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-rw-r--r--pcb_boven/l298n.lib29
-rw-r--r--pcb_boven/pcb_boven-cache.lib268
-rw-r--r--pcb_boven/pcb_boven.sch800
-rw-r--r--pcb_boven/pcb_boven.sch-bak781
-rw-r--r--pcb_boven/pololu_motor.bck3
-rw-r--r--pcb_boven/pololu_motor.lib23
-rw-r--r--pcb_boven/tssp4038.bck3
-rw-r--r--pcb_boven/tssp4038.dcm3
-rw-r--r--pcb_boven/tssp4038.lib21
-rw-r--r--pcb_onder/pcb_onder-cache.lib4
-rw-r--r--pcb_onder/pcb_onder.sch16
-rw-r--r--pcb_onder/pcb_onder.sch-bak4
12 files changed, 1951 insertions, 4 deletions
diff --git a/pcb_boven/l298n.lib b/pcb_boven/l298n.lib
new file mode 100644
index 0000000..951109a
--- /dev/null
+++ b/pcb_boven/l298n.lib
@@ -0,0 +1,29 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# l298n
+#
+DEF l298n U 0 40 Y Y 1 F N
+F0 "U" 0 700 50 H V C CNN
+F1 "l298n" 0 600 50 H V C CNN
+F2 "custom:l298n" 0 700 50 H I C CNN
+F3 "" 0 700 50 H I C CNN
+DRAW
+S -500 500 500 -500 0 1 0 N
+X out1 0 -500 250 100 R 50 50 1 1 W
+X out2 1 -500 150 100 R 50 50 1 1 W
+X EnB 10 450 -500 100 U 50 50 1 1 W
+X out3 11 500 150 100 L 50 50 1 1 W
+X ou4 12 500 250 100 L 50 50 1 1 W
+X 12v 2 -450 -500 100 U 50 50 1 1 W
+X gnd 3 -350 -500 100 U 50 50 1 1 W
+X 5v 4 -250 -500 100 U 50 50 1 1 W
+X EnA 5 -50 -500 100 U 50 50 1 1 W
+X in1 6 50 -500 100 U 50 50 1 1 W
+X in2 7 150 -500 100 U 50 50 1 1 W
+X in3 8 250 -500 100 U 50 50 1 1 W
+X in4 9 350 -500 100 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb_boven/pcb_boven-cache.lib b/pcb_boven/pcb_boven-cache.lib
new file mode 100644
index 0000000..901f9b5
--- /dev/null
+++ b/pcb_boven/pcb_boven-cache.lib
@@ -0,0 +1,268 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# Device_R
+#
+DEF Device_R R 0 0 N Y 1 F N
+F0 "R" 80 0 50 V V C CNN
+F1 "Device_R" 0 0 50 V V C CNN
+F2 "" -70 0 50 V I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ R_*
+$ENDFPLIST
+DRAW
+S -40 -100 40 100 0 1 10 N
+X ~ 1 0 150 50 D 50 50 1 1 P
+X ~ 2 0 -150 50 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Interface_Expansion_MCP23017_SP
+#
+DEF Interface_Expansion_MCP23017_SP U 0 40 Y Y 1 F N
+F0 "U" -450 950 50 H V C CNN
+F1 "Interface_Expansion_MCP23017_SP" 0 0 50 H V C CNN
+F2 "Package_DIP:DIP-28_W7.62mm" 200 -1000 50 H I L CNN
+F3 "" 200 -1100 50 H I L CNN
+$FPLIST
+ DIP*W7.62mm*
+$ENDFPLIST
+DRAW
+S -500 900 500 -900 0 1 10 f
+X GPB0 1 700 800 200 L 50 50 1 1 B
+X VSS 10 0 -1100 200 U 50 50 1 1 W
+X NC 11 -500 600 200 R 50 50 1 1 N N
+X SCK 12 -700 700 200 R 50 50 1 1 I
+X SDA 13 -700 800 200 R 50 50 1 1 B
+X NC 14 -500 500 200 R 50 50 1 1 N N
+X A0 15 -700 -800 200 R 50 50 1 1 I
