update repo structure

update poster
add code flowchart

1 files changed, 0 insertions, 1910 deletions

diff --git a/pcb/pcb.sch b/pcb/pcb.sch
deleted file mode 100644
index c9237f5..0000000
--- a/pcb/pcb.sch
+++ /dev/null
@@ -1,1910 +0,0 @@
-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
-$Comp
-L power:+12V #PWR0101
-U 1 1 66313788
-P 1100 7150
-F 0 "#PWR0101" H 1100 7000 50  0001 C CNN
-F 1 "+12V" H 1115 7323 50  0000 C CNN
-F 2 "" H 1100 7150 50  0001 C CNN
-F 3 "" H 1100 7150 50  0001 C CNN
-	1    1100 7150
-	1    0    0    -1  
-$EndComp
-$Comp
-L power:Earth #PWR0102
-U 1 1 66313C28
-P 850 7150
-F 0 "#PWR0102" H 850 6900 50  0001 C CNN
-F 1 "Earth" H 850 7000 50  0001 C CNN
-F 2 "" H 850 7150 50  0001 C CNN
-F 3 "~" H 850 7150 50  0001 C CNN
-	1    850  7150
-	1    0    0    -1  
-$EndComp
-Wire Wire Line
-	1100 7150 1100 7350
-Wire Wire Line
-	1100 7350 1275 7350
-Text GLabel 850  6200 0    50   Input ~ 0
-gnd
-Text GLabel 1800 6150 0    50   Input ~ 0
-vcc
-Text GLabel 1800 6250 0    50   Input ~ 0
-12v
-$Comp
-L pcb-rescue:Teensy4.1-teensy controllboard1
-U 1 1 66315BAB
-P 2400 3550
-F 0 "controllboard1" H 2400 6115 50  0000 C CNN
-F 1 "Teensy4.1" H 2400 6024 50  0000 C CNN
-F 2 "custom:teensy4.1" H 2000 3950 50  0001 C CNN
-F 3 "" H 2000 3950 50  0001 C CNN
-	1    2400 3550
-	1    0    0    -1  
-$EndComp
-Connection ~ 850  6900
-Wire Wire Line
-	850  6900 850  7150
-Wire Wire Line
-	4350 6500 4350 6250
-$Comp
-L Interface_Expansion:PCA9548ADB i2converter1
-U 1 1 663863AE
-P 5000 2800
-F 0 "i2converter1" H 5000 3881 50  0000 C CNN
-F 1 "PCA9548ADB" H 5000 3790 50  0000 C CNN
-F 2 "Package_SO:SSOP-24_5.3x8.2mm_P0.65mm" H 5000 1800 50  0001 C CNN
-F 3 "http://www.ti.com/lit/ds/symlink/pca9548a.pdf" H 5050 3050 50  0001 C CNN
-	1    5000 2800
-	1    0    0    -1  
-$EndComp
-Wire Wire Line
-	3500 2100 3900 2100
-Wire Wire Line
-	3500 2200 3875 2200
-Wire Wire Line
-	4350 1900 5000 1900
-Wire Wire Line
-	5000 3800 5000 5100
-Wire Wire Line
-	5000 6700 4100 6700
-Wire Wire Line
-	4350 4900 6350 4900
-Wire Wire Line
-	6350 1800 6750 1800
-Wire Wire Line
-	5000 5100 6500 5100
-Wire Wire Line
-	6500 1900 6750 1900
-Connection ~ 5000 5100
-Wire Wire Line
-	5000 5100 5000 6700
-Connection ~ 4350 4900
-Wire Wire Line
-	4350 1900 4350 4900
-Wire Wire Line
-	7950 1900 8000 1900
-Connection ~ 6500 5100
-Connection ~ 6350 4900
-Wire Wire Line
-	7900 1800 8000 1800
-Wire Wire Line
-	6350 4900 7900 4900
-Wire Wire Line
-	6500 5100 7950 5100
-Wire Wire Line
-	5400 3200 6300 3200
-Wire Wire Line
-	5400 3100 6250 3100
-Wire Wire Line
-	6300 3200 6300 1450
-Wire Wire Line
-	6300 1450 7500 1450
-Wire Wire Line
-	7350 1900 7500 1900
-Wire Wire Line
-	7500 1900 7500 1450
-Wire Wire Line
-	6250 3100 6250 1400
-Wire Wire Line
-	6250 1400 7550 1400
-Wire Wire Line
-	7550 1400 7550 1800
-Wire Wire Line
-	7550 1800 7350 1800
-Wire Wire Line
-	5400 3000 6200 3000
-Wire Wire Line
