update repo structure

update poster
add code flowchart

1 files changed, 1081 insertions, 0 deletions

diff --git a/OLD/pcb/pcb.xml b/OLD/pcb/pcb.xml
new file mode 100644
index 0000000..71cc9ad
--- /dev/null
+++ b/OLD/pcb/pcb.xml
@@ -0,0 +1,1081 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<export version="D">
+  <design>
+    <source>/home/abel/Documents/robotica/pcb/pcb.sch</source>
+    <date>Wed May  1 16:25:15 2024</date>
+    <tool>Eeschema 5.1.9+dfsg1-1+deb11u1</tool>
+    <sheet number="1" name="/" tstamps="/">
+      <title_block>
+        <title>schema soccer robot</title>
+        <company>mendelcollege</company>
+        <rev/>
+        <date>2024-04-30</date>
+        <source>pcb.sch</source>
+        <comment number="1" value="https://mendelcollege.nl/ontdek-je-talenten/robotica-en-beta/"/>
+        <comment number="2" value="https://github.com/ableTI/robotica"/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+      </title_block>
+    </sheet>
+  </design>
+  <components>
+    <comp ref="controllboard1">
+      <value>Teensy4.1</value>
+      <libsource lib="teensy" part="Teensy4.1" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66315BAB</tstamp>
+    </comp>
+    <comp ref="3.3vconverter1">
+      <value>ATA00F18S-L</value>
+      <footprint>Converter_DCDC:Converter_DCDC_Artesyn_ATA_SMD</footprint>
+      <datasheet>https://www.artesyn.com/power/assets/ata_series_ds_01apr2015_79c25814fd.pdf</datasheet>
+      <libsource lib="Converter_DCDC" part="ATA00F18S-L" description="Artesyn 2W Isolated DC/DC Converter Module, 3.3V Output Voltage, 9-36V Input Voltage"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6631FEBC</tstamp>
+    </comp>
+    <comp ref="5Vconverter1">
+      <value>ATA00A18S-L</value>
+      <footprint>Converter_DCDC:Converter_DCDC_Artesyn_ATA_SMD</footprint>
+      <datasheet>https://www.artesyn.com/power/assets/ata_series_ds_01apr2015_79c25814fd.pdf</datasheet>
+      <libsource lib="Converter_DCDC" part="ATA00A18S-L" description="Artesyn 3W Isolated DC/DC Converter Module, 5V Output Voltage, 9-36V Input Voltage"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6631ECD9</tstamp>
+    </comp>
+    <comp ref="i2converter1">
+      <value>PCA9548ADB</value>
+      <footprint>Package_SO:SSOP-24_5.3x8.2mm_P0.65mm</footprint>
+      <datasheet>http://www.ti.com/lit/ds/symlink/pca9548a.pdf</datasheet>
+      <libsource lib="Interface_Expansion" part="PCA9548ADB" description="Low voltage 8-channel I2C switch with reset, SSOP-24"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663863AE</tstamp>
+    </comp>
+    <comp ref="collor_sensor_1">
+      <value>tcs3472_color_sensor</value>
+      <libsource lib="tcs3472_color_sensor" part="tcs3472_color_sensor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663B1EE2</tstamp>
+    </comp>
+    <comp ref="collor_sensor_2">
+      <value>tcs3472_color_sensor</value>
+      <libsource lib="tcs3472_color_sensor" part="tcs3472_color_sensor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663B33E0</tstamp>
+    </comp>
+    <comp ref="collor_sensor_3">
+      <value>tcs3472_color_sensor</value>
+      <libsource lib="tcs3472_color_sensor" part="tcs3472_color_sensor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663B3829</tstamp>
+    </comp>
+    <comp ref="collor_sensor_4">
+      <value>tcs3472_color_sensor</value>
+      <libsource lib="tcs3472_color_sensor" part="tcs3472_color_sensor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663B5A13</tstamp>
+    </comp>
+    <comp ref="collor_sensor_5">
+      <value>tcs3472_color_sensor</value>
+      <libsource lib="tcs3472_color_sensor" part="tcs3472_color_sensor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663B5BB9</tstamp>
+    </comp>
+    <comp ref="collor_sensor_6">
+      <value>tcs3472_color_sensor</value>
+      <libsource lib="tcs3472_color_sensor" part="tcs3472_color_sensor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663B5BC3</tstamp>
+    </comp>
+    <comp ref="io_expernder1">
+      <value>MCP23017_SP</value>
+      <footprint>Package_DIP:DIP-28_W7.62mm</footprint>
+      <datasheet>http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf</datasheet>
+      <libsource lib="Interface_Expansion" part="MCP23017_SP" description="16-bit I/O expander, I2C, interrupts, w pull-ups, SPDIP-28"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6640686D</tstamp>
+    </comp>
+    <comp ref="io_expender2">
+      <value>MCP23017_SP</value>
+      <footprint>Package_DIP:DIP-28_W7.62mm</footprint>
+      <datasheet>http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf</datasheet>
+      <libsource lib="Interface_Expansion" part="MCP23017_SP" description="16-bit I/O expander, I2C, interrupts, w pull-ups, SPDIP-28"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66424687</tstamp>
+    </comp>
+    <comp ref="ir_sensor_1">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6634C48F</tstamp>
+    </comp>
+    <comp ref="ir_sensor_2">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66374957</tstamp>
