summaryrefslogtreecommitdiff
path: root/pcb
diff options
context:
space:
mode:
Diffstat (limited to 'pcb')
-rw-r--r--pcb/Driver_Motor.dcm345
-rw-r--r--pcb/Driver_Motor.lib1707
-rw-r--r--pcb/openmv_m7_r2.dcm3
-rw-r--r--pcb/openmv_m7_r2.lib35
-rw-r--r--pcb/pcb38
-rw-r--r--pcb/pcb-cache.lib133
-rw-r--r--pcb/pcb-readme.md3
-rw-r--r--pcb/pcb.sch377
-rw-r--r--pcb/pcb.sch-bak396
-rw-r--r--pcb/pcb.xml1081
10 files changed, 4079 insertions, 39 deletions
diff --git a/pcb/Driver_Motor.dcm b/pcb/Driver_Motor.dcm
new file mode 100644
index 0000000..1e69026
--- /dev/null
+++ b/pcb/Driver_Motor.dcm
@@ -0,0 +1,345 @@
+EESchema-DOCLIB Version 2.0
+#
+$CMP A4950E
+D Full-Bridge, DMOS PWM, Motor Driver, 40V, 3.5A, -40 to +85C
+K full-bridge h-bridge
+F http://www.allegromicro.com/~/media/Files/Datasheets/A4950-Datasheet.ashx
+$ENDCMP
+#
+$CMP A4950K
+D Full-Bridge, DMOS PWM, Motor Driver, 40V, 3.5A, -40 to +125C
+K full-bridge h-bridge
+F http://www.allegromicro.com/~/media/Files/Datasheets/A4950-Datasheet.ashx
+$ENDCMP
+#
+$CMP A4952_LY
+D Full-Bridge, DMOS PWM, Motor Driver, 40V, 2A, MSOP-10
+K Full-bridge h-bridge
+F www.allegromicro.com/~/media/Files/Datasheets/A4952-3-Datasheet.ashx?la=en
+$ENDCMP
+#
+$CMP A4953_LJ
+D Full-Bridge, DMOS PWM, Motor Driver, 40V, 2A, SOIC-8
+K Full-bridge h-bridge
+F www.allegromicro.com/~/media/Files/Datasheets/A4952-3-Datasheet.ashx?la=en
+$ENDCMP
+#
+$CMP DRV8308
+D Brushless DC motor controller, closed loop, hall sensor inputs, current limiting, SPI interface
+K bldc mosfet-driver hall-sensor
+F http://www.ti.com/lit/ds/symlink/drv8308.pdf
+$ENDCMP
+#
+$CMP DRV8662
+D Piezo Haptic Driver with Integrated Boost Converter
+K piezo driver boost
+F http://www.ti.com/lit/ds/symlink/drv8662.pdf
+$ENDCMP
+#
+$CMP DRV8711
+D Stepper motor controller, external N-channel MOSFET, single bipolar stepper motor, dual brushed DC motors
+K Stepper driver
+F http://www.ti.com/lit/ds/slvsc40f/slvsc40f.pdf
+$ENDCMP
+#
+$CMP DRV8800PWP
+D H-Bridge Motor Driver, TSSOP-16
+K H-Bridge Motor Driver
+F http://www.ti.com/lit/ds/symlink/drv8801.pdf
+$ENDCMP
+#
+$CMP DRV8800RTY
+D H-Bridge Motor Driver, WQFN-16
+K H-Bridge Motor Driver
+F http://www.ti.com/lit/ds/symlink/drv8801.pdf
+$ENDCMP
+#
+$CMP DRV8801PWP
+D H-Bridge Motor Driver, TSSOP-16
+K H-Bridge Motor Driver
+F http://www.ti.com/lit/ds/symlink/drv8801.pdf
+$ENDCMP
+#
+$CMP DRV8801RTY
+D H-Bridge Motor Driver, WQFN-16
+K H-Bridge Motor Driver
+F http://www.ti.com/lit/ds/symlink/drv8801.pdf
+$ENDCMP
+#
+$CMP DRV8833PW
+D Dual H-Bridge Motor Driver, TSSOP-16
+K H-bridge motor driver
+F http://www.ti.com/lit/ds/symlink/drv8833.pdf
+$ENDCMP
+#
+$CMP DRV8833PWP
+D Dual H-Bridge Motor Driver, HTSSOP-16
+K H-bridge motor driver
+F http://www.ti.com/lit/ds/symlink/drv8833.pdf
+$ENDCMP
+#
+$CMP DRV8833RTY
+D Dual H-Bridge Motor Driver, WQFN-16
+K H-bridge motor driver
+F http://www.ti.com/lit/ds/symlink/drv8833.pdf
+$ENDCMP
+#
+$CMP DRV8837
+D H-Bridge driver, 1.8A, Low Voltage, PWM input, WSON-8
+K half bridge driver
+F http://www.ti.com/lit/ds/symlink/drv8837.pdf
+$ENDCMP
+#
+$CMP DRV8837C
