
+A 0 0 125 -899 899 0 1 0 N 0 -125 0 125
+P 2 0 1 0 -65 75 -45 75 N
+P 2 0 1 0 -55 85 -55 65 N
+P 2 0 1 0 0 125 0 -125 N
+X - 1 -100 100 100 R 50 50 1 1 P
+X + 2 -100 -100 100 R 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
 # Device_R
 #
 DEF Device_R R 0 0 N Y 1 F N
@@ -126,6 +146,23 @@ X ~ 9 300 0 200 L 50 50 1 1 P
 ENDDRAW
 ENDDEF
 #
+# miniimu-9_v6_miniIMU-9_v6
+#
+DEF miniimu-9_v6_miniIMU-9_v6 U 0 40 Y Y 1 F N
+F0 "U" 0 450 50 H V C CNN
+F1 "miniimu-9_v6_miniIMU-9_v6" 0 450 50 H V C CNN
+F2 "" 0 450 50 H I C CNN
+F3 "" 0 450 50 H I C CNN
+DRAW
+S 450 -600 -250 300 0 1 0 N
+X scl 0 -100 -600 100 U 50 50 1 1 B
+X sda 1 0 -600 100 U 50 50 1 1 B
+X gnd 2 100 -600 100 U 50 50 1 1 W
+X vin(2.5-5v) 3 200 -600 100 U 50 50 1 1 W
+X sa0 4 300 -600 100 U 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
 # openmv_m7_r2_openMV_M7_R2
 #
 DEF openmv_m7_r2_openMV_M7_R2 U 0 40 Y Y 1 F N
diff --git a/pcb_boven/pcb_boven.sch b/pcb_boven/pcb_boven.sch
index 6504dbc..5a67258 100644
--- a/pcb_boven/pcb_boven.sch
+++ b/pcb_boven/pcb_boven.sch
@@ -14,10 +14,10 @@ Comment3 ""
 Comment4 ""
 $EndDescr
 $Comp
-L openmv_m7_r2:openMV_M7_R2 U?
+L openmv_m7_r2:openMV_M7_R2 U2
 U 1 1 66360711
 P 9350 5325
-F 0 "U?" H 9350 6490 50  0000 C CNN
+F 0 "U2" H 9350 6490 50  0000 C CNN
 F 1 "openMV_M7_R2" H 9350 6399 50  0000 C CNN
 F 2 "custom:openmv_m7_r2" H 9350 6675 50  0001 C CNN
 F 3 "" H 9350 6675 50  0001 C CNN
@@ -47,10 +47,10 @@ F 3 "" H 825 425 50  0001 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L teensy:Teensy4.1 control_board
+L teensy:Teensy4.1 control_board1
 U 1 1 66362D60
 P 6125 8750
-F 0 "control_board" H 6125 11315 50  0000 C CNN
+F 0 "control_board1" H 6125 11315 50  0000 C CNN
 F 1 "Teensy4.1" H 6125 11224 50  0000 C CNN
 F 2 "" H 5725 9150 50  0001 C CNN
 F 3 "" H 5725 9150 50  0001 C CNN
@@ -58,10 +58,10 @@ F 3 "" H 5725 9150 50  0001 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L Switch:SW_DIP_x06 dip_swith_instellinen
+L Switch:SW_DIP_x06 dip_swith_instellinen1
 U 1 1 66364D70
 P 3575 7200
-F 0 "dip_swith_instellinen" H 3575 7767 50  0000 C CNN
+F 0 "dip_swith_instellinen1" H 3575 7767 50  0000 C CNN
 F 1 "SW_DIP_x06" H 3575 7676 50  0000 C CNN
 F 2 "" H 3575 7200 50  0001 C CNN
 F 3 "~" H 3575 7200 50  0001 C CNN
@@ -69,10 +69,10 @@ F 3 "~" H 3575 7200 50  0001 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L Switch:SW_DIP_x01 goal_kleur
+L Switch:SW_DIP_x01 goal_kleur1
 U 1 1 66365885
 P 10775 5125
-F 0 "goal_kleur" H 10775 4858 50  0000 C CNN
+F 0 "goal_kleur1" H 10775 4858 50  0000 C CNN
 F 1 "SW_DIP_x01" H 10775 4949 50  0000 C CNN
 F 2 "" H 10775 5125 50  0001 C CNN
 F 3 "~" H 10775 5125 50  0001 C CNN
@@ -245,7 +245,7 @@ F 3 "" H 8350 1575 50  0001 C CNN
 	1    0    0    -1  
 $EndComp
 Wire Wire Line
-	7225 7300 8100 7300
+	7225 7300 7350 7300
 Wire Wire Line
 	8100 7300 8100 10775
 Wire Wire Line
@@ -253,7 +253,7 @@ Wire Wire Line
 Text GLabel 1300 10775 0    50   Input ~ 0
 scl
 Wire Wire Line
-	7225 7400 8075 7400
+	7225 7400 7425 7400
 Wire Wire Line
 	8075 7400 8075 10675
 Wire Wire Line
@@ -269,7 +269,7 @@ Wire Wire Line
 Text GLabel 1300 10875 0    50   Input ~ 0
 gnd
 Wire Wire Line
-	7225 6600 8150 6600
+	7225 6600 7675 6600
 Wire Wire Line
 	8150 6600 8150 10975
 Wire Wire Line
@@ -771,7 +771,7 @@ Wire Wire Line
 Connection ~ 4350 6025
 Connection ~ 4200 6025
 Wire Wire Line
-	4800 6025 7550 6025
+	4800 6025 7275 6025
 Wire Wire Line
 	7550 6025 7550 6700
 Connection ~ 4800 6025
@@ -797,4 +797,95 @@ Wire Wire Line
 Wire Wire Line
 	10025 4450 10025 5825
 Connection ~ 10025 5825
+$Comp
+L Device:Buzzer BZ1
+U 1 1 663737AA
+P 3950 8225
+F 0 "BZ1" H 3955 8515 50  0000 C CNN
+F 1 "Buzzer" H 3955 8424 50  0000 C CNN
+F 2 "" V 3925 8325 50  0001 C CNN
+F 3 "~" V 3925 8325 50  0001 C CNN
+	1    3950 8225
+	-1   0    0    -1  
+$EndComp
+Wire Wire Line
+	4050 8125 4500 8125
+Wire Wire Line
+	4500 8125 4500 7500
+Wire Wire Line
+	4500 7500 5025 7500
+Wire Wire Line
+	2900 6025 4050 6025
+Wire Wire Line
+	4050 8325 4300 8325
+Connection ~ 4050 6025
+Wire Wire Line
+	2900 8475 4300 8475
+Wire Wire Line
+	4300 8475 4300 8325
+Wire Wire Line
+	2900 6025 2900 8475
+$Comp
+L miniimu-9_v6:miniIMU-9_v6 U1
+U 1 1 663B967A
+P 7050 4650
+F 0 "U1" H 7528 4538 50  0000 L CNN
+F 1 "miniIMU-9_v6" H 7528 4447 50  0000 L CNN
+F 2 "custom:miniIMU-9_v6" H 7050 5100 50  0001 C CNN
+F 3 "" H 7050 5100 50  0001 C CNN
+	1    7050 4650
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	7150 5250 7150 5550
+Wire Wire Line
+	7150 5550 7275 5550
+Wire Wire Line
+	7275 5550 7275 6025
+Connection ~ 7275 6025
+Wire Wire Line
+	7275 6025 7550 6025
+Wire Wire Line
+	7675 6600 7675 5500
+Wire Wire Line
+	7675 5500 7250 5500
+Wire Wire Line
+	7250 5500 7250 5250
+Connection ~ 7675 6600
+Wire Wire Line
+	7675 6600 8150 6600
+Wire Wire Line
+	7050 5250 7050 6175
+Wire Wire Line
+	7050 6175 7425 6175
+Wire Wire Line
+	7425 6175 7425 7400
+Connection ~ 7425 7400
+Wire Wire Line
+	7425 7400 8075 7400
+Wire Wire Line
+	7350 7300 7350 6250
+Wire Wire Line
+	7350 6250 6950 6250
+Wire Wire Line
+	6950 6250 6950 5250
+Connection ~ 7350 7300
+Wire Wire Line
+	7350 7300 8100 7300
+Text GLabel 1300 10175 0    50   Input ~ 0
+A
+Text GLabel 1300 10075 0    50   Input ~ 0
+B
+Wire Wire Line
+	4800 7700 5025 7700
+Wire Wire Line
+	950  10175 4800 10175
+Wire Wire Line
+	4800 10175 4800 7700
+Wire Wire Line
+	5025 7600 4775 7600
+Wire Wire Line
+	4775 7600 4775 10075
+Wire Wire Line
+	4775 10075 950  10075
 $EndSCHEMATC
diff --git a/pcb_boven/pcb_boven.sch-bak b/pcb_boven/pcb_boven.sch-bak
index aac0e4f..9d08133 100644
--- a/pcb_boven/pcb_boven.sch-bak
+++ b/pcb_boven/pcb_boven.sch-bak
@@ -71,13 +71,13 @@ $EndComp
 $Comp
 L Switch:SW_DIP_x01 goal_kleur
 U 1 1 66365885
-P 3225 8450
-F 0 "goal_kleur" H 3225 8717 50  0000 C CNN
-F 1 "SW_DIP_x01" H 3225 8626 50  0000 C CNN
-F 2 "" H 3225 8450 50  0001 C CNN
-F 3 "~" H 3225 8450 50  0001 C CNN
-	1    3225 8450
-	1    0    0    -1  
+P 10775 5125
+F 0 "goal_kleur" H 10775 4858 50  0000 C CNN
+F 1 "SW_DIP_x01" H 10775 4949 50  0000 C CNN
+F 2 "" H 10775 5125 50  0001 C CNN
+F 3 "~" H 10775 5125 50  0001 C CNN
+	1    10775 5125
+	-1   0    0    1   
 $EndComp
 $Comp
 L tssp4038:tssp4038 ir_sensor_2
@@ -245,7 +245,7 @@ F 3 "" H 8350 1575 50  0001 C CNN
 	1    0    0    -1  
 $EndComp
 Wire Wire Line
-	7225 7300 8100 7300
+	7225 7300 7350 7300
 Wire Wire Line
 	8100 7300 8100 10775
 Wire Wire Line
@@ -253,7 +253,7 @@ Wire Wire Line
 Text GLabel 1300 10775 0    50   Input ~ 0
 scl
 Wire Wire Line
-	7225 7400 8075 7400
+	7225 7400 7425 7400
 Wire Wire Line
 	8075 7400 8075 10675
 Wire Wire Line
@@ -269,7 +269,7 @@ Wire Wire Line
 Text GLabel 1300 10875 0    50   Input ~ 0
 gnd
 Wire Wire Line
-	7225 6600 8150 6600
+	7225 6600 7675 6600
 Wire Wire Line
 	8150 6600 8150 10975
 Wire Wire Line
@@ -683,13 +683,13 @@ $EndComp
 $Comp
 L Device:R R1
 U 1 1 665A1C89
-P 2200 8400
-F 0 "R1" V 1993 8400 50  0000 C CNN
-F 1 "R" V 2084 8400 50  0000 C CNN
-F 2 "custom:resistor" V 2130 8400 50  0001 C CNN
-F 3 "~" H 2200 8400 50  0001 C CNN
-	1    2200 8400
-	0    1    1    0   
+P 10225 4600
+F 0 "R1" V 10018 4600 50  0000 C CNN
+F 1 "R" V 10109 4600 50  0000 C CNN
+F 2 "custom:resistor" V 10155 4600 50  0001 C CNN
+F 3 "~" H 10225 4600 50  0001 C CNN
+	1    10225 4600
+	1    0    0    -1  
 $EndComp
 Wire Wire Line
 	5025 6900 4050 6900
@@ -771,11 +771,121 @@ Wire Wire Line
 Connection ~ 4350 6025
 Connection ~ 4200 6025
 Wire Wire Line
-	4800 6025 7550 6025
+	4800 6025 7275 6025
 Wire Wire Line
 	7550 6025 7550 6700
 Connection ~ 4800 6025
 Connection ~ 7550 6700
 Wire Wire Line
 	7550 6700 8125 6700
+Wire Wire Line
+	9950 5625 10225 5625
+Wire Wire Line
+	10225 5625 10225 5125
+Wire Wire Line
+	10475 5125 10225 5125
+Connection ~ 10225 5125
+Wire Wire Line
+	10225 5125 10225 4750
+Wire Wire Line
+	11075 5125 11075 6800
+Wire Wire Line
+	11075 6800 11025 6800
+Connection ~ 11025 6800
+Wire Wire Line
+	10225 4450 10025 4450
+Wire Wire Line
+	10025 4450 10025 5825
+Connection ~ 10025 5825
+$Comp
+L Device:Buzzer BZ?
+U 1 1 663737AA
+P 3950 8225
+F 0 "BZ?" H 3955 8515 50  0000 C CNN
+F 1 "Buzzer" H 3955 8424 50  0000 C CNN
+F 2 "" V 3925 8325 50  0001 C CNN
+F 3 "~" V 3925 8325 50  0001 C CNN
+	1    3950 8225
+	-1   0    0    -1  
+$EndComp
+Wire Wire Line
+	4050 8125 4500 8125
+Wire Wire Line
+	4500 8125 4500 7500
+Wire Wire Line
+	4500 7500 5025 7500
+Wire Wire Line
+	2900 6025 4050 6025
+Wire Wire Line
+	4050 8325 4300 8325
+Connection ~ 4050 6025
+Wire Wire Line
+	2900 8475 4300 8475
+Wire Wire Line
+	4300 8475 4300 8325
+Wire Wire Line
+	2900 6025 2900 8475
+$Comp
+L miniimu-9_v6:miniIMU-9_v6 U?