+X A1 16 -700 -700 200 R 50 50 1 1 I
+X A2 17 -700 -600 200 R 50 50 1 1 I
+X ~RESET~ 18 -700 -100 200 R 50 50 1 1 I
+X INTB 19 -700 200 200 R 50 50 1 1 T
+X GPB1 2 700 700 200 L 50 50 1 1 B
+X INTA 20 -700 100 200 R 50 50 1 1 T
+X GPA0 21 700 -100 200 L 50 50 1 1 B
+X GPA1 22 700 -200 200 L 50 50 1 1 B
+X GPA2 23 700 -300 200 L 50 50 1 1 B
+X GPA3 24 700 -400 200 L 50 50 1 1 B
+X GPA4 25 700 -500 200 L 50 50 1 1 B
+X GPA5 26 700 -600 200 L 50 50 1 1 B
+X GPA6 27 700 -700 200 L 50 50 1 1 B
+X GPA7 28 700 -800 200 L 50 50 1 1 B
+X GPB2 3 700 600 200 L 50 50 1 1 B
+X GPB3 4 700 500 200 L 50 50 1 1 B
+X GPB4 5 700 400 200 L 50 50 1 1 B
+X GPB5 6 700 300 200 L 50 50 1 1 B
+X GPB6 7 700 200 200 L 50 50 1 1 B
+X GPB7 8 700 100 200 L 50 50 1 1 B
+X VDD 9 0 1100 200 D 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# Switch_SW_DIP_x01
+#
+DEF Switch_SW_DIP_x01 SW 0 0 Y N 1 F N
+F0 "SW" 0 150 50 H V C CNN
+F1 "Switch_SW_DIP_x01" 0 -150 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ SW?DIP?x1*
+$ENDFPLIST
+DRAW
+C -80 0 20 0 0 0 N
+C 80 0 20 0 0 0 N
+S -150 100 150 -100 0 1 10 f
+P 2 0 0 0 -60 5 93 46 N
+X ~ 1 -300 0 200 R 50 50 1 1 P
+X ~ 2 300 0 200 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Switch_SW_DIP_x06
+#
+DEF Switch_SW_DIP_x06 SW 0 0 Y N 1 F N
+F0 "SW" 0 450 50 H V C CNN
+F1 "Switch_SW_DIP_x06" 0 -350 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ SW?DIP?x6*
+$ENDFPLIST
+DRAW
+C -80 -200 20 0 0 0 N
+C -80 -100 20 0 0 0 N
+C -80 0 20 0 0 0 N
+C -80 100 20 0 0 0 N
+C -80 200 20 0 0 0 N
+C -80 300 20 0 0 0 N
+C 80 -200 20 0 0 0 N
+C 80 -100 20 0 0 0 N
+C 80 0 20 0 0 0 N
+C 80 100 20 0 0 0 N
+C 80 200 20 0 0 0 N
+C 80 300 20 0 0 0 N
+S -150 400 150 -300 0 1 10 f
+P 2 0 0 0 -60 -194 93 -153 N
+P 2 0 0 0 -60 -94 93 -53 N
+P 2 0 0 0 -60 5 93 46 N
+P 2 0 0 0 -60 105 93 146 N
+P 2 0 0 0 -60 205 93 246 N
+P 2 0 0 0 -60 305 93 346 N
+X ~ 1 -300 300 200 R 50 50 1 1 P
+X ~ 10 300 100 200 L 50 50 1 1 P
+X ~ 11 300 200 200 L 50 50 1 1 P
+X ~ 12 300 300 200 L 50 50 1 1 P
+X ~ 2 -300 200 200 R 50 50 1 1 P
+X ~ 3 -300 100 200 R 50 50 1 1 P
+X ~ 4 -300 0 200 R 50 50 1 1 P
+X ~ 5 -300 -100 200 R 50 50 1 1 P
+X ~ 6 -300 -200 200 R 50 50 1 1 P
+X ~ 7 300 -200 200 L 50 50 1 1 P
+X ~ 8 300 -100 200 L 50 50 1 1 P
+X ~ 9 300 0 200 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# openmv_m7_r2_openMV_M7_R2
+#
+DEF openmv_m7_r2_openMV_M7_R2 U 0 40 Y Y 1 F N
+F0 "U" 0 1350 50 H V C CNN
+F1 "openmv_m7_r2_openMV_M7_R2" 0 1200 50 H V C CNN
+F2 "custom:openmv_m7_r2" 0 1350 50 H I C CNN
+F3 "" 0 1350 50 H I C CNN
+DRAW
+C 0 600 381 0 1 0 N
+S -500 1000 500 -850 0 1 0 N