+D H-Bridge driver, 1A, Low Voltage, PWM input, WSON-8
+K half bridge driver
+F http://www.ti.com/lit/ds/symlink/drv8837c.pdf
+$ENDCMP
+#
+$CMP DRV8838
+D H-Bridge driver, 1.8A, Low Voltage, PH/EN input, WSON-8
+K half bridge driver
+F http://www.ti.com/lit/ds/symlink/drv8837.pdf
+$ENDCMP
+#
+$CMP DRV8848
+D Dual H-Bridge motor driver, PWM controlled, single/dual brushed DC stepper, +2 to +18 VDD, TSSOP-16
+K Dual H-Bridge motor driver
+F http://www.ti.com/lit/ds/symlink/drv8848.pdf
+$ENDCMP
+#
+$CMP DRV8870DDA
+D Brushed DC Motor Driver, PWM Control, 45V, 3.6A, Dynamic current limiting, HTSOP-8
+K H-bridge driver motor current limit
+F http://www.ti.com/lit/ds/symlink/drv8870.pdf
+$ENDCMP
+#
+$CMP DRV8871DDA
+D Brushed DC Motor Driver, PWM Control, 45V, 3.6A, Current limiting, HTSOP-8
+K H-bridge driver motor current limit
+F http://www.ti.com/lit/ds/symlink/drv8871.pdf
+$ENDCMP
+#
+$CMP DRV8872DDA
+D Brushed DC Motor Driver, PWM Control, 45V, 3.6A, Current limiting, Fault Reporting, HTSOP-8
+K H-bridge driver motor current limit
+F http://www.ti.com/lit/ds/symlink/drv8872.pdf
+$ENDCMP
+#
+$CMP L293
+D Quadruple Half-H Drivers
+K Half-H Driver Motor
+F http://www.ti.com/lit/ds/symlink/l293.pdf
+$ENDCMP
+#
+$CMP L293D
+D Quadruple Half-H Drivers
+K Half-H Driver Motor
+F http://www.ti.com/lit/ds/symlink/l293.pdf
+$ENDCMP
+#
+$CMP L293E
+D Push-pull four-channel driver, DIP-20
+K Half-H Driver Motor Sense
+F https://www.st.com/resource/en/datasheet/l293e.pdf
+$ENDCMP
+#
+$CMP L297
+D Stepper Motor Controller, DIP-20/SO-20
+K Stepper Motor Controller
+F www.st.com/resource/en/datasheet/cd00000063.pdf
+$ENDCMP
+#
+$CMP L298HN
+D Dual full bridge motor driver, up to 46V, 4A, Multiwatt-15
+K H-bridge motor driver
+F http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00000240.pdf
+$ENDCMP
+#
+$CMP L298P
+D Dual full bridge motor driver, up to 46V, 4A
+K H-bridge motor driver
+F http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00000240.pdf
+$ENDCMP
+#
+$CMP LMD18200
+D 3A, 55V H-Bridge, Motion Control Applications, TO-220-11
+K H-Bridge DC stepper servo motor driver Motion Control Applications
+F http://www.ti.com/lit/ds/symlink/lmd18200.pdf
+$ENDCMP
+#
+$CMP PG001M
+D Parallel to serial data converter for SLA7042M/SLA7044M
+K Support IC for SLA7042M/SLA7044M
+F http://www.allegromicro.com/~/media/Files/Sanken/Datasheets/PG001M-Datasheet.ashx
+$ENDCMP
+#
+$CMP Pololu_Breakout_A4988
+D Pololu Breakout Board, Stepper Driver A4988
+K Pololu Breakout Board Stepper Driver A4988
+F https://www.pololu.com/product/2980/pictures
+$ENDCMP
+#
+$CMP Pololu_Breakout_DRV8825
+D Pololu Breakout Board, Stepper Driver DRV8825
+K Pololu Breakout Board Stepper Driver DRV8825
+F https://www.pololu.com/product/2982
+$ENDCMP
+#
+$CMP SLA7042M
+D Unipolar PWM high-current motor driver
+K Stepper driver
+F www.sumzi.com/upload/files/2007/07/2007073114282034189.PDF
+$ENDCMP
+#
+$CMP SLA7044M
+D Unipolar PWM high-current motor driver
+K Stepper driver
+F http://www.sumzi.com/upload/files/2007/07/2007073114282034189.PDF
+$ENDCMP
+#
+$CMP SLA7070MPRT