+    </comp>
+    <comp ref="ir_sensor_3">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66375259</tstamp>
+    </comp>
+    <comp ref="ir_sensor_4">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663895CC</tstamp>
+    </comp>
+    <comp ref="ir_sensor_5">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>663953D2</tstamp>
+    </comp>
+    <comp ref="ir_sensor_6">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66395681</tstamp>
+    </comp>
+    <comp ref="ir_sensor_7">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6639568B</tstamp>
+    </comp>
+    <comp ref="ir_sensor_8">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66395696</tstamp>
+    </comp>
+    <comp ref="ir_sensor_9">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E25B</tstamp>
+    </comp>
+    <comp ref="ir_sensor_10">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E3F1</tstamp>
+    </comp>
+    <comp ref="ir_sensor_11">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E3FB</tstamp>
+    </comp>
+    <comp ref="ir_sensor_12">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E405</tstamp>
+    </comp>
+    <comp ref="ir_sensor_13">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E40F</tstamp>
+    </comp>
+    <comp ref="ir_sensor_14">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E419</tstamp>
+    </comp>
+    <comp ref="ir_sensor_15">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E423</tstamp>
+    </comp>
+    <comp ref="ir_sensor_16">
+      <value>tssp4038</value>
+      <libsource lib="tssp4038" part="tssp4038" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6642E42D</tstamp>
+    </comp>
+    <comp ref="motor1">
+      <value>pololu_motor</value>
+      <libsource lib="pololu_motor" part="pololu_motor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>6682D0F1</tstamp>
+    </comp>
+    <comp ref="motor2">
+      <value>pololu_motor</value>
+      <libsource lib="pololu_motor" part="pololu_motor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66830404</tstamp>
+    </comp>
+    <comp ref="motor3">
+      <value>pololu_motor</value>
+      <libsource lib="pololu_motor" part="pololu_motor" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>66842BE0</tstamp>
+    </comp>
+    <comp ref="motor_driver1">
+      <value>l298n</value>
+      <libsource lib="l298n" part="l298n" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>669A10B9</tstamp>
+    </comp>
+    <comp ref="motor_driver2">
+      <value>l298n</value>
+      <libsource lib="l298n" part="l298n" description=""/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamp>669A2B7F</tstamp>
+    </comp>
+  </components>
+  <libparts>
+    <libpart lib="Converter_DCDC" part="ATA00F18S-L">
+      <aliases>
+        <alias>ATA00A18S-L</alias>
+        <alias>ATA00B18S-L</alias>
+        <alias>ATA00C18S-L</alias>
+        <alias>ATA00H18S-L</alias>
+        <alias>ATA00F36S-L</alias>
+        <alias>ATA00A36S-L</alias>
+        <alias>ATA00B36S-L</alias>
+        <alias>ATA00C36S-L</alias>
+        <alias>ATA00H36S-L</alias>
+      </aliases>
+      <description>Artesyn 2W Isolated DC/DC Converter Module, 3.3V Output Voltage, 9-36V Input Voltage</description>
+      <docs>https://www.artesyn.com/power/assets/ata_series_ds_01apr2015_79c25814fd.pdf</docs>
+      <footprints>
+        <fp>*Artesyn*ATA*SMD*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">ATA00F18S-L</field>
+        <field name="Footprint">Converter_DCDC:Converter_DCDC_Artesyn_ATA_SMD</field>
+      </fields>
+      <pins>
+        <pin num="1" name="-VIN" type="power_in"/>
+        <pin num="2" name="ON/~OFF" type="input"/>
+        <pin num="7" name="NC" type="NotConnected"/>
+        <pin num="8" name="NC" type="NotConnected"/>
+        <pin num="9" name="+VOUT" type="power_out"/>
+        <pin num="10" name="-VOUT" type="power_out"/>
+        <pin num="16" name="+VIN" type="power_in"/>
+      </pins>
+    </libpart>
+    <libpart lib="Interface_Expansion" part="MCP23017_SP">
+      <description>16-bit I/O expander, I2C, interrupts, w pull-ups, SPDIP-28</description>
+      <docs>http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf</docs>
+      <footprints>
+        <fp>DIP*W7.62mm*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">MCP23017_SP</field>
+        <field name="Footprint">Package_DIP:DIP-28_W7.62mm</field>
+      </fields>
+      <pins>
+        <pin num="1" name="GPB0" type="BiDi"/>
+        <pin num="2" name="GPB1" type="BiDi"/>
+        <pin num="3" name="GPB2" type="BiDi"/>
+        <pin num="4" name="GPB3" type="BiDi"/>
+        <pin num="5" name="GPB4" type="BiDi"/>
+        <pin num="6" name="GPB5" type="BiDi"/>
+        <pin num="7" name="GPB6" type="BiDi"/>
+        <pin num="8" name="GPB7" type="BiDi"/>
+        <pin num="9" name="VDD" type="power_in"/>
+        <pin num="10" name="VSS" type="power_in"/>
+        <pin num="11" name="NC" type="NotConnected"/>
+        <pin num="12" name="SCK" type="input"/>
+        <pin num="13" name="SDA" type="BiDi"/>
+        <pin num="14" name="NC" type="NotConnected"/>