+X jst+ 0 -350 -950 100 U 50 50 1 1 W
+X jst- 1 -250 -950 100 U 50 50 1 1 W
+X rst 10 600 200 100 L 50 50 1 1 I
+X boot 11 600 100 100 L 50 50 1 1 B
+X syn 12 600 0 100 L 50 50 1 1 B
+X p9 13 600 -100 100 L 50 50 1 1 B
+X p8 14 600 -200 100 L 50 50 1 1 B
+X p7 15 600 -300 100 L 50 50 1 1 B
+X vin 16 600 -400 100 L 50 50 1 1 B
+X p0 2 -600 200 100 R 50 50 1 1 B
+X p1 3 -600 100 100 R 50 50 1 1 B
+X p2 4 -600 0 100 R 50 50 1 1 B
+X p3 5 -600 -100 100 R 50 50 1 1 B
+X p4 6 -600 -200 100 R 50 50 1 1 B
+X p5 7 -600 -300 100 R 50 50 1 1 B
+X p6 8 -600 -400 100 R 50 50 1 1 B
+X 3.3v 9 -600 -500 100 R 50 50 1 1 W
+X gnd ~ 600 -500 100 L 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
+# teensy_Teensy4.1
+#
+DEF teensy_Teensy4.1 U 0 40 Y Y 1 F N
+F0 "U" 0 2550 50 H V C CNN
+F1 "teensy_Teensy4.1" 0 2450 50 H V C CNN
+F2 "" -400 400 50 H I C CNN
+F3 "" -400 400 50 H I C CNN
+DRAW
+T 0 450 1950 40 0 0 0 "(250mA max)" Normal 0 C C
+T 0 450 2150 40 0 0 0 "(3.6v to 5.5v)" Normal 0 C C
+T 900 -550 -400 50 0 0 0 Device Normal 0 C C
+T 900 625 -675 50 0 0 0 Ethernet Normal 0 C C
+T 900 -550 -800 50 0 0 0 Host Normal 0 C C
+T 900 -625 -800 50 0 0 0 USB Normal 0 C C
+T 900 -625 -400 50 0 0 0 USB Normal 0 C C
+S -900 2400 900 -1100 0 1 0 N
+S -800 -50 -800 -50 0 1 0 N
+P 2 0 0 0 -900 -250 900 -250 N
+P 2 0 0 0 -700 -1050 -700 -550 N
+P 2 0 0 0 -700 -300 -700 -500 N
+P 2 0 0 0 700 -375 700 -975 N
+X 8_TX2_IN1 10 -1100 1250 200 R 50 50 0 0 B
+X 9_OUT1C 11 -1100 1150 200 R 50 50 0 0 B
+X 10_CS_MQSR 12 -1100 1050 200 R 50 50 0 0 B
+X 11_MOSI_CTX1 13 -1100 950 200 R 50 50 0 0 B
+X 12_MISO_MQSL 14 -1100 850 200 R 50 50 0 0 B
+X 3V3 15 -1100 750 200 R 50 50 0 0 W
+X 24_A10_TX6_SCL2 16 -1100 650 200 R 50 50 0 0 B
+X 25_A11_RX6_SDA2 17 -1100 550 200 R 50 50 0 0 B
+X 26_A12_MOSI1 18 -1100 450 200 R 50 50 0 0 B
+X 27_A13_SCK1 19 -1100 350 200 R 50 50 0 0 B
+X 28_RX7 20 -1100 250 200 R 50 50 0 0 B
+X 29_TX7 21 -1100 150 200 R 50 50 0 0 B
+X 30_CRX3 22 -1100 50 200 R 50 50 0 0 B
+X 31_CTX3 23 -1100 -50 200 R 50 50 0 0 B
+X 32_OUT1B 24 -1100 -150 200 R 50 50 0 0 B
+X 33_MCLK2 25 1100 -150 200 L 50 50 0 0 B
+X 34_RX8 26 1100 -50 200 L 50 50 0 0 B
+X 35_TX8 27 1100 50 200 L 50 50 0 0 B
+X 36_CS 28 1100 150 200 L 50 50 0 0 B
+X 37_CS 29 1100 250 200 L 50 50 0 0 B
+X 38_CS1_IN1 30 1100 350 200 L 50 50 0 0 B
+X 39_MISO1_OUT1A 31 1100 450 200 L 50 50 0 0 B
+X 40_A16 32 1100 550 200 L 50 50 0 0 B
+X 41_A17 33 1100 650 200 L 50 50 0 0 B
+X 13_SCK_LED 35 1100 850 200 L 50 50 0 0 B
+X 14_A0_TX3_SPDIF_OUT 36 1100 950 200 L 50 50 0 0 B
+X 15_A1_RX3_SPDIF_IN 37 1100 1050 200 L 50 50 0 0 B
+X 16_A2_RX4_SCL1 38 1100 1150 200 L 50 50 0 0 B