+U 1 1 663B967A
+P 7050 4650
+F 0 "U?" H 7528 4538 50  0000 L CNN
+F 1 "miniIMU-9_v6" H 7528 4447 50  0000 L CNN
+F 2 "custom:miniIMU-9_v6" H 7050 5100 50  0001 C CNN
+F 3 "" H 7050 5100 50  0001 C CNN
+	1    7050 4650
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	7150 5250 7150 5550
+Wire Wire Line
+	7150 5550 7275 5550
+Wire Wire Line
+	7275 5550 7275 6025
+Connection ~ 7275 6025
+Wire Wire Line
+	7275 6025 7550 6025
+Wire Wire Line
+	7675 6600 7675 5500
+Wire Wire Line
+	7675 5500 7250 5500
+Wire Wire Line
+	7250 5500 7250 5250
+Connection ~ 7675 6600
+Wire Wire Line
+	7675 6600 8150 6600
+Wire Wire Line
+	7050 5250 7050 6175
+Wire Wire Line
+	7050 6175 7425 6175
+Wire Wire Line
+	7425 6175 7425 7400
+Connection ~ 7425 7400
+Wire Wire Line
+	7425 7400 8075 7400
+Wire Wire Line
+	7350 7300 7350 6250
+Wire Wire Line
+	7350 6250 6950 6250
+Wire Wire Line
+	6950 6250 6950 5250
+Connection ~ 7350 7300
+Wire Wire Line
+	7350 7300 8100 7300
+Text GLabel 1300 10175 0    50   Input ~ 0
+A
+Text GLabel 1300 10075 0    50   Input ~ 0
+B
+Wire Wire Line
+	4800 7700 5025 7700
+Wire Wire Line
+	950  10175 4800 10175
+Wire Wire Line
+	4800 10175 4800 7700
+Wire Wire Line
+	5025 7600 4775 7600
+Wire Wire Line
+	4775 7600 4775 10075
+Wire Wire Line
+	4775 10075 950  10075
 $EndSCHEMATC
diff --git a/pcb_onder/fp-info-cache b/pcb_onder/fp-info-cache
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/pcb_onder/fp-info-cache
@@ -0,0 +1 @@
+0
diff --git a/pcb_onder/l298n.bck b/pcb_onder/l298n.bck
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_onder/l298n.bck
@@ -0,0 +1,3 @@
+EESchema-DOCLIB  Version 2.0
+#
+#End Doc Library
diff --git a/pcb_onder/l298n.dcm b/pcb_onder/l298n.dcm
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_onder/l298n.dcm
@@ -0,0 +1,3 @@
+EESchema-DOCLIB  Version 2.0
+#
+#End Doc Library
diff --git a/pcb_onder/l298n.lib b/pcb_onder/l298n.lib
new file mode 100644
index 0000000..951109a
--- /dev/null
+++ b/pcb_onder/l298n.lib
@@ -0,0 +1,29 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# l298n
+#
+DEF l298n U 0 40 Y Y 1 F N
+F0 "U" 0 700 50 H V C CNN
+F1 "l298n" 0 600 50 H V C CNN
+F2 "custom:l298n" 0 700 50 H I C CNN
+F3 "" 0 700 50 H I C CNN
+DRAW
+S -500 500 500 -500 0 1 0 N
+X out1 0 -500 250 100 R 50 50 1 1 W
+X out2 1 -500 150 100 R 50 50 1 1 W
+X EnB 10 450 -500 100 U 50 50 1 1 W
+X out3 11 500 150 100 L 50 50 1 1 W
+X ou4 12 500 250 100 L 50 50 1 1 W
+X 12v 2 -450 -500 100 U 50 50 1 1 W
+X gnd 3 -350 -500 100 U 50 50 1 1 W
+X 5v 4 -250 -500 100 U 50 50 1 1 W
+X EnA 5 -50 -500 100 U 50 50 1 1 W
+X in1 6 50 -500 100 U 50 50 1 1 W
+X in2 7 150 -500 100 U 50 50 1 1 W
+X in3 8 250 -500 100 U 50 50 1 1 W
+X in4 9 350 -500 100 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb_onder/noname.kicad_pcb b/pcb_onder/noname.kicad_pcb
new file mode 100644
index 0000000..74968ce
--- /dev/null
+++ b/pcb_onder/noname.kicad_pcb
@@ -0,0 +1,952 @@
+(kicad_pcb (version 20171130) (host pcbnew 5.1.9+dfsg1-1+deb11u1)
+
+  (general
+    (thickness 1.6)
+    (drawings 0)
+    (tracks 0)
+    (zones 0)
+    (modules 18)
+    (nets 73)
+  )
+
+  (page A4)
+  (layers
+    (0 F.Cu signal)
+    (31 B.Cu signal)
+    (32 B.Adhes user)
+    (33 F.Adhes user)
+    (34 B.Paste user)
+    (35 F.Paste user)
+    (36 B.SilkS user)
+    (37 F.SilkS user)
+    (38 B.Mask user)
+    (39 F.Mask user)
+    (40 Dwgs.User user)
+    (41 Cmts.User user)
+    (42 Eco1.User user)
+    (43 Eco2.User user)
+    (44 Edge.Cuts user)
+    (45 Margin user)
+    (46 B.CrtYd user)
+    (47 F.CrtYd user)
+    (48 B.Fab user)
+    (49 F.Fab user)
+  )
+
+  (setup
+    (last_trace_width 0.25)
+    (trace_clearance 0.2)
+    (zone_clearance 0.508)
+    (zone_45_only no)
+    (trace_min 0.2)
+    (via_size 0.8)
+    (via_drill 0.4)
+    (via_min_size 0.4)
+    (via_min_drill 0.3)
+    (uvia_size 0.3)
+    (uvia_drill 0.1)
+    (uvias_allowed no)
+    (uvia_min_size 0.2)
+    (uvia_min_drill 0.1)
+    (edge_width 0.05)
+    (segment_width 0.2)
+    (pcb_text_width 0.3)
+    (pcb_text_size 1.5 1.5)
+    (mod_edge_width 0.12)
+    (mod_text_size 1 1)
+    (mod_text_width 0.15)
+    (pad_size 1.524 1.524)
+    (pad_drill 0.762)
+    (pad_to_mask_clearance 0)
+    (aux_axis_origin 0 0)
+    (visible_elements FFFFFF7F)
+    (pcbplotparams
+      (layerselection 0x010fc_ffffffff)
+      (usegerberextensions false)
+      (usegerberattributes true)
+      (usegerberadvancedattributes true)
+      (creategerberjobfile true)
+      (excludeedgelayer true)
+      (linewidth 0.150000)
+      (plotframeref false)
+      (viasonmask false)
+      (mode 1)
+      (useauxorigin false)
+      (hpglpennumber 1)
+      (hpglpenspeed 20)
+      (hpglpendiameter 15.000000)
+      (psnegative false)
+      (psa4output false)
+      (plotreference true)
+      (plotvalue true)
+      (plotinvisibletext false)
+      (padsonsilk false)
+      (subtractmaskfromsilk false)
+      (outputformat 1)
+      (mirror false)
+      (drillshape 1)
+      (scaleselection 1)
+      (outputdirectory ""))
+  )
+
+  (net 0 "")
+  (net 1 +12v)
+  (net 2 "Net-(3.3v_converter1-Pad2)")
+  (net 3 gnd)
+  (net 4 "Net-(3.3v_converter1-Pad4)")
+  (net 5 "Net-(3.3v_converter1-Pad6)")
+  (net 6 3.3v)
+  (net 7 "Net-(5v_converter1-Pad3)")
+  (net 8 "Net-(5v_converter1-Pad6)")
+  (net 9 "Net-(5v_converter1-Pad7)")
+  (net 10 5v)
+  (net 11 "Net-(5v_converter1-Pad10)")
+  (net 12 "Net-(5v_converter1-Pad11)")
+  (net 13 "Net-(5v_converter1-Pad12)")
+  (net 14 sda)
+  (net 15 scl)
+  (net 16 "Net-(i2c_multiplexer1-Pad21)")
+  (net 17 "Net-(i2c_multiplexer1-Pad20)")
+  (net 18 "Net-(i2c_multiplexer1-Pad19)")
+  (net 19 sc6)
+  (net 20 sd6)
+  (net 21 "Net-(i2c_multiplexer1-Pad16)")
+  (net 22 "Net-(i2c_multiplexer1-Pad15)")
+  (net 23 "Net-(i2c_multiplexer1-Pad14)")
+  (net 24 "Net-(i2c_multiplexer1-Pad13)")
+  (net 25 "Net-(i2c_multiplexer1-Pad11)")
+  (net 26 "Net-(i2c_multiplexer1-Pad10)")
+  (net 27 "Net-(i2c_multiplexer1-Pad9)")
+  (net 28 "Net-(i2c_multiplexer1-Pad8)")
+  (net 29 "Net-(i2c_multiplexer1-Pad7)")
+  (net 30 "Net-(i2c_multiplexer1-Pad6)")
+  (net 31 "Net-(i2c_multiplexer1-Pad5)")
+  (net 32 "Net-(i2c_multiplexer1-Pad4)")
+  (net 33 "Net-(i2c_multiplexer1-Pad3)")
+  (net 34 "Net-(i2c_multiplexer1-Pad2)")
+  (net 35 "Net-(i2c_multiplexer1-Pad1)")
+  (net 36 "Net-(motor1-Pad3)")
+  (net 37 "Net-(motor1-Pad2)")
+  (net 38 "Net-(motor2-Pad3)")
+  (net 39 "Net-(motor2-Pad2)")
+  (net 40 B)
+  (net 41 A)
+  (net 42 "Net-(motor_driver1-Pad12)")
+  (net 43 "Net-(motor_driver1-Pad13)")
+  (net 44 "Net-(motor_driver1-Pad11)")
+  (net 45 "Net-(motor_driver1-Pad10)")
+  (net 46 "Net-(motor_driver1-Pad9)")
+  (net 47 "Net-(motor_driver1-Pad8)")
+  (net 48 "Net-(motor_driver1-Pad5)")
+  (net 49 "Net-(motor_driver2-Pad12)")
+  (net 50 "Net-(motor_driver2-Pad13)")
+  (net 51 "Net-(motor_driver2-Pad11)")
+  (net 52 "Net-(motor_driver2-Pad10)")
+  (net 53 "Net-(motor_driver2-Pad9)")
+  (net 54 "Net-(motor_driver2-Pad8)")
+  (net 55 "Net-(motor_driver2-Pad5)")
+  (net 56 "Net-(motor_driver3-Pad12)")
+  (net 57 "Net-(motor_driver3-Pad13)")
+  (net 58 "Net-(motor_driver3-Pad11)")
+  (net 59 "Net-(motor_driver3-Pad10)")
+  (net 60 "Net-(motor_driver3-Pad9)")
+  (net 61 "Net-(motor_driver3-Pad8)")
+  (net 62 "Net-(motor_driver3-Pad5)")
+  (net 63 "Net-(port_multiplexer_2-Pad14)")
+  (net 64 "Net-(port_multiplexer_2-Pad13)")
+  (net 65 "Net-(port_multiplexer_2-Pad12)")
+  (net 66 "Net-(port_multiplexer_2-Pad11)")
+  (net 67 "Net-(port_multiplexer_2-Pad20)")
+  (net 68 "Net-(port_multiplexer_2-Pad19)")
+  (net 69 "Net-(port_multiplexer_2-Pad18)")
+  (net 70 "Net-(port_multiplexer_2-Pad17)")
+  (net 71 "Net-(port_multiplexer_2-Pad16)")
+  (net 72 "Net-(port_multiplexer_2-Pad15)")
+
+  (net_class Default "This is the default net class."
+    (clearance 0.2)
+    (trace_width 0.25)
+    (via_dia 0.8)
+    (via_drill 0.4)
+    (uvia_dia 0.3)
+    (uvia_drill 0.1)
+    (add_net +12v)
+    (add_net 3.3v)
+    (add_net 5v)
+    (add_net A)
+    (add_net B)
+    (add_net "Net-(3.3v_converter1-Pad2)")
+    (add_net "Net-(3.3v_converter1-Pad4)")
+    (add_net "Net-(3.3v_converter1-Pad6)")
+    (add_net "Net-(5v_converter1-Pad10)")
+    (add_net "Net-(5v_converter1-Pad11)")
+    (add_net "Net-(5v_converter1-Pad12)")
+    (add_net "Net-(5v_converter1-Pad3)")
+    (add_net "Net-(5v_converter1-Pad6)")
+    (add_net "Net-(5v_converter1-Pad7)")
+    (add_net "Net-(i2c_multiplexer1-Pad1)")
+    (add_net "Net-(i2c_multiplexer1-Pad10)")
+    (add_net "Net-(i2c_multiplexer1-Pad11)")
+    (add_net "Net-(i2c_multiplexer1-Pad13)")
+    (add_net "Net-(i2c_multiplexer1-Pad14)")
+    (add_net "Net-(i2c_multiplexer1-Pad15)")
+    (add_net "Net-(i2c_multiplexer1-Pad16)")
+    (add_net "Net-(i2c_multiplexer1-Pad19)")
+    (add_net "Net-(i2c_multiplexer1-Pad2)")
+    (add_net "Net-(i2c_multiplexer1-Pad20)")
+    (add_net "Net-(i2c_multiplexer1-Pad21)")
+    (add_net "Net-(i2c_multiplexer1-Pad3)")
+    (add_net "Net-(i2c_multiplexer1-Pad4)")
+    (add_net "Net-(i2c_multiplexer1-Pad5)")
+    (add_net "Net-(i2c_multiplexer1-Pad6)")
+    (add_net "Net-(i2c_multiplexer1-Pad7)")
+    (add_net "Net-(i2c_multiplexer1-Pad8)")
+    (add_net "Net-(i2c_multiplexer1-Pad9)")
+    (add_net "Net-(motor1-Pad2)")
+    (add_net "Net-(motor1-Pad3)")
+    (add_net "Net-(motor2-Pad2)")
+    (add_net "Net-(motor2-Pad3)")
+    (add_net "Net-(motor_driver1-Pad10)")
+    (add_net "Net-(motor_driver1-Pad11)")
+    (add_net "Net-(motor_driver1-Pad12)")
+    (add_net "Net-(motor_driver1-Pad13)")
+    (add_net "Net-(motor_driver1-Pad5)")
+    (add_net "Net-(motor_driver1-Pad8)")
+    (add_net "Net-(motor_driver1-Pad9)")
+    (add_net "Net-(motor_driver2-Pad10)")
+    (add_net "Net-(motor_driver2-Pad11)")
+    (add_net "Net-(motor_driver2-Pad12)")
+    (add_net "Net-(motor_driver2-Pad13)")
+    (add_net "Net-(motor_driver2-Pad5)")
+    (add_net "Net-(motor_driver2-Pad8)")
+    (add_net "Net-(motor_driver2-Pad9)")
+    (add_net "Net-(motor_driver3-Pad10)")
+    (add_net "Net-(motor_driver3-Pad11)")
+    (add_net "Net-(motor_driver3-Pad12)")
+    (add_net "Net-(motor_driver3-Pad13)")
+    (add_net "Net-(motor_driver3-Pad5)")
+    (add_net "Net-(motor_driver3-Pad8)")
+    (add_net "Net-(motor_driver3-Pad9)")
+    (add_net "Net-(port_multiplexer_2-Pad11)")
+    (add_net "Net-(port_multiplexer_2-Pad12)")
+    (add_net "Net-(port_multiplexer_2-Pad13)")
+    (add_net "Net-(port_multiplexer_2-Pad14)")
+    (add_net "Net-(port_multiplexer_2-Pad15)")
+    (add_net "Net-(port_multiplexer_2-Pad16)")
+    (add_net "Net-(port_multiplexer_2-Pad17)")
+    (add_net "Net-(port_multiplexer_2-Pad18)")
+    (add_net "Net-(port_multiplexer_2-Pad19)")
+    (add_net "Net-(port_multiplexer_2-Pad20)")
+    (add_net gnd)
+    (add_net sc6)
+    (add_net scl)
+    (add_net sd6)
+    (add_net sda)
+  )
+
+  (module Connector_AMASS:AMASS_XT60-F_1x02_P7.20mm_Vertical (layer F.Cu) (tedit 5D6C1D2C) (tstamp 66361CEC)
+    (at 187.515001 156.545001)
+    (descr "AMASS female XT60, through hole, vertical, https://www.tme.eu/Document/2d152ced3b7a446066e6c419d84bb460/XT60%20SPEC.pdf")
+    (tags "XT60 female vertical")
+    (path /66371272)
+    (fp_text reference xt60 (at 3.6 -5.3 180) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value Battery (at 3.6 5.4) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user %R (at 3.6 0.05) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start 11.45 -4.15) (end -1.4 -4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start -4.25 -1.6) (end -4.25 1.55) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.4 4.15) (end 11.45 4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start 11.45 4.15) (end 11.45 -4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.4 -4.15) (end -4.25 -1.6) (layer F.SilkS) (width 0.12))
+    (fp_line (start -4.25 1.55) (end -1.4 4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start 11.35 -4.05) (end -1.4 -4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start -1.4 -4.05) (end -4.15 -1.55) (layer F.Fab) (width 0.12))
+    (fp_line (start -4.15 -1.55) (end -4.15 1.55) (layer F.Fab) (width 0.12))
+    (fp_line (start -4.15 1.55) (end -1.4 4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start -1.4 4.05) (end 11.35 4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start 11.35 4.05) (end 11.35 -4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start 11.85 -4.6) (end 11.85 4.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 11.85 4.6) (end -1.6 4.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.6 4.6) (end -4.65 1.85) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.65 1.85) (end -4.65 -1.85) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.65 -1.85) (end -1.6 -4.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.6 -4.6) (end 11.85 -4.6) (layer F.CrtYd) (width 0.05))
+    (pad 1 thru_hole roundrect (at 0 0) (size 6 6) (drill 4.5) (layers *.Cu *.Mask) (roundrect_rratio 0.25)
+      (net 3 gnd))
+    (pad 2 thru_hole circle (at 7.2 0) (size 6 6) (drill 4.5) (layers *.Cu *.Mask)
+      (net 1 +12v))
+    (model ${KISYS3DMOD}/Connector_AMASS.3dshapes/AMASS_XT60-F_1x02_P7.2mm_Vertical.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module Connector_AMASS:AMASS_XT30U-F_1x02_P5.0mm_Vertical (layer F.Cu) (tedit 5C8E9CDA) (tstamp 66361CD3)
+    (at 203.515001 126.295001)
+    (descr "Connector XT30 Vertical Cable Female, https://www.tme.eu/en/Document/3cbfa5cfa544d79584972dd5234a409e/XT30U%20SPEC.pdf")
+    (tags "RC Connector XT30")
+    (path /6636FCC1)
+    (fp_text reference xt30 (at 2.5 -4) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value Battery (at 2.5 4) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user - (at -4 0) (layer F.SilkS)
+      (effects (font (size 1.5 1.5) (thickness 0.15)))
+    )
+    (fp_text user + (at 9 0) (layer F.SilkS)
+      (effects (font (size 1.5 1.5) (thickness 0.15)))
+    )
+    (fp_text user %R (at 2.5 0) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start -2.6 -1.3) (end -2.6 1.3) (layer F.Fab) (width 0.1))
+    (fp_line (start 7.6 -2.6) (end 7.6 2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -0.9 -2.6) (end 7.6 -2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -0.9 2.6) (end 7.6 2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -2.6 -1.3) (end -0.9 -2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -2.6 1.3) (end -0.9 2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -1.01 -2.71) (end 7.71 -2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start 7.71 -2.71) (end 7.71 2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.01 2.71) (end 7.71 2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -2.71 -1.41) (end -1.01 -2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -2.71 1.41) (end -1.01 2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -2.71 -1.41) (end -2.71 1.41) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.4 -3.1) (end 8.1 -3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 8.1 -3.1) (end 8.1 3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.1 -1.8) (end -3.1 1.8) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.4 3.1) (end 8.1 3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.1 -1.8) (end -1.4 -3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.1 1.8) (end -1.4 3.1) (layer F.CrtYd) (width 0.05))
+    (pad 2 thru_hole circle (at 5 0) (size 4 4) (drill 2.7) (layers *.Cu *.Mask)
+      (net 1 +12v))
+    (pad 1 thru_hole rect (at 0 0) (size 3.8 3.8) (drill 2.7) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (model ${KISYS3DMOD}/Connector_AMASS.3dshapes/AMASS_XT30U-F_1x02_P5.0mm_Vertical.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module Package_DIP:DIP-28_W7.62mm (layer F.Cu) (tedit 5A02E8C5) (tstamp 66361CB8)
+    (at 140.825001 122.225001)
+    (descr "28-lead though-hole mounted DIP package, row spacing 7.62 mm (300 mils)")
+    (tags "THT DIP DIL PDIP 2.54mm 7.62mm 300mil")
+    (path /663ADEC8)
+    (fp_text reference port_multiplexer_2 (at 3.81 -2.33) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value MCP23017_SP (at 3.81 35.35) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user %R (at 3.81 16.51) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_arc (start 3.81 -1.33) (end 2.81 -1.33) (angle -180) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.635 -1.27) (end 6.985 -1.27) (layer F.Fab) (width 0.1))
+    (fp_line (start 6.985 -1.27) (end 6.985 34.29) (layer F.Fab) (width 0.1))
+    (fp_line (start 6.985 34.29) (end 0.635 34.29) (layer F.Fab) (width 0.1))
+    (fp_line (start 0.635 34.29) (end 0.635 -0.27) (layer F.Fab) (width 0.1))
+    (fp_line (start 0.635 -0.27) (end 1.635 -1.27) (layer F.Fab) (width 0.1))
+    (fp_line (start 2.81 -1.33) (end 1.16 -1.33) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.16 -1.33) (end 1.16 34.35) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.16 34.35) (end 6.46 34.35) (layer F.SilkS) (width 0.12))
+    (fp_line (start 6.46 34.35) (end 6.46 -1.33) (layer F.SilkS) (width 0.12))
+    (fp_line (start 6.46 -1.33) (end 4.81 -1.33) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.1 -1.55) (end -1.1 34.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.1 34.55) (end 8.7 34.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 8.7 34.55) (end 8.7 -1.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 8.7 -1.55) (end -1.1 -1.55) (layer F.CrtYd) (width 0.05))
+    (pad 28 thru_hole oval (at 7.62 0) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 38 "Net-(motor2-Pad3)"))
+    (pad 14 thru_hole oval (at 0 33.02) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 63 "Net-(port_multiplexer_2-Pad14)"))
+    (pad 27 thru_hole oval (at 7.62 2.54) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 39 "Net-(motor2-Pad2)"))
+    (pad 13 thru_hole oval (at 0 30.48) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 64 "Net-(port_multiplexer_2-Pad13)"))
+    (pad 26 thru_hole oval (at 7.62 5.08) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 36 "Net-(motor1-Pad3)"))
+    (pad 12 thru_hole oval (at 0 27.94) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 65 "Net-(port_multiplexer_2-Pad12)"))
+    (pad 25 thru_hole oval (at 7.62 7.62) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 37 "Net-(motor1-Pad2)"))
