update repo structure

update poster
add code flowchart

1 files changed, 1910 insertions, 0 deletions

diff --git a/OLD/pcb/pcb.sch-bak b/OLD/pcb/pcb.sch-bak
new file mode 100644
index 0000000..48fbab6
--- /dev/null
+++ b/OLD/pcb/pcb.sch-bak
@@ -0,0 +1,1910 @@
+EESchema Schematic File Version 4
+EELAYER 30 0
+EELAYER END
+$Descr A2 23386 16535
+encoding utf-8
+Sheet 1 1
+Title "schema soccer robot"
+Date "2024-04-30"
+Rev ""
+Comp "mendelcollege"
+Comment1 "https://mendelcollege.nl/ontdek-je-talenten/robotica-en-beta/"
+Comment2 "https://github.com/ableTI/robotica"
+Comment3 ""
+Comment4 ""
+$EndDescr
+$Comp
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+F 2 "" H 850 7150 50  0001 C CNN
+F 3 "~" H 850 7150 50  0001 C CNN
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+F 2 "custom:pololu_motor" H 20275 11550 50  0001 C CNN
+F 3 "" H 20275 11550 50  0001 C CNN
+	1    20275 10800
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	20025 11850 20025 12325
+Wire Wire Line
+	20025 12325 18275 12325
+Wire Wire Line
+	18275 12325 18275 11850
+Wire Wire Line
+	18275 12325 16575 12325
+Wire Wire Line
+	16575 12325 16575 11850
+Connection ~ 18275 12325
+Wire Wire Line
+	3700 12325 6375 12325
+Connection ~ 16575 12325
+Connection ~ 18725 12425
+Wire Wire Line
+	18725 12425 20475 12425
+Connection ~ 17025 12425
+Wire Wire Line
+	17025 12425 18725 12425
+Wire Wire Line
+	17025 11850 17025 12425
+Wire Wire Line
+	20475 11850 20475 12425
+Wire Wire Line
+	18725 11850 18725 12425
+Wire Wire Line
+	1800 7350 1800 11450
+Wire Wire Line
+	1800 11450 15450 11450
+Connection ~ 1800 7350
+Wire Wire Line
+	1950 6900 1950 11375
+Wire Wire Line
+	1950 11375 15350 11375
+Wire Wire Line
+	1950 6900 850  6900
+Wire Wire Line
+	19700 10800 19675 10800
+Wire Wire Line
+	13925 10075 7950 10075
+Wire Wire Line
+	7950 10075 7950 9150
+Wire Wire Line
+	7950 9150 7350 9150
+Wire Wire Line
+	7875 9250 7875 10100
+Wire Wire Line
+	7875 10100 13950 10100
+Wire Wire Line
+	13975 10125 7850 10125
+Wire Wire Line
+	7850 10125 7850 9350
+Wire Wire Line
+	7850 9350 7350 9350
+Wire Wire Line
+	7350 9250 7875 9250
+Wire Wire Line
+	7350 9450 7825 9450
+Wire Wire Line
+	7825 9450 7825 10150
+Wire Wire Line
+	7825 10150 14000 10150
+Wire Wire Line
+	14025 10175 7800 10175
+Wire Wire Line
+	7800 10175 7800 9550
+Wire Wire Line
+	7800 9550 7350 9550
+Wire Wire Line
+	7350 9650 7775 9650
+Wire Wire Line
+	7775 9650 7775 10200
+Wire Wire Line
+	7775 10200 14050 10200
+Wire Wire Line
+	14075 10225 7750 10225
+Wire Wire Line
+	7750 10225 7750 9750
+Wire Wire Line
+	7750 9750 7350 9750
+Wire Wire Line
+	7350 9850 7725 9850
+Wire Wire Line
+	7725 9850 7725 10250
+Wire Wire Line
+	7725 10250 14100 10250
+Wire Wire Line
+	14125 10275 7700 10275
+Wire Wire Line
+	7700 10275 7700 10050
+Wire Wire Line
+	7700 10050 7350 10050
+Wire Wire Line
+	7350 10750 12000 10750
+Wire Wire Line
+	12000 10750 12000 13000
+Wire Wire Line
+	12000 13000 20325 13000
+Wire Wire Line
+	20325 13000 20325 11850
+Wire Wire Line
+	20175 11850 20175 12975
+Wire Wire Line
+	20175 12975 12025 12975
+Wire Wire Line
+	12025 12975 12025 10725
+Wire Wire Line
+	12025 10725 7425 10725
+Wire Wire Line
+	7425 10725 7425 10650
+Wire Wire Line
+	7425 10650 7350 10650
+Wire Wire Line
+	7350 10550 7450 10550
+Wire Wire Line
+	7450 10550 7450 10700
+Wire Wire Line
+	7450 10700 12050 10700
+Wire Wire Line