+X 17_A3_TX4_SDA1 39 1100 1250 200 L 50 50 0 0 B
+X 18_A4_SDA 40 1100 1350 200 L 50 50 0 0 B
+X 19_A5_SCL 41 1100 1450 200 L 50 50 0 0 B
+X 20_A6_TX5_LRCLK1 42 1100 1550 200 L 50 50 0 0 B
+X 21_A7_RX5_BCLK1 43 1100 1650 200 L 50 50 0 0 B
+X 22_A8_CTX1 44 1100 1750 200 L 50 50 0 0 B
+X 23_A9_CRX1_MCLK1 45 1100 1850 200 L 50 50 0 0 B
+X 3V3 46 1100 1950 200 L 50 50 0 0 O
+X GND 47 1100 2050 200 L 50 50 0 0 O
+X VIN 48 1100 2150 200 L 50 50 0 0 W
+X VUSB 49 1100 2300 200 L 50 50 0 0 w
+X 3_LRCLK2 5 -1100 1750 200 R 50 50 0 0 B
+X VBAT 50 -300 -1300 200 U 50 50 0 0 W
+X 3V3 51 -150 -1300 200 U 50 50 0 0 W
+X GND 52 0 -1300 200 U 50 50 0 0 I
+X PROGRAM 53 150 -1300 200 U 50 50 0 0 I
+X ON_OFF 54 300 -1300 200 U 50 50 0 0 I
+X 5V 55 -1100 -600 200 R 50 50 0 0 w
+X D- 56 -1100 -700 200 R 50 50 0 0 B
+X D+ 57 -1100 -800 200 R 50 50 0 0 B
+X GND 58 -1100 -900 200 R 50 50 0 0 W
+X GND 59 -1100 -1000 200 R 50 50 0 0 W
+X 4_BCLK2 6 -1100 1650 200 R 50 50 0 0 B
+X R+ 60 1100 -900 200 L 50 50 0 0 B
+X LED 61 1100 -800 200 L 50 50 0 0 B
+X T- 62 1100 -700 200 L 50 50 0 0 B
+X T+ 63 1100 -600 200 L 50 50 0 0 B
+X GND 64 1100 -500 200 L 50 50 0 0 W
+X R- 65 1100 -400 200 L 50 50 0 0 B
+X D- 66 -1100 -350 200 R 50 50 0 0 B
+X D+ 67 -1100 -450 200 R 50 50 0 0 B
+X 5_IN2 7 -1100 1550 200 R 50 50 0 0 B
+X 6_OUT1D 8 -1100 1450 200 R 50 50 0 0 B
+X 7_RX2_OUT1A 9 -1100 1350 200 R 50 50 0 0 B
+X GND 1 -1100 2150 200 R 50 50 1 1 W
+X 0_RX1_CRX2_CS1 2 -1100 2050 200 R 50 50 1 1 B
+X 1_TX1_CTX2_MISO1 3 -1100 1950 200 R 50 50 1 1 B
+X GND 34 1100 750 200 L 50 50 1 1 W
+X 2_OUT2 4 -1100 1850 200 R 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
+# tssp4038_tssp4038
+#
+DEF tssp4038_tssp4038 U 0 40 Y Y 1 F N
+F0 "U" 0 100 50 H V C CNN
+F1 "tssp4038_tssp4038" 0 0 50 H V C CNN
+F2 "custom:tssp4038" 0 100 50 H I C CNN
+F3 "" 0 100 50 H I C CNN
+DRAW
+A -1 -481 281 1523 898 0 1 0 N -250 -350 0 -200
+A 10 -466 267 258 922 0 1 0 N 250 -350 0 -200
+S -300 -350 300 -700 0 1 0 N
+X vcc 1 -150 -800 100 U 50 50 1 1 W
+X gnd 2 0 -800 100 U 50 50 1 1 W
+X sig 3 150 -800 100 U 50 50 1 1 O
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb_boven/pcb_boven.sch b/pcb_boven/pcb_boven.sch
index fff8c68..6504dbc 100644
--- a/pcb_boven/pcb_boven.sch
+++ b/pcb_boven/pcb_boven.sch
@@ -1,4 +1,800 @@
-EESchema Schematic File Version 2
-EELAYER 25 0
+EESchema Schematic File Version 4
+EELAYER 30 0
EELAYER END
+$Descr A3 16535 11693
+encoding utf-8
+Sheet 1 1
+Title ""
+Date ""
+Rev ""
+Comp ""
+Comment1 ""
+Comment2 ""
+Comment3 ""
+Comment4 ""
+$EndDescr
+$Comp
+L openmv_m7_r2:openMV_M7_R2 U?