+    (pad 11 thru_hole oval (at 0 25.4) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 66 "Net-(port_multiplexer_2-Pad11)"))
+    (pad 24 thru_hole oval (at 7.62 10.16) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 60 "Net-(motor_driver3-Pad9)"))
+    (pad 10 thru_hole oval (at 0 22.86) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 23 thru_hole oval (at 7.62 12.7) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 59 "Net-(motor_driver3-Pad10)"))
+    (pad 9 thru_hole oval (at 0 20.32) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 22 thru_hole oval (at 7.62 15.24) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 58 "Net-(motor_driver3-Pad11)"))
+    (pad 8 thru_hole oval (at 0 17.78) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 53 "Net-(motor_driver2-Pad9)"))
+    (pad 21 thru_hole oval (at 7.62 17.78) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 56 "Net-(motor_driver3-Pad12)"))
+    (pad 7 thru_hole oval (at 0 15.24) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 52 "Net-(motor_driver2-Pad10)"))
+    (pad 20 thru_hole oval (at 7.62 20.32) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 67 "Net-(port_multiplexer_2-Pad20)"))
+    (pad 6 thru_hole oval (at 0 12.7) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 51 "Net-(motor_driver2-Pad11)"))
+    (pad 19 thru_hole oval (at 7.62 22.86) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 68 "Net-(port_multiplexer_2-Pad19)"))
+    (pad 5 thru_hole oval (at 0 10.16) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 49 "Net-(motor_driver2-Pad12)"))
+    (pad 18 thru_hole oval (at 7.62 25.4) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 69 "Net-(port_multiplexer_2-Pad18)"))
+    (pad 4 thru_hole oval (at 0 7.62) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 46 "Net-(motor_driver1-Pad9)"))
+    (pad 17 thru_hole oval (at 7.62 27.94) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 70 "Net-(port_multiplexer_2-Pad17)"))
+    (pad 3 thru_hole oval (at 0 5.08) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 45 "Net-(motor_driver1-Pad10)"))
+    (pad 16 thru_hole oval (at 7.62 30.48) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 71 "Net-(port_multiplexer_2-Pad16)"))
+    (pad 2 thru_hole oval (at 0 2.54) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 44 "Net-(motor_driver1-Pad11)"))
+    (pad 15 thru_hole oval (at 7.62 33.02) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 72 "Net-(port_multiplexer_2-Pad15)"))
+    (pad 1 thru_hole rect (at 0 0) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 42 "Net-(motor_driver1-Pad12)"))
+    (model ${KISYS3DMOD}/Package_DIP.3dshapes/DIP-28_W7.62mm.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module custom:TB9051FTG (layer F.Cu) (tedit 6634D7B7) (tstamp 66361C88)
+    (at 161.472 145.612)
+    (path /66365747)
+    (fp_text reference motor_driver3 (at 0 -5.08) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value TB9051FTG (at 0 -3.04) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 14 thru_hole circle (at 12.7 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 12 thru_hole circle (at 7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 56 "Net-(motor_driver3-Pad12)"))
+    (pad 13 thru_hole circle (at 10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 57 "Net-(motor_driver3-Pad13)"))
+    (pad 11 thru_hole circle (at 5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 58 "Net-(motor_driver3-Pad11)"))
+    (pad 10 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 59 "Net-(motor_driver3-Pad10)"))
+    (pad 9 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 60 "Net-(motor_driver3-Pad9)"))
+    (pad 8 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 61 "Net-(motor_driver3-Pad8)"))
+    (pad 7 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 6 thru_hole circle (at -7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 62 "Net-(motor_driver3-Pad5)"))
+  )
+
+  (module custom:TB9051FTG (layer F.Cu) (tedit 6634D7B7) (tstamp 66361C7A)
+    (at 192.972 121.412)
+    (path /6636526D)
+    (fp_text reference motor_driver2 (at 0 -5.08) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value TB9051FTG (at 0 -3.04) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 14 thru_hole circle (at 12.7 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 12 thru_hole circle (at 7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 49 "Net-(motor_driver2-Pad12)"))
+    (pad 13 thru_hole circle (at 10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 50 "Net-(motor_driver2-Pad13)"))
+    (pad 11 thru_hole circle (at 5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 51 "Net-(motor_driver2-Pad11)"))
+    (pad 10 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 52 "Net-(motor_driver2-Pad10)"))
+    (pad 9 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 53 "Net-(motor_driver2-Pad9)"))
+    (pad 8 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 54 "Net-(motor_driver2-Pad8)"))
+    (pad 7 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 6 thru_hole circle (at -7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 55 "Net-(motor_driver2-Pad5)"))
+  )
+
+  (module custom:TB9051FTG (layer F.Cu) (tedit 6634D7B7) (tstamp 66361C6C)
+    (at 150.622 158.562)
+    (path /66362316)
+    (fp_text reference motor_driver1 (at 0 -5.08) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value TB9051FTG (at 0 -3.04) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 14 thru_hole circle (at 12.7 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 12 thru_hole circle (at 7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 42 "Net-(motor_driver1-Pad12)"))
+    (pad 13 thru_hole circle (at 10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 43 "Net-(motor_driver1-Pad13)"))
+    (pad 11 thru_hole circle (at 5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 44 "Net-(motor_driver1-Pad11)"))
+    (pad 10 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 45 "Net-(motor_driver1-Pad10)"))
+    (pad 9 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 46 "Net-(motor_driver1-Pad9)"))
+    (pad 8 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 47 "Net-(motor_driver1-Pad8)"))
+    (pad 7 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 6 thru_hole circle (at -7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 48 "Net-(motor_driver1-Pad5)"))
+  )
+
+  (module custom:pololu_motor (layer F.Cu) (tedit 66336A28) (tstamp 66361C5E)
+    (at 156.392 152.682)
+    (path /663619F7)
+    (fp_text reference motor3 (at 0 -7.62) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value pololu_motor (at 0 -5.08) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 4 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 3 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 40 B))
+    (pad 2 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 41 A))
+    (pad 1 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 10 5v))
+  )
+
+  (module custom:pololu_motor (layer F.Cu) (tedit 66336A28) (tstamp 66361C56)
+    (at 156.392 155.202)
+    (path /66361689)
+    (fp_text reference motor2 (at 0 -7.62) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value pololu_motor (at 0 -5.08) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 4 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 3 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 38 "Net-(motor2-Pad3)"))
+    (pad 2 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 39 "Net-(motor2-Pad2)"))
+    (pad 1 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 10 5v))
+  )
+
+  (module custom:pololu_motor (layer F.Cu) (tedit 66336A28) (tstamp 66361C4E)
+    (at 191.912 148.132)
+    (path /66360D6F)
+    (fp_text reference motor1 (at 0 -7.62) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value pololu_motor (at 0 -5.08) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 4 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 3 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 36 "Net-(motor1-Pad3)"))
+    (pad 2 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 37 "Net-(motor1-Pad2)"))
+    (pad 1 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 10 5v))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361C46)
+    (at 156.392 150.672)
+    (path /6638E0F0)
+    (fp_text reference kleur_sensor_6 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 22 "Net-(i2c_multiplexer1-Pad15)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 21 "Net-(i2c_multiplexer1-Pad16)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361C3B)
+    (at 170.922 155.222)
+    (path /6638E0EA)
+    (fp_text reference kleur_sensor_5 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 24 "Net-(i2c_multiplexer1-Pad13)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 23 "Net-(i2c_multiplexer1-Pad14)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361C30)
+    (at 174.152 150.672)
+    (path /6638E0E4)
+    (fp_text reference kleur_sensor_4 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 26 "Net-(i2c_multiplexer1-Pad10)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 25 "Net-(i2c_multiplexer1-Pad11)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361C25)
+    (at 187.892 141.572)
+    (path /6638AC73)
+    (fp_text reference kleur_sensor_3 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 28 "Net-(i2c_multiplexer1-Pad8)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 27 "Net-(i2c_multiplexer1-Pad9)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361C1A)
+    (at 187.892 146.122)
+    (path /6638428B)
+    (fp_text reference kleur_sensor_2 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 30 "Net-(i2c_multiplexer1-Pad6)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 29 "Net-(i2c_multiplexer1-Pad7)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361C0F)
+    (at 170.922 159.772)
+    (path /66382B7A)
+    (fp_text reference kleur_sensor_1 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 32 "Net-(i2c_multiplexer1-Pad4)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 31 "Net-(i2c_multiplexer1-Pad5)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module Package_SO:SSOP-24_5.3x8.2mm_P0.65mm (layer F.Cu) (tedit 5A02F25C) (tstamp 66361C04)
+    (at 205.165001 134.945001)
+    (descr "24-Lead Plastic Shrink Small Outline (SS)-5.30 mm Body [SSOP] (see Microchip Packaging Specification 00000049BS.pdf)")
+    (tags "SSOP 0.65")
+    (path /663C2FAA)
+    (attr smd)
+    (fp_text reference i2c_multiplexer1 (at 0 -5.25) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value PCA9548ADB (at 0 5.25) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user %R (at 0 0) (layer F.Fab)
+      (effects (font (size 0.8 0.8) (thickness 0.15)))
+    )
+    (fp_line (start -1.65 -4.1) (end 2.65 -4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start 2.65 -4.1) (end 2.65 4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start 2.65 4.1) (end -2.65 4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start -2.65 4.1) (end -2.65 -3.1) (layer F.Fab) (width 0.15))
+    (fp_line (start -2.65 -3.1) (end -1.65 -4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start -4.75 -4.5) (end -4.75 4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 4.75 -4.5) (end 4.75 4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.75 -4.5) (end 4.75 -4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.75 4.5) (end 4.75 4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -2.875 -4.325) (end -2.875 -4.1) (layer F.SilkS) (width 0.15))
+    (fp_line (start 2.875 -4.325) (end 2.875 -4.025) (layer F.SilkS) (width 0.15))
+    (fp_line (start 2.875 4.325) (end 2.875 4.025) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 4.325) (end -2.875 4.025) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 -4.325) (end 2.875 -4.325) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 4.325) (end 2.875 4.325) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 -4.1) (end -4.475 -4.1) (layer F.SilkS) (width 0.15))
+    (pad 24 smd rect (at 3.6 -3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 6 3.3v))
+    (pad 23 smd rect (at 3.6 -2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 14 sda))
+    (pad 22 smd rect (at 3.6 -2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 15 scl))
+    (pad 21 smd rect (at 3.6 -1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 16 "Net-(i2c_multiplexer1-Pad21)"))
+    (pad 20 smd rect (at 3.6 -0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 17 "Net-(i2c_multiplexer1-Pad20)"))
+    (pad 19 smd rect (at 3.6 -0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 18 "Net-(i2c_multiplexer1-Pad19)"))
+    (pad 18 smd rect (at 3.6 0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 19 sc6))
+    (pad 17 smd rect (at 3.6 0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 20 sd6))
+    (pad 16 smd rect (at 3.6 1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 21 "Net-(i2c_multiplexer1-Pad16)"))
+    (pad 15 smd rect (at 3.6 2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 22 "Net-(i2c_multiplexer1-Pad15)"))
+    (pad 14 smd rect (at 3.6 2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 23 "Net-(i2c_multiplexer1-Pad14)"))
+    (pad 13 smd rect (at 3.6 3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 24 "Net-(i2c_multiplexer1-Pad13)"))
+    (pad 12 smd rect (at -3.6 3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 11 smd rect (at -3.6 2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 25 "Net-(i2c_multiplexer1-Pad11)"))
+    (pad 10 smd rect (at -3.6 2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 26 "Net-(i2c_multiplexer1-Pad10)"))
+    (pad 9 smd rect (at -3.6 1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 27 "Net-(i2c_multiplexer1-Pad9)"))
+    (pad 8 smd rect (at -3.6 0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 28 "Net-(i2c_multiplexer1-Pad8)"))
+    (pad 7 smd rect (at -3.6 0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 29 "Net-(i2c_multiplexer1-Pad7)"))
+    (pad 6 smd rect (at -3.6 -0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 30 "Net-(i2c_multiplexer1-Pad6)"))
+    (pad 5 smd rect (at -3.6 -0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 31 "Net-(i2c_multiplexer1-Pad5)"))
+    (pad 4 smd rect (at -3.6 -1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 32 "Net-(i2c_multiplexer1-Pad4)"))
+    (pad 3 smd rect (at -3.6 -2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 33 "Net-(i2c_multiplexer1-Pad3)"))
+    (pad 2 smd rect (at -3.6 -2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 34 "Net-(i2c_multiplexer1-Pad2)"))
+    (pad 1 smd rect (at -3.6 -3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 35 "Net-(i2c_multiplexer1-Pad1)"))
+    (model ${KISYS3DMOD}/Package_SO.3dshapes/SSOP-24_5.3x8.2mm_P0.65mm.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module custom:SFTN01M05N (layer F.Cu) (tedit 6635F4A6) (tstamp 66361BD7)
+    (at 190.720001 130.220001)
+    (descr SFTN01M-05N-2)
+    (tags "Power Supply")
+    (path /66379F5D)
+    (attr smd)
+    (fp_text reference 5v_converter1 (at 0 -2.54) (layer F.SilkS)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text value SFTN01M-05N (at 0 1.27) (layer F.SilkS) hide
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text user %R (at 0 0) (layer F.Fab)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_arc (start -6.35 6.55) (end -6.35 6.6) (angle -180) (layer F.SilkS) (width 0.1))
+    (fp_arc (start -6.35 6.55) (end -6.35 6.5) (angle -180) (layer F.SilkS) (width 0.1))
+    (fp_line (start -7.62 -5.45) (end 7.62 -5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start 7.62 -5.45) (end 7.62 5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start 7.62 5.45) (end -7.62 5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start -7.62 5.45) (end -7.62 -5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start -8.62 -7) (end 8.62 -7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 8.62 -7) (end 8.62 7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 8.62 7) (end -8.62 7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -8.62 7) (end -8.62 -7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -6.35 6.6) (end -6.35 6.6) (layer F.SilkS) (width 0.1))
+    (fp_line (start -6.35 6.5) (end -6.35 6.5) (layer F.SilkS) (width 0.1))
+    (fp_line (start -7.4 5.45) (end -7.62 5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -7.62 5.45) (end -7.62 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -7.62 -5.45) (end -7.4 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -0.4 -5.45) (end 2.8 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -0.4 5.45) (end 2.8 5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start 7.4 5.45) (end 7.62 5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start 7.62 5.45) (end 7.62 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start 7.62 -5.45) (end 7.2 -5.45) (layer F.SilkS) (width 0.2))
+    (pad 1 smd rect (at -6.35 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 2 smd rect (at -3.81 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 1 +12v))
+    (pad 3 smd rect (at -1.27 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 7 "Net-(5v_converter1-Pad3)"))
+    (pad 5 smd rect (at 3.81 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 6 smd rect (at 6.35 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 8 "Net-(5v_converter1-Pad6)"))
+    (pad 7 smd rect (at 6.35 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 9 "Net-(5v_converter1-Pad7)"))
+    (pad 8 smd rect (at 3.81 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 10 5v))
+    (pad 10 smd rect (at -1.27 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 11 "Net-(5v_converter1-Pad10)"))
+    (pad 11 smd rect (at -3.81 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 12 "Net-(5v_converter1-Pad11)"))
+    (pad 12 smd rect (at -6.35 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 13 "Net-(5v_converter1-Pad12)"))
+    (model SFTN01M-05N.stp
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module custom:CC60512SRE (layer F.Cu) (tedit 0) (tstamp 66361BB4)
+    (at 165.800001 132.250001)
+    (descr CC6-0512SR-E-4)
+    (tags "Power Supply")
+    (path /66378F04)
+    (attr smd)
+    (fp_text reference 3.3v_converter1 (at 0 0) (layer F.SilkS)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text value CC6-1203SR-E (at 0 0) (layer F.SilkS) hide