+        <pin num="15" name="A0" type="input"/>
+        <pin num="16" name="A1" type="input"/>
+        <pin num="17" name="A2" type="input"/>
+        <pin num="18" name="~RESET~" type="input"/>
+        <pin num="19" name="INTB" type="3state"/>
+        <pin num="20" name="INTA" type="3state"/>
+        <pin num="21" name="GPA0" type="BiDi"/>
+        <pin num="22" name="GPA1" type="BiDi"/>
+        <pin num="23" name="GPA2" type="BiDi"/>
+        <pin num="24" name="GPA3" type="BiDi"/>
+        <pin num="25" name="GPA4" type="BiDi"/>
+        <pin num="26" name="GPA5" type="BiDi"/>
+        <pin num="27" name="GPA6" type="BiDi"/>
+        <pin num="28" name="GPA7" type="BiDi"/>
+      </pins>
+    </libpart>
+    <libpart lib="Interface_Expansion" part="PCA9548ADB">
+      <description>Low voltage 8-channel I2C switch with reset, SSOP-24</description>
+      <docs>http://www.ti.com/lit/ds/symlink/pca9548a.pdf</docs>
+      <footprints>
+        <fp>SSOP*5.3x8.2mm*P0.65mm*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">PCA9548ADB</field>
+        <field name="Footprint">Package_SO:SSOP-24_5.3x8.2mm_P0.65mm</field>
+      </fields>
+      <pins>
+        <pin num="1" name="A0" type="input"/>
+        <pin num="2" name="A1" type="input"/>
+        <pin num="3" name="~RESET" type="input"/>
+        <pin num="4" name="SD0" type="BiDi"/>
+        <pin num="5" name="SC0" type="output"/>
+        <pin num="6" name="SD1" type="BiDi"/>
+        <pin num="7" name="SC1" type="output"/>
+        <pin num="8" name="SD2" type="BiDi"/>
+        <pin num="9" name="SC2" type="output"/>
+        <pin num="10" name="SD3" type="BiDi"/>
+        <pin num="11" name="SC3" type="output"/>
+        <pin num="12" name="GND" type="power_in"/>
+        <pin num="13" name="SD4" type="BiDi"/>
+        <pin num="14" name="SC4" type="output"/>
+        <pin num="15" name="SD5" type="BiDi"/>
+        <pin num="16" name="SC5" type="output"/>
+        <pin num="17" name="SD6" type="BiDi"/>
+        <pin num="18" name="SC6" type="output"/>
+        <pin num="19" name="SD7" type="BiDi"/>
+        <pin num="20" name="SC7" type="output"/>
+        <pin num="21" name="A2" type="input"/>
+        <pin num="22" name="SCL" type="input"/>
+        <pin num="23" name="SDA" type="BiDi"/>
+        <pin num="24" name="VCC" type="power_in"/>
+      </pins>
+    </libpart>
+    <libpart lib="l298n" part="l298n">
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">l298n</field>
+      </fields>
+      <pins>
+        <pin num="~" name="12v" type="power_in"/>
+      </pins>
+    </libpart>
+    <libpart lib="pololu_motor" part="pololu_motor">
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">pololu_motor</field>
+      </fields>
+      <pins>
+        <pin num="~" name="+" type="power_in"/>
+      </pins>
+    </libpart>
+    <libpart lib="tcs3472_color_sensor" part="tcs3472_color_sensor">
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">tcs3472_color_sensor</field>
+      </fields>
+      <pins>
+        <pin num="0" name="sda" type="BiDi"/>
+        <pin num="1" name="scl" type="BiDi"/>
+        <pin num="2" name="vcc" type="power_in"/>
+        <pin num="3" name="gnd" type="power_in"/>
+      </pins>
+    </libpart>
+    <libpart lib="teensy" part="Teensy4.1">
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">Teensy4.1</field>
+      </fields>
+      <pins>
+        <pin num="1" name="GND" type="power_in"/>
+        <pin num="2" name="0_RX1_CRX2_CS1" type="BiDi"/>
+        <pin num="3" name="1_TX1_CTX2_MISO1" type="BiDi"/>
+        <pin num="4" name="2_OUT2" type="BiDi"/>
+        <pin num="5" name="3_LRCLK2" type="BiDi"/>
+        <pin num="6" name="4_BCLK2" type="BiDi"/>
+        <pin num="7" name="5_IN2" type="BiDi"/>
+        <pin num="8" name="6_OUT1D" type="BiDi"/>
+        <pin num="9" name="7_RX2_OUT1A" type="BiDi"/>
+        <pin num="10" name="8_TX2_IN1" type="BiDi"/>
+        <pin num="11" name="9_OUT1C" type="BiDi"/>
+        <pin num="12" name="10_CS_MQSR" type="BiDi"/>
+        <pin num="13" name="11_MOSI_CTX1" type="BiDi"/>
+        <pin num="14" name="12_MISO_MQSL" type="BiDi"/>
+        <pin num="15" name="3V3" type="power_in"/>
+        <pin num="16" name="24_A10_TX6_SCL2" type="BiDi"/>
+        <pin num="17" name="25_A11_RX6_SDA2" type="BiDi"/>
+        <pin num="18" name="26_A12_MOSI1" type="BiDi"/>
+        <pin num="19" name="27_A13_SCK1" type="BiDi"/>
+        <pin num="20" name="28_RX7" type="BiDi"/>
+        <pin num="21" name="29_TX7" type="BiDi"/>
+        <pin num="22" name="30_CRX3" type="BiDi"/>
+        <pin num="23" name="31_CTX3" type="BiDi"/>
+        <pin num="24" name="32_OUT1B" type="BiDi"/>
+        <pin num="25" name="33_MCLK2" type="BiDi"/>
+        <pin num="26" name="34_RX8" type="BiDi"/>
+        <pin num="27" name="35_TX8" type="BiDi"/>
+        <pin num="28" name="36_CS" type="BiDi"/>
+        <pin num="29" name="37_CS" type="BiDi"/>
+        <pin num="30" name="38_CS1_IN1" type="BiDi"/>
+        <pin num="31" name="39_MISO1_OUT1A" type="BiDi"/>