-	6200 3000 6200 1350
-Wire Wire Line
-	6200 1350 7600 1350
-Wire Wire Line
-	7650 1300 6150 1300
-Wire Wire Line
-	6150 1300 6150 2900
-Wire Wire Line
-	6150 2900 5400 2900
-Wire Wire Line
-	5400 2800 6100 2800
-Wire Wire Line
-	6100 2800 6100 1250
-Wire Wire Line
-	6100 1250 7700 1250
-Wire Wire Line
-	7750 1200 6050 1200
-Wire Wire Line
-	6050 1200 6050 2700
-Wire Wire Line
-	6050 2700 5400 2700
-Wire Wire Line
-	5400 2600 6000 2600
-Wire Wire Line
-	6000 2600 6000 1150
-Wire Wire Line
-	8750 1150 8750 1800
-Wire Wire Line
-	8750 1800 8600 1800
-Wire Wire Line
-	6000 1150 8750 1150
-Wire Wire Line
-	8800 1900 8800 1100
-Wire Wire Line
-	8800 1100 5950 1100
-Wire Wire Line
-	5950 1100 5950 2500
-Wire Wire Line
-	5950 2500 5400 2500
-Wire Wire Line
-	5400 2400 5900 2400
-Wire Wire Line
-	5900 2400 5900 1050
-Wire Wire Line
-	5900 1050 8850 1050
-Wire Wire Line
-	8850 1050 8850 3000
-Wire Wire Line
-	8600 2900 8900 2900
-Wire Wire Line
-	8900 2900 8900 1000
-Wire Wire Line
-	8900 1000 5850 1000
-Wire Wire Line
-	5850 1000 5850 2300
-Wire Wire Line
-	5850 2300 5400 2300
-Wire Wire Line
-	5400 2200 5800 2200
-Wire Wire Line
-	5800 2200 5800 950 
-Wire Wire Line
-	5800 950  8950 950 
-Wire Wire Line
-	8950 950  8950 4050
-Wire Wire Line
-	8600 3950 9000 3950
-Wire Wire Line
-	9000 3950 9000 900 
-Wire Wire Line
-	9000 900  5750 900 
-Wire Wire Line
-	5750 900  5750 2100
-Wire Wire Line
-	5750 2100 5400 2100
-$Comp
-L Interface_Expansion:MCP23017_SP io_expernder1
-U 1 1 6640686D
-P 6600 7350
-F 0 "io_expernder1" H 6600 8631 50  0000 C CNN
-F 1 "MCP23017_SP" H 6600 8540 50  0000 C CNN
-F 2 "Package_DIP:DIP-28_W7.62mm" H 6800 6350 50  0001 L CNN
-F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf" H 6800 6250 50  0001 L CNN
-	1    6600 7350
-	1    0    0    -1  
-$EndComp
-$Comp
-L Interface_Expansion:MCP23017_SP io_expender2
-U 1 1 66424687
-P 6650 9950
-F 0 "io_expender2" H 6650 11231 50  0000 C CNN
-F 1 "MCP23017_SP" H 6650 11140 50  0000 C CNN
-F 2 "Package_DIP:DIP-28_W7.62mm" H 6850 8950 50  0001 L CNN
-F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf" H 6850 8850 50  0001 L CNN
-	1    6650 9950
-	1    0    0    -1  
-$EndComp
-Wire Wire Line
-	5900 6550 5800 6550
-Wire Wire Line
-	5800 6550 5800 3400
-Wire Wire Line
-	5800 3400 5400 3400
-Wire Wire Line
-	5900 6650 5750 6650
-Wire Wire Line
-	5750 6650 5750 3300
-Wire Wire Line
-	5750 3300 5400 3300
-Wire Wire Line
-	5950 9150 5700 9150
-Wire Wire Line
-	5700 9150 5700 3600
-Wire Wire Line
-	5700 3600 5400 3600
-Wire Wire Line
-	5950 9250 5650 9250
-Wire Wire Line
-	5650 9250 5650 3500
-Wire Wire Line
-	5650 3500 5400 3500
-Wire Wire Line
-	4100 11050 4100 8450
-Connection ~ 4100 6700
-Wire Wire Line
-	6600 8450 4100 8450
-Connection ~ 4100 8450
-Wire Wire Line
-	4100 8450 4100 6700
-Wire Wire Line
-	6600 6250 4350 6250
-Connection ~ 4350 6250
-Wire Wire Line
-	4350 6250 4350 4900
-Wire Wire Line
-	4350 6500 4350 8850