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text user %R (at 0 0) (layer F.Fab)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_arc (start -14.75 -7.62) (end -14.8 -7.62) (angle -180) (layer F.SilkS) (width 0.2))
+    (fp_arc (start -14.75 -7.62) (end -14.7 -7.62) (angle -180) (layer F.SilkS) (width 0.2))
+    (fp_arc (start -14.75 -7.62) (end -14.8 -7.62) (angle -180) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end 11.28 10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start 11.28 10.55) (end 11.28 -10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start 11.28 -10.55) (end -11.28 -10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start -11.28 -10.55) (end -11.28 10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start -15.2 -11.55) (end 15.2 -11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 15.2 -11.55) (end 15.2 11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 15.2 11.55) (end -15.2 11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -15.2 11.55) (end -15.2 -11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -11.28 -6.6) (end -11.28 -6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -6.6) (end -11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 1.4) (end -11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 1.4) (end -11.28 -6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 3.6) (end -11.28 3.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 3.6) (end -11.28 6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 6.6) (end -11.28 6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 6.6) (end -11.28 3.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 8.8) (end -11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 8.8) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end -11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end 11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 8.8) (end 11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 8.8) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 6.4) (end 11.28 6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 6.4) (end 11.28 3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 3.8) (end 11.28 3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 3.8) (end 11.28 6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 1.4) (end 11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 1.4) (end 11.28 -1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -1.4) (end 11.28 -1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -1.4) (end 11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -3.8) (end 11.28 -3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -3.8) (end 11.28 -6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -6.4) (end 11.28 -6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -6.4) (end 11.28 -3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -8.8) (end 11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -8.8) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end 11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end -11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -8.8) (end -11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -8.8) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -14.8 -7.62) (end -14.8 -7.62) (layer F.SilkS) (width 0.2))
+    (fp_line (start -14.7 -7.62) (end -14.7 -7.62) (layer F.SilkS) (width 0.2))
+    (fp_line (start -14.8 -7.62) (end -14.8 -7.62) (layer F.SilkS) (width 0.2))
+    (pad 1 smd rect (at -12.6 -7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 1 +12v))
+    (pad 2 smd rect (at -12.6 2.54 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 2 "Net-(3.3v_converter1-Pad2)"))
+    (pad 3 smd rect (at -12.6 7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 4 smd rect (at 12.6 7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 4 "Net-(3.3v_converter1-Pad4)"))
+    (pad 5 smd rect (at 12.6 2.54 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 6 smd rect (at 12.6 -2.54 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 5 "Net-(3.3v_converter1-Pad6)"))
+    (pad 7 smd rect (at 12.6 -7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 6 3.3v))
+    (model CC6-1203SR-E.stp
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+)
diff --git a/pcb_onder/openmv_m7_r2.lib b/pcb_onder/openmv_m7_r2.lib
new file mode 100644
index 0000000..19e3060
--- /dev/null
+++ b/pcb_onder/openmv_m7_r2.lib
@@ -0,0 +1,35 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# openMV_M7_R2
+#
+DEF openMV_M7_R2 U 0 40 Y Y 1 F N
+F0 "U" 0 1350 50 H V C CNN
+F1 "openMV_M7_R2" 0 1200 50 H V C CNN
+F2 "custom:openmv_m7_r2" 0 1350 50 H I C CNN
+F3 "" 0 1350 50 H I C CNN
+DRAW
+C 0 600 381 0 1 0 N
+S -500 1000 500 -850 0 1 0 N
+X jst+ 0 -350 -950 100 U 50 50 1 1 W
+X jst- 1 -250 -950 100 U 50 50 1 1 W
+X rst 10 600 200 100 L 50 50 1 1 I
+X boot 11 600 100 100 L 50 50 1 1 B
+X syn 12 600 0 100 L 50 50 1 1 B
+X p9 13 600 -100 100 L 50 50 1 1 B
+X p8 14 600 -200 100 L 50 50 1 1 B
+X p7 15 600 -300 100 L 50 50 1 1 B
+X vin 16 600 -400 100 L 50 50 1 1 B
+X p0 2 -600 200 100 R 50 50 1 1 B
+X p1 3 -600 100 100 R 50 50 1 1 B
+X p2 4 -600 0 100 R 50 50 1 1 B
+X p3 5 -600 -100 100 R 50 50 1 1 B
+X p4 6 -600 -200 100 R 50 50 1 1 B
+X p5 7 -600 -300 100 R 50 50 1 1 B
+X p6 8 -600 -400 100 R 50 50 1 1 B
+X 3.3v 9 -600 -500 100 R 50 50 1 1 W
+X gnd ~ 600 -500 100 L 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb_onder/pcb_onder-cache.lib b/pcb_onder/pcb_onder-cache.lib
index e933dba..a8ab127 100644
--- a/pcb_onder/pcb_onder-cache.lib
+++ b/pcb_onder/pcb_onder-cache.lib
@@ -1,4 +1,227 @@
 EESchema-LIBRARY Version 2.4
 #encoding utf-8
 #
+# Device_Battery
+#
+DEF Device_Battery BT 0 0 N N 1 F N
+F0 "BT" 100 100 50 H V L CNN
+F1 "Device_Battery" 100 0 50 H V L CNN
+F2 "" 0 60 50 V I C CNN
+F3 "" 0 60 50 V I C CNN
+DRAW
+S -80 -55 80 -65 0 1 0 F
+S -80 70 80 60 0 1 0 F
+S -52 -78 50 -98 0 1 0 F
+S -52 47 50 27 0 1 0 F
+P 2 0 1 0 0 -60 0 -50 N
+P 2 0 1 0 0 -40 0 -30 N
+P 2 0 1 0 0 -20 0 -10 N
+P 2 0 1 0 0 0 0 10 N
+P 2 0 1 0 0 20 0 30 N
+P 2 0 1 0 0 70 0 100 N
+P 2 0 1 10 10 105 50 105 N
+P 2 0 1 10 30 125 30 85 N
+X + 1 0 200 100 D 50 50 1 1 P
+X - 2 0 -200 100 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Interface_Expansion_MCP23017_SP
+#
+DEF Interface_Expansion_MCP23017_SP U 0 40 Y Y 1 F N
+F0 "U" -450 950 50 H V C CNN
+F1 "Interface_Expansion_MCP23017_SP" 0 0 50 H V C CNN
+F2 "Package_DIP:DIP-28_W7.62mm" 200 -1000 50 H I L CNN
+F3 "" 200 -1100 50 H I L CNN
+$FPLIST
+ DIP*W7.62mm*
+$ENDFPLIST
+DRAW
+S -500 900 500 -900 0 1 10 f
+X GPB0 1 700 800 200 L 50 50 1 1 B
+X VSS 10 0 -1100 200 U 50 50 1 1 W
+X NC 11 -500 600 200 R 50 50 1 1 N N
+X SCK 12 -700 700 200 R 50 50 1 1 I
+X SDA 13 -700 800 200 R 50 50 1 1 B
+X NC 14 -500 500 200 R 50 50 1 1 N N
+X A0 15 -700 -800 200 R 50 50 1 1 I
+X A1 16 -700 -700 200 R 50 50 1 1 I
+X A2 17 -700 -600 200 R 50 50 1 1 I
+X ~RESET~ 18 -700 -100 200 R 50 50 1 1 I
+X INTB 19 -700 200 200 R 50 50 1 1 T
+X GPB1 2 700 700 200 L 50 50 1 1 B
+X INTA 20 -700 100 200 R 50 50 1 1 T
+X GPA0 21 700 -100 200 L 50 50 1 1 B
+X GPA1 22 700 -200 200 L 50 50 1 1 B
+X GPA2 23 700 -300 200 L 50 50 1 1 B
+X GPA3 24 700 -400 200 L 50 50 1 1 B
+X GPA4 25 700 -500 200 L 50 50 1 1 B
+X GPA5 26 700 -600 200 L 50 50 1 1 B
+X GPA6 27 700 -700 200 L 50 50 1 1 B
+X GPA7 28 700 -800 200 L 50 50 1 1 B
+X GPB2 3 700 600 200 L 50 50 1 1 B
+X GPB3 4 700 500 200 L 50 50 1 1 B
+X GPB4 5 700 400 200 L 50 50 1 1 B
+X GPB5 6 700 300 200 L 50 50 1 1 B
+X GPB6 7 700 200 200 L 50 50 1 1 B
+X GPB7 8 700 100 200 L 50 50 1 1 B
+X VDD 9 0 1100 200 D 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# Interface_Expansion_PCA9548ADB
+#
+DEF Interface_Expansion_PCA9548ADB U 0 20 Y Y 1 F N
+F0 "U" -300 850 50 H V L CNN
+F1 "Interface_Expansion_PCA9548ADB" 40 850 50 H V L CNN
+F2 "Package_SO:SSOP-24_5.3x8.2mm_P0.65mm" 0 -1000 50 H I C CNN
+F3 "" 50 250 50 H I C CNN
+$FPLIST
+ SSOP*5.3x8.2mm*P0.65mm*
+$ENDFPLIST
+DRAW
+S -300 800 300 -900 0 1 10 f
+X A0 1 -400 -500 100 R 50 50 1 1 I
+X SD3 10 400 0 100 L 50 50 1 1 B
+X SC3 11 400 100 100 L 50 50 1 1 O
+X GND 12 0 -1000 100 U 50 50 1 1 W
+X SD4 13 400 -200 100 L 50 50 1 1 B
+X SC4 14 400 -100 100 L 50 50 1 1 O
+X SD5 15 400 -400 100 L 50 50 1 1 B
+X SC5 16 400 -300 100 L 50 50 1 1 O
+X SD6 17 400 -600 100 L 50 50 1 1 B
+X SC6 18 400 -500 100 L 50 50 1 1 O
+X SD7 19 400 -800 100 L 50 50 1 1 B
+X A1 2 -400 -400 100 R 50 50 1 1 I
+X SC7 20 400 -700 100 L 50 50 1 1 O
+X A2 21 -400 -300 100 R 50 50 1 1 I
+X SCL 22 -400 700 100 R 50 50 1 1 I
+X SDA 23 -400 600 100 R 50 50 1 1 B
+X VCC 24 0 900 100 D 50 50 1 1 W
+X ~RESET 3 -400 200 100 R 50 50 1 1 I
+X SD0 4 400 600 100 L 50 50 1 1 B
+X SC0 5 400 700 100 L 50 50 1 1 O
+X SD1 6 400 400 100 L 50 50 1 1 B
+X SC1 7 400 500 100 L 50 50 1 1 O
+X SD2 8 400 200 100 L 50 50 1 1 B
+X SC2 9 400 300 100 L 50 50 1 1 O
+ENDDRAW
+ENDDEF
+#
+# cc6-1203sr-e_CC6-1203SR-E
+#
+DEF cc6-1203sr-e_CC6-1203SR-E PS 0 30 Y Y 1 F N
+F0 "PS" 1250 300 50 H V L CNN
+F1 "cc6-1203sr-e_CC6-1203SR-E" 1250 200 50 H V L CNN
+F2 "custom:CC60512SRE" 1250 100 50 H I L CNN
+F3 "" 1250 0 50 H I L CNN
+F4 "DC-DC Converters, On-board type, Output: 3.96W, 3.3V, Isolated type, Option: SMD type" 1250 -100 50 H I L CNN "Description"
+F5 "8.8" 1250 -200 50 H I L CNN "Height"
+F6 "TDK" 1250 -300 50 H I L CNN "Manufacturer_Name"
+F7 "CC6-1203SR-E" 1250 -400 50 H I L CNN "Manufacturer_Part_Number"
+F8 "967-CC6-1203SR-E" 1250 -500 50 H I L CNN "Mouser Part Number"
+F9 "https://www.mouser.co.uk/ProductDetail/TDK-Lambda/CC6-1203SR-E?qs=Vwh6e7toGLi4J%2FzloL2n3g%3D%3D" 1250 -600 50 H I L CNN "Mouser Price/Stock"
+F10 "CC6-1203SR-E" 1250 -700 50 H I L CNN "Arrow Part Number"
+F11 "https://www.arrow.com/en/products/cc6-1203sr-e/tdk-lambda-americas?region=nac" 1250 -800 50 H I L CNN "Arrow Price/Stock"
+DRAW
+P 5 0 1 6 200 100 1200 100 1200 -400 200 -400 200 100 N
+X +VIN 1 0 0 200 R 50 50 0 0 P
+X RC 2 0 -100 200 R 50 50 0 0 P
+X -VIN 3 0 -200 200 R 50 50 0 0 P
+X NC 4 1400 -300 200 L 50 50 0 0 N
+X -VOUT 5 1400 -200 200 L 50 50 0 0 P
+X TRM 6 1400 -100 200 L 50 50 0 0 P
+X +VOUT 7 1400 0 200 L 50 50 0 0 P
+ENDDRAW
+ENDDEF
+#
+# pololu_motor_pololu_motor
+#
+DEF pololu_motor_pololu_motor U 0 40 Y Y 1 F N
+F0 "U" 0 750 50 H V C CNN
+F1 "pololu_motor_pololu_motor" 0 700 50 H V C CNN
+F2 "custom:pololu_motor" 0 750 50 H I C CNN
+F3 "" 0 750 50 H I C CNN
+DRAW
+C 0 0 570 0 1 0 N
+P 5 0 1 0 350 -450 350 -1050 -350 -1050 -350 -450 -350 -700 N
+X vcc 1 -250 -1050 100 U 50 50 1 1 W
+X A 2 -100 -1050 100 U 50 50 1 1 O
+X B 3 50 -1050 100 U 50 50 1 1 O
+X gnd 4 200 -1050 100 U 50 50 1 1 W
+X + ~ -600 0 100 L 50 50 1 1 W
+X - ~ 600 0 100 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# sftn01m-05n_SFTN01M-05N
+#
+DEF sftn01m-05n_SFTN01M-05N PS 0 30 Y Y 1 F N
+F0 "PS" 1150 300 50 H V L CNN
+F1 "sftn01m-05n_SFTN01M-05N" 1150 200 50 H V L CNN
+F2 "custom:SFTN01M05N" 1150 100 50 H I L CNN
+F3 "" 1150 0 50 H I L CNN
+F4 "Isolated DC/DC Converters - SMD 1W 12Vin 5Vout 20-200mA SMT Unregulated" 1150 -100 50 H I L CNN "Description"
+F5 "7.6" 1150 -200 50 H I L CNN "Height"
+F6 "Mean Well" 1150 -300 50 H I L CNN "Manufacturer_Name"
+F7 "SFTN01M-05N" 1150 -400 50 H I L CNN "Manufacturer_Part_Number"
+F8 "709-SFTN01M-05N" 1150 -500 50 H I L CNN "Mouser Part Number"
+F9 "https://www.mouser.co.uk/ProductDetail/MEAN-WELL/SFTN01M-05N?qs=A6eO%252BMLsxmQLvWwJN5Fn%252BQ%3D%3D" 1150 -600 50 H I L CNN "Mouser Price/Stock"
+DRAW
+P 5 0 1 6 200 100 1100 100 1100 -500 200 -500 200 100 N
+X -VIN 1 0 0 200 R 50 50 0 0 P
+X N.C._4 10 1300 -200 200 L 50 50 0 0 P
+X N.C._5 11 1300 -100 200 L 50 50 0 0 P
+X N.C._6 12 1300 0 200 L 50 50 0 0 P
+X +VIN 2 0 -100 200 R 50 50 0 0 P
+X N.C._1 3 0 -200 200 R 50 50 0 0 P
+X -VOUT 5 0 -300 200 R 50 50 0 0 P
+X N.C._2 6 0 -400 200 R 50 50 0 0 P
+X N.C._3 7 1300 -400 200 L 50 50 0 0 P
+X +VOUT 8 1300 -300 200 L 50 50 0 0 P
+ENDDRAW
+ENDDEF
+#
+# tb9051ftg_TB9051FTG
+#
+DEF tb9051ftg_TB9051FTG U 0 40 Y Y 1 F N
+F0 "U" 0 450 50 H V C CNN
+F1 "tb9051ftg_TB9051FTG" 0 350 50 H V C CNN
+F2 "" 0 450 50 H I C CNN
+F3 "" 0 450 50 H I C CNN
+DRAW
+S 500 -800 -500 300 0 1 0 N
+X vin 1 -500 -50 100 R 50 50 1 1 W
+X enB 10 500 -300 100 L 50 50 1 1 B
+X pwm2 11 500 -400 100 L 50 50 1 1 I
+X 13 12 500 -600 100 L 50 50 1 1 B
+X pwm 12 500 -500 100 L 50 50 1 1 I
+X 14 13 500 -700 100 L 50 50 1 1 B
+X gnd 2 -500 -150 100 R 50 50 1 1 W
+X out2 3 -500 -250 100 R 50 50 1 1 w
+X out1 4 -500 -350 100 R 50 50 1 1 w
+X vm 5 500 200 100 L 50 50 1 1 B
+X gnd 6 500 100 100 L 50 50 1 1 W
+X vcc 7 500 0 100 L 50 50 1 1 W
+X occ 8 500 -100 100 L 50 50 1 1 B
+X en 9 500 -200 100 L 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
+# tcs3472_color_sensor_tcs3472_color_sensor
+#
+DEF tcs3472_color_sensor_tcs3472_color_sensor U 0 40 Y Y 1 F N
+F0 "U" 50 1100 50 H V C CNN
+F1 "tcs3472_color_sensor_tcs3472_color_sensor" 50 1000 50 H V C CNN
+F2 "custom:tcs3472" 50 1100 50 H I C CNN
+F3 "" 50 1100 50 H I C CNN
+DRAW
+S -150 850 250 0 0 1 0 N
+X sda 0 350 650 100 L 50 50 1 1 B
+X scl 1 350 750 100 L 50 50 1 1 B
+X vcc 2 -250 750 100 R 50 50 1 1 W
+X gnd 3 -250 650 100 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
 #End Library
diff --git a/pcb_onder/pcb_onder.kicad_pcb b/pcb_onder/pcb_onder.kicad_pcb
index 02c8ecb..4ab103b 100644
--- a/pcb_onder/pcb_onder.kicad_pcb
+++ b/pcb_onder/pcb_onder.kicad_pcb
@@ -1 +1,952 @@
-(kicad_pcb (version 4) (host kicad "dummy file") )
+(kicad_pcb (version 20171130) (host pcbnew 5.1.9+dfsg1-1+deb11u1)
+
+  (general
+    (thickness 1.6)
+    (drawings 0)
+    (tracks 0)
+    (zones 0)
+    (modules 18)
+    (nets 73)
+  )
+
+  (page A4)
+  (layers
+    (0 F.Cu signal)
+    (31 B.Cu signal)
+    (32 B.Adhes user)
+    (33 F.Adhes user)
+    (34 B.Paste user)
+    (35 F.Paste user)
+    (36 B.SilkS user)
+    (37 F.SilkS user)
+    (38 B.Mask user)
+    (39 F.Mask user)
+    (40 Dwgs.User user)
+    (41 Cmts.User user)
+    (42 Eco1.User user)
+    (43 Eco2.User user)
+    (44 Edge.Cuts user)
+    (45 Margin user)
+    (46 B.CrtYd user)
+    (47 F.CrtYd user)
+    (48 B.Fab user)
+    (49 F.Fab user)
+  )
+
+  (setup
+    (last_trace_width 0.25)
+    (trace_clearance 0.2)
+    (zone_clearance 0.508)
+    (zone_45_only no)
+    (trace_min 0.2)
+    (via_size 0.8)
+    (via_drill 0.4)
+    (via_min_size 0.4)
+    (via_min_drill 0.3)
+    (uvia_size 0.3)
+    (uvia_drill 0.1)
+    (uvias_allowed no)
+    (uvia_min_size 0.2)
+    (uvia_min_drill 0.1)
+    (edge_width 0.05)
+    (segment_width 0.2)
+    (pcb_text_width 0.3)
+    (pcb_text_size 1.5 1.5)
+    (mod_edge_width 0.12)
+    (mod_text_size 1 1)
+    (mod_text_width 0.15)
+    (pad_size 1.524 1.524)
+    (pad_drill 0.762)
+    (pad_to_mask_clearance 0)
+    (aux_axis_origin 0 0)
+    (visible_elements FFFFFF7F)
+    (pcbplotparams
+      (layerselection 0x010fc_ffffffff)
+      (usegerberextensions false)
+      (usegerberattributes true)
+      (usegerberadvancedattributes true)
+      (creategerberjobfile true)
+      (excludeedgelayer true)
+      (linewidth 0.100000)
+      (plotframeref false)
+      (viasonmask false)
+      (mode 1)
+      (useauxorigin false)
+      (hpglpennumber 1)
+      (hpglpenspeed 20)
+      (hpglpendiameter 15.000000)
+      (psnegative false)
+      (psa4output false)
+      (plotreference true)
+      (plotvalue true)
+      (plotinvisibletext false)
+      (padsonsilk false)
+      (subtractmaskfromsilk false)
+      (outputformat 1)
+      (mirror false)
+      (drillshape 1)
+      (scaleselection 1)
+      (outputdirectory ""))
+  )
+
+  (net 0 "")
+  (net 1 +12v)
+  (net 2 "Net-(3.3v_converter1-Pad2)")
+  (net 3 gnd)
+  (net 4 "Net-(3.3v_converter1-Pad4)")
+  (net 5 "Net-(3.3v_converter1-Pad6)")
+  (net 6 3.3v)
+  (net 7 "Net-(5v_converter1-Pad3)")
+  (net 8 "Net-(5v_converter1-Pad6)")
+  (net 9 "Net-(5v_converter1-Pad7)")
+  (net 10 5v)
+  (net 11 "Net-(5v_converter1-Pad10)")
+  (net 12 "Net-(5v_converter1-Pad11)")
+  (net 13 "Net-(5v_converter1-Pad12)")
+  (net 14 sda)
+  (net 15 scl)
+  (net 16 "Net-(i2c_multiplexer1-Pad21)")
+  (net 17 "Net-(i2c_multiplexer1-Pad20)")
+  (net 18 "Net-(i2c_multiplexer1-Pad19)")
+  (net 19 sc6)
+  (net 20 sd6)
+  (net 21 "Net-(i2c_multiplexer1-Pad16)")
+  (net 22 "Net-(i2c_multiplexer1-Pad15)")
+  (net 23 "Net-(i2c_multiplexer1-Pad14)")
+  (net 24 "Net-(i2c_multiplexer1-Pad13)")
+  (net 25 "Net-(i2c_multiplexer1-Pad11)")
+  (net 26 "Net-(i2c_multiplexer1-Pad10)")
+  (net 27 "Net-(i2c_multiplexer1-Pad9)")
+  (net 28 "Net-(i2c_multiplexer1-Pad8)")
+  (net 29 "Net-(i2c_multiplexer1-Pad7)")
+  (net 30 "Net-(i2c_multiplexer1-Pad6)")
+  (net 31 "Net-(i2c_multiplexer1-Pad5)")
+  (net 32 "Net-(i2c_multiplexer1-Pad4)")
+  (net 33 "Net-(i2c_multiplexer1-Pad3)")
+  (net 34 "Net-(i2c_multiplexer1-Pad2)")
+  (net 35 "Net-(i2c_multiplexer1-Pad1)")
+  (net 36 "Net-(motor1-Pad3)")
+  (net 37 "Net-(motor1-Pad2)")
+  (net 38 "Net-(motor2-Pad3)")
+  (net 39 "Net-(motor2-Pad2)")
+  (net 40 B)
+  (net 41 A)
+  (net 42 "Net-(motor_driver1-Pad12)")
+  (net 43 "Net-(motor_driver1-Pad13)")
+  (net 44 "Net-(motor_driver1-Pad11)")
+  (net 45 "Net-(motor_driver1-Pad10)")
+  (net 46 "Net-(motor_driver1-Pad9)")
+  (net 47 "Net-(motor_driver1-Pad8)")
+  (net 48 "Net-(motor_driver1-Pad5)")
+  (net 49 "Net-(motor_driver2-Pad12)")
+  (net 50 "Net-(motor_driver2-Pad13)")
+  (net 51 "Net-(motor_driver2-Pad11)")
+  (net 52 "Net-(motor_driver2-Pad10)")
+  (net 53 "Net-(motor_driver2-Pad9)")
+  (net 54 "Net-(motor_driver2-Pad8)")
+  (net 55 "Net-(motor_driver2-Pad5)")
+  (net 56 "Net-(motor_driver3-Pad12)")
+  (net 57 "Net-(motor_driver3-Pad13)")
+  (net 58 "Net-(motor_driver3-Pad11)")
+  (net 59 "Net-(motor_driver3-Pad10)")
+  (net 60 "Net-(motor_driver3-Pad9)")
+  (net 61 "Net-(motor_driver3-Pad8)")
+  (net 62 "Net-(motor_driver3-Pad5)")
+  (net 63 "Net-(port_multiplexer_2-Pad14)")
+  (net 64 "Net-(port_multiplexer_2-Pad13)")
+  (net 65 "Net-(port_multiplexer_2-Pad12)")
+  (net 66 "Net-(port_multiplexer_2-Pad11)")
+  (net 67 "Net-(port_multiplexer_2-Pad20)")
+  (net 68 "Net-(port_multiplexer_2-Pad19)")
+  (net 69 "Net-(port_multiplexer_2-Pad18)")
+  (net 70 "Net-(port_multiplexer_2-Pad17)")
+  (net 71 "Net-(port_multiplexer_2-Pad16)")
+  (net 72 "Net-(port_multiplexer_2-Pad15)")
+
+  (net_class Default "This is the default net class."