+	12050 10700 12050 12950
+Wire Wire Line
+	12050 12950 18575 12950
+Wire Wire Line
+	18575 12950 18575 11850
+Wire Wire Line
+	18425 11850 18425 12925
+Wire Wire Line
+	18425 12925 12075 12925
+Wire Wire Line
+	12075 12925 12075 10675
+Wire Wire Line
+	12075 10675 7475 10675
+Wire Wire Line
+	7475 10675 7475 10450
+Wire Wire Line
+	7475 10450 7350 10450
+Wire Wire Line
+	16875 11850 16875 12900
+Wire Wire Line
+	3575 12425 6400 12425
+Wire Wire Line
+	12100 12900 12100 10650
+Wire Wire Line
+	12100 10650 8075 10650
+Wire Wire Line
+	8075 10650 8075 8150
+Wire Wire Line
+	8075 8150 7300 8150
+Wire Wire Line
+	12100 12900 16875 12900
+Wire Wire Line
+	7300 8050 8100 8050
+Wire Wire Line
+	8100 8050 8100 10625
+Wire Wire Line
+	8100 10625 12125 10625
+Wire Wire Line
+	12125 10625 12125 12875
+Wire Wire Line
+	12125 12875 16725 12875
+Wire Wire Line
+	16725 12875 16725 11850
+Wire Wire Line
+	10850 1900 10250 1900
+Wire Wire Line
+	10250 1900 10250 1425
+Wire Wire Line
+	11500 2875 11500 3000
+Wire Wire Line
+	10225 3000 10225 1450
+Wire Wire Line
+	10225 1450 9200 1450
+Wire Wire Line
+	9200 1450 9200 750 
+Wire Wire Line
+	9200 750  4575 750 
+Wire Wire Line
+	4575 750  4575 1500
+Wire Wire Line
+	4575 1500 3600 1500
+Wire Wire Line
+	3500 1600 4550 1600
+Wire Wire Line
+	4550 725  9250 725 
+Wire Wire Line
+	9250 725  9250 1425
+Wire Wire Line
+	9250 1425 10250 1425
+$Comp
+L Switch:SW_DIP_x06 settings1
+U 1 1 670F1323
+P 11150 2200
+F 0 "settings1" H 11150 2767 50  0000 C CNN
+F 1 "SW_DIP_x06" H 11150 2676 50  0000 C CNN
+F 2 "custom:dipswitch6" H 11150 2200 50  0001 C CNN
+F 3 "~" H 11150 2200 50  0001 C CNN
+	1    11150 2200
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	10850 2300 10850 2400
+Wire Wire Line
+	10850 1900 10850 2000
+Connection ~ 10850 1900
+Wire Wire Line
+	10850 2000 10850 2100
+Connection ~ 10850 2000
+Wire Wire Line
+	10850 2100 10850 2200
+Connection ~ 10850 2100
+Wire Wire Line
+	10850 2200 10850 2300
+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
+$Comp
+L Device:R R3
+U 1 1 675B0045
+P 11725 2725
+F 0 "R3" H 11795 2771 50  0000 L CNN
+F 1 "R" H 11795 2680 50  0000 L CNN
+F 2 "custom:resistor" V 11655 2725 50  0001 C CNN
+F 3 "~" H 11725 2725 50  0001 C CNN
+	1    11725 2725
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:R R4
+U 1 1 675E18E7
+P 11950 2725
+F 0 "R4" H 12020 2771 50  0000 L CNN
+F 1 "R" H 12020 2680 50  0000 L CNN
+F 2 "custom:resistor" V 11880 2725 50  0001 C CNN
+F 3 "~" H 11950 2725 50  0001 C CNN
+	1    11950 2725
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:R R5
+U 1 1 67613260
+P 12175 2725
+F 0 "R5" H 12245 2771 50  0000 L CNN
+F 1 "R" H 12245 2680 50  0000 L CNN
+F 2 "custom:resistor" V 12105 2725 50  0001 C CNN
+F 3 "~" H 12175 2725 50  0001 C CNN
+	1    12175 2725
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:R R6
+U 1 1 67644AE6
+P 12400 2725
+F 0 "R6" H 12470 2771 50  0000 L CNN
+F 1 "R" H 12470 2680 50  0000 L CNN
+F 2 "custom:resistor" V 12330 2725 50  0001 C CNN
+F 3 "~" H 12400 2725 50  0001 C CNN
+	1    12400 2725
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:R R7
+U 1 1 676761F6
+P 12625 2725
+F 0 "R7" H 12695 2771 50  0000 L CNN
+F 1 "R" H 12695 2680 50  0000 L CNN
+F 2 "custom:resistor" V 12555 2725 50  0001 C CNN
+F 3 "~" H 12625 2725 50  0001 C CNN
+	1    12625 2725
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	11500 3000 11725 3000
