1 files changed, 260 insertions, 145 deletions
diff --git a/pcb/pcb.sch-bak b/pcb/pcb.sch-bak
index d9d1f5d..aae41ec 100644
--- a/pcb/pcb.sch-bak
+++ b/pcb/pcb.sch-bak
@@ -773,114 +773,20 @@ Wire Wire Line
 	20475 11850 20475 12425
 Wire Wire Line
 	18725 11850 18725 12425
-$Comp
-L l298n:l298n motor_driver1
-U 1 1 669A10B9
-P 17050 7675
-F 0 "motor_driver1" H 17050 8340 50  0000 C CNN
-F 1 "l298n" H 17050 8249 50  0000 C CNN
-F 2 "custom:l298n" H 17050 8375 50  0001 C CNN
-F 3 "" H 17050 8375 50  0001 C CNN
-	1    17050 7675
-	1    0    0    -1  
-$EndComp
-$Comp
-L l298n:l298n motor_driver2
-U 1 1 669A2B7F
-P 18550 7650
-F 0 "motor_driver2" H 18550 8315 50  0000 C CNN
-F 1 "l298n" H 18550 8224 50  0000 C CNN
-F 2 "custom:l298n" H 18550 8350 50  0001 C CNN
-F 3 "" H 18550 8350 50  0001 C CNN
-	1    18550 7650
-	1    0    0    -1  
-$EndComp
-Wire Wire Line
-	16600 8175 16600 8400
-Wire Wire Line
-	16600 8400 18100 8400
-Wire Wire Line
-	18100 8400 18100 8150
 Wire Wire Line
 	1800 7350 1800 11450
 Wire Wire Line
 	1800 11450 15450 11450
-Wire Wire Line
-	15450 11450 15450 8400
-Wire Wire Line
-	15450 8400 16600 8400
 Connection ~ 1800 7350
-Connection ~ 16600 8400
 Wire Wire Line
 	1950 6900 1950 11375
 Wire Wire Line
 	1950 11375 15350 11375
 Wire Wire Line
-	15350 11375 15350 8325
-Wire Wire Line
-	15350 8325 16700 8325
-Wire Wire Line
-	16700 8325 16700 8175
-Wire Wire Line
 	1950 6900 850  6900
 Wire Wire Line
-	16700 8325 18200 8325
-Wire Wire Line
-	18200 8325 18200 8150
-Connection ~ 16700 8325
-Wire Wire Line
-	16550 7425 16225 7425
-Wire Wire Line
-	16225 10800 16225 7425
-Wire Wire Line
-	17425 10800 17425 8875
-Wire Wire Line
-	17425 8875 16325 8875
-Wire Wire Line
-	16325 8875 16325 7525
-Wire Wire Line
-	16325 7525 16550 7525
-Wire Wire Line
-	17550 7525 17625 7525
-Wire Wire Line
-	17625 7525 17625 9950
-Wire Wire Line
-	17625 9950 17925 9950
-Wire Wire Line
-	17925 9950 17925 10800
-Wire Wire Line
-	19150 10800 19150 9325
-Wire Wire Line
-	19150 9325 17675 9325
-Wire Wire Line
-	17675 9325 17675 7425
-Wire Wire Line
-	17675 7425 17550 7425
-Wire Wire Line
-	18050 7400 17775 7400
-Wire Wire Line
-	17775 7400 17775 9250
-Wire Wire Line
-	17775 9250 19700 9250
-Wire Wire Line
-	19700 9250 19700 10800
-Wire Wire Line
 	19700 10800 19675 10800
 Wire Wire Line
-	17900 9100 17900 7500
-Wire Wire Line
-	17900 7500 18050 7500
-Wire Wire Line
-	20875 10800 20875 9100
-Wire Wire Line
-	20875 9100 17900 9100
-Wire Wire Line
-	17000 8175 17000 8500
-Wire Wire Line
-	17000 8500 13925 8500
-Wire Wire Line
-	13925 8500 13925 10075
-Wire Wire Line
 	13925 10075 7950 10075
 Wire Wire Line
 	7950 10075 7950 9150
@@ -891,24 +797,12 @@ Wire Wire Line
 Wire Wire Line
 	7875 10100 13950 10100
 Wire Wire Line
-	13950 10100 13950 8525