+    (clearance 0.2)
+    (trace_width 0.25)
+    (via_dia 0.8)
+    (via_drill 0.4)
+    (uvia_dia 0.3)
+    (uvia_drill 0.1)
+    (add_net +12v)
+    (add_net 3.3v)
+    (add_net 5v)
+    (add_net A)
+    (add_net B)
+    (add_net "Net-(3.3v_converter1-Pad2)")
+    (add_net "Net-(3.3v_converter1-Pad4)")
+    (add_net "Net-(3.3v_converter1-Pad6)")
+    (add_net "Net-(5v_converter1-Pad10)")
+    (add_net "Net-(5v_converter1-Pad11)")
+    (add_net "Net-(5v_converter1-Pad12)")
+    (add_net "Net-(5v_converter1-Pad3)")
+    (add_net "Net-(5v_converter1-Pad6)")
+    (add_net "Net-(5v_converter1-Pad7)")
+    (add_net "Net-(i2c_multiplexer1-Pad1)")
+    (add_net "Net-(i2c_multiplexer1-Pad10)")
+    (add_net "Net-(i2c_multiplexer1-Pad11)")
+    (add_net "Net-(i2c_multiplexer1-Pad13)")
+    (add_net "Net-(i2c_multiplexer1-Pad14)")
+    (add_net "Net-(i2c_multiplexer1-Pad15)")
+    (add_net "Net-(i2c_multiplexer1-Pad16)")
+    (add_net "Net-(i2c_multiplexer1-Pad19)")
+    (add_net "Net-(i2c_multiplexer1-Pad2)")
+    (add_net "Net-(i2c_multiplexer1-Pad20)")
+    (add_net "Net-(i2c_multiplexer1-Pad21)")
+    (add_net "Net-(i2c_multiplexer1-Pad3)")
+    (add_net "Net-(i2c_multiplexer1-Pad4)")
+    (add_net "Net-(i2c_multiplexer1-Pad5)")
+    (add_net "Net-(i2c_multiplexer1-Pad6)")
+    (add_net "Net-(i2c_multiplexer1-Pad7)")
+    (add_net "Net-(i2c_multiplexer1-Pad8)")
+    (add_net "Net-(i2c_multiplexer1-Pad9)")
+    (add_net "Net-(motor1-Pad2)")
+    (add_net "Net-(motor1-Pad3)")
+    (add_net "Net-(motor2-Pad2)")
+    (add_net "Net-(motor2-Pad3)")
+    (add_net "Net-(motor_driver1-Pad10)")
+    (add_net "Net-(motor_driver1-Pad11)")
+    (add_net "Net-(motor_driver1-Pad12)")
+    (add_net "Net-(motor_driver1-Pad13)")
+    (add_net "Net-(motor_driver1-Pad5)")
+    (add_net "Net-(motor_driver1-Pad8)")
+    (add_net "Net-(motor_driver1-Pad9)")
+    (add_net "Net-(motor_driver2-Pad10)")
+    (add_net "Net-(motor_driver2-Pad11)")
+    (add_net "Net-(motor_driver2-Pad12)")
+    (add_net "Net-(motor_driver2-Pad13)")
+    (add_net "Net-(motor_driver2-Pad5)")
+    (add_net "Net-(motor_driver2-Pad8)")
+    (add_net "Net-(motor_driver2-Pad9)")
+    (add_net "Net-(motor_driver3-Pad10)")
+    (add_net "Net-(motor_driver3-Pad11)")
+    (add_net "Net-(motor_driver3-Pad12)")
+    (add_net "Net-(motor_driver3-Pad13)")
+    (add_net "Net-(motor_driver3-Pad5)")
+    (add_net "Net-(motor_driver3-Pad8)")
+    (add_net "Net-(motor_driver3-Pad9)")
+    (add_net "Net-(port_multiplexer_2-Pad11)")
+    (add_net "Net-(port_multiplexer_2-Pad12)")
+    (add_net "Net-(port_multiplexer_2-Pad13)")
+    (add_net "Net-(port_multiplexer_2-Pad14)")
+    (add_net "Net-(port_multiplexer_2-Pad15)")
+    (add_net "Net-(port_multiplexer_2-Pad16)")
+    (add_net "Net-(port_multiplexer_2-Pad17)")
+    (add_net "Net-(port_multiplexer_2-Pad18)")
+    (add_net "Net-(port_multiplexer_2-Pad19)")
+    (add_net "Net-(port_multiplexer_2-Pad20)")
+    (add_net gnd)
+    (add_net sc6)
+    (add_net scl)
+    (add_net sd6)
+    (add_net sda)
+  )
+
+  (module Connector_AMASS:AMASS_XT60-F_1x02_P7.20mm_Vertical (layer F.Cu) (tedit 5D6C1D2C) (tstamp 66361DE5)
+    (at 155.765001 120.985001)
+    (descr "AMASS female XT60, through hole, vertical, https://www.tme.eu/Document/2d152ced3b7a446066e6c419d84bb460/XT60%20SPEC.pdf")
+    (tags "XT60 female vertical")
+    (path /66371272)
+    (fp_text reference xt60 (at 3.6 -5.3 180) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value Battery (at 3.6 5.4) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user %R (at 3.6 0.05) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start 11.45 -4.15) (end -1.4 -4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start -4.25 -1.6) (end -4.25 1.55) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.4 4.15) (end 11.45 4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start 11.45 4.15) (end 11.45 -4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.4 -4.15) (end -4.25 -1.6) (layer F.SilkS) (width 0.12))
+    (fp_line (start -4.25 1.55) (end -1.4 4.15) (layer F.SilkS) (width 0.12))
+    (fp_line (start 11.35 -4.05) (end -1.4 -4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start -1.4 -4.05) (end -4.15 -1.55) (layer F.Fab) (width 0.12))
+    (fp_line (start -4.15 -1.55) (end -4.15 1.55) (layer F.Fab) (width 0.12))
+    (fp_line (start -4.15 1.55) (end -1.4 4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start -1.4 4.05) (end 11.35 4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start 11.35 4.05) (end 11.35 -4.05) (layer F.Fab) (width 0.12))
+    (fp_line (start 11.85 -4.6) (end 11.85 4.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 11.85 4.6) (end -1.6 4.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.6 4.6) (end -4.65 1.85) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.65 1.85) (end -4.65 -1.85) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.65 -1.85) (end -1.6 -4.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.6 -4.6) (end 11.85 -4.6) (layer F.CrtYd) (width 0.05))
+    (pad 1 thru_hole roundrect (at 0 0) (size 6 6) (drill 4.5) (layers *.Cu *.Mask) (roundrect_rratio 0.25)
+      (net 3 gnd))
+    (pad 2 thru_hole circle (at 7.2 0) (size 6 6) (drill 4.5) (layers *.Cu *.Mask)
+      (net 1 +12v))
+    (model ${KISYS3DMOD}/Connector_AMASS.3dshapes/AMASS_XT60-F_1x02_P7.2mm_Vertical.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module Connector_AMASS:AMASS_XT30U-F_1x02_P5.0mm_Vertical (layer F.Cu) (tedit 5C8E9CDA) (tstamp 66361DCC)
+    (at 171.765001 90.735001)
+    (descr "Connector XT30 Vertical Cable Female, https://www.tme.eu/en/Document/3cbfa5cfa544d79584972dd5234a409e/XT30U%20SPEC.pdf")
+    (tags "RC Connector XT30")
+    (path /6636FCC1)
+    (fp_text reference xt30 (at 2.5 -4) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value Battery (at 2.5 4) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user - (at -4 0) (layer F.SilkS)
+      (effects (font (size 1.5 1.5) (thickness 0.15)))
+    )
+    (fp_text user + (at 9 0) (layer F.SilkS)
+      (effects (font (size 1.5 1.5) (thickness 0.15)))
+    )
+    (fp_text user %R (at 2.5 0) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start -2.6 -1.3) (end -2.6 1.3) (layer F.Fab) (width 0.1))
+    (fp_line (start 7.6 -2.6) (end 7.6 2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -0.9 -2.6) (end 7.6 -2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -0.9 2.6) (end 7.6 2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -2.6 -1.3) (end -0.9 -2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -2.6 1.3) (end -0.9 2.6) (layer F.Fab) (width 0.1))
+    (fp_line (start -1.01 -2.71) (end 7.71 -2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start 7.71 -2.71) (end 7.71 2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.01 2.71) (end 7.71 2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -2.71 -1.41) (end -1.01 -2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -2.71 1.41) (end -1.01 2.71) (layer F.SilkS) (width 0.12))
+    (fp_line (start -2.71 -1.41) (end -2.71 1.41) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.4 -3.1) (end 8.1 -3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 8.1 -3.1) (end 8.1 3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.1 -1.8) (end -3.1 1.8) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.4 3.1) (end 8.1 3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.1 -1.8) (end -1.4 -3.1) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.1 1.8) (end -1.4 3.1) (layer F.CrtYd) (width 0.05))
+    (pad 2 thru_hole circle (at 5 0) (size 4 4) (drill 2.7) (layers *.Cu *.Mask)
+      (net 1 +12v))
+    (pad 1 thru_hole rect (at 0 0) (size 3.8 3.8) (drill 2.7) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (model ${KISYS3DMOD}/Connector_AMASS.3dshapes/AMASS_XT30U-F_1x02_P5.0mm_Vertical.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module Package_DIP:DIP-28_W7.62mm (layer F.Cu) (tedit 5A02E8C5) (tstamp 66361DB1)
+    (at 109.075001 86.665001)
+    (descr "28-lead though-hole mounted DIP package, row spacing 7.62 mm (300 mils)")
+    (tags "THT DIP DIL PDIP 2.54mm 7.62mm 300mil")
+    (path /663ADEC8)
+    (fp_text reference port_multiplexer_2 (at 3.81 -2.33) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value MCP23017_SP (at 3.81 35.35) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user %R (at 3.81 16.51) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_arc (start 3.81 -1.33) (end 2.81 -1.33) (angle -180) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.635 -1.27) (end 6.985 -1.27) (layer F.Fab) (width 0.1))
+    (fp_line (start 6.985 -1.27) (end 6.985 34.29) (layer F.Fab) (width 0.1))
+    (fp_line (start 6.985 34.29) (end 0.635 34.29) (layer F.Fab) (width 0.1))
+    (fp_line (start 0.635 34.29) (end 0.635 -0.27) (layer F.Fab) (width 0.1))
+    (fp_line (start 0.635 -0.27) (end 1.635 -1.27) (layer F.Fab) (width 0.1))
+    (fp_line (start 2.81 -1.33) (end 1.16 -1.33) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.16 -1.33) (end 1.16 34.35) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.16 34.35) (end 6.46 34.35) (layer F.SilkS) (width 0.12))
+    (fp_line (start 6.46 34.35) (end 6.46 -1.33) (layer F.SilkS) (width 0.12))
+    (fp_line (start 6.46 -1.33) (end 4.81 -1.33) (layer F.SilkS) (width 0.12))
+    (fp_line (start -1.1 -1.55) (end -1.1 34.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.1 34.55) (end 8.7 34.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 8.7 34.55) (end 8.7 -1.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 8.7 -1.55) (end -1.1 -1.55) (layer F.CrtYd) (width 0.05))
+    (pad 28 thru_hole oval (at 7.62 0) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 38 "Net-(motor2-Pad3)"))
+    (pad 14 thru_hole oval (at 0 33.02) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 63 "Net-(port_multiplexer_2-Pad14)"))
+    (pad 27 thru_hole oval (at 7.62 2.54) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 39 "Net-(motor2-Pad2)"))
+    (pad 13 thru_hole oval (at 0 30.48) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 64 "Net-(port_multiplexer_2-Pad13)"))
+    (pad 26 thru_hole oval (at 7.62 5.08) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 36 "Net-(motor1-Pad3)"))
+    (pad 12 thru_hole oval (at 0 27.94) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 65 "Net-(port_multiplexer_2-Pad12)"))
+    (pad 25 thru_hole oval (at 7.62 7.62) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 37 "Net-(motor1-Pad2)"))
+    (pad 11 thru_hole oval (at 0 25.4) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 66 "Net-(port_multiplexer_2-Pad11)"))
+    (pad 24 thru_hole oval (at 7.62 10.16) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 60 "Net-(motor_driver3-Pad9)"))
+    (pad 10 thru_hole oval (at 0 22.86) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 23 thru_hole oval (at 7.62 12.7) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 59 "Net-(motor_driver3-Pad10)"))
+    (pad 9 thru_hole oval (at 0 20.32) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 22 thru_hole oval (at 7.62 15.24) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 58 "Net-(motor_driver3-Pad11)"))
+    (pad 8 thru_hole oval (at 0 17.78) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 53 "Net-(motor_driver2-Pad9)"))
+    (pad 21 thru_hole oval (at 7.62 17.78) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 56 "Net-(motor_driver3-Pad12)"))
+    (pad 7 thru_hole oval (at 0 15.24) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 52 "Net-(motor_driver2-Pad10)"))
+    (pad 20 thru_hole oval (at 7.62 20.32) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 67 "Net-(port_multiplexer_2-Pad20)"))
+    (pad 6 thru_hole oval (at 0 12.7) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 51 "Net-(motor_driver2-Pad11)"))
+    (pad 19 thru_hole oval (at 7.62 22.86) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 68 "Net-(port_multiplexer_2-Pad19)"))
+    (pad 5 thru_hole oval (at 0 10.16) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 49 "Net-(motor_driver2-Pad12)"))
+    (pad 18 thru_hole oval (at 7.62 25.4) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 69 "Net-(port_multiplexer_2-Pad18)"))
+    (pad 4 thru_hole oval (at 0 7.62) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 46 "Net-(motor_driver1-Pad9)"))
+    (pad 17 thru_hole oval (at 7.62 27.94) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 70 "Net-(port_multiplexer_2-Pad17)"))
+    (pad 3 thru_hole oval (at 0 5.08) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 45 "Net-(motor_driver1-Pad10)"))
+    (pad 16 thru_hole oval (at 7.62 30.48) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 71 "Net-(port_multiplexer_2-Pad16)"))
+    (pad 2 thru_hole oval (at 0 2.54) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 44 "Net-(motor_driver1-Pad11)"))
+    (pad 15 thru_hole oval (at 7.62 33.02) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 72 "Net-(port_multiplexer_2-Pad15)"))
+    (pad 1 thru_hole rect (at 0 0) (size 1.6 1.6) (drill 0.8) (layers *.Cu *.Mask)
+      (net 42 "Net-(motor_driver1-Pad12)"))
+    (model ${KISYS3DMOD}/Package_DIP.3dshapes/DIP-28_W7.62mm.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module custom:TB9051FTG (layer F.Cu) (tedit 6634D7B7) (tstamp 66361D81)
+    (at 129.722 110.052)
+    (path /66365747)
+    (fp_text reference motor_driver3 (at 0 -5.08) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value TB9051FTG (at 0 -3.04) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 14 thru_hole circle (at 12.7 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 12 thru_hole circle (at 7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 56 "Net-(motor_driver3-Pad12)"))
+    (pad 13 thru_hole circle (at 10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 57 "Net-(motor_driver3-Pad13)"))
+    (pad 11 thru_hole circle (at 5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 58 "Net-(motor_driver3-Pad11)"))
+    (pad 10 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 59 "Net-(motor_driver3-Pad10)"))
+    (pad 9 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 60 "Net-(motor_driver3-Pad9)"))
+    (pad 8 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 61 "Net-(motor_driver3-Pad8)"))
+    (pad 7 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 6 thru_hole circle (at -7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 62 "Net-(motor_driver3-Pad5)"))
+  )
+
+  (module custom:TB9051FTG (layer F.Cu) (tedit 6634D7B7) (tstamp 66361D73)
+    (at 161.222 85.852)
+    (path /6636526D)
+    (fp_text reference motor_driver2 (at 0 -5.08) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value TB9051FTG (at 0 -3.04) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 14 thru_hole circle (at 12.7 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 12 thru_hole circle (at 7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 49 "Net-(motor_driver2-Pad12)"))
+    (pad 13 thru_hole circle (at 10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 50 "Net-(motor_driver2-Pad13)"))
+    (pad 11 thru_hole circle (at 5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 51 "Net-(motor_driver2-Pad11)"))
+    (pad 10 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 52 "Net-(motor_driver2-Pad10)"))
+    (pad 9 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 53 "Net-(motor_driver2-Pad9)"))
+    (pad 8 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 54 "Net-(motor_driver2-Pad8)"))
+    (pad 7 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 6 thru_hole circle (at -7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 55 "Net-(motor_driver2-Pad5)"))
+  )
+
+  (module custom:TB9051FTG (layer F.Cu) (tedit 6634D7B7) (tstamp 66361D65)
+    (at 118.872 123.002)
+    (path /66362316)
+    (fp_text reference motor_driver1 (at 0 -5.08) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value TB9051FTG (at 0 -3.04) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 14 thru_hole circle (at 12.7 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 12 thru_hole circle (at 7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 42 "Net-(motor_driver1-Pad12)"))
+    (pad 13 thru_hole circle (at 10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 43 "Net-(motor_driver1-Pad13)"))
+    (pad 11 thru_hole circle (at 5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 44 "Net-(motor_driver1-Pad11)"))