+Wire Wire Line
+	11725 3000 11725 2875
+Connection ~ 11500 3000
+Wire Wire Line
+	11725 3000 11950 3000
+Wire Wire Line
+	11950 3000 11950 2875
+Connection ~ 11725 3000
+Wire Wire Line
+	11950 3000 12175 3000
+Wire Wire Line
+	12175 3000 12175 2875
+Connection ~ 11950 3000
+Wire Wire Line
+	12175 3000 12400 3000
+Wire Wire Line
+	12400 3000 12400 2875
+Connection ~ 12175 3000
+Wire Wire Line
+	12400 3000 12625 3000
+Wire Wire Line
+	12625 3000 12625 2875
+Connection ~ 12400 3000
+Wire Wire Line
+	11450 2400 11500 2400
+Wire Wire Line
+	11500 2400 11500 2575
+Wire Wire Line
+	11450 2300 11725 2300
+Wire Wire Line
+	11725 2300 11725 2575
+Wire Wire Line
+	11450 2200 11950 2200
+Wire Wire Line
+	11950 2200 11950 2575
+Wire Wire Line
+	12175 2575 12175 2100
+Wire Wire Line
+	12175 2100 11450 2100
+Wire Wire Line
+	11450 2000 12400 2000
+Wire Wire Line
+	12400 2000 12400 2575
+Wire Wire Line
+	12625 2575 12625 1900
+Wire Wire Line
+	12625 1900 11450 1900
+Wire Wire Line
+	11500 2400 11500 1400
+Wire Wire Line
+	11500 1400 9275 1400
+Wire Wire Line
+	9275 1400 9275 700 
+Wire Wire Line
+	1150 700  1150 1700
+Wire Wire Line
+	1150 1700 1300 1700
+Wire Wire Line
+	1150 700  9275 700 
+Connection ~ 11500 2400
+Wire Wire Line
+	1300 1800 1125 1800
+Wire Wire Line
+	1125 1800 1125 675 
+Wire Wire Line
+	1125 675  9300 675 
+Wire Wire Line
+	9300 675  9300 1375
+Wire Wire Line
+	9300 1375 11725 1375
+Wire Wire Line
+	11725 1375 11725 2300
+Connection ~ 11725 2300
+Wire Wire Line
+	11950 2200 11950 1350
+Wire Wire Line
+	11950 1350 9325 1350
+Wire Wire Line
+	9325 1350 9325 650 
+Wire Wire Line
+	9325 650  1100 650 
+Wire Wire Line
+	1100 650  1100 1900
+Wire Wire Line
+	1100 1900 1300 1900
+Connection ~ 11950 2200
+Wire Wire Line
+	1300 2000 1075 2000
+Wire Wire Line
+	1075 2000 1075 625 
+Wire Wire Line
+	1075 625  9350 625 
+Wire Wire Line
+	9350 625  9350 1325
+Wire Wire Line
+	9350 1325 12175 1325
+Wire Wire Line
+	12175 1325 12175 2100
+Connection ~ 12175 2100
+Wire Wire Line
+	12400 2000 12400 1300
+Wire Wire Line
+	12400 1300 9375 1300
+Wire Wire Line
+	9375 1300 9375 600 
+Wire Wire Line
+	9375 600  1050 600 
+Wire Wire Line
+	1050 600  1050 2100
+Wire Wire Line
+	1050 2100 1300 2100
+Connection ~ 12400 2000
+Wire Wire Line
+	1300 2200 1025 2200
+Wire Wire Line
+	1025 2200 1025 575 
+Wire Wire Line
+	1025 575  9400 575 
+Wire Wire Line
+	9400 575  9400 1275
+Wire Wire Line
+	9400 1275 12625 1275
+Wire Wire Line
+	12625 1275 12625 1900
+Connection ~ 12625 1900
+$Comp
+L Device:Buzzer BZ1
+U 1 1 67A68A9E
+P 13050 2100
+F 0 "BZ1" H 13202 2129 50  0000 L CNN
+F 1 "Buzzer" H 13202 2038 50  0000 L CNN
+F 2 "custom:buzer" V 13025 2200 50  0001 C CNN
+F 3 "~" V 13025 2200 50  0001 C CNN
+	1    13050 2100
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	10225 3000 11500 3000
+Wire Wire Line
+	12625 3000 12950 3000
+Wire Wire Line
+	12950 3000 12950 2200
+Connection ~ 12625 3000
+Wire Wire Line
+	12950 2000 12950 1250
+Wire Wire Line
+	12950 1250 9425 1250
+Wire Wire Line
+	9425 1250 9425 550 
+Wire Wire Line
+	9425 550  1000 550 
+Wire Wire Line
+	1000 550  1000 2300
+Wire Wire Line
+	1000 2300 1300 2300
+$Comp
+L openmv_m7_r2:openMV_M7_R2 openmvcam1
+U 1 1 67CD24B8
+P 2350 14050
+F 0 "openmvcam1" H 2350 15215 50  0000 C CNN
+F 1 "openMV_M7_R2" H 2350 15124 50  0000 C CNN
+F 2 "custom:openmv_m7_r2" H 2350 15400 50  0001 C CNN