+U 1 1 66360711
+P 9350 5325
+F 0 "U?" H 9350 6490 50 0000 C CNN
+F 1 "openMV_M7_R2" H 9350 6399 50 0000 C CNN
+F 2 "custom:openmv_m7_r2" H 9350 6675 50 0001 C CNN
+F 3 "" H 9350 6675 50 0001 C CNN
+ 1 9350 5325
+ 1 0 0 -1
+$EndComp
+$Comp
+L Interface_Expansion:MCP23017_SP Portmultiplexer1
+U 1 1 663613E1
+P 11025 7900
+F 0 "Portmultiplexer1" H 11025 9181 50 0000 C CNN
+F 1 "MCP23017_SP" H 11025 9090 50 0000 C CNN
+F 2 "Package_DIP:DIP-28_W7.62mm" H 11225 6900 50 0001 L CNN
+F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf" H 11225 6800 50 0001 L CNN
+ 1 11025 7900
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_1
+U 1 1 663625BE
+P 825 325
+F 0 "ir_sensor_1" H 1153 -136 50 0000 L CNN
+F 1 "tssp4038" H 1153 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 825 425 50 0001 C CNN
+F 3 "" H 825 425 50 0001 C CNN
+ 1 825 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L teensy:Teensy4.1 control_board
+U 1 1 66362D60
+P 6125 8750
+F 0 "control_board" H 6125 11315 50 0000 C CNN
+F 1 "Teensy4.1" H 6125 11224 50 0000 C CNN
+F 2 "" H 5725 9150 50 0001 C CNN
+F 3 "" H 5725 9150 50 0001 C CNN
+ 1 6125 8750
+ 1 0 0 -1
+$EndComp
+$Comp
+L Switch:SW_DIP_x06 dip_swith_instellinen
+U 1 1 66364D70
+P 3575 7200
+F 0 "dip_swith_instellinen" H 3575 7767 50 0000 C CNN
+F 1 "SW_DIP_x06" H 3575 7676 50 0000 C CNN
+F 2 "" H 3575 7200 50 0001 C CNN
+F 3 "~" H 3575 7200 50 0001 C CNN
+ 1 3575 7200
+ 1 0 0 -1
+$EndComp
+$Comp
+L Switch:SW_DIP_x01 goal_kleur
+U 1 1 66365885
+P 10775 5125
+F 0 "goal_kleur" H 10775 4858 50 0000 C CNN
+F 1 "SW_DIP_x01" H 10775 4949 50 0000 C CNN
+F 2 "" H 10775 5125 50 0001 C CNN
+F 3 "~" H 10775 5125 50 0001 C CNN
+ 1 10775 5125
+ -1 0 0 1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_2
+U 1 1 6638ABBB
+P 1900 325
+F 0 "ir_sensor_2" H 2228 -136 50 0000 L CNN
+F 1 "tssp4038" H 2228 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 1900 425 50 0001 C CNN
+F 3 "" H 1900 425 50 0001 C CNN
+ 1 1900 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_3
+U 1 1 6638EAFC
+P 2975 325
+F 0 "ir_sensor_3" H 3303 -136 50 0000 L CNN
+F 1 "tssp4038" H 3303 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 2975 425 50 0001 C CNN
+F 3 "" H 2975 425 50 0001 C CNN
+ 1 2975 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_4
+U 1 1 6638EB02
+P 4050 325
+F 0 "ir_sensor_4" H 4378 -136 50 0000 L CNN
+F 1 "tssp4038" H 4378 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 4050 425 50 0001 C CNN
+F 3 "" H 4050 425 50 0001 C CNN
+ 1 4050 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_5
+U 1 1 66396AFC
+P 5125 325
+F 0 "ir_sensor_5" H 5453 -136 50 0000 L CNN
+F 1 "tssp4038" H 5453 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 5125 425 50 0001 C CNN
+F 3 "" H 5125 425 50 0001 C CNN
+ 1 5125 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_6
+U 1 1 66396B02
+P 6200 325
+F 0 "ir_sensor_6" H 6528 -136 50 0000 L CNN
+F 1 "tssp4038" H 6528 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 6200 425 50 0001 C CNN
+F 3 "" H 6200 425 50 0001 C CNN