+    (pad 10 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 45 "Net-(motor_driver1-Pad10)"))
+    (pad 9 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 46 "Net-(motor_driver1-Pad9)"))
+    (pad 8 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 47 "Net-(motor_driver1-Pad8)"))
+    (pad 7 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 6 thru_hole circle (at -7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 48 "Net-(motor_driver1-Pad5)"))
+  )
+
+  (module custom:pololu_motor (layer F.Cu) (tedit 66336A28) (tstamp 66361D57)
+    (at 124.642 117.122)
+    (path /663619F7)
+    (fp_text reference motor3 (at 0 -7.62) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value pololu_motor (at 0 -5.08) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 4 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 3 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 40 B))
+    (pad 2 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 41 A))
+    (pad 1 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 10 5v))
+  )
+
+  (module custom:pololu_motor (layer F.Cu) (tedit 66336A28) (tstamp 66361D4F)
+    (at 124.642 119.642)
+    (path /66361689)
+    (fp_text reference motor2 (at 0 -7.62) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value pololu_motor (at 0 -5.08) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 4 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 3 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 38 "Net-(motor2-Pad3)"))
+    (pad 2 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 39 "Net-(motor2-Pad2)"))
+    (pad 1 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 10 5v))
+  )
+
+  (module custom:pololu_motor (layer F.Cu) (tedit 66336A28) (tstamp 66361D47)
+    (at 160.162 112.572)
+    (path /66360D6F)
+    (fp_text reference motor1 (at 0 -7.62) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value pololu_motor (at 0 -5.08) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 4 thru_hole circle (at 2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 3 thru_hole circle (at 0 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 36 "Net-(motor1-Pad3)"))
+    (pad 2 thru_hole circle (at -2.54 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 37 "Net-(motor1-Pad2)"))
+    (pad 1 thru_hole circle (at -5.08 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 10 5v))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361D3F)
+    (at 124.642 115.112)
+    (path /6638E0F0)
+    (fp_text reference kleur_sensor_6 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 22 "Net-(i2c_multiplexer1-Pad15)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 21 "Net-(i2c_multiplexer1-Pad16)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361D34)
+    (at 139.172 119.662)
+    (path /6638E0EA)
+    (fp_text reference kleur_sensor_5 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 24 "Net-(i2c_multiplexer1-Pad13)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 23 "Net-(i2c_multiplexer1-Pad14)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361D29)
+    (at 142.402 115.112)
+    (path /6638E0E4)
+    (fp_text reference kleur_sensor_4 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 26 "Net-(i2c_multiplexer1-Pad10)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 25 "Net-(i2c_multiplexer1-Pad11)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361D1E)
+    (at 156.142 106.012)
+    (path /6638AC73)
+    (fp_text reference kleur_sensor_3 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 28 "Net-(i2c_multiplexer1-Pad8)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 27 "Net-(i2c_multiplexer1-Pad9)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361D13)
+    (at 156.142 110.562)
+    (path /6638428B)
+    (fp_text reference kleur_sensor_2 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 30 "Net-(i2c_multiplexer1-Pad6)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 29 "Net-(i2c_multiplexer1-Pad7)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module custom:tcs3472 (layer F.Cu) (tedit 663363BC) (tstamp 66361D08)
+    (at 139.172 124.212)
+    (path /66382B7A)
+    (fp_text reference kleur_sensor_1 (at 0 -10.16) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value tcs3472_color_sensor (at 0 -7.62) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (pad 7 thru_hole circle (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 6 thru_hole circle (at 7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+    (pad 0 thru_hole circle (at 5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 32 "Net-(i2c_multiplexer1-Pad4)"))
+    (pad 1 thru_hole circle (at 2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 31 "Net-(i2c_multiplexer1-Pad5)"))
+    (pad 2 thru_hole circle (at 0 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 6 3.3v))
+    (pad 3 thru_hole circle (at -2.54 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask)
+      (net 3 gnd))
+    (pad 5 thru_hole circle (at -5.08 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask))
+  )
+
+  (module Package_SO:SSOP-24_5.3x8.2mm_P0.65mm (layer F.Cu) (tedit 5A02F25C) (tstamp 66361CFD)
+    (at 173.415001 99.385001)
+    (descr "24-Lead Plastic Shrink Small Outline (SS)-5.30 mm Body [SSOP] (see Microchip Packaging Specification 00000049BS.pdf)")
+    (tags "SSOP 0.65")
+    (path /663C2FAA)
+    (attr smd)
+    (fp_text reference i2c_multiplexer1 (at 0 -5.25) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value PCA9548ADB (at 0 5.25) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user %R (at 0 0) (layer F.Fab)
+      (effects (font (size 0.8 0.8) (thickness 0.15)))
+    )
+    (fp_line (start -1.65 -4.1) (end 2.65 -4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start 2.65 -4.1) (end 2.65 4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start 2.65 4.1) (end -2.65 4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start -2.65 4.1) (end -2.65 -3.1) (layer F.Fab) (width 0.15))
+    (fp_line (start -2.65 -3.1) (end -1.65 -4.1) (layer F.Fab) (width 0.15))
+    (fp_line (start -4.75 -4.5) (end -4.75 4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 4.75 -4.5) (end 4.75 4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.75 -4.5) (end 4.75 -4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -4.75 4.5) (end 4.75 4.5) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -2.875 -4.325) (end -2.875 -4.1) (layer F.SilkS) (width 0.15))
+    (fp_line (start 2.875 -4.325) (end 2.875 -4.025) (layer F.SilkS) (width 0.15))
+    (fp_line (start 2.875 4.325) (end 2.875 4.025) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 4.325) (end -2.875 4.025) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 -4.325) (end 2.875 -4.325) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 4.325) (end 2.875 4.325) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.875 -4.1) (end -4.475 -4.1) (layer F.SilkS) (width 0.15))
+    (pad 24 smd rect (at 3.6 -3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 6 3.3v))
+    (pad 23 smd rect (at 3.6 -2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 14 sda))
+    (pad 22 smd rect (at 3.6 -2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 15 scl))
+    (pad 21 smd rect (at 3.6 -1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 16 "Net-(i2c_multiplexer1-Pad21)"))
+    (pad 20 smd rect (at 3.6 -0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 17 "Net-(i2c_multiplexer1-Pad20)"))
+    (pad 19 smd rect (at 3.6 -0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 18 "Net-(i2c_multiplexer1-Pad19)"))
+    (pad 18 smd rect (at 3.6 0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 19 sc6))
+    (pad 17 smd rect (at 3.6 0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 20 sd6))
+    (pad 16 smd rect (at 3.6 1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 21 "Net-(i2c_multiplexer1-Pad16)"))
+    (pad 15 smd rect (at 3.6 2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 22 "Net-(i2c_multiplexer1-Pad15)"))
+    (pad 14 smd rect (at 3.6 2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 23 "Net-(i2c_multiplexer1-Pad14)"))
+    (pad 13 smd rect (at 3.6 3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 24 "Net-(i2c_multiplexer1-Pad13)"))
+    (pad 12 smd rect (at -3.6 3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 11 smd rect (at -3.6 2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 25 "Net-(i2c_multiplexer1-Pad11)"))
+    (pad 10 smd rect (at -3.6 2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 26 "Net-(i2c_multiplexer1-Pad10)"))
+    (pad 9 smd rect (at -3.6 1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 27 "Net-(i2c_multiplexer1-Pad9)"))
+    (pad 8 smd rect (at -3.6 0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 28 "Net-(i2c_multiplexer1-Pad8)"))
+    (pad 7 smd rect (at -3.6 0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 29 "Net-(i2c_multiplexer1-Pad7)"))
+    (pad 6 smd rect (at -3.6 -0.325) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 30 "Net-(i2c_multiplexer1-Pad6)"))
+    (pad 5 smd rect (at -3.6 -0.975) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 31 "Net-(i2c_multiplexer1-Pad5)"))
+    (pad 4 smd rect (at -3.6 -1.625) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 32 "Net-(i2c_multiplexer1-Pad4)"))
+    (pad 3 smd rect (at -3.6 -2.275) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 33 "Net-(i2c_multiplexer1-Pad3)"))
+    (pad 2 smd rect (at -3.6 -2.925) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 34 "Net-(i2c_multiplexer1-Pad2)"))
+    (pad 1 smd rect (at -3.6 -3.575) (size 1.75 0.45) (layers F.Cu F.Paste F.Mask)
+      (net 35 "Net-(i2c_multiplexer1-Pad1)"))
+    (model ${KISYS3DMOD}/Package_SO.3dshapes/SSOP-24_5.3x8.2mm_P0.65mm.wrl
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module custom:SFTN01M05N (layer F.Cu) (tedit 6635F4A6) (tstamp 66361CD0)
+    (at 158.970001 94.660001)
+    (descr SFTN01M-05N-2)
+    (tags "Power Supply")
+    (path /66379F5D)
+    (attr smd)
+    (fp_text reference 5v_converter1 (at 0 -2.54) (layer F.SilkS)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text value SFTN01M-05N (at 0 1.27) (layer F.SilkS) hide
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text user %R (at 0 0) (layer F.Fab)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_arc (start -6.35 6.55) (end -6.35 6.6) (angle -180) (layer F.SilkS) (width 0.1))
+    (fp_arc (start -6.35 6.55) (end -6.35 6.5) (angle -180) (layer F.SilkS) (width 0.1))
+    (fp_line (start -7.62 -5.45) (end 7.62 -5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start 7.62 -5.45) (end 7.62 5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start 7.62 5.45) (end -7.62 5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start -7.62 5.45) (end -7.62 -5.45) (layer F.Fab) (width 0.1))
+    (fp_line (start -8.62 -7) (end 8.62 -7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 8.62 -7) (end 8.62 7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 8.62 7) (end -8.62 7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -8.62 7) (end -8.62 -7) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -6.35 6.6) (end -6.35 6.6) (layer F.SilkS) (width 0.1))
+    (fp_line (start -6.35 6.5) (end -6.35 6.5) (layer F.SilkS) (width 0.1))
+    (fp_line (start -7.4 5.45) (end -7.62 5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -7.62 5.45) (end -7.62 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -7.62 -5.45) (end -7.4 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -0.4 -5.45) (end 2.8 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start -0.4 5.45) (end 2.8 5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start 7.4 5.45) (end 7.62 5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start 7.62 5.45) (end 7.62 -5.45) (layer F.SilkS) (width 0.2))
+    (fp_line (start 7.62 -5.45) (end 7.2 -5.45) (layer F.SilkS) (width 0.2))
+    (pad 1 smd rect (at -6.35 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 2 smd rect (at -3.81 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 1 +12v))
+    (pad 3 smd rect (at -1.27 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 7 "Net-(5v_converter1-Pad3)"))
+    (pad 5 smd rect (at 3.81 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 6 smd rect (at 6.35 5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 8 "Net-(5v_converter1-Pad6)"))
+    (pad 7 smd rect (at 6.35 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 9 "Net-(5v_converter1-Pad7)"))
+    (pad 8 smd rect (at 3.81 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 10 5v))
+    (pad 10 smd rect (at -1.27 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 11 "Net-(5v_converter1-Pad10)"))
+    (pad 11 smd rect (at -3.81 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 12 "Net-(5v_converter1-Pad11)"))
+    (pad 12 smd rect (at -6.35 -5.1) (size 1.2 1.8) (layers F.Cu F.Paste F.Mask)
+      (net 13 "Net-(5v_converter1-Pad12)"))
+    (model SFTN01M-05N.stp
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module custom:CC60512SRE (layer F.Cu) (tedit 0) (tstamp 66361CAD)
+    (at 134.050001 96.690001)
+    (descr CC6-0512SR-E-4)
+    (tags "Power Supply")
+    (path /66378F04)
+    (attr smd)
+    (fp_text reference 3.3v_converter1 (at 0 0) (layer F.SilkS)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text value CC6-1203SR-E (at 0 0) (layer F.SilkS) hide
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_text user %R (at 0 0) (layer F.Fab)
+      (effects (font (size 1.27 1.27) (thickness 0.254)))
+    )
+    (fp_arc (start -14.75 -7.62) (end -14.8 -7.62) (angle -180) (layer F.SilkS) (width 0.2))
+    (fp_arc (start -14.75 -7.62) (end -14.7 -7.62) (angle -180) (layer F.SilkS) (width 0.2))
+    (fp_arc (start -14.75 -7.62) (end -14.8 -7.62) (angle -180) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end 11.28 10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start 11.28 10.55) (end 11.28 -10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start 11.28 -10.55) (end -11.28 -10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start -11.28 -10.55) (end -11.28 10.55) (layer F.Fab) (width 0.1))
+    (fp_line (start -15.2 -11.55) (end 15.2 -11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 15.2 -11.55) (end 15.2 11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start 15.2 11.55) (end -15.2 11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -15.2 11.55) (end -15.2 -11.55) (layer F.CrtYd) (width 0.1))
+    (fp_line (start -11.28 -6.6) (end -11.28 -6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -6.6) (end -11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 1.4) (end -11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 1.4) (end -11.28 -6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 3.6) (end -11.28 3.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 3.6) (end -11.28 6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 6.6) (end -11.28 6.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 6.6) (end -11.28 3.6) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 8.8) (end -11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 8.8) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end -11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 10.55) (end -11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 10.55) (end 11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 8.8) (end 11.28 8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 8.8) (end 11.28 10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 6.4) (end 11.28 6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 6.4) (end 11.28 3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 3.8) (end 11.28 3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 3.8) (end 11.28 6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 1.4) (end 11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 1.4) (end 11.28 -1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -1.4) (end 11.28 -1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -1.4) (end 11.28 1.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -3.8) (end 11.28 -3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -3.8) (end 11.28 -6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -6.4) (end 11.28 -6.4) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -6.4) (end 11.28 -3.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -8.8) (end 11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -8.8) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end 11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start 11.28 -10.55) (end 11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -10.55) (end -11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -8.8) (end -11.28 -8.8) (layer F.SilkS) (width 0.2))