+F 3 "" H 2350 15400 50  0001 C CNN
+	1    2350 14050
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	4100 11050 6650 11050
+Wire Wire Line
+	4350 8850 925  8850
+Connection ~ 4350 8850
+Wire Wire Line
+	925  8850 925  14550
+Wire Wire Line
+	925  14550 1375 14550
+Wire Wire Line
+	4100 11050 4100 12650
+Wire Wire Line
+	2950 14550 4100 14550
+Connection ~ 4100 11050
+Wire Wire Line
+	1750 14350 1050 14350
+Wire Wire Line
+	1050 14350 1050 9025
+Wire Wire Line
+	1050 9025 4500 9025
+Wire Wire Line
+	4500 9025 4500 4150
+Wire Wire Line
+	4500 4150 3775 4150
+Wire Wire Line
+	3775 4150 3775 2300
+Wire Wire Line
+	3775 2300 3500 2300
+Wire Wire Line
+	3500 2400 3750 2400
+Wire Wire Line
+	3750 2400 3750 4175
+Wire Wire Line
+	3750 4175 4475 4175
+Wire Wire Line
+	4475 4175 4475 9000
+Wire Wire Line
+	4475 9000 1025 9000
+Wire Wire Line
+	1025 9000 1025 14250
+Wire Wire Line
+	1025 14250 1750 14250
+$Comp
+L Switch:SW_DIP_x01 set_goal_color1
+U 1 1 68069763
+P 2275 12350
+F 0 "set_goal_color1" H 2275 12617 50  0000 C CNN
+F 1 "SW_DIP_x01" H 2275 12526 50  0000 C CNN
+F 2 "custom:dipswitch1" H 2275 12350 50  0001 C CNN
+F 3 "~" H 2275 12350 50  0001 C CNN
+	1    2275 12350
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:R R1
+U 1 1 6806A728
+P 2575 12500
+F 0 "R1" H 2645 12546 50  0000 L CNN
+F 1 "R" H 2645 12455 50  0000 L CNN
+F 2 "custom:resistor" V 2505 12500 50  0001 C CNN
+F 3 "~" H 2575 12500 50  0001 C CNN
+	1    2575 12500
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	2575 12650 4100 12650
+Connection ~ 4100 12650
+Wire Wire Line
+	4100 12650 4100 14550
+Wire Wire Line
+	2575 12350 3275 12350
+Wire Wire Line
+	3275 12350 3275 14350
+Wire Wire Line
+	3275 14350 2950 14350
+Connection ~ 2575 12350
+Wire Wire Line
+	1975 12350 1375 12350
+Wire Wire Line
+	1375 12350 1375 14550
+Connection ~ 1375 14550
+Wire Wire Line
+	1375 14550 1750 14550
+Wire Wire Line
+	4550 725  4550 1600
+Wire Wire Line
+	850  925  850  4950
+Wire Wire Line
+	850  4950 4050 4950
+Wire Wire Line
+	3600 1500 3600 825 
+Wire Wire Line
+	3600 825  725  825 
+Wire Wire Line
+	725  825  725  4900
+Wire Wire Line
+	725  4900 4150 4900
+Connection ~ 3600 1500
+Wire Wire Line
+	3600 1500 3500 1500
+Wire Wire Line
+	3500 1400 3575 1400
+Wire Wire Line
+	3575 1400 3575 925 
+Wire Wire Line
+	850  925  3575 925 
+Wire Wire Line
+	8950 4050 8600 4050
+Wire Wire Line
+	8850 3000 8600 3000
+Wire Wire Line
+	8600 1900 8800 1900
+Connection ~ 6350 2900
+Wire Wire Line
+	6350 2900 6350 1800
+Connection ~ 6350 3950
+Wire Wire Line
+	6350 3950 6350 2900
+Wire Wire Line
+	6350 3950 6350 4900
+Connection ~ 6500 4050
+Wire Wire Line
+	6500 3000 6500 1900
+Connection ~ 6500 3000
+Wire Wire Line
+	6500 4050 6500 3000
+Wire Wire Line
+	6500 5100 6500 4050
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor collor_sensor_1
+U 1 1 663B1EE2
+P 7000 2550
+F 0 "collor_sensor_1" H 7050 3565 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7050 3474 50  0000 C CNN
+F 2 "custom:tcs3472" H 7050 3650 50  0001 C CNN
+F 3 "" H 7050 3650 50  0001 C CNN
+	1    7000 2550
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor collor_sensor_2
+U 1 1 663B33E0
+P 7000 3650
+F 0 "collor_sensor_2" H 7050 4665 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7050 4574 50  0000 C CNN
+F 2 "custom:tcs3472" H 7050 4750 50  0001 C CNN
+F 3 "" H 7050 4750 50  0001 C CNN
+	1    7000 3650