+D Unipolar 2-phase stepper motor driver, Full and Half step, 1A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7070mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP SLA7071MPRT
+D Unipolar 2-phase stepper motor driver, Full and Half step, 1.5A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7071mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP SLA7072MPRT
+D Unipolar 2-phase stepper motor driver, Full and Half step, 2A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7072mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP SLA7073MPRT
+D Unipolar 2-phase stepper motor driver, Full and Half step, 3A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7073mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP SLA7075MPRT
+D Unipolar 2-phase stepper motor driver, Microstep, 1A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7075mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP SLA7076MPRT
+D Unipolar 2-phase stepper motor driver, Microstep, 1.5A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7076mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP SLA7077MPRT
+D Unipolar 2-phase stepper motor driver, Microstep, 2A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7077mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP SLA7078MPRT
+D Unipolar 2-phase stepper motor driver, Microstep, 3A
+K Stepper driver
+F http://www.semicon.sanken-ele.co.jp/sk_content/sla7078mprt_ds_en.pdf
+$ENDCMP
+#
+$CMP STK672-040-E
+D Stepper motor driver with microstepping controller, 1.5A
+K Stepper driver
+F http://www.onsemi.com/pub_link/Collateral/EN5227-D.PDF
+$ENDCMP
+#
+$CMP STK672-080-E
+D Stepper motor driver with microstepping controller, 2.8A
+K Stepper driver
+F http://www.onsemi.com/pub_link/Collateral/EN6507-D.PDF
+$ENDCMP
+#
+$CMP STSPIN220
+D Low voltage stepper motor driver, 1.8V to 10V input, 1.3Arms output, 0.4Ω Rdson per phase (typical), QFN-16 package
+K motor driver stepper
+F www.st.com/resource/en/datasheet/stspin220.pdf
+$ENDCMP
+#
+$CMP STSPIN230
+D Low voltage triple half-bridge motor driver, 1.8V to 10V input, 1.3Arms output, 0.4Ω Rdson per phase (typical), QFN-16 package
+K motor driver half-bridge
+F www.st.com/resource/en/datasheet/stspin230.pdf
+$ENDCMP
+#
+$CMP STSPIN240
+D Low voltage dual brush DC motor driver, 1.8V to 10V input, 1.3Arms output, 0.4Ω Rdson per phase (typical), QFN-16 package
+K motor driver dc brushed
+F www.st.com/resource/en/datasheet/stspin240.pdf
+$ENDCMP
+#
+$CMP TB6612FNG
+D Driver IC for Dual DC motor, SSOP-24
+K H-bridge motor driver
+F https://toshiba.semicon-storage.com/us/product/linear/motordriver/detail.TB6612FNG.html
+$ENDCMP
+#
+$CMP TMC2041-LA
+D Standalone Dual driver for two-phase bipolar stepper motor, 2.2A, 4.75-26V, SPI, UART, QFN-48
+K Dual driver stepper motor
+F https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2041_datasheet.pdf
+$ENDCMP
+#
+$CMP TMC2100-LA
+D Standalone driver for two-phase bipolar stepper motor, 2.0A, 4.75-46V, QFN-36
+K Driver stepper motor
+F https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2100_datasheet_Rev1.08.pdf
+$ENDCMP
+#
+$CMP TMC2100-TA