+    (fp_line (start -11.28 -8.8) (end -11.28 -10.55) (layer F.SilkS) (width 0.2))
+    (fp_line (start -14.8 -7.62) (end -14.8 -7.62) (layer F.SilkS) (width 0.2))
+    (fp_line (start -14.7 -7.62) (end -14.7 -7.62) (layer F.SilkS) (width 0.2))
+    (fp_line (start -14.8 -7.62) (end -14.8 -7.62) (layer F.SilkS) (width 0.2))
+    (pad 1 smd rect (at -12.6 -7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 1 +12v))
+    (pad 2 smd rect (at -12.6 2.54 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 2 "Net-(3.3v_converter1-Pad2)"))
+    (pad 3 smd rect (at -12.6 7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 4 smd rect (at 12.6 7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 4 "Net-(3.3v_converter1-Pad4)"))
+    (pad 5 smd rect (at 12.6 2.54 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 3 gnd))
+    (pad 6 smd rect (at 12.6 -2.54 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 5 "Net-(3.3v_converter1-Pad6)"))
+    (pad 7 smd rect (at 12.6 -7.62 90) (size 1.2 3.2) (layers F.Cu F.Paste F.Mask)
+      (net 6 3.3v))
+    (model CC6-1203SR-E.stp
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+)
diff --git a/pcb_onder/pcb_onder.kicad_pcb-bak b/pcb_onder/pcb_onder.kicad_pcb-bak
new file mode 100644
index 0000000..02c8ecb
--- /dev/null
+++ b/pcb_onder/pcb_onder.kicad_pcb-bak
@@ -0,0 +1 @@
+(kicad_pcb (version 4) (host kicad "dummy file") )
diff --git a/pcb_onder/pcb_onder.sch b/pcb_onder/pcb_onder.sch
index 7715237..e26552a 100644
--- a/pcb_onder/pcb_onder.sch
+++ b/pcb_onder/pcb_onder.sch
@@ -13,4 +13,744 @@ Comment2 ""
 Comment3 ""
 Comment4 ""
 $EndDescr
+$Comp
+L pololu_motor:pololu_motor motor1
+U 1 1 66360D6F
+P 2225 1725
+F 0 "motor1" H 2225 2460 50  0000 C CNN
+F 1 "pololu_motor" H 2225 2369 50  0000 C CNN
+F 2 "custom:pololu_motor" H 2225 2475 50  0001 C CNN
+F 3 "" H 2225 2475 50  0001 C CNN
+	1    2225 1725
+	1    0    0    -1  
+$EndComp
+$Comp
+L pololu_motor:pololu_motor motor2
+U 1 1 66361689
+P 4025 1725
+F 0 "motor2" H 4025 2460 50  0000 C CNN
+F 1 "pololu_motor" H 4025 2369 50  0000 C CNN
+F 2 "custom:pololu_motor" H 4025 2475 50  0001 C CNN
+F 3 "" H 4025 2475 50  0001 C CNN
+	1    4025 1725
+	1    0    0    -1  
+$EndComp
+$Comp
+L pololu_motor:pololu_motor motor3
+U 1 1 663619F7
+P 5750 1725
+F 0 "motor3" H 5750 2460 50  0000 C CNN
+F 1 "pololu_motor" H 5750 2369 50  0000 C CNN
+F 2 "custom:pololu_motor" H 5750 2475 50  0001 C CNN
+F 3 "" H 5750 2475 50  0001 C CNN
+	1    5750 1725
+	1    0    0    -1  
+$EndComp
+$Comp
+L tb9051ftg:TB9051FTG motor_driver1
+U 1 1 66362316
+P 2475 4650
+F 0 "motor_driver1" V 2429 4978 50  0000 L CNN
+F 1 "TB9051FTG" V 2520 4978 50  0000 L CNN
+F 2 "custom:TB9051FTG" H 2475 5100 50  0001 C CNN
+F 3 "" H 2475 5100 50  0001 C CNN
+	1    2475 4650
+	0    1    1    0   
+$EndComp
+$Comp
+L tb9051ftg:TB9051FTG motor_driver2
+U 1 1 6636526D
+P 4125 4650
+F 0 "motor_driver2" V 4079 4978 50  0000 L CNN
+F 1 "TB9051FTG" V 4170 4978 50  0000 L CNN
+F 2 "custom:TB9051FTG" H 4125 5100 50  0001 C CNN
+F 3 "" H 4125 5100 50  0001 C CNN
+	1    4125 4650
+	0    1    1    0   
+$EndComp
+$Comp
+L tb9051ftg:TB9051FTG motor_driver3
+U 1 1 66365747
+P 5800 4650
+F 0 "motor_driver3" V 5754 4978 50  0000 L CNN
+F 1 "TB9051FTG" V 5845 4978 50  0000 L CNN
+F 2 "custom:TB9051FTG" H 5800 5100 50  0001 C CNN
+F 3 "" H 5800 5100 50  0001 C CNN
+	1    5800 4650
+	0    1    1    0   
+$EndComp
+Wire Wire Line
+	2125 4150 2125 3975
+Wire Wire Line
+	2125 3975 1625 3975
+Wire Wire Line
+	1625 3975 1625 1725
+Wire Wire Line
+	2225 4150 2225 3975
+Wire Wire Line
+	2225 3975 2825 3975
+Wire Wire Line
+	2825 3975 2825 1725
+Wire Wire Line
+	3775 4150 3775 3975
+Wire Wire Line
+	3775 3975 3425 3975
+Wire Wire Line
+	3425 3975 3425 1725
+Wire Wire Line
+	3875 4150 3875 3975
+Wire Wire Line
+	3875 3975 4625 3975
+Wire Wire Line
+	4625 3975 4625 1725
+Wire Wire Line
+	5450 4150 5450 3975
+Wire Wire Line
+	5450 3975 5150 3975
+Wire Wire Line
+	5150 3975 5150 1725
+Wire Wire Line
+	5550 4150 5550 3975
+Wire Wire Line
+	5550 3975 6350 3975
+Wire Wire Line
+	6350 3975 6350 1725
+Wire Wire Line
+	3975 4150 3975 4125
+Wire Wire Line
+	3975 4125 5650 4125
+Wire Wire Line
+	5650 4125 5650 4150
+Wire Wire Line
+	3975 4125 2325 4125
+Wire Wire Line
+	2325 4125 2325 4150
+Connection ~ 3975 4125
+Wire Wire Line
+	2425 4150 2425 4050
+Wire Wire Line
+	2425 4050 4075 4050
+Wire Wire Line
+	4075 4050 4075 4150
+Wire Wire Line
+	4075 4050 5750 4050
+Wire Wire Line
+	5750 4050 5750 4150
+Connection ~ 4075 4050
+$Comp
+L Device:Battery xt30
+U 1 1 6636FCC1
+P 1175 6300
+F 0 "xt30" H 1283 6346 50  0000 L CNN
+F 1 "Battery" H 1283 6255 50  0000 L CNN
+F 2 "Connector_AMASS:AMASS_XT30U-F_1x02_P5.0mm_Vertical" V 1175 6360 50  0001 C CNN
+F 3 "~" V 1175 6360 50  0001 C CNN
+	1    1175 6300
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:Battery xt60
+U 1 1 66371272
+P 1650 6300
+F 0 "xt60" H 1758 6346 50  0000 L CNN
+F 1 "Battery" H 1758 6255 50  0000 L CNN
+F 2 "Connector_AMASS:AMASS_XT60-F_1x02_P7.20mm_Vertical" V 1650 6360 50  0001 C CNN
+F 3 "~" V 1650 6360 50  0001 C CNN
+	1    1650 6300
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	1175 6100 1400 6100
+Wire Wire Line
+	1650 6500 1400 6500
+Connection ~ 1400 6100
+Wire Wire Line
+	1400 6100 1650 6100
+Wire Wire Line
+	1400 6500 1400 6850
+Connection ~ 1400 6500
+Wire Wire Line
+	1400 6500 1175 6500
+Text GLabel 1400 6725 0    50   Input ~ 0
++12v
+Text GLabel 1400 5950 0    50   Input ~ 0
+gnd
+Text Notes 1500 6650 0    50   ~ 0
+omgedraaid omdat xt connectors \nvekeerd zitten in pcb ondwerp
+Wire Wire Line
+	1400 4125 2325 4125
+Wire Wire Line
+	1400 4125 1400 5950
+Connection ~ 2325 4125
+Wire Wire Line
+	2425 4050 975  4050
+Wire Wire Line
+	975  4050 975  6850
+Wire Wire Line
+	975  6850 1400 6850
+Connection ~ 2425 4050
+$Comp
+L cc6-1203sr-e:CC6-1203SR-E 3.3v_converter1
+U 1 1 66378F04
+P 3225 6850
+F 0 "3.3v_converter1" H 3925 7115 50  0000 C CNN
+F 1 "CC6-1203SR-E" H 3925 7024 50  0000 C CNN
+F 2 "custom:CC60512SRE" H 4475 6950 50  0001 L CNN
+F 3 "https://product.tdk.com/system/files/dam/doc/product/power/switching-power/dc-dc-converter/catalog/cc-e_e.pdf" H 4475 6850 50  0001 L CNN
+F 4 "DC-DC Converters, On-board type, Output: 3.96W, 3.3V, Isolated type, Option: SMD type" H 4475 6750 50  0001 L CNN "Description"
+F 5 "8.8" H 4475 6650 50  0001 L CNN "Height"
+F 6 "TDK" H 4475 6550 50  0001 L CNN "Manufacturer_Name"
+F 7 "CC6-1203SR-E" H 4475 6450 50  0001 L CNN "Manufacturer_Part_Number"
+F 8 "967-CC6-1203SR-E" H 4475 6350 50  0001 L CNN "Mouser Part Number"
+F 9 "https://www.mouser.co.uk/ProductDetail/TDK-Lambda/CC6-1203SR-E?qs=Vwh6e7toGLi4J%2FzloL2n3g%3D%3D" H 4475 6250 50  0001 L CNN "Mouser Price/Stock"
+F 10 "CC6-1203SR-E" H 4475 6150 50  0001 L CNN "Arrow Part Number"
+F 11 "https://www.arrow.com/en/products/cc6-1203sr-e/tdk-lambda-americas?region=nac" H 4475 6050 50  0001 L CNN "Arrow Price/Stock"
+	1    3225 6850
+	1    0    0    -1  
+$EndComp
+$Comp
+L sftn01m-05n:SFTN01M-05N 5v_converter1
+U 1 1 66379F5D
+P 3275 7600
+F 0 "5v_converter1" H 3925 7865 50  0000 C CNN
+F 1 "SFTN01M-05N" H 3925 7774 50  0000 C CNN
+F 2 "custom:SFTN01M05N" H 4425 7700 50  0001 L CNN
+F 3 "https://www.meanwell.com/webapp/product/search.aspx?prod=SFTN01-N" H 4425 7600 50  0001 L CNN
+F 4 "Isolated DC/DC Converters - SMD 1W 12Vin 5Vout 20-200mA SMT Unregulated" H 4425 7500 50  0001 L CNN "Description"
+F 5 "7.6" H 4425 7400 50  0001 L CNN "Height"
+F 6 "Mean Well" H 4425 7300 50  0001 L CNN "Manufacturer_Name"
+F 7 "SFTN01M-05N" H 4425 7200 50  0001 L CNN "Manufacturer_Part_Number"
+F 8 "709-SFTN01M-05N" H 4425 7100 50  0001 L CNN "Mouser Part Number"
+F 9 "https://www.mouser.co.uk/ProductDetail/MEAN-WELL/SFTN01M-05N?qs=A6eO%252BMLsxmQLvWwJN5Fn%252BQ%3D%3D" H 4425 7000 50  0001 L CNN "Mouser Price/Stock"
+	1    3275 7600
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	1400 6850 3000 6850
+Wire Wire Line
+	3000 6850 3000 7700
+Wire Wire Line
+	3000 7700 3275 7700
+Connection ~ 1400 6850
+Wire Wire Line
+	3000 6850 3225 6850
+Connection ~ 3000 6850
+Wire Wire Line
+	3275 7600 3075 7600
+Wire Wire Line
+	3075 7600 3075 7050
+Wire Wire Line
+	3075 7050 3225 7050
+Wire Wire Line
+	3075 7050 3075 5950
+Wire Wire Line
+	3075 5950 1400 5950
+Connection ~ 3075 7050
+Connection ~ 1400 5950
+Wire Wire Line
+	1400 5950 1400 6100
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_1
+U 1 1 66382B7A
+P 7600 5000
+F 0 "kleur_sensor_1" H 7650 6015 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 5924 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 6100 50  0001 C CNN
+F 3 "" H 7650 6100 50  0001 C CNN
+	1    7600 5000
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_2
+U 1 1 6638428B
+P 7600 6075
+F 0 "kleur_sensor_2" H 7650 7090 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 6999 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 7175 50  0001 C CNN
+F 3 "" H 7650 7175 50  0001 C CNN
+	1    7600 6075
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_3
+U 1 1 6638AC73
+P 7600 7150
+F 0 "kleur_sensor_3" H 7650 8165 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 8074 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 8250 50  0001 C CNN
+F 3 "" H 7650 8250 50  0001 C CNN
+	1    7600 7150
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_4
+U 1 1 6638E0E4
+P 7600 8225
+F 0 "kleur_sensor_4" H 7650 9240 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 9149 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 9325 50  0001 C CNN
+F 3 "" H 7650 9325 50  0001 C CNN
+	1    7600 8225
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_5
+U 1 1 6638E0EA
+P 7600 9300
+F 0 "kleur_sensor_5" H 7650 10315 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 10224 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 10400 50  0001 C CNN
+F 3 "" H 7650 10400 50  0001 C CNN
+	1    7600 9300
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_6
+U 1 1 6638E0F0
+P 7600 10375
+F 0 "kleur_sensor_6" H 7650 11390 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 11299 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 11475 50  0001 C CNN
+F 3 "" H 7650 11475 50  0001 C CNN
+	1    7600 10375
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	7350 9725 7100 9725
+Wire Wire Line
+	7100 9725 7100 8650
+Wire Wire Line
+	7100 8650 7350 8650
+Wire Wire Line
+	7100 8650 7100 8150
+Wire Wire Line
+	7100 7575 7350 7575
+Connection ~ 7100 8650
+Wire Wire Line
+	7100 7575 7100 6500
+Wire Wire Line
+	7100 6500 7350 6500
+Connection ~ 7100 7575
+Wire Wire Line
+	7100 6500 7100 5425
+Wire Wire Line
+	7100 5425 7350 5425
+Connection ~ 7100 6500
+Wire Wire Line
+	7100 5425 7100 5225
+Wire Wire Line
+	7100 4350 7350 4350
+Connection ~ 7100 5425
+Wire Wire Line
+	7350 4250 7075 4250
+Wire Wire Line
+	7075 4250 7075 5175
+Wire Wire Line
+	7075 5325 7350 5325
+Wire Wire Line
+	7075 5325 7075 6400
+Wire Wire Line
+	7075 6400 7350 6400
+Connection ~ 7075 5325
+Wire Wire Line
+	7075 6400 7075 7475
+Wire Wire Line
+	7075 7475 7350 7475
+Connection ~ 7075 6400
+Wire Wire Line
+	7075 7475 7075 8100
+Wire Wire Line
+	7075 8550 7350 8550
+Connection ~ 7075 7475
+Wire Wire Line
+	7075 8550 7075 9625
+Wire Wire Line
+	7075 9625 7350 9625
+Connection ~ 7075 8550
+$Comp
+L Interface_Expansion:MCP23017_SP port_multiplexer_2
+U 1 1 663ADEC8
+P 5725 6250
+F 0 "port_multiplexer_2" V 5771 5106 50  0000 R CNN
+F 1 "MCP23017_SP" V 5680 5106 50  0000 R CNN
+F 2 "Package_DIP:DIP-28_W7.62mm" H 5925 5250 50  0001 L CNN
+F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf" H 5925 5150 50  0001 L CNN
+	1    5725 6250
+	0    -1   -1   0   
+$EndComp
+$Comp
+L Interface_Expansion:PCA9548ADB i2c_multiplexer1
+U 1 1 663C2FAA
+P 10075 7525
+F 0 "i2c_multiplexer1" H 10075 8606 50  0000 C CNN
+F 1 "PCA9548ADB" H 10075 8515 50  0000 C CNN
+F 2 "Package_SO:SSOP-24_5.3x8.2mm_P0.65mm" H 10075 6525 50  0001 C CNN
+F 3 "http://www.ti.com/lit/ds/symlink/pca9548a.pdf" H 10125 7775 50  0001 C CNN
+	1    10075 7525
+	-1   0    0    -1  
+$EndComp
+Wire Wire Line
+	7950 4250 9025 4250
+Wire Wire Line
+	9025 4250 9025 6825
+Wire Wire Line
+	9025 6825 9675 6825
+Wire Wire Line
+	9675 6925 9000 6925
+Wire Wire Line
+	9000 6925 9000 4350
+Wire Wire Line
+	9000 4350 7950 4350
+Wire Wire Line
+	7950 5325 8975 5325
+Wire Wire Line
+	8975 5325 8975 7025
+Wire Wire Line
+	8975 7025 9675 7025
+Wire Wire Line
+	9675 7125 8950 7125
+Wire Wire Line
+	8950 7125 8950 5425
+Wire Wire Line
+	8950 5425 7950 5425
+Wire Wire Line
+	7950 6400 8925 6400
+Wire Wire Line
+	8925 6400 8925 7225
+Wire Wire Line
+	8925 7225 9675 7225
+Wire Wire Line
+	9675 7325 8900 7325
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	7950 7475 8900 7475
+Wire Wire Line
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+Wire Wire Line
+	8900 7425 9675 7425
+Wire Wire Line
+	9675 7525 8925 7525
+Wire Wire Line
+	8925 7525 8925 7575
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	8950 7625 8950 8550
+Wire Wire Line
+	8950 8550 7950 8550
+Wire Wire Line
+	7950 8650 8975 8650
+Wire Wire Line
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+Wire Wire Line
+	8975 7725 9675 7725
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	9000 9625 7950 9625
+Wire Wire Line
+	7950 9725 9025 9725
+Wire Wire Line
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+Wire Wire Line
+	9025 7925 9675 7925
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	9050 10575 950  10575
+Text GLabel 1250 10575 0    50   Input ~ 0
+sc6
+Wire Wire Line
+	950  10675 9075 10675
+Wire Wire Line
+	9075 10675 9075 8125
+Wire Wire Line
+	9075 8125 9675 8125
+Text GLabel 1250 10675 0    50   Input ~ 0
+sd6
+Wire Wire Line
+	10875 6925 10475 6925
+Wire Wire Line
+	10475 6825 11025 6825
+Wire Wire Line
+	11025 6825 11025 10875
+Wire Wire Line
+	11025 10875 950  10875
+Wire Wire Line
+	950  10775 10875 10775
+Text GLabel 1250 10775 0    50   Input ~ 0
+sda
+Text GLabel 1250 10875 0    50   Input ~ 0
+scl
+Wire Wire Line
+	3275 7900 2975 7900
+Wire Wire Line
+	2975 7900 2975 10975
+Wire Wire Line
+	2975 10975 950  10975
+Wire Wire Line
+	10875 10775 10875 6925
+Text GLabel 1250 10975 0    50   Input ~ 0
+gnd
+Text GLabel 1250 11075 0    50   Input ~ 0
+5v
+Wire Wire Line
+	4675 11075 4675 8350
+Wire Wire Line
+	4675 7900 4575 7900
+Wire Wire Line
+	950  11075 4675 11075
+Text GLabel 1250 10475 0    50   Input ~ 0
+gnd
+Text GLabel 1250 10375 0    50   Input ~ 0
+3.3v
+Wire Wire Line
+	950  10375 4775 10375
+Wire Wire Line
+	4625 7050 5025 7050
+Wire Wire Line
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+Wire Wire Line
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+	4075 3625 6525 3625
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 $EndSCHEMATC
diff --git a/pcb_onder/pcb_onder.sch-bak b/pcb_onder/pcb_onder.sch-bak
index fff8c68..22aea26 100644
--- a/pcb_onder/pcb_onder.sch-bak
+++ b/pcb_onder/pcb_onder.sch-bak
@@ -1,4 +1,756 @@
-EESchema Schematic File Version 2
-EELAYER 25 0
+EESchema Schematic File Version 4
+EELAYER 30 0
 EELAYER END
+$Descr A3 16535 11693
+encoding utf-8
+Sheet 1 1
+Title ""
+Date ""
+Rev ""
+Comp ""
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+$EndDescr
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+F 2 "custom:pololu_motor" H 2225 2475 50  0001 C CNN
+F 3 "" H 2225 2475 50  0001 C CNN
+	1    2225 1725
+	1    0    0    -1  
+$EndComp
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+F 0 "motor2" H 4025 2460 50  0000 C CNN
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+F 2 "custom:pololu_motor" H 4025 2475 50  0001 C CNN
+F 3 "" H 4025 2475 50  0001 C CNN
+	1    4025 1725
+	1    0    0    -1  
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+L pololu_motor:pololu_motor motor3
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+F 0 "motor3" H 5750 2460 50  0000 C CNN
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+F 2 "custom:pololu_motor" H 5750 2475 50  0001 C CNN