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor collor_sensor_3
+U 1 1 663B3829
+P 7000 4700
+F 0 "collor_sensor_3" H 7050 5715 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 7050 5624 50  0000 C CNN
+F 2 "custom:tcs3472" H 7050 5800 50  0001 C CNN
+F 3 "" H 7050 5800 50  0001 C CNN
+	1    7000 4700
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor collor_sensor_4
+U 1 1 663B5A13
+P 8250 2550
+F 0 "collor_sensor_4" H 8300 3565 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 8300 3474 50  0000 C CNN
+F 2 "custom:tcs3472" H 8300 3650 50  0001 C CNN
+F 3 "" H 8300 3650 50  0001 C CNN
+	1    8250 2550
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor collor_sensor_5
+U 1 1 663B5BB9
+P 8250 3650
+F 0 "collor_sensor_5" H 8300 4665 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 8300 4574 50  0000 C CNN
+F 2 "custom:tcs3472" H 8300 4750 50  0001 C CNN
+F 3 "" H 8300 4750 50  0001 C CNN
+	1    8250 3650
+	1    0    0    -1  
+$EndComp
+$Comp
+L tcs3472_color_sensor:tcs3472_color_sensor collor_sensor_6
+U 1 1 663B5BC3
+P 8250 4700
+F 0 "collor_sensor_6" H 8300 5715 50  0000 C CNN
+F 1 "tcs3472_color_sensor" H 8300 5624 50  0000 C CNN
+F 2 "custom:tcs3472" H 8300 5800 50  0001 C CNN
+F 3 "" H 8300 5800 50  0001 C CNN
+	1    8250 4700
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	6750 2900 6350 2900
+Wire Wire Line
+	6750 3950 6350 3950
+Wire Wire Line
+	6750 3000 6500 3000
+Wire Wire Line
+	6750 4050 6500 4050
+Wire Wire Line
+	7950 5100 7950 4050
+Wire Wire Line
+	7950 3000 8000 3000
+Connection ~ 7950 3000
+Wire Wire Line
+	7950 3000 7950 1900
+Wire Wire Line
+	7950 4050 8000 4050
+Connection ~ 7950 4050
+Wire Wire Line
+	7950 4050 7950 3000
+Wire Wire Line
+	7900 4900 7900 3950
+Wire Wire Line
+	7900 3950 8000 3950
+Wire Wire Line
+	7900 3950 7900 2900
+Wire Wire Line
+	7900 2900 8000 2900
+Connection ~ 7900 3950
+Wire Wire Line
+	7900 2900 7900 1800
+Connection ~ 7900 2900
+Wire Wire Line
+	7600 1350 7600 3000
+Wire Wire Line
+	7600 3000 7350 3000
+Wire Wire Line
+	7350 2900 7650 2900
+Wire Wire Line
+	7650 2900 7650 1300
+Wire Wire Line
+	7700 1250 7700 4050
+Wire Wire Line
+	7700 4050 7350 4050
+Wire Wire Line
+	7350 3950 7750 3950
+Wire Wire Line
+	7750 3950 7750 1200
+Wire Wire Line
+	9200 7950 7300 7950
+Wire Wire Line
+	10600 6250 9200 6250
+Wire Wire Line
+	7650 10150 7650 10400
+Wire Wire Line
+	7650 10400 12225 10400
+Wire Wire Line
+	12225 10400 12225 8950
+Wire Wire Line
+	12225 8950 12750 8950
+Wire Wire Line
+	12750 8250 11075 8250
+Wire Wire Line
+	11075 8250 11075 10525
+Wire Wire Line
+	11075 10525 7575 10525
+Wire Wire Line
+	7575 10525 7575 10250
+Wire Wire Line
+	7575 10250 7350 10250
+Wire Wire Line
+	7350 10150 7650 10150
+Wire Wire Line
+	9200 6250 9200 7950
+Wire Wire Line
+	12550 4700 12550 5400
+Wire Wire Line
+	12450 4550 12450 5250
+Wire Wire Line
+	12750 5250 12450 5250
+Connection ~ 12450 5250
+Wire Wire Line
+	12450 5250 12450 5950
+Wire Wire Line
+	12750 5400 12550 5400
+Connection ~ 12550 5400
+Wire Wire Line
+	12550 5400 12550 6100
+Wire Wire Line
+	12750 6250 11900 6250
+$Comp
+L Device:Battery BT1
+U 1 1 66E12617
+P 850 7600
+F 0 "BT1" H 742 7554 50  0000 R CNN
+F 1 "Battery" H 742 7645 50  0000 R CNN
+F 2 "Connector_AMASS:AMASS_XT60-F_1x02_P7.20mm_Vertical" V 850 7660 50  0001 C CNN
+F 3 "~" V 850 7660 50  0001 C CNN
+	1    850  7600
+	1    0    0    1   