+        <pin num="32" name="40_A16" type="BiDi"/>
+        <pin num="33" name="41_A17" type="BiDi"/>
+        <pin num="34" name="GND" type="power_in"/>
+        <pin num="35" name="13_SCK_LED" type="BiDi"/>
+        <pin num="36" name="14_A0_TX3_SPDIF_OUT" type="BiDi"/>
+        <pin num="37" name="15_A1_RX3_SPDIF_IN" type="BiDi"/>
+        <pin num="38" name="16_A2_RX4_SCL1" type="BiDi"/>
+        <pin num="39" name="17_A3_TX4_SDA1" type="BiDi"/>
+        <pin num="40" name="18_A4_SDA" type="BiDi"/>
+        <pin num="41" name="19_A5_SCL" type="BiDi"/>
+        <pin num="42" name="20_A6_TX5_LRCLK1" type="BiDi"/>
+        <pin num="43" name="21_A7_RX5_BCLK1" type="BiDi"/>
+        <pin num="44" name="22_A8_CTX1" type="BiDi"/>
+        <pin num="45" name="23_A9_CRX1_MCLK1" type="BiDi"/>
+        <pin num="46" name="3V3" type="output"/>
+        <pin num="47" name="GND" type="output"/>
+        <pin num="48" name="VIN" type="power_in"/>
+        <pin num="49" name="VUSB" type="power_out"/>
+        <pin num="50" name="VBAT" type="power_in"/>
+        <pin num="51" name="3V3" type="power_in"/>
+        <pin num="52" name="GND" type="input"/>
+        <pin num="53" name="PROGRAM" type="input"/>
+        <pin num="54" name="ON_OFF" type="input"/>
+        <pin num="55" name="5V" type="power_out"/>
+        <pin num="56" name="D-" type="BiDi"/>
+        <pin num="57" name="D+" type="BiDi"/>
+        <pin num="58" name="GND" type="power_in"/>
+        <pin num="59" name="GND" type="power_in"/>
+        <pin num="60" name="R+" type="BiDi"/>
+        <pin num="61" name="LED" type="BiDi"/>
+        <pin num="62" name="T-" type="BiDi"/>
+        <pin num="63" name="T+" type="BiDi"/>
+        <pin num="64" name="GND" type="power_in"/>
+        <pin num="65" name="R-" type="BiDi"/>
+        <pin num="66" name="D-" type="BiDi"/>
+        <pin num="67" name="D+" type="BiDi"/>
+      </pins>
+    </libpart>
+    <libpart lib="tssp4038" part="tssp4038">
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">tssp4038</field>
+      </fields>
+      <pins>
+        <pin num="0" name="gnd" type="power_in"/>
+        <pin num="1" name="vcc" type="power_in"/>
+        <pin num="~" name="sig" type="output"/>
+      </pins>
+    </libpart>
+  </libparts>
+  <libraries>
+    <library logical="Converter_DCDC">
+      <uri>/usr/share/kicad/library/Converter_DCDC.lib</uri>
+    </library>
+    <library logical="Interface_Expansion">
+      <uri>/usr/share/kicad/library/Interface_Expansion.lib</uri>
+    </library>
+    <library logical="l298n">
+      <uri>/home/abel/Documents/robotica/pcb/l298n.lib</uri>
+    </library>
+    <library logical="pololu_motor">
+      <uri>/home/abel/Documents/robotica/pcb/pololu_motor.lib</uri>
+    </library>
+    <library logical="tcs3472_color_sensor">
+      <uri>/home/abel/Documents/robotica/pcb/tcs3472_color_sensor.lib</uri>
+    </library>
+    <library logical="teensy">
+      <uri>/home/abel/Downloads/teensy.lib</uri>
+    </library>
+    <library logical="tssp4038">
+      <uri>/home/abel/Documents/robotica/pcb/tssp4038.lib</uri>
+    </library>
+  </libraries>
+  <nets>
+    <net code="1" name="Net-(io_expernder1-Pad4)">
+      <node ref="ir_sensor_5" pin="~"/>
+      <node ref="io_expernder1" pin="4"/>
+    </net>
+    <net code="2" name="Net-(io_expernder1-Pad5)">
+      <node ref="io_expernder1" pin="5"/>
+      <node ref="ir_sensor_6" pin="~"/>
+    </net>
+    <net code="3" name="Net-(io_expernder1-Pad6)">
+      <node ref="io_expernder1" pin="6"/>
+      <node ref="ir_sensor_7" pin="~"/>
+    </net>
+    <net code="4" name="Net-(io_expernder1-Pad7)">
+      <node ref="ir_sensor_8" pin="~"/>
+      <node ref="io_expernder1" pin="7"/>
+    </net>
+    <net code="5" name="Net-(io_expernder1-Pad8)">
+      <node ref="ir_sensor_9" pin="~"/>
+      <node ref="io_expernder1" pin="8"/>
+    </net>
+    <net code="6" name="Net-(io_expernder1-Pad21)">
+      <node ref="ir_sensor_10" pin="~"/>
+      <node ref="io_expernder1" pin="21"/>
+    </net>
+    <net code="7" name="Net-(io_expernder1-Pad1)">
+      <node ref="ir_sensor_1" pin="~"/>
+      <node ref="io_expernder1" pin="1"/>
+    </net>
+    <net code="8" name="Net-(io_expernder1-Pad2)">
+      <node ref="io_expernder1" pin="2"/>
+      <node ref="ir_sensor_2" pin="~"/>
+    </net>
+    <net code="9" name="Net-(io_expernder1-Pad3)">
+      <node ref="ir_sensor_4" pin="~"/>
+      <node ref="io_expernder1" pin="3"/>
+    </net>
+    <net code="10" name="Net-(motor2-Pad~)">
+      <node ref="motor2" pin="~"/>
+    </net>
+    <net code="11" name="Net-(motor1-Pad~)">
+      <node ref="motor_driver1" pin="~"/>
+      <node ref="motor1" pin="~"/>
+    </net>
+    <net code="12" name="Net-(io_expender2-Pad25)">
+      <node ref="io_expender2" pin="25"/>
+      <node ref="motor2" pin="~"/>
+    </net>
+    <net code="13" name="Net-(motor3-Pad~)">
+      <node ref="motor_driver2" pin="~"/>
+      <node ref="motor3" pin="~"/>
+    </net>
+    <net code="14" name="Net-(io_expender2-Pad27)">
+      <node ref="io_expender2" pin="27"/>