+ 1 6200 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_7
+U 1 1 66396B08
+P 7275 325
+F 0 "ir_sensor_7" H 7603 -136 50 0000 L CNN
+F 1 "tssp4038" H 7603 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 7275 425 50 0001 C CNN
+F 3 "" H 7275 425 50 0001 C CNN
+ 1 7275 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_8
+U 1 1 66396B0E
+P 8350 325
+F 0 "ir_sensor_8" H 8678 -136 50 0000 L CNN
+F 1 "tssp4038" H 8678 -227 50 0000 L CNN
+F 2 "custom:tssp4038" H 8350 425 50 0001 C CNN
+F 3 "" H 8350 425 50 0001 C CNN
+ 1 8350 325
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_9
+U 1 1 663A4C26
+P 825 1475
+F 0 "ir_sensor_9" H 1153 1014 50 0000 L CNN
+F 1 "tssp4038" H 1153 923 50 0000 L CNN
+F 2 "custom:tssp4038" H 825 1575 50 0001 C CNN
+F 3 "" H 825 1575 50 0001 C CNN
+ 1 825 1475
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_10
+U 1 1 663A4C2C
+P 1900 1475
+F 0 "ir_sensor_10" H 2228 1014 50 0000 L CNN
+F 1 "tssp4038" H 2228 923 50 0000 L CNN
+F 2 "custom:tssp4038" H 1900 1575 50 0001 C CNN
+F 3 "" H 1900 1575 50 0001 C CNN
+ 1 1900 1475
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_11
+U 1 1 663A4C32
+P 2975 1475
+F 0 "ir_sensor_11" H 3303 1014 50 0000 L CNN
+F 1 "tssp4038" H 3303 923 50 0000 L CNN
+F 2 "custom:tssp4038" H 2975 1575 50 0001 C CNN
+F 3 "" H 2975 1575 50 0001 C CNN
+ 1 2975 1475
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_12
+U 1 1 663A4C38
+P 4050 1475
+F 0 "ir_sensor_12" H 4378 1014 50 0000 L CNN
+F 1 "tssp4038" H 4378 923 50 0000 L CNN
+F 2 "custom:tssp4038" H 4050 1575 50 0001 C CNN
+F 3 "" H 4050 1575 50 0001 C CNN
+ 1 4050 1475
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_13
+U 1 1 663A4C3E
+P 5125 1475
+F 0 "ir_sensor_13" H 5453 1014 50 0000 L CNN
+F 1 "tssp4038" H 5453 923 50 0000 L CNN
+F 2 "custom:tssp4038" H 5125 1575 50 0001 C CNN
+F 3 "" H 5125 1575 50 0001 C CNN
+ 1 5125 1475
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_14
+U 1 1 663A4C44
+P 6200 1475
+F 0 "ir_sensor_14" H 6528 1014 50 0000 L CNN
+F 1 "tssp4038" H 6528 923 50 0000 L CNN
+F 2 "custom:tssp4038" H 6200 1575 50 0001 C CNN
+F 3 "" H 6200 1575 50 0001 C CNN
+ 1 6200 1475
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_15
+U 1 1 663A4C4A
+P 7275 1475
+F 0 "ir_sensor_15" H 7603 1014 50 0000 L CNN
+F 1 "tssp4038" H 7603 923 50 0000 L CNN
+F 2 "custom:tssp4038" H 7275 1575 50 0001 C CNN
+F 3 "" H 7275 1575 50 0001 C CNN
+ 1 7275 1475
+ 1 0 0 -1
+$EndComp
+$Comp
+L tssp4038:tssp4038 ir_sensor_16
+U 1 1 663A4C50
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$EndSCHEMATC
diff --git a/pcb_boven/pcb_boven.sch-bak b/pcb_boven/pcb_boven.sch-bak
new file mode 100644
index 0000000..aac0e4f
--- /dev/null
+++ b/pcb_boven/pcb_boven.sch-bak
@@ -0,0 +1,781 @@
+EESchema Schematic File Version 4
+EELAYER 30 0
+EELAYER END
+$Descr A3 16535 11693
+encoding utf-8
+Sheet 1 1
+Title ""
+Date ""
+Rev ""
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+F 0 "ir_sensor_16" H 8678 1014 50 0000 L CNN
+F 1 "tssp4038" H 8678 923 50 0000 L CNN