+$EndComp
+$Comp
+L Device:Battery BT2
+U 1 1 66E135A0
+P 1275 7600
+F 0 "BT2" H 1167 7554 50  0000 R CNN
+F 1 "Battery" H 1167 7645 50  0000 R CNN
+F 2 "Connector_AMASS:AMASS_XT30U-F_1x02_P5.0mm_Vertical" V 1275 7660 50  0001 C CNN
+F 3 "~" V 1275 7660 50  0001 C CNN
+	1    1275 7600
+	1    0    0    1   
+$EndComp
+Wire Wire Line
+	850  7400 1275 7400
+Wire Wire Line
+	1275 7400 1275 7350
+Connection ~ 1275 7400
+Connection ~ 1275 7350
+Wire Wire Line
+	1275 7350 1800 7350
+Wire Wire Line
+	1275 7800 850  7800
+Wire Wire Line
+	850  7800 600  7800
+Wire Wire Line
+	600  7800 600  6900
+Wire Wire Line
+	600  6900 850  6900
+Connection ~ 850  7800
+$Comp
+L miniimu-9_v6:miniIMU-9_v6 kompas1
+U 1 1 6641AB3C
+P 5075 13425
+F 0 "kompas1" H 5553 13313 50  0000 L CNN
+F 1 "miniIMU-9_v6" H 5553 13222 50  0000 L CNN
+F 2 "custom:miniIMU-9_v6" H 5075 13875 50  0001 C CNN
+F 3 "" H 5075 13875 50  0001 C CNN
+	1    5075 13425
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	4975 14025 4975 14200
+Wire Wire Line
+	5075 14025 5075 14225
+Wire Wire Line
+	3900 14200 3900 2100
+Wire Wire Line
+	3900 14200 4975 14200
+Connection ~ 3900 2100
+Wire Wire Line
+	3900 2100 4600 2100
+Wire Wire Line
+	3875 2200 3875 14225
+Wire Wire Line
+	3875 14225 5075 14225
+Connection ~ 3875 2200
+Wire Wire Line
+	3875 2200 4600 2200
+Wire Wire Line
+	5175 14025 5175 14325
+Wire Wire Line
+	5175 14325 6400 14325
+Wire Wire Line
+	6400 14325 6400 12425
+Connection ~ 6400 12425
+Wire Wire Line
+	6400 12425 17025 12425
+Wire Wire Line
+	5275 14025 5275 14300
+Wire Wire Line
+	5275 14300 6375 14300
+Wire Wire Line
+	6375 14300 6375 12325
+Connection ~ 6375 12325
+Wire Wire Line
+	6375 12325 16575 12325
+Text Notes 675  7900 0    50   ~ 0
+xt60 en xt30 connector
+$Comp
+L pcb-rescue:CC6-1203SR-E-CC6-1203SR-E 3.3vconverter1
+U 1 1 66758C94
+P 2025 6500
+F 0 "3.3vconverter1" H 2725 6765 50  0000 C CNN
+F 1 "CC6-1203SR-E" H 2725 6674 50  0000 C CNN
+F 2 "custom:CC60512SRE" H 3275 6600 50  0001 L CNN
+F 3 "https://product.tdk.com/system/files/dam/doc/product/power/switching-power/dc-dc-converter/catalog/cc-e_e.pdf" H 3275 6500 50  0001 L CNN
+F 4 "DC-DC Converters, On-board type, Output: 3.96W, 3.3V, Isolated type, Option: SMD type" H 3275 6400 50  0001 L CNN "Description"
+F 5 "8.8" H 3275 6300 50  0001 L CNN "Height"
+F 6 "TDK" H 3275 6200 50  0001 L CNN "Manufacturer_Name"
+F 7 "CC6-1203SR-E" H 3275 6100 50  0001 L CNN "Manufacturer_Part_Number"
+F 8 "967-CC6-1203SR-E" H 3275 6000 50  0001 L CNN "Mouser Part Number"
+F 9 "https://www.mouser.co.uk/ProductDetail/TDK-Lambda/CC6-1203SR-E?qs=Vwh6e7toGLi4J%2FzloL2n3g%3D%3D" H 3275 5900 50  0001 L CNN "Mouser Price/Stock"
+F 10 "CC6-1203SR-E" H 3275 5800 50  0001 L CNN "Arrow Part Number"
+F 11 "https://www.arrow.com/en/products/cc6-1203sr-e/tdk-lambda-americas?region=nac" H 3275 5700 50  0001 L CNN "Arrow Price/Stock"
+	1    2025 6500
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	3425 6500 4350 6500
+Wire Wire Line
+	3425 6700 4100 6700
+Wire Wire Line
+	1800 6500 2025 6500
+Wire Wire Line
+	1800 6500 1800 7350
+Wire Wire Line
+	2025 6700 850  6700
+Connection ~ 850  6700
+Wire Wire Line
+	850  6700 850  6900
+Wire Wire Line
+	4150 5400 4150 4900
+Wire Wire Line
+	3575 5400 4150 5400
+Wire Wire Line
+	3700 12325 3700 5700
+$Comp
+L tb9051ftg:TB9051FTG motor_driver1
+U 1 1 6641C80E
+P 18425 5600
+F 0 "motor_driver1" H 18425 6065 50  0000 C CNN