+      <node ref="motor3" pin="~"/>
+    </net>
+    <net code="15" name="Net-(io_expernder1-Pad23)">
+      <node ref="ir_sensor_12" pin="~"/>
+      <node ref="io_expernder1" pin="23"/>
+    </net>
+    <net code="16" name="Net-(io_expernder1-Pad22)">
+      <node ref="io_expernder1" pin="22"/>
+      <node ref="ir_sensor_11" pin="~"/>
+    </net>
+    <net code="17" name="Net-(io_expernder1-Pad25)">
+      <node ref="ir_sensor_16" pin="~"/>
+      <node ref="io_expernder1" pin="25"/>
+    </net>
+    <net code="18" name="Net-(io_expernder1-Pad24)">
+      <node ref="io_expernder1" pin="24"/>
+      <node ref="ir_sensor_13" pin="~"/>
+    </net>
+    <net code="19" name="Net-(ir_sensor_14-Pad~)">
+      <node ref="ir_sensor_14" pin="~"/>
+    </net>
+    <net code="20" name="Net-(ir_sensor_15-Pad~)">
+      <node ref="ir_sensor_15" pin="~"/>
+    </net>
+    <net code="21" name="Net-(io_expender2-Pad7)">
+      <node ref="motor_driver2" pin="~"/>
+      <node ref="io_expender2" pin="7"/>
+    </net>
+    <net code="22" name="Net-(io_expender2-Pad8)">
+      <node ref="io_expender2" pin="8"/>
+      <node ref="motor_driver2" pin="~"/>
+    </net>
+    <net code="23" name="Net-(io_expender2-Pad21)">
+      <node ref="io_expender2" pin="21"/>
+      <node ref="motor_driver2" pin="~"/>
+    </net>
+    <net code="24" name="Net-(io_expender2-Pad22)">
+      <node ref="motor_driver2" pin="~"/>
+      <node ref="io_expender2" pin="22"/>
+    </net>
+    <net code="25" name="Net-(io_expender2-Pad3)">
+      <node ref="io_expender2" pin="3"/>
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="26" name="Net-(io_expender2-Pad2)">
+      <node ref="io_expender2" pin="2"/>
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="27" name="Net-(io_expender2-Pad4)">
+      <node ref="io_expender2" pin="4"/>
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="28" name="Net-(io_expender2-Pad5)">
+      <node ref="io_expender2" pin="5"/>
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="29" name="Net-(io_expender2-Pad6)">
+      <node ref="io_expender2" pin="6"/>
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="30" name="Net-(io_expender2-Pad26)">
+      <node ref="io_expender2" pin="26"/>
+      <node ref="motor2" pin="~"/>
+    </net>
+    <net code="31" name="Net-(io_expernder1-Pad28)">
+      <node ref="io_expernder1" pin="28"/>
+      <node ref="motor1" pin="~"/>
+    </net>
+    <net code="32" name="Net-(io_expernder1-Pad27)">
+      <node ref="io_expernder1" pin="27"/>
+      <node ref="motor1" pin="~"/>
+    </net>
+    <net code="33" name="Net-(io_expender2-Pad23)">
+      <node ref="motor_driver2" pin="~"/>
+      <node ref="io_expender2" pin="23"/>
+    </net>
+    <net code="34" name="Net-(io_expender2-Pad24)">
+      <node ref="io_expender2" pin="24"/>
+      <node ref="motor_driver2" pin="~"/>
+    </net>
+    <net code="35" name="Net-(io_expender2-Pad28)">
+      <node ref="io_expender2" pin="28"/>
+      <node ref="motor3" pin="~"/>
+    </net>
+    <net code="36" name="Net-(motor1-Pad~)">
+      <node ref="motor1" pin="~"/>
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="37" name="Net-(motor_driver2-Pad~)">
+      <node ref="motor_driver2" pin="~"/>
+    </net>
+    <net code="38" name="Net-(motor_driver2-Pad~)">
+      <node ref="motor_driver2" pin="~"/>
+    </net>
+    <net code="39" name="Net-(motor3-Pad~)">
+      <node ref="motor3" pin="~"/>
+      <node ref="motor_driver2" pin="~"/>
+    </net>
+    <net code="40" name="Net-(motor_driver2-Pad~)">
+      <node ref="motor_driver2" pin="~"/>
+    </net>
+    <net code="41" name="Net-(motor_driver1-Pad~)">
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="42" name="Net-(io_expender2-Pad1)">
+      <node ref="io_expender2" pin="1"/>
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="43" name="Net-(motor2-Pad~)">
+      <node ref="motor_driver1" pin="~"/>
+      <node ref="motor2" pin="~"/>
+    </net>
+    <net code="44" name="Net-(motor_driver1-Pad~)">
+      <node ref="motor_driver1" pin="~"/>
+    </net>
+    <net code="45" name="Net-(i2converter1-Pad2)">
+      <node ref="i2converter1" pin="2"/>
+    </net>
+    <net code="46" name="Net-(i2converter1-Pad21)">
+      <node ref="i2converter1" pin="21"/>
+    </net>
+    <net code="47" name="Net-(controllboard1-Pad41)">
+      <node ref="controllboard1" pin="41"/>
+      <node ref="i2converter1" pin="22"/>
+    </net>
+    <net code="48" name="Net-(controllboard1-Pad40)">
+      <node ref="i2converter1" pin="23"/>
+      <node ref="controllboard1" pin="40"/>
+    </net>
+    <net code="49" name="Net-(i2converter1-Pad3)">
+      <node ref="i2converter1" pin="3"/>
+    </net>
+    <net code="50" name="Net-(collor_sensor_6-Pad0)">
+      <node ref="collor_sensor_6" pin="0"/>
+      <node ref="i2converter1" pin="4"/>
+    </net>
+    <net code="51" name="Net-(collor_sensor_5-Pad0)">
+      <node ref="i2converter1" pin="6"/>
+      <node ref="collor_sensor_5" pin="0"/>
+    </net>
+    <net code="52" name="Net-(collor_sensor_1-Pad0)">