-Wire Wire Line
-	4350 8850 6650 8850
-Connection ~ 4350 6500
-Wire Wire Line
-	6650 11050 9900 11050
-Connection ~ 6650 11050
-Wire Wire Line
-	6650 8850 9700 8850
-Connection ~ 6650 8850
-Connection ~ 9700 8850
-$Comp
-L tssp4038:tssp4038 ir_sensor_1
-U 1 1 6634C48F
-P 11400 4700
-F 0 "ir_sensor_1" V 11354 4528 50  0000 L CNN
-F 1 "tssp4038" V 11445 4528 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 4800 50  0001 C CNN
-F 3 "" H 11400 4800 50  0001 C CNN
-	1    11400 4700
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_2
-U 1 1 66374957
-P 11400 5400
-F 0 "ir_sensor_2" V 11354 5228 50  0000 L CNN
-F 1 "tssp4038" V 11445 5228 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 5500 50  0001 C CNN
-F 3 "" H 11400 5500 50  0001 C CNN
-	1    11400 5400
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_3
-U 1 1 66375259
-P 11400 6100
-F 0 "ir_sensor_3" V 11354 5928 50  0000 L CNN
-F 1 "tssp4038" V 11445 5928 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 6200 50  0001 C CNN
-F 3 "" H 11400 6200 50  0001 C CNN
-	1    11400 6100
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_4
-U 1 1 663895CC
-P 11400 6750
-F 0 "ir_sensor_4" V 11354 6578 50  0000 L CNN
-F 1 "tssp4038" V 11445 6578 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 6850 50  0001 C CNN
-F 3 "" H 11400 6850 50  0001 C CNN
-	1    11400 6750
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_5
-U 1 1 663953D2
-P 11400 7400
-F 0 "ir_sensor_5" V 11354 7228 50  0000 L CNN
-F 1 "tssp4038" V 11445 7228 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 7500 50  0001 C CNN
-F 3 "" H 11400 7500 50  0001 C CNN
-	1    11400 7400
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_6
-U 1 1 66395681
-P 11400 8100
-F 0 "ir_sensor_6" V 11354 7928 50  0000 L CNN
-F 1 "tssp4038" V 11445 7928 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 8200 50  0001 C CNN
-F 3 "" H 11400 8200 50  0001 C CNN
-	1    11400 8100
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_7
-U 1 1 6639568B
-P 11400 8800
-F 0 "ir_sensor_7" V 11354 8628 50  0000 L CNN
-F 1 "tssp4038" V 11445 8628 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 8900 50  0001 C CNN
-F 3 "" H 11400 8900 50  0001 C CNN
-	1    11400 8800
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_8
-U 1 1 66395696
-P 11400 9450
-F 0 "ir_sensor_8" V 11354 9278 50  0000 L CNN
-F 1 "tssp4038" V 11445 9278 50  0000 L CNN
-F 2 "custom:tssp4038" H 11400 9550 50  0001 C CNN
-F 3 "" H 11400 9550 50  0001 C CNN
-	1    11400 9450
-	0    1    1    0   
-$EndComp
-Wire Wire Line
-	9700 4550 10600 4550
-Wire Wire Line
-	9700 4550 9700 5250
-Wire Wire Line
-	9900 4700 10600 4700
-Wire Wire Line
-	9900 4700 9900 5400
-Wire Wire Line
-	9700 7250 10600 7250
-Connection ~ 9700 7250
-Wire Wire Line
-	9700 7250 9700 7950
-Wire Wire Line
-	9900 7400 10600 7400
-Connection ~ 9900 7400
-Wire Wire Line
-	9900 7400 9900 8100
-Wire Wire Line
-	9700 9300 10600 9300