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+F 3 "" H 8350 1575 50 0001 C CNN
+ 1 8350 1475
+ 1 0 0 -1
+$EndComp
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+Wire Wire Line
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+gnd
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+sd6
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+Wire Wire Line
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+Text GLabel 1300 10275 0 50 Input ~ 0
+3.3v
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+gnd
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+Connection ~ 9075 6800
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Connection ~ 3900 2375
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Connection ~ 1175 2350
+Wire Wire Line
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+Connection ~ 1175 1200
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+$Comp
+L Device:R R2
+U 1 1 6652784E
+P 4050 6175
+F 0 "R2" V 3843 6175 50 0000 C CNN
+F 1 "R" V 3934 6175 50 0000 C CNN
+F 2 "custom:resistor" V 3980 6175 50 0001 C CNN
+F 3 "~" H 4050 6175 50 0001 C CNN
+ 1 4050 6175
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R3
+U 1 1 66537A44
+P 4200 6175
+F 0 "R3" V 3993 6175 50 0000 C CNN
+F 1 "R" V 4084 6175 50 0000 C CNN
+F 2 "custom:resistor" V 4130 6175 50 0001 C CNN
+F 3 "~" H 4200 6175 50 0001 C CNN
+ 1 4200 6175
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R4
+U 1 1 66545F04
+P 4350 6175
+F 0 "R4" V 4143 6175 50 0000 C CNN
+F 1 "R" V 4234 6175 50 0000 C CNN
+F 2 "custom:resistor" V 4280 6175 50 0001 C CNN
+F 3 "~" H 4350 6175 50 0001 C CNN
+ 1 4350 6175
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R5
+U 1 1 6654CD89
+P 4500 6175
+F 0 "R5" V 4293 6175 50 0000 C CNN
+F 1 "R" V 4384 6175 50 0000 C CNN
+F 2 "custom:resistor" V 4430 6175 50 0001 C CNN
+F 3 "~" H 4500 6175 50 0001 C CNN
+ 1 4500 6175
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R6
+U 1 1 66553C02
+P 4650 6175
+F 0 "R6" V 4443 6175 50 0000 C CNN
+F 1 "R" V 4534 6175 50 0000 C CNN
+F 2 "custom:resistor" V 4580 6175 50 0001 C CNN
+F 3 "~" H 4650 6175 50 0001 C CNN
+ 1 4650 6175
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R7
+U 1 1 6655A960
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+F 0 "R7" V 4593 6175 50 0000 C CNN
+F 1 "R" V 4684 6175 50 0000 C CNN
+F 2 "custom:resistor" V 4730 6175 50 0001 C CNN
+F 3 "~" H 4800 6175 50 0001 C CNN
+ 1 4800 6175
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R1
+U 1 1 665A1C89
+P 2200 8400
+F 0 "R1" V 1993 8400 50 0000 C CNN
+F 1 "R" V 2084 8400 50 0000 C CNN
+F 2 "custom:resistor" V 2130 8400 50 0001 C CNN
+F 3 "~" H 2200 8400 50 0001 C CNN
+ 1 2200 8400
+ 0 1 1 0
+$EndComp
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Connection ~ 4500 6025
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+Connection ~ 4200 6025
+Wire Wire Line
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+Wire Wire Line
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+Connection ~ 4800 6025
+Connection ~ 7550 6700
+Wire Wire Line