+F 1 "TB9051FTG" H 18425 5974 50  0000 C CNN
+F 2 "custom:TB9051FTG" H 18425 6250 50  0001 C CNN
+F 3 "" H 18425 6250 50  0001 C CNN
+	1    18425 5600
+	1    0    0    -1  
+$EndComp
+$Comp
+L tb9051ftg:TB9051FTG Motor_driver2
+U 1 1 6641F1C3
+P 18425 6800
+F 0 "Motor_driver2" H 18425 7265 50  0000 C CNN
+F 1 "TB9051FTG" H 18425 7174 50  0000 C CNN
+F 2 "custom:TB9051FTG" H 18425 7450 50  0001 C CNN
+F 3 "" H 18425 7450 50  0001 C CNN
+	1    18425 6800
+	1    0    0    -1  
+$EndComp
+$Comp
+L tb9051ftg:TB9051FTG motor_driver3
+U 1 1 6647AD4E
+P 18425 8000
+F 0 "motor_driver3" H 18425 8465 50  0000 C CNN
+F 1 "TB9051FTG" H 18425 8374 50  0000 C CNN
+F 2 "custom:TB9051FTG" H 18425 8650 50  0001 C CNN
+F 3 "" H 18425 8650 50  0001 C CNN
+	1    18425 8000
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	17925 5650 17800 5650
+Wire Wire Line
+	17800 5650 17800 6850
+Wire Wire Line
+	17800 6850 17925 6850
+Wire Wire Line
+	17925 8050 17800 8050
+Wire Wire Line
+	17800 8050 17800 6850
+Connection ~ 17800 6850
+Wire Wire Line
+	17925 5750 17825 5750
+Wire Wire Line
+	17825 5750 17825 6950
+Wire Wire Line
+	17825 6950 17925 6950
+Wire Wire Line
+	17825 6950 17825 8150
+Wire Wire Line
+	17825 8150 17925 8150
+Connection ~ 17825 6950
+Wire Wire Line
+	16225 10800 16225 5850
+Wire Wire Line
+	16225 5850 17925 5850
+Wire Wire Line
+	17925 5950 17425 5950
+Wire Wire Line
+	17425 5950 17425 10800
+Wire Wire Line
+	17925 7050 17475 7050
+Wire Wire Line
+	17475 7050 17475 9600
+Wire Wire Line
+	17475 9600 17925 9600
+Wire Wire Line
+	17925 9600 17925 10800
+Wire Wire Line
+	19125 10800 19125 9575
+Wire Wire Line
+	19125 9575 17525 9575
+Wire Wire Line
+	17525 9575 17525 7150
+Wire Wire Line
+	17525 7150 17925 7150
+Wire Wire Line
+	17925 8250 17575 8250
+Wire Wire Line
+	17575 8250 17575 9525
+Wire Wire Line
+	17575 9525 19700 9525
+Wire Wire Line
+	19700 9525 19700 10800
+Wire Wire Line
+	20875 10800 20875 9500
+Wire Wire Line
+	20875 9500 17625 9500
+Wire Wire Line
+	17625 9500 17625 8350
+Wire Wire Line
+	17625 8350 17925 8350
+Wire Wire Line
+	15450 8050 17800 8050
+Wire Wire Line
+	15450 8050 15450 11450
+Connection ~ 17800 8050
+Wire Wire Line
+	17825 8150 15350 8150
+Connection ~ 17825 8150
+Wire Wire Line
+	15350 8150 15350 11375
+Wire Wire Line
+	18925 8000 19125 8000
+Wire Wire Line
+	19125 8000 19125 6800
+Wire Wire Line
+	19125 6800 18925 6800
+Wire Wire Line
+	18925 7900 19100 7900
+Wire Wire Line
+	19100 7900 19100 6700
+Wire Wire Line
+	19100 6700 18925 6700
+Wire Wire Line
+	19100 6700 19100 5500
+Wire Wire Line
+	19100 5500 18925 5500
+Connection ~ 19100 6700
+Wire Wire Line
+	18925 5600 19125 5600
+Wire Wire Line
+	19125 5600 19125 6800
+Connection ~ 19125 6800
+Wire Wire Line
+	18925 5900 19350 5900
+Wire Wire Line
+	18925 6100 19400 6100
+Wire Wire Line
+	18925 5800 19325 5800
+Wire Wire Line
+	18925 6000 19375 6000
+Wire Wire Line
+	18925 7000 19425 7000
+Wire Wire Line
+	18925 7100 19450 7100
+Wire Wire Line
+	18925 7200 19475 7200
+Wire Wire Line
+	18925 7300 19500 7300
+Wire Wire Line
+	18925 8200 19525 8200
+Wire Wire Line
+	18925 8300 19550 8300
+Wire Wire Line
+	18925 8400 19575 8400
+Wire Wire Line
+	18925 8500 19600 8500
+Wire Wire Line
+	19325 4625 14125 4625
+Wire Wire Line
+	14125 4625 14125 10275
+Wire Wire Line
+	19325 4625 19325 5800
+Wire Wire Line
+	14100 4600 19350 4600
+Wire Wire Line