+      <node ref="collor_sensor_1" pin="0"/>
+      <node ref="i2converter1" pin="15"/>
+    </net>
+    <net code="53" name="Net-(5Vconverter1-Pad8)">
+      <node ref="5Vconverter1" pin="8"/>
+    </net>
+    <net code="54" name="Net-(3.3vconverter1-Pad2)">
+      <node ref="3.3vconverter1" pin="2"/>
+    </net>
+    <net code="55" name="Net-(3.3vconverter1-Pad7)">
+      <node ref="3.3vconverter1" pin="7"/>
+    </net>
+    <net code="56" name="Net-(3.3vconverter1-Pad8)">
+      <node ref="3.3vconverter1" pin="8"/>
+    </net>
+    <net code="57" name="Net-(5Vconverter1-Pad10)">
+      <node ref="5Vconverter1" pin="10"/>
+      <node ref="motor3" pin="~"/>
+      <node ref="controllboard1" pin="58"/>
+      <node ref="motor1" pin="~"/>
+      <node ref="motor2" pin="~"/>
+    </net>
+    <net code="58" name="Net-(5Vconverter1-Pad2)">
+      <node ref="5Vconverter1" pin="2"/>
+    </net>
+    <net code="59" name="Net-(5Vconverter1-Pad7)">
+      <node ref="5Vconverter1" pin="7"/>
+    </net>
+    <net code="60" name="Net-(i2converter1-Pad1)">
+      <node ref="i2converter1" pin="1"/>
+    </net>
+    <net code="61" name="Net-(collor_sensor_3-Pad0)">
+      <node ref="collor_sensor_3" pin="0"/>
+      <node ref="i2converter1" pin="10"/>
+    </net>
+    <net code="62" name="Net-(collor_sensor_1-Pad1)">
+      <node ref="collor_sensor_1" pin="1"/>
+      <node ref="i2converter1" pin="16"/>
+    </net>
+    <net code="63" name="Net-(collor_sensor_2-Pad1)">
+      <node ref="collor_sensor_2" pin="1"/>
+      <node ref="i2converter1" pin="14"/>
+    </net>
+    <net code="64" name="Net-(collor_sensor_3-Pad1)">
+      <node ref="i2converter1" pin="11"/>
+      <node ref="collor_sensor_3" pin="1"/>
+    </net>
+    <net code="65" name="Net-(collor_sensor_4-Pad0)">
+      <node ref="i2converter1" pin="9"/>
+      <node ref="collor_sensor_4" pin="0"/>
+    </net>
+    <net code="66" name="Net-(collor_sensor_6-Pad1)">
+      <node ref="i2converter1" pin="5"/>
+      <node ref="collor_sensor_6" pin="1"/>
+    </net>
+    <net code="67" name="Net-(controllboard1-Pad29)">
+      <node ref="controllboard1" pin="29"/>
+    </net>
+    <net code="68" name="Net-(controllboard1-Pad18)">
+      <node ref="controllboard1" pin="18"/>
+    </net>
+    <net code="69" name="Net-(controllboard1-Pad19)">
+      <node ref="controllboard1" pin="19"/>
+    </net>
+    <net code="70" name="Net-(controllboard1-Pad20)">
+      <node ref="controllboard1" pin="20"/>
+    </net>
+    <net code="71" name="Net-(controllboard1-Pad21)">
+      <node ref="controllboard1" pin="21"/>
+    </net>
+    <net code="72" name="Net-(controllboard1-Pad22)">
+      <node ref="controllboard1" pin="22"/>
+    </net>
+    <net code="73" name="Net-(controllboard1-Pad23)">
+      <node ref="controllboard1" pin="23"/>
+    </net>
+    <net code="74" name="Net-(controllboard1-Pad24)">
+      <node ref="controllboard1" pin="24"/>
+    </net>
+    <net code="75" name="Net-(controllboard1-Pad25)">
+      <node ref="controllboard1" pin="25"/>
+    </net>
+    <net code="76" name="Net-(controllboard1-Pad26)">
+      <node ref="controllboard1" pin="26"/>
+    </net>
+    <net code="77" name="Net-(controllboard1-Pad27)">
+      <node ref="controllboard1" pin="27"/>
+    </net>
+    <net code="78" name="Net-(controllboard1-Pad28)">
+      <node ref="controllboard1" pin="28"/>
+    </net>
+    <net code="79" name="Net-(controllboard1-Pad17)">
+      <node ref="controllboard1" pin="17"/>
+    </net>
+    <net code="80" name="Net-(controllboard1-Pad30)">
+      <node ref="controllboard1" pin="30"/>
+    </net>
+    <net code="81" name="Net-(controllboard1-Pad31)">
+      <node ref="controllboard1" pin="31"/>
+    </net>
+    <net code="82" name="Net-(controllboard1-Pad32)">
+      <node ref="controllboard1" pin="32"/>
+    </net>
+    <net code="83" name="Net-(controllboard1-Pad33)">
+      <node ref="controllboard1" pin="33"/>
+    </net>
+    <net code="84" name="Net-(controllboard1-Pad35)">
+      <node ref="controllboard1" pin="35"/>
+    </net>
+    <net code="85" name="Net-(controllboard1-Pad36)">
+      <node ref="controllboard1" pin="36"/>
+    </net>
+    <net code="86" name="Net-(controllboard1-Pad37)">
+      <node ref="controllboard1" pin="37"/>
+    </net>
+    <net code="87" name="Net-(controllboard1-Pad38)">
+      <node ref="controllboard1" pin="38"/>
+    </net>
+    <net code="88" name="Net-(controllboard1-Pad39)">
+      <node ref="controllboard1" pin="39"/>
+    </net>
+    <net code="89" name="gnd">
+      <node ref="motor_driver1" pin="~"/>
+      <node ref="motor_driver2" pin="~"/>
+      <node ref="5Vconverter1" pin="1"/>
+      <node ref="3.3vconverter1" pin="1"/>
+    </net>
+    <net code="90" name="Net-(5Vconverter1-Pad9)">
+      <node ref="5Vconverter1" pin="9"/>
+      <node ref="motor1" pin="~"/>
+      <node ref="controllboard1" pin="55"/>
+      <node ref="motor2" pin="~"/>
+      <node ref="motor3" pin="~"/>
+    </net>
+    <net code="91" name="Net-(controllboard1-Pad42)">
+      <node ref="controllboard1" pin="42"/>