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+$EndSCHEMATC
diff --git a/pcb_boven/pololu_motor.bck b/pcb_boven/pololu_motor.bck
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_boven/pololu_motor.bck
@@ -0,0 +1,3 @@
+EESchema-DOCLIB Version 2.0
+#
+#End Doc Library
diff --git a/pcb_boven/pololu_motor.lib b/pcb_boven/pololu_motor.lib
new file mode 100644
index 0000000..a8b8df3
--- /dev/null
+++ b/pcb_boven/pololu_motor.lib
@@ -0,0 +1,23 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# pololu_motor
+#
+DEF pololu_motor U 0 40 Y Y 1 F N
+F0 "U" 0 750 50 H V C CNN
+F1 "pololu_motor" 0 700 50 H V C CNN
+F2 "custom:pololu_motor" 0 750 50 H I C CNN
+F3 "" 0 750 50 H I C CNN
+DRAW
+C 0 0 570 0 1 0 N
+P 5 0 1 0 350 -450 350 -1050 -350 -1050 -350 -450 -350 -700 N
+X vcc 1 -250 -1050 100 U 50 50 1 1 W
+X A 2 -100 -1050 100 U 50 50 1 1 O
+X B 3 50 -1050 100 U 50 50 1 1 O
+X gnd 4 200 -1050 100 U 50 50 1 1 W
+X + ~ -600 0 100 L 50 50 1 1 W
+X - ~ 600 0 100 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb_boven/tssp4038.bck b/pcb_boven/tssp4038.bck
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_boven/tssp4038.bck
@@ -0,0 +1,3 @@
+EESchema-DOCLIB Version 2.0
+#
+#End Doc Library
diff --git a/pcb_boven/tssp4038.dcm b/pcb_boven/tssp4038.dcm
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb_boven/tssp4038.dcm
@@ -0,0 +1,3 @@
+EESchema-DOCLIB Version 2.0
+#
+#End Doc Library
diff --git a/pcb_boven/tssp4038.lib b/pcb_boven/tssp4038.lib
new file mode 100644
index 0000000..0527338
--- /dev/null
+++ b/pcb_boven/tssp4038.lib
@@ -0,0 +1,21 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# tssp4038
+#
+DEF tssp4038 U 0 40 Y Y 1 F N
+F0 "U" 0 100 50 H V C CNN
+F1 "tssp4038" 0 0 50 H V C CNN
+F2 "custom:tssp4038" 0 100 50 H I C CNN
+F3 "" 0 100 50 H I C CNN
+DRAW
+A -1 -481 281 1523 898 0 1 0 N -250 -350 0 -200
+A 10 -466 267 258 922 0 1 0 N 250 -350 0 -200
+S -300 -350 300 -700 0 1 0 N
+X vcc 1 -150 -800 100 U 50 50 1 1 W
+X gnd 2 0 -800 100 U 50 50 1 1 W
+X sig 3 150 -800 100 U 50 50 1 1 O
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb_onder/pcb_onder-cache.lib b/pcb_onder/pcb_onder-cache.lib
new file mode 100644
index 0000000..e933dba
--- /dev/null
+++ b/pcb_onder/pcb_onder-cache.lib
@@ -0,0 +1,4 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+#End Library
diff --git a/pcb_onder/pcb_onder.sch b/pcb_onder/pcb_onder.sch
index fff8c68..7715237 100644
--- a/pcb_onder/pcb_onder.sch
+++ b/pcb_onder/pcb_onder.sch
@@ -1,4 +1,16 @@
-EESchema Schematic File Version 2
-EELAYER 25 0
+EESchema Schematic File Version 4
+EELAYER 30 0
EELAYER END
+$Descr A3 16535 11693
+encoding utf-8
+Sheet 1 1
+Title ""
+Date ""
+Rev ""
+Comp ""
+Comment1 ""
+Comment2 ""
+Comment3 ""
+Comment4 ""
+$EndDescr
$EndSCHEMATC
diff --git a/pcb_onder/pcb_onder.sch-bak b/pcb_onder/pcb_onder.sch-bak
new file mode 100644
index 0000000..fff8c68
--- /dev/null
+++ b/pcb_onder/pcb_onder.sch-bak
@@ -0,0 +1,4 @@
+EESchema Schematic File Version 2
+EELAYER 25 0
+EELAYER END
+$EndSCHEMATC
generated by cgit v1.2.3 (git 2.46.0) at 2026-09-30 03:36:59 +0000