+	14100 4600 14100 10250
+Wire Wire Line
+	19350 4600 19350 5900
+Wire Wire Line
+	19375 4575 14075 4575
+Wire Wire Line
+	14075 4575 14075 10225
+Wire Wire Line
+	19375 4575 19375 6000
+Wire Wire Line
+	14050 4550 19400 4550
+Wire Wire Line
+	14050 4550 14050 10200
+Wire Wire Line
+	19400 4550 19400 6100
+Wire Wire Line
+	19425 4525 14025 4525
+Wire Wire Line
+	14025 4525 14025 10175
+Wire Wire Line
+	19425 4525 19425 7000
+Wire Wire Line
+	14000 4500 19450 4500
+Wire Wire Line
+	14000 4500 14000 10150
+Wire Wire Line
+	19450 4500 19450 7100
+Wire Wire Line
+	19475 4475 13975 4475
+Wire Wire Line
+	13975 4475 13975 10125
+Wire Wire Line
+	19475 4475 19475 7200
+Wire Wire Line
+	13950 4450 19500 4450
+Wire Wire Line
+	13950 4450 13950 10100
+Wire Wire Line
+	19500 4450 19500 7300
+Wire Wire Line
+	19525 4425 13925 4425
+Wire Wire Line
+	13925 4425 13925 10075
+Wire Wire Line
+	19525 4425 19525 8200
+Wire Wire Line
+	19550 4400 13900 4400
+Wire Wire Line
+	13900 4400 13900 10050
+Wire Wire Line
+	13900 10050 8000 10050
+Wire Wire Line
+	8000 10050 8000 10350
+Wire Wire Line
+	8000 10350 7350 10350
+Wire Wire Line
+	19550 4400 19550 8300
+Wire Wire Line
+	3500 1700 4850 1700
+Wire Wire Line
+	4850 1700 4850 800 
+Wire Wire Line
+	4850 800  9125 800 
+Wire Wire Line
+	9125 800  9125 3175
+Wire Wire Line
+	9125 3175 19600 3175
+Wire Wire Line
+	19600 3175 19600 8500
+Wire Wire Line
+	19575 3200 9100 3200
+Wire Wire Line
+	9100 3200 9100 825 
+Wire Wire Line
+	9100 825  4875 825 
+Wire Wire Line
+	4875 1800 3500 1800
+Wire Wire Line
+	19575 3200 19575 8400
+Wire Wire Line
+	4875 825  4875 1800
+Wire Wire Line
+	20025 12325 21500 12325
+Wire Wire Line
+	21500 12325 21500 8000
+Wire Wire Line
+	21500 8000 19125 8000
+Connection ~ 20025 12325
+Connection ~ 19125 8000
+Wire Wire Line
+	19100 7900 21550 7900
+Wire Wire Line
+	21550 7900 21550 12425
+Wire Wire Line
+	21550 12425 20475 12425
+Connection ~ 19100 7900
+Connection ~ 20475 12425
+$Comp
+L sftn01m-05n:SFTN01M-05N PS1
+U 1 1 66490BE8
+P 1975 5400
+F 0 "PS1" H 2625 5665 50  0000 C CNN
+F 1 "SFTN01M-05N" H 2625 5574 50  0000 C CNN
+F 2 "custom:SFTN01M05N" H 3125 5500 50  0001 L CNN
+F 3 "https://www.meanwell.com/webapp/product/search.aspx?prod=SFTN01-N" H 3125 5400 50  0001 L CNN
+F 4 "Isolated DC/DC Converters - SMD 1W 12Vin 5Vout 20-200mA SMT Unregulated" H 3125 5300 50  0001 L CNN "Description"
+F 5 "7.6" H 3125 5200 50  0001 L CNN "Height"
+F 6 "Mean Well" H 3125 5100 50  0001 L CNN "Manufacturer_Name"
+F 7 "SFTN01M-05N" H 3125 5000 50  0001 L CNN "Manufacturer_Part_Number"
+F 8 "709-SFTN01M-05N" H 3125 4900 50  0001 L CNN "Mouser Part Number"
+F 9 "https://www.mouser.co.uk/ProductDetail/MEAN-WELL/SFTN01M-05N?qs=A6eO%252BMLsxmQLvWwJN5Fn%252BQ%3D%3D" H 3125 4800 50  0001 L CNN "Mouser Price/Stock"
+	1    1975 5400
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	1800 6500 1800 5500
+Wire Wire Line
+	1800 5500 1975 5500
+Connection ~ 1800 6500
+Wire Wire Line
+	1975 5400 850  5400
+Wire Wire Line
+	850  5400 850  6700
+Wire Wire Line
+	1975 5700 1900 5700
+Wire Wire Line
+	1900 5700 1900 5975
+Wire Wire Line
+	3275 5700 3700 5700
+Connection ~ 3700 5700
+Wire Wire Line
+	4050 5700 3700 5700
+Wire Wire Line
+	4050 4950 4050 5700
+Wire Wire Line
+	1900 5975 3575 5975
+Wire Wire Line
+	3575 5400 3575 5975
+Connection ~ 3575 5975
+Wire Wire Line
+	3575 5975 3575 12425
+$EndSCHEMATC