+    </net>
+    <net code="92" name="Net-(controllboard1-Pad10)">
+      <node ref="controllboard1" pin="10"/>
+    </net>
+    <net code="93" name="Net-(controllboard1-Pad11)">
+      <node ref="controllboard1" pin="11"/>
+    </net>
+    <net code="94" name="Net-(controllboard1-Pad12)">
+      <node ref="controllboard1" pin="12"/>
+    </net>
+    <net code="95" name="Net-(controllboard1-Pad13)">
+      <node ref="controllboard1" pin="13"/>
+    </net>
+    <net code="96" name="Net-(controllboard1-Pad14)">
+      <node ref="controllboard1" pin="14"/>
+    </net>
+    <net code="97" name="Net-(controllboard1-Pad15)">
+      <node ref="controllboard1" pin="15"/>
+    </net>
+    <net code="98" name="Net-(controllboard1-Pad16)">
+      <node ref="controllboard1" pin="16"/>
+    </net>
+    <net code="99" name="Net-(controllboard1-Pad65)">
+      <node ref="controllboard1" pin="65"/>
+    </net>
+    <net code="100" name="Net-(controllboard1-Pad66)">
+      <node ref="controllboard1" pin="66"/>
+    </net>
+    <net code="101" name="Net-(controllboard1-Pad67)">
+      <node ref="controllboard1" pin="67"/>
+    </net>
+    <net code="102" name="Net-(controllboard1-Pad7)">
+      <node ref="controllboard1" pin="7"/>
+    </net>
+    <net code="103" name="Net-(controllboard1-Pad8)">
+      <node ref="controllboard1" pin="8"/>
+    </net>
+    <net code="104" name="Net-(controllboard1-Pad9)">
+      <node ref="controllboard1" pin="9"/>
+    </net>
+    <net code="105" name="Net-(controllboard1-Pad1)">
+      <node ref="controllboard1" pin="1"/>
+    </net>
+    <net code="106" name="Net-(controllboard1-Pad2)">
+      <node ref="controllboard1" pin="2"/>
+    </net>
+    <net code="107" name="Net-(controllboard1-Pad3)">
+      <node ref="controllboard1" pin="3"/>
+    </net>
+    <net code="108" name="Net-(controllboard1-Pad34)">
+      <node ref="controllboard1" pin="34"/>
+    </net>
+    <net code="109" name="Net-(controllboard1-Pad4)">
+      <node ref="controllboard1" pin="4"/>
+    </net>
+    <net code="110" name="Net-(controllboard1-Pad64)">
+      <node ref="controllboard1" pin="64"/>
+    </net>
+    <net code="111" name="12v">
+      <node ref="3.3vconverter1" pin="16"/>
+      <node ref="motor_driver2" pin="~"/>
+      <node ref="motor_driver1" pin="~"/>
+      <node ref="5Vconverter1" pin="16"/>
+    </net>
+    <net code="112" name="Net-(controllboard1-Pad53)">
+      <node ref="controllboard1" pin="53"/>
+    </net>
+    <net code="113" name="Net-(controllboard1-Pad43)">
+      <node ref="controllboard1" pin="43"/>
+    </net>
+    <net code="114" name="Net-(controllboard1-Pad44)">
+      <node ref="controllboard1" pin="44"/>
+    </net>
+    <net code="115" name="Net-(controllboard1-Pad45)">
+      <node ref="controllboard1" pin="45"/>
+    </net>
+    <net code="116" name="Net-(controllboard1-Pad46)">
+      <node ref="controllboard1" pin="46"/>
+    </net>
+    <net code="117" name="Net-(controllboard1-Pad47)">
+      <node ref="controllboard1" pin="47"/>
+    </net>
+    <net code="118" name="Net-(controllboard1-Pad48)">
+      <node ref="controllboard1" pin="48"/>
+    </net>
+    <net code="119" name="Net-(controllboard1-Pad49)">
+      <node ref="controllboard1" pin="49"/>
+    </net>
+    <net code="120" name="Net-(controllboard1-Pad5)">
+      <node ref="controllboard1" pin="5"/>
+    </net>
+    <net code="121" name="Net-(controllboard1-Pad50)">
+      <node ref="controllboard1" pin="50"/>
+    </net>
+    <net code="122" name="Net-(controllboard1-Pad51)">
+      <node ref="controllboard1" pin="51"/>
+    </net>
+    <net code="123" name="Net-(controllboard1-Pad52)">
+      <node ref="controllboard1" pin="52"/>
+    </net>
+    <net code="124" name="Net-(controllboard1-Pad54)">
+      <node ref="controllboard1" pin="54"/>
+    </net>
+    <net code="125" name="Net-(controllboard1-Pad56)">
+      <node ref="controllboard1" pin="56"/>
+    </net>
+    <net code="126" name="Net-(controllboard1-Pad57)">
+      <node ref="controllboard1" pin="57"/>
+    </net>
+    <net code="127" name="Net-(controllboard1-Pad59)">
+      <node ref="controllboard1" pin="59"/>
+    </net>
+    <net code="128" name="Net-(controllboard1-Pad6)">
+      <node ref="controllboard1" pin="6"/>
+    </net>
+    <net code="129" name="Net-(controllboard1-Pad60)">
+      <node ref="controllboard1" pin="60"/>
+    </net>
+    <net code="130" name="Net-(controllboard1-Pad61)">
+      <node ref="controllboard1" pin="61"/>
+    </net>
+    <net code="131" name="Net-(controllboard1-Pad62)">
+      <node ref="controllboard1" pin="62"/>
+    </net>
+    <net code="132" name="Net-(controllboard1-Pad63)">
+      <node ref="controllboard1" pin="63"/>
+    </net>
+    <net code="133" name="Net-(i2converter1-Pad18)">
+      <node ref="io_expernder1" pin="12"/>
+      <node ref="i2converter1" pin="18"/>
+    </net>
+    <net code="134" name="Net-(i2converter1-Pad17)">
+      <node ref="i2converter1" pin="17"/>
+      <node ref="io_expernder1" pin="13"/>
+    </net>
+    <net code="135" name="Net-(i2converter1-Pad19)">