-Wire Wire Line
-	9700 8850 9700 9300
-Wire Wire Line
-	10600 8650 9700 8650
-Connection ~ 9700 8650
-Wire Wire Line
-	9700 8650 9700 8850
-Wire Wire Line
-	10600 7950 9700 7950
-Connection ~ 9700 7950
-Wire Wire Line
-	9700 7950 9700 8650
-Wire Wire Line
-	10600 6600 9700 6600
-Connection ~ 9700 6600
-Wire Wire Line
-	9700 6600 9700 7250
-Wire Wire Line
-	10600 5950 9700 5950
-Connection ~ 9700 5950
-Wire Wire Line
-	9700 5950 9700 6600
-Wire Wire Line
-	10600 5250 9700 5250
-Connection ~ 9700 5250
-Wire Wire Line
-	9700 5250 9700 5950
-Wire Wire Line
-	10600 5400 9900 5400
-Connection ~ 9900 5400
-Wire Wire Line
-	9900 5400 9900 6100
-Wire Wire Line
-	10600 6100 9900 6100
-Connection ~ 9900 6100
-Wire Wire Line
-	9900 6100 9900 6750
-Wire Wire Line
-	10600 6750 9900 6750
-Connection ~ 9900 6750
-Wire Wire Line
-	9900 6750 9900 7400
-Wire Wire Line
-	10600 8100 9900 8100
-Connection ~ 9900 8100
-Wire Wire Line
-	9900 8100 9900 8800
-Wire Wire Line
-	10600 8800 9900 8800
-Connection ~ 9900 8800
-Wire Wire Line
-	9900 8800 9900 9450
-Wire Wire Line
-	10600 9450 9900 9450
-Connection ~ 9900 9450
-$Comp
-L tssp4038:tssp4038 ir_sensor_9
-U 1 1 6642E25B
-P 13550 4700
-F 0 "ir_sensor_9" V 13504 4528 50  0000 L CNN
-F 1 "tssp4038" V 13595 4528 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 4800 50  0001 C CNN
-F 3 "" H 13550 4800 50  0001 C CNN
-	1    13550 4700
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_10
-U 1 1 6642E3F1
-P 13550 5400
-F 0 "ir_sensor_10" V 13504 5229 50  0000 L CNN
-F 1 "tssp4038" V 13595 5229 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 5500 50  0001 C CNN
-F 3 "" H 13550 5500 50  0001 C CNN
-	1    13550 5400
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_11
-U 1 1 6642E3FB
-P 13550 6100
-F 0 "ir_sensor_11" V 13504 5929 50  0000 L CNN
-F 1 "tssp4038" V 13595 5929 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 6200 50  0001 C CNN
-F 3 "" H 13550 6200 50  0001 C CNN
-	1    13550 6100
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_12
-U 1 1 6642E405
-P 13550 6750
-F 0 "ir_sensor_12" V 13504 6579 50  0000 L CNN
-F 1 "tssp4038" V 13595 6579 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 6850 50  0001 C CNN
-F 3 "" H 13550 6850 50  0001 C CNN
-	1    13550 6750
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_13
-U 1 1 6642E40F
-P 13550 7400
-F 0 "ir_sensor_13" V 13504 7229 50  0000 L CNN
-F 1 "tssp4038" V 13595 7229 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 7500 50  0001 C CNN
-F 3 "" H 13550 7500 50  0001 C CNN
-	1    13550 7400
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_14
-U 1 1 6642E419
-P 13550 8100
-F 0 "ir_sensor_14" V 13504 7929 50  0000 L CNN
-F 1 "tssp4038" V 13595 7929 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 8200 50  0001 C CNN
-F 3 "" H 13550 8200 50  0001 C CNN
-	1    13550 8100
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_15
-U 1 1 6642E423