+F 3 "" H 5750 2475 50  0001 C CNN
+	1    5750 1725
+	1    0    0    -1  
+$EndComp
+$Comp
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+	1    2475 4650
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+	1    4125 4650
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+$EndComp
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+	1    5800 4650
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+U 1 1 6636FCC1
+P 1175 6300
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+F 2 "Connector_AMASS:AMASS_XT30U-F_1x02_P5.0mm_Vertical" V 1175 6360 50  0001 C CNN
+F 3 "~" V 1175 6360 50  0001 C CNN
+	1    1175 6300
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:Battery xt60
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+P 1650 6300
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+F 3 "~" V 1650 6360 50  0001 C CNN
+	1    1650 6300
+	1    0    0    -1  
+$EndComp
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+	1400 6500 1400 6850
+Connection ~ 1400 6500
+Wire Wire Line
+	1400 6500 1175 6500
+Text GLabel 1400 6725 0    50   Input ~ 0
++12v
+Text GLabel 1400 5950 0    50   Input ~ 0
+gnd
+Text Notes 1500 6650 0    50   ~ 0
+omgedraaid omdat xt connectors \nvekeerd zitten in pcb ondwerp
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+	975  4050 975  6850
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+	975  6850 1400 6850
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+L cc6-1203sr-e:CC6-1203SR-E 3.3v_converter1
+U 1 1 66378F04
+P 3225 6850
+F 0 "3.3v_converter1" H 3925 7115 50  0000 C CNN
+F 1 "CC6-1203SR-E" H 3925 7024 50  0000 C CNN
+F 2 "custom:CC60512SRE" H 4475 6950 50  0001 L CNN
+F 3 "https://product.tdk.com/system/files/dam/doc/product/power/switching-power/dc-dc-converter/catalog/cc-e_e.pdf" H 4475 6850 50  0001 L CNN
+F 4 "DC-DC Converters, On-board type, Output: 3.96W, 3.3V, Isolated type, Option: SMD type" H 4475 6750 50  0001 L CNN "Description"
+F 5 "8.8" H 4475 6650 50  0001 L CNN "Height"
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+F 7 "CC6-1203SR-E" H 4475 6450 50  0001 L CNN "Manufacturer_Part_Number"
+F 8 "967-CC6-1203SR-E" H 4475 6350 50  0001 L CNN "Mouser Part Number"
+F 9 "https://www.mouser.co.uk/ProductDetail/TDK-Lambda/CC6-1203SR-E?qs=Vwh6e7toGLi4J%2FzloL2n3g%3D%3D" H 4475 6250 50  0001 L CNN "Mouser Price/Stock"
+F 10 "CC6-1203SR-E" H 4475 6150 50  0001 L CNN "Arrow Part Number"
+F 11 "https://www.arrow.com/en/products/cc6-1203sr-e/tdk-lambda-americas?region=nac" H 4475 6050 50  0001 L CNN "Arrow Price/Stock"
+	1    3225 6850
+	1    0    0    -1  
+$EndComp
+$Comp
+L sftn01m-05n:SFTN01M-05N 5v_converter1
+U 1 1 66379F5D
+P 3275 7600
+F 0 "5v_converter1" H 3925 7865 50  0000 C CNN
+F 1 "SFTN01M-05N" H 3925 7774 50  0000 C CNN
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+F 3 "https://www.meanwell.com/webapp/product/search.aspx?prod=SFTN01-N" H 4425 7600 50  0001 L CNN
+F 4 "Isolated DC/DC Converters - SMD 1W 12Vin 5Vout 20-200mA SMT Unregulated" H 4425 7500 50  0001 L CNN "Description"
+F 5 "7.6" H 4425 7400 50  0001 L CNN "Height"
+F 6 "Mean Well" H 4425 7300 50  0001 L CNN "Manufacturer_Name"
+F 7 "SFTN01M-05N" H 4425 7200 50  0001 L CNN "Manufacturer_Part_Number"
+F 8 "709-SFTN01M-05N" H 4425 7100 50  0001 L CNN "Mouser Part Number"
+F 9 "https://www.mouser.co.uk/ProductDetail/MEAN-WELL/SFTN01M-05N?qs=A6eO%252BMLsxmQLvWwJN5Fn%252BQ%3D%3D" H 4425 7000 50  0001 L CNN "Mouser Price/Stock"
+	1    3275 7600
+	1    0    0    -1  
+$EndComp
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+	3000 6850 3000 7700
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+Connection ~ 1400 6850
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+Connection ~ 3000 6850
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+	3075 7050 3075 5950
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+	3075 5950 1400 5950
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+Wire Wire Line
+	1400 5950 1400 6100
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+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_1
+U 1 1 66382B7A
+P 7600 5000
+F 0 "kleur_sensor_1" H 7650 6015 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 5924 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 6100 50  0001 C CNN
+F 3 "" H 7650 6100 50  0001 C CNN
+	1    7600 5000
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_2
+U 1 1 6638428B
+P 7600 6075
+F 0 "kleur_sensor_2" H 7650 7090 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 6999 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 7175 50  0001 C CNN
+F 3 "" H 7650 7175 50  0001 C CNN
+	1    7600 6075
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_3
+U 1 1 6638AC73
+P 7600 7150
+F 0 "kleur_sensor_3" H 7650 8165 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 8074 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 8250 50  0001 C CNN
+F 3 "" H 7650 8250 50  0001 C CNN
+	1    7600 7150
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_4
+U 1 1 6638E0E4
+P 7600 8225
+F 0 "kleur_sensor_4" H 7650 9240 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 9149 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 9325 50  0001 C CNN
+F 3 "" H 7650 9325 50  0001 C CNN
+	1    7600 8225
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_5
+U 1 1 6638E0EA
+P 7600 9300
+F 0 "kleur_sensor_5" H 7650 10315 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 10224 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 10400 50  0001 C CNN
+F 3 "" H 7650 10400 50  0001 C CNN
+	1    7600 9300
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor kleur_sensor_6
+U 1 1 6638E0F0
+P 7600 10375
+F 0 "kleur_sensor_6" H 7650 11390 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7650 11299 50  0000 C CNN
+F 2 "custom:tcs3472" H 7650 11475 50  0001 C CNN
+F 3 "" H 7650 11475 50  0001 C CNN
+	1    7600 10375
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	7350 9725 7100 9725
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+	7100 9725 7100 8650
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+	7100 8650 7350 8650
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+	7100 8650 7100 8150
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+	7100 7575 7350 7575
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+	7100 6500 7350 6500
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+	7100 5425 7350 5425
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+	7100 5425 7100 5225
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+	7100 4350 7350 4350
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+	7075 7475 7350 7475
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+Connection ~ 7075 7475
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+	7075 8550 7075 9625
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+	7075 9625 7350 9625
+Connection ~ 7075 8550
+$Comp
+L Interface_Expansion:MCP23017_SP port_multiplexer_2
+U 1 1 663ADEC8
+P 5725 6250
+F 0 "port_multiplexer_2" V 5771 5106 50  0000 R CNN
+F 1 "MCP23017_SP" V 5680 5106 50  0000 R CNN
+F 2 "Package_DIP:DIP-28_W7.62mm" H 5925 5250 50  0001 L CNN
+F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf" H 5925 5150 50  0001 L CNN
+	1    5725 6250
+	0    -1   -1   0   
+$EndComp
+$Comp
+L Interface_Expansion:PCA9548ADB i2c_multiplexer1
+U 1 1 663C2FAA
+P 10075 7525
+F 0 "i2c_multiplexer1" H 10075 8606 50  0000 C CNN
+F 1 "PCA9548ADB" H 10075 8515 50  0000 C CNN
+F 2 "Package_SO:SSOP-24_5.3x8.2mm_P0.65mm" H 10075 6525 50  0001 C CNN
+F 3 "http://www.ti.com/lit/ds/symlink/pca9548a.pdf" H 10125 7775 50  0001 C CNN
+	1    10075 7525
+	-1   0    0    -1  
+$EndComp
+Wire Wire Line
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+	9025 4250 9025 6825
+Wire Wire Line
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+	9675 6925 9000 6925
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+	9000 6925 9000 4350
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+	9000 4350 7950 4350
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+	7950 5325 8975 5325
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+	8975 7025 9675 7025
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+	8950 7125 8950 5425
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+	8950 5425 7950 5425
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+	7950 6400 8925 6400
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+	8925 7225 9675 7225
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+	9675 7325 8900 7325
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+	8900 7425 9675 7425
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+	9050 10575 950  10575
+Text GLabel 1250 10575 0    50   Input ~ 0
+sc6
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+Wire Wire Line
+	9075 10675 9075 8125
+Wire Wire Line
+	9075 8125 9675 8125
+Text GLabel 1250 10675 0    50   Input ~ 0
+sd6
+Wire Wire Line
+	10875 6925 10475 6925
+Wire Wire Line
+	10475 6825 11025 6825
+Wire Wire Line
+	11025 6825 11025 10875
+Wire Wire Line
+	11025 10875 950  10875
+Wire Wire Line
+	950  10775 10875 10775
+Text GLabel 1250 10775 0    50   Input ~ 0
+sda
+Text GLabel 1250 10875 0    50   Input ~ 0
+scl
+Wire Wire Line
+	3275 7900 2975 7900
+Wire Wire Line
+	2975 7900 2975 10975
+Wire Wire Line
+	2975 10975 950  10975
+Wire Wire Line
+	10875 10775 10875 6925
+Text GLabel 1250 10975 0    50   Input ~ 0
+gnd
+Text GLabel 1250 11075 0    50   Input ~ 0
+5v
+Wire Wire Line
+	4675 11075 4675 8350
+Wire Wire Line
+	4675 7900 4575 7900
+Wire Wire Line
+	950  11075 4675 11075
+Text GLabel 1250 10475 0    50   Input ~ 0
+gnd
+Text GLabel 1250 10375 0    50   Input ~ 0
+3.3v
+Wire Wire Line
+	950  10375 4775 10375
+Wire Wire Line
+	4625 7050 5025 7050
+Wire Wire Line
+	5025 7050 5025 7200
+Wire Wire Line
+	950  10475 5025 10475
+Wire Wire Line
+	4625 6850 4625 6250
+Wire Wire Line
+	6825 6250 6825 7200
+Wire Wire Line
+	6825 7200 5025 7200
+Connection ~ 5025 7200
+Wire Wire Line
+	5025 7200 5025 8150
+Wire Wire Line
+	4625 6850 4775 6850
+Wire Wire Line
+	4775 6850 4775 8100
+Connection ~ 4625 6850
+Wire Wire Line
+	1975 5150 1975 5550
+Wire Wire Line
+	1975 5550 4925 5550
+Wire Wire Line
+	2075 5150 2075 5525
+Wire Wire Line
+	2075 5525 5025 5525
+Wire Wire Line
+	5025 5525 5025 5550
+Wire Wire Line
+	5125 5550 5125 5500
+Wire Wire Line
+	5125 5500 2175 5500
+Wire Wire Line
+	2175 5500 2175 5150
+Wire Wire Line
+	2275 5150 2275 5475
+Wire Wire Line
+	2275 5475 5225 5475
+Wire Wire Line
+	5225 5475 5225 5550
+Wire Wire Line
+	3625 5150 3625 5450
+Wire Wire Line
+	3625 5450 5325 5450
+Wire Wire Line
+	5325 5450 5325 5550
+Wire Wire Line
+	5425 5550 5425 5425
+Wire Wire Line
+	5425 5425 3725 5425
+Wire Wire Line
+	3725 5425 3725 5150
+Wire Wire Line
+	3825 5150 3825 5400
+Wire Wire Line
+	3825 5400 5525 5400
+Wire Wire Line
+	5525 5400 5525 5550
+Wire Wire Line
+	5625 5550 5625 5375
+Wire Wire Line
+	5625 5375 3925 5375
+Wire Wire Line
+	3925 5375 3925 5150
+Wire Wire Line
+	5300 5150 5300 5350
+Wire Wire Line
+	5300 5350 5825 5350
+Wire Wire Line
+	5825 5350 5825 5550
+Wire Wire Line
+	5400 5150 5400 5325
+Wire Wire Line
+	5400 5325 5925 5325
+Wire Wire Line
+	5925 5325 5925 5550
+Wire Wire Line
+	5500 5150 5500 5300
+Wire Wire Line
+	5500 5300 6025 5300
+Wire Wire Line
+	6025 5300 6025 5550
+Wire Wire Line
+	6125 5550 6125 5275
+Wire Wire Line
+	6125 5275 5600 5275
+Wire Wire Line
+	5600 5275 5600 5150
+Wire Wire Line
+	5800 5150 5800 5175
+Wire Wire Line
+	5800 5175 4125 5175
+Wire Wire Line
+	4125 5175 4125 5150
+Wire Wire Line
+	4125 5175 2475 5175
+Wire Wire Line
+	2475 5175 2475 5150
+Connection ~ 4125 5175
+Wire Wire Line
+	2575 5150 2575 5225
+Wire Wire Line
+	2575 5225 4225 5225
+Wire Wire Line
+	4225 5225 4225 5150
+Wire Wire Line
+	4225 5225 5900 5225
+Wire Wire Line
+	5900 5225 5900 5150
+Connection ~ 4225 5225
+Wire Wire Line
+	5900 5225 7100 5225
+Connection ~ 5900 5225
+Connection ~ 7100 5225
+Wire Wire Line
+	7100 5225 7100 4350
+Wire Wire Line
+	5800 5175 7075 5175
+Connection ~ 5800 5175
+Connection ~ 7075 5175
+Wire Wire Line
+	7075 5175 7075 5325
+Wire Wire Line
+	4775 8100 7075 8100
+Connection ~ 4775 8100
+Wire Wire Line
+	4775 8100 4775 10375
+Connection ~ 7075 8100
+Wire Wire Line
+	7075 8100 7075 8550
+Wire Wire Line
+	7100 8150 5025 8150
+Connection ~ 7100 8150
+Wire Wire Line
+	7100 8150 7100 7575
+Connection ~ 5025 8150
+Wire Wire Line
+	5025 8150 5025 10475
+Wire Wire Line
+	10075 4000 10075 6625
+Wire Wire Line
+	10075 8525 10075 10550
+Wire Wire Line
+	10075 10550 7100 10550
+Wire Wire Line
+	7100 10550 7100 9725
+Connection ~ 7100 9725
+Wire Wire Line
+	7075 4250 7075 4000
+Wire Wire Line
+	7075 4000 10075 4000
+Connection ~ 7075 4250
+Wire Wire Line
+	6225 5550 6225 3700
+Wire Wire Line
+	6225 3700 2125 3700
+Wire Wire Line
+	2125 3700 2125 2775
+Wire Wire Line
+	2275 2775 2275 3675
+Wire Wire Line
+	2275 3675 6325 3675
+Wire Wire Line
+	6325 3675 6325 5550
+Wire Wire Line
+	6425 5550 6425 3650
+Wire Wire Line
+	6425 3650 3925 3650
+Wire Wire Line
+	3925 3650 3925 2775
+Wire Wire Line
+	4075 2775 4075 3625
+Wire Wire Line
+	4075 3625 6525 3625
+Wire Wire Line
+	6525 3625 6525 5550
+Text GLabel 1250 10275 0    50   Input ~ 0
+A
+Wire Wire Line
+	6925 10275 6925 3150
+Wire Wire Line
+	6925 3150 5650 3150
+Wire Wire Line
+	5650 3150 5650 2775
+Wire Wire Line
+	950  10275 6925 10275
+Wire Wire Line
+	5800 2775 5800 3125
+Wire Wire Line
+	5800 3125 6950 3125
+Wire Wire Line
+	6950 3125 6950 10175
+Wire Wire Line
+	6950 10175 950  10175
+Text GLabel 1250 10175 0    50   Input ~ 0
+B
+Wire Wire Line
+	1975 2775 1975 3025
+Wire Wire Line
+	1975 3025 3775 3025
+Wire Wire Line
+	3775 3025 3775 2775
+Wire Wire Line
+	3775 3025 5500 3025
+Wire Wire Line
+	5500 3025 5500 2775
+Connection ~ 3775 3025
+Wire Wire Line
+	5950 2775 5950 2975
+Wire Wire Line
+	5950 2975 4225 2975
+Wire Wire Line
+	4225 2975 4225 2775
+Wire Wire Line
+	4225 2975 2425 2975
+Wire Wire Line
+	2425 2975 2425 2775
+Connection ~ 4225 2975
+Wire Wire Line
+	2975 7900 875  7900
+Wire Wire Line
+	875  7900 875  2975
+Wire Wire Line
+	875  2975 2425 2975
+Connection ~ 2975 7900
+Connection ~ 2425 2975
+Wire Wire Line
+	1975 3025 900  3025
+Wire Wire Line
+	900  3025 900  8350
+Wire Wire Line
+	900  8350 4675 8350
+Connection ~ 1975 3025
+Connection ~ 4675 8350
+Wire Wire Line
+	4675 8350 4675 7900
 $EndSCHEMATC
diff --git a/pcb_onder/pololu_motor.bck b/pcb_onder/pololu_motor.bck
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_onder/pololu_motor.bck
@@ -0,0 +1,3 @@
+EESchema-DOCLIB  Version 2.0
+#
+#End Doc Library
diff --git a/pcb_onder/pololu_motor.lib b/pcb_onder/pololu_motor.lib
new file mode 100644
index 0000000..a8b8df3
--- /dev/null
+++ b/pcb_onder/pololu_motor.lib
@@ -0,0 +1,23 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# pololu_motor
+#
+DEF pololu_motor U 0 40 Y Y 1 F N
+F0 "U" 0 750 50 H V C CNN
+F1 "pololu_motor" 0 700 50 H V C CNN
+F2 "custom:pololu_motor" 0 750 50 H I C CNN
+F3 "" 0 750 50 H I C CNN
+DRAW
+C 0 0 570 0 1 0 N
+P 5 0 1 0 350 -450 350 -1050 -350 -1050 -350 -450 -350 -700 N
+X vcc 1 -250 -1050 100 U 50 50 1 1 W
+X A 2 -100 -1050 100 U 50 50 1 1 O
+X B 3 50 -1050 100 U 50 50 1 1 O
+X gnd 4 200 -1050 100 U 50 50 1 1 W
+X + ~ -600 0 100 L 50 50 1 1 W
+X - ~ 600 0 100 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb_onder/tssp4038.bck b/pcb_onder/tssp4038.bck
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_onder/tssp4038.bck
@@ -0,0 +1,3 @@
+EESchema-DOCLIB  Version 2.0
+#
+#End Doc Library
diff --git a/pcb_onder/tssp4038.dcm b/pcb_onder/tssp4038.dcm
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_onder/tssp4038.dcm
@@ -0,0 +1,3 @@
+EESchema-DOCLIB  Version 2.0
+#
+#End Doc Library
diff --git a/pcb_onder/tssp4038.lib b/pcb_onder/tssp4038.lib
new file mode 100644
index 0000000..0527338
--- /dev/null
+++ b/pcb_onder/tssp4038.lib
@@ -0,0 +1,21 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# tssp4038
+#
+DEF tssp4038 U 0 40 Y Y 1 F N
+F0 "U" 0 100 50 H V C CNN
+F1 "tssp4038" 0 0 50 H V C CNN
+F2 "custom:tssp4038" 0 100 50 H I C CNN
+F3 "" 0 100 50 H I C CNN
+DRAW
+A -1 -481 281 1523 898 0 1 0 N -250 -350 0 -200
+A 10 -466 267 258 922 0 1 0 N 250 -350 0 -200
+S -300 -350 300 -700 0 1 0 N
+X vcc 1 -150 -800 100 U 50 50 1 1 W
+X gnd 2 0 -800 100 U 50 50 1 1 W
+X sig 3 150 -800 100 U 50 50 1 1 O
+ENDDRAW
+ENDDEF
+#
+#End Library