-Wire Wire Line
-	13950 8525 17100 8525
-Wire Wire Line
-	17100 8525 17100 8175
-Wire Wire Line
-	17200 8175 17200 8550
-Wire Wire Line
-	13975 8550 13975 10125
-Wire Wire Line
 	13975 10125 7850 10125
 Wire Wire Line
 	7850 10125 7850 9350
 Wire Wire Line
 	7850 9350 7350 9350
 Wire Wire Line
-	13975 8550 17200 8550
-Wire Wire Line
 	7350 9250 7875 9250
 Wire Wire Line
 	7350 9450 7825 9450
@@ -917,18 +811,6 @@ Wire Wire Line
 Wire Wire Line
 	7825 10150 14000 10150
 Wire Wire Line
-	14000 10150 14000 8575
-Wire Wire Line
-	14000 8575 17300 8575
-Wire Wire Line
-	17300 8575 17300 8175
-Wire Wire Line
-	17400 8175 17400 8600
-Wire Wire Line
-	17400 8600 14025 8600
-Wire Wire Line
-	14025 8600 14025 10175
-Wire Wire Line
 	14025 10175 7800 10175
 Wire Wire Line
 	7800 10175 7800 9550
@@ -941,18 +823,6 @@ Wire Wire Line
 Wire Wire Line
 	7775 10200 14050 10200
 Wire Wire Line
-	14050 10200 14050 8625
-Wire Wire Line
-	14050 8625 17500 8625
-Wire Wire Line
-	17500 8625 17500 8175
-Wire Wire Line
-	18500 8150 18500 8650
-Wire Wire Line
-	18500 8650 14075 8650
-Wire Wire Line
-	14075 8650 14075 10225
-Wire Wire Line
 	14075 10225 7750 10225
 Wire Wire Line
 	7750 10225 7750 9750
@@ -965,16 +835,6 @@ Wire Wire Line
 Wire Wire Line
 	7725 10250 14100 10250
 Wire Wire Line
-	14100 10250 14100 8675
-Wire Wire Line
-	18600 8675 18600 8150
-Wire Wire Line
-	18700 8150 18700 8700
-Wire Wire Line
-	18700 8700 14125 8700
-Wire Wire Line
-	14125 8700 14125 10275
-Wire Wire Line
 	14125 10275 7700 10275
 Wire Wire Line
 	7700 10275 7700 10050
@@ -1420,8 +1280,6 @@ Connection ~ 1375 14550
 Wire Wire Line
 	1375 14550 1750 14550
 Wire Wire Line
-	14100 8675 18600 8675
-Wire Wire Line
 	4550 725  4550 1600
 Wire Wire Line
 	850  925  850  4950
@@ -1662,10 +1520,10 @@ Wire Wire Line
 	600  6900 850  6900
 Connection ~ 850  7800
 $Comp
-L miniimu-9_v6:miniIMU-9_v6 U?
+L miniimu-9_v6:miniIMU-9_v6 kompas
 U 1 1 6641AB3C
 P 5075 13425
-F 0 "U?" H 5553 13313 50  0000 L CNN
+F 0 "kompas" H 5553 13313 50  0000 L CNN
 F 1 "miniIMU-9_v6" H 5553 13222 50  0000 L CNN
 F 2 "" H 5075 13875 50  0001 C CNN
 F 3 "" H 5075 13875 50  0001 C CNN
@@ -1711,7 +1569,7 @@ Wire Wire Line
 Text Notes 675  7900 0    50   ~ 0
 xt60 en xt30 connector
 $Comp
-L CC6-1203SR-E:CC6-1203SR-E 3.3vconverter
+L pcb-rescue:CC6-1203SR-E-CC6-1203SR-E 3.3vconverter
 U 1 1 66758C94
 P 2025 6500
 F 0 "3.3vconverter" H 2725 6765 50  0000 C CNN
@@ -1787,4 +1645,261 @@ Wire Wire Line
 Connection ~ 3700 5600
 Wire Wire Line
 	3700 5600 4050 5600
+$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 "" 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 "" 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 "" 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
 $EndSCHEMATC