-P 13550 8800
-F 0 "ir_sensor_15" V 13504 8629 50  0000 L CNN
-F 1 "tssp4038" V 13595 8629 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 8900 50  0001 C CNN
-F 3 "" H 13550 8900 50  0001 C CNN
-	1    13550 8800
-	0    1    1    0   
-$EndComp
-$Comp
-L tssp4038:tssp4038 ir_sensor_16
-U 1 1 6642E42D
-P 13550 9450
-F 0 "ir_sensor_16" V 13504 9279 50  0000 L CNN
-F 1 "tssp4038" V 13595 9279 50  0000 L CNN
-F 2 "custom:tssp4038" H 13550 9550 50  0001 C CNN
-F 3 "" H 13550 9550 50  0001 C CNN
-	1    13550 9450
-	0    1    1    0   
-$EndComp
-Wire Wire Line
-	12750 4700 12550 4700
-Wire Wire Line
-	9900 9925 12550 9925
-Wire Wire Line
-	12750 9450 12550 9450
-Connection ~ 12550 9450
-Wire Wire Line
-	12750 8800 12550 8800
-Connection ~ 12550 8800
-Wire Wire Line
-	12550 8800 12550 9450
-Wire Wire Line
-	12750 8100 12550 8100
-Connection ~ 12550 8100
-Wire Wire Line
-	12550 8100 12550 8800
-Wire Wire Line
-	12750 7400 12550 7400
-Connection ~ 12550 7400
-Wire Wire Line
-	12550 7400 12550 8100
-Wire Wire Line
-	12750 6750 12550 6750
-Connection ~ 12550 6750
-Wire Wire Line
-	12550 6750 12550 7400
-Wire Wire Line
-	9700 4550 9700 4250
-Wire Wire Line
-	9700 4250 12450 4250
-Wire Wire Line
-	12450 4250 12450 4550
-Wire Wire Line
-	12450 4550 12750 4550
-Connection ~ 9700 4550
-Connection ~ 12450 4550
-Wire Wire Line
-	12750 6100 12550 6100
-Connection ~ 12550 6100
-Wire Wire Line
-	12550 6100 12550 6750
-Wire Wire Line
-	12750 5950 12450 5950
-Wire Wire Line
-	12450 5950 12450 6600
-Wire Wire Line
-	12450 6600 12750 6600
-Connection ~ 12450 5950
-Wire Wire Line
-	12750 7250 12450 7250
-Wire Wire Line
-	12450 7250 12450 6600
-Connection ~ 12450 6600
-Wire Wire Line
-	12750 7950 12450 7950
-Wire Wire Line
-	12450 7950 12450 7250
-Connection ~ 12450 7250
-Wire Wire Line
-	12750 8650 12450 8650
-Wire Wire Line
-	12450 8650 12450 7950
-Connection ~ 12450 7950
-Wire Wire Line
-	12750 9300 12450 9300
-Wire Wire Line
-	12450 9300 12450 8650
-Connection ~ 12450 8650
-Wire Wire Line
-	7300 6550 8850 6550
-Wire Wire Line
-	8850 6550 8850 4850
-Wire Wire Line
-	8850 4850 10600 4850
-Wire Wire Line
-	7300 6650 8950 6650
-Wire Wire Line
-	8950 6650 8950 5550
-Wire Wire Line
-	8950 5550 10600 5550
-Wire Wire Line
-	7300 6750 9050 6750
-Wire Wire Line
-	9050 6750 9050 6900
-Wire Wire Line
-	9050 6900 10600 6900
-Wire Wire Line
-	7300 6850 8950 6850
-Wire Wire Line
-	8950 6850 8950 7550
-Wire Wire Line
-	8950 7550 10600 7550
-Wire Wire Line
-	7300 6950 8850 6950
-Wire Wire Line
-	8850 6950 8850 8250
-Wire Wire Line
-	8850 8250 10600 8250
-Wire Wire Line
-	7300 7050 8750 7050
-Wire Wire Line
-	8750 7050 8750 8950
-Wire Wire Line
-	8750 8950 10600 8950
-Wire Wire Line
-	7300 7150 8650 7150
-Wire Wire Line
-	8650 7150 8650 9600
-Wire Wire Line
-	8650 9600 10600 9600
-Wire Wire Line
-	11800 4850 12750 4850
-Wire Wire Line
-	9900 9450 9900 9925
-Wire Wire Line
-	12550 9450 12550 9925
-Wire Wire Line