+      <node ref="io_expender2" pin="13"/>
+      <node ref="i2converter1" pin="19"/>
+    </net>
+    <net code="136" name="Net-(i2converter1-Pad20)">
+      <node ref="i2converter1" pin="20"/>
+      <node ref="io_expender2" pin="12"/>
+    </net>
+    <net code="137" name="Net-(io_expender2-Pad15)">
+      <node ref="io_expender2" pin="15"/>
+    </net>
+    <net code="138" name="Net-(3.3vconverter1-Pad9)">
+      <node ref="ir_sensor_9" pin="1"/>
+      <node ref="ir_sensor_8" pin="1"/>
+      <node ref="ir_sensor_3" pin="1"/>
+      <node ref="ir_sensor_2" pin="1"/>
+      <node ref="ir_sensor_4" pin="1"/>
+      <node ref="io_expernder1" pin="9"/>
+      <node ref="collor_sensor_2" pin="2"/>
+      <node ref="ir_sensor_5" pin="1"/>
+      <node ref="ir_sensor_6" pin="1"/>
+      <node ref="ir_sensor_7" pin="1"/>
+      <node ref="io_expender2" pin="9"/>
+      <node ref="ir_sensor_1" pin="1"/>
+      <node ref="collor_sensor_1" pin="2"/>
+      <node ref="3.3vconverter1" pin="9"/>
+      <node ref="i2converter1" pin="24"/>
+      <node ref="ir_sensor_16" pin="1"/>
+      <node ref="ir_sensor_15" pin="1"/>
+      <node ref="ir_sensor_14" pin="1"/>
+      <node ref="collor_sensor_3" pin="2"/>
+      <node ref="ir_sensor_10" pin="1"/>
+      <node ref="ir_sensor_11" pin="1"/>
+      <node ref="collor_sensor_6" pin="2"/>
+      <node ref="collor_sensor_5" pin="2"/>
+      <node ref="ir_sensor_12" pin="1"/>
+      <node ref="collor_sensor_4" pin="2"/>
+      <node ref="ir_sensor_13" pin="1"/>
+    </net>
+    <net code="139" name="Net-(io_expender2-Pad11)">
+      <node ref="io_expender2" pin="11"/>
+    </net>
+    <net code="140" name="Net-(io_expender2-Pad14)">
+      <node ref="io_expender2" pin="14"/>
+    </net>
+    <net code="141" name="Net-(io_expender2-Pad16)">
+      <node ref="io_expender2" pin="16"/>
+    </net>
+    <net code="142" name="Net-(io_expender2-Pad17)">
+      <node ref="io_expender2" pin="17"/>
+    </net>
+    <net code="143" name="Net-(io_expender2-Pad18)">
+      <node ref="io_expender2" pin="18"/>
+    </net>
+    <net code="144" name="Net-(io_expender2-Pad19)">
+      <node ref="io_expender2" pin="19"/>
+    </net>
+    <net code="145" name="Net-(io_expender2-Pad20)">
+      <node ref="io_expender2" pin="20"/>
+    </net>
+    <net code="146" name="Net-(3.3vconverter1-Pad10)">
+      <node ref="ir_sensor_3" pin="0"/>
+      <node ref="ir_sensor_2" pin="0"/>
+      <node ref="ir_sensor_15" pin="0"/>
+      <node ref="ir_sensor_16" pin="0"/>
+      <node ref="io_expernder1" pin="10"/>
+      <node ref="ir_sensor_14" pin="0"/>
+      <node ref="ir_sensor_11" pin="0"/>
+      <node ref="i2converter1" pin="12"/>
+      <node ref="3.3vconverter1" pin="10"/>
+      <node ref="collor_sensor_1" pin="3"/>
+      <node ref="ir_sensor_10" pin="0"/>
+      <node ref="ir_sensor_1" pin="0"/>
+      <node ref="ir_sensor_13" pin="0"/>
+      <node ref="ir_sensor_9" pin="0"/>
+      <node ref="collor_sensor_2" pin="3"/>
+      <node ref="collor_sensor_3" pin="3"/>
+      <node ref="collor_sensor_4" pin="3"/>
+      <node ref="collor_sensor_5" pin="3"/>
+      <node ref="ir_sensor_12" pin="0"/>
+      <node ref="collor_sensor_6" pin="3"/>
+      <node ref="ir_sensor_4" pin="0"/>
+      <node ref="ir_sensor_8" pin="0"/>
+      <node ref="ir_sensor_5" pin="0"/>
+      <node ref="ir_sensor_6" pin="0"/>
+      <node ref="ir_sensor_7" pin="0"/>
+      <node ref="io_expender2" pin="10"/>
+    </net>
+    <net code="147" name="Net-(ir_sensor_3-Pad~)">
+      <node ref="ir_sensor_3" pin="~"/>
+    </net>
+    <net code="148" name="Net-(collor_sensor_2-Pad0)">
+      <node ref="i2converter1" pin="13"/>
+      <node ref="collor_sensor_2" pin="0"/>
+    </net>
+    <net code="149" name="Net-(collor_sensor_4-Pad1)">
+      <node ref="collor_sensor_4" pin="1"/>
+      <node ref="i2converter1" pin="8"/>
+    </net>
+    <net code="150" name="Net-(io_expernder1-Pad19)">
+      <node ref="io_expernder1" pin="19"/>
+    </net>
+    <net code="151" name="Net-(io_expernder1-Pad11)">
+      <node ref="io_expernder1" pin="11"/>
+    </net>
+    <net code="152" name="Net-(io_expernder1-Pad14)">
+      <node ref="io_expernder1" pin="14"/>
+    </net>
+    <net code="153" name="Net-(io_expernder1-Pad15)">
+      <node ref="io_expernder1" pin="15"/>
+    </net>
+    <net code="154" name="Net-(io_expernder1-Pad16)">
+      <node ref="io_expernder1" pin="16"/>
+    </net>
+    <net code="155" name="Net-(io_expernder1-Pad17)">
+      <node ref="io_expernder1" pin="17"/>
+    </net>
+    <net code="156" name="Net-(io_expernder1-Pad18)">
+      <node ref="io_expernder1" pin="18"/>
+    </net>
+    <net code="157" name="Net-(io_expernder1-Pad20)">
+      <node ref="io_expernder1" pin="20"/>
+    </net>
+    <net code="158" name="Net-(io_expernder1-Pad26)">
+      <node ref="io_expernder1" pin="26"/>
+    </net>
+    <net code="159" name="Net-(collor_sensor_5-Pad1)">
+      <node ref="collor_sensor_5" pin="1"/>
+      <node ref="i2converter1" pin="7"/>
+    </net>
+  </nets>
+</export>