-	11850 5550 12750 5550
-Wire Wire Line
-	7300 7250 8100 7250
-Wire Wire Line
-	8100 7250 8100 5350
-Wire Wire Line
-	8100 5350 8550 5350
-Wire Wire Line
-	8550 5350 8550 4350
-Wire Wire Line
-	8550 4350 11800 4350
-Wire Wire Line
-	11800 4350 11800 4850
-Wire Wire Line
-	7300 7450 8200 7450
-Wire Wire Line
-	8200 7450 8200 5450
-Wire Wire Line
-	8200 5450 8650 5450
-Wire Wire Line
-	8650 5450 8650 4300
-Wire Wire Line
-	8650 4300 11850 4300
-Wire Wire Line
-	11850 4300 11850 5550
-Wire Wire Line
-	11900 6250 11900 4150
-Wire Wire Line
-	11900 4150 8750 4150
-Wire Wire Line
-	8750 4150 8750 5650
-Wire Wire Line
-	8750 5650 8300 5650
-Wire Wire Line
-	8300 5650 8300 7550
-Wire Wire Line
-	8300 7550 7300 7550
-Wire Wire Line
-	12750 6900 11700 6900
-Wire Wire Line
-	11700 6900 11700 9800
-Wire Wire Line
-	11700 9800 8500 9800
-Wire Wire Line
-	8500 9800 8500 7650
-Wire Wire Line
-	8500 7650 7300 7650
-Wire Wire Line
-	7300 7750 8400 7750
-Wire Wire Line
-	8400 7750 8400 9825
-Wire Wire Line
-	7300 7850 8300 7850
-Wire Wire Line
-	8300 7850 8300 9850
-Wire Wire Line
-	11725 7550 11725 9825
-Wire Wire Line
-	11725 9825 8400 9825
-Wire Wire Line
-	11725 7550 12750 7550
-Wire Wire Line
-	11775 9850 11775 9600
-Wire Wire Line
-	8300 9850 11775 9850
-Wire Wire Line
-	11775 9600 12750 9600
-Connection ~ 9900 9925
-Wire Wire Line
-	9900 9925 9900 11050
-$Comp
-L pololu_motor:pololu_motor motor1
-U 1 1 6682D0F1
-P 16825 10800
-F 0 "motor1" H 16825 11535 50  0000 C CNN
-F 1 "pololu_motor" H 16825 11444 50  0000 C CNN
-F 2 "custom:pololu_motor" H 16825 11550 50  0001 C CNN
-F 3 "" H 16825 11550 50  0001 C CNN
-	1    16825 10800
-	1    0    0    -1  
-$EndComp
-$Comp
-L pololu_motor:pololu_motor motor2
-U 1 1 66830404
-P 18525 10800
-F 0 "motor2" H 18525 11535 50  0000 C CNN
-F 1 "pololu_motor" H 18525 11444 50  0000 C CNN
-F 2 "custom:pololu_motor" H 18525 11550 50  0001 C CNN
-F 3 "" H 18525 11550 50  0001 C CNN
-	1    18525 10800
-	1    0    0    -1  
-$EndComp
-$Comp
-L pololu_motor:pololu_motor motor3
-U 1 1 66842BE0
-P 20275 10800
-F 0 "motor3" H 20275 11535 50  0000 C CNN
-F 1 "pololu_motor" H 20275 11444 50  0000 C CNN
-F 2 "custom:pololu_motor" H 20275 11550 50  0001 C CNN
-F 3 "" H 20275 11550 50  0001 C CNN
-	1    20275 10800
-	1    0    0    -1  
-$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
-$Comp
-L Device:R R3
-U 1 1 675B0045
-P 11725 2725
-F 0 "R3" H 11795 2771 50  0000 L CNN
-F 1 "R" H 11795 2680 50  0000 L CNN
-F 2 "custom:resistor" V 11655 2725 50  0001 C CNN
-F 3 "~" H 11725 2725 50  0001 C CNN
-	1    11725 2725
-	1    0    0    -1  
-$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
-$Comp
-L Device:R R2
-U 1 1 675AF867
-P 11500 2725
-F 0 "R2" H 11570 2771 50  0000 L CNN
-F 1 "R" H 11570 2680 50  0000 L CNN
-F 2 "custom:resistor" V 11430 2725 50  0001 C CNN
-F 3 "~" H 11500 2725 50  0001 C CNN
-	1    11500 2725
-	1    0    0    -1  
-$EndComp
-$EndSCHEMATC