+D Standalone driver for two-phase bipolar stepper motor, 2.0A, 4.75-46V, TQFP-48
+K Standalone driver stepper motor
+F https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2100_datasheet_Rev1.08.pdf
+$ENDCMP
+#
+$CMP TMC2130-LA
+D Driver for two-phase bipolar stepper motor, 2.0A, SPI, 4.75-46V, QFN-36
+K stepper motor driver
+F http://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
+$ENDCMP
+#
+$CMP TMC2130-TA
+D Driver for two-phase bipolar stepper motor, 2.0A, SPI, 4.75-46V, TQFP-48
+K stepper motor driver
+F http://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
+$ENDCMP
+#
+$CMP TMC262
+D Driver for two-phase stepper motors with external mosfet
+K trinamic tlc262 stepper
+F https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC262_Datasheet.pdf
+$ENDCMP
+#
+$CMP VNH2SP30
+D Full Bridge Motor Driver, 41V, 30A, -40 to 150C
+K full-bridge h-bridge
+F http://www.st.com/content/ccc/resource/technical/document/datasheet/group2/66/b8/f5/2c/9a/66/41/c7/CD00043711/files/CD00043711.pdf/jcr:content/translations/en.CD00043711.pdf
+$ENDCMP
+#
+$CMP VNH5019A-E
+D Full Bridge Motor Driver, 41V, 30A, -40 to 150C, MultiPowerSO-30
+K full-bridge h-bridge
+F https://www.st.com/resource/en/datasheet/vnh5019a-e.pdf
+$ENDCMP
+#
+$CMP ZXBM5210-S
+D Reversible DC motor drive with speed control, 3-18V, 0.85A, SOIC-8
+K H-bridge, motor driver, PWM, single coil
+F https://www.diodes.com/assets/Datasheets/ZXBM5210.pdf
+$ENDCMP
+#
+$CMP ZXBM5210-SP
+D Reversible DC motor drive with speed control, 3-18V, 0.85A, SOIC-8EP
+K H-bridge, motor driver, PWM, single coil
+F https://www.diodes.com/assets/Datasheets/ZXBM5210.pdf
+$ENDCMP
+#
+#End Doc Library
diff --git a/pcb/Driver_Motor.lib b/pcb/Driver_Motor.lib
new file mode 100644
index 0000000..7761473
--- /dev/null
+++ b/pcb/Driver_Motor.lib
@@ -0,0 +1,1707 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# A4950E
+#
+DEF A4950E U 0 40 Y Y 1 F N
+F0 "U" -300 350 50 H V L CNN
+F1 "A4950E" 200 350 50 H V L CNN
+F2 "Package_SO:SOIC-8-1EP_3.9x4.9mm_P1.27mm_EP2.41x3.3mm" 0 -550 50 H I C CNN
+F3 "" -300 350 50 H I C CNN
+ALIAS A4950K A4953_LJ
+$FPLIST
+ SOIC-*1EP*
+$ENDFPLIST
+DRAW
+S -300 300 300 -300 0 1 10 f
+X GND 1 0 -400 100 U 50 50 1 1 W
+X IN2 2 -400 100 100 R 50 50 1 1 I
+X IN1 3 -400 200 100 R 50 50 1 1 I
+X VREF 4 -400 -100 100 R 50 50 1 1 P
+X VBB 5 0 400 100 D 50 50 1 1 W
+X OUT1 6 400 200 100 L 50 50 1 1 w
+X LSS 7 400 0 100 L 50 50 1 1 W
+X OUT2 8 400 100 100 L 50 50 1 1 w
+X PAD 9 100 -400 100 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# A4952_LY
+#
+DEF A4952_LY U 0 40 Y Y 1 F N
+F0 "U" -300 450 50 H V L CNN
+F1 "A4952_LY" 200 450 50 H V L CNN
+F2 "Package_SO:MSOP-10-1EP_3x3mm_P0.5mm_EP1.73x1.98mm" 0 -600 50 H I C CNN
+F3 "" -300 450 50 H I C CNN
+$FPLIST
+ MSOP*1EP*3x3mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -300 400 300 -400 0 1 10 f
+X ~FLTn 1 400 -100 100 L 50 50 1 1 O
+X GND 10 0 -500 100 U 50 50 1 1 W
+X PAD 11 100 -500 100 U 50 50 1 1 W
+X RTRY 2 -400 -100 100 R 50 50 1 1 I
+X IN2 3 -400 200 100 R 50 50 1 1 I
+X IN1 4 -400 300 100 R 50 50 1 1 I
+X VREF 5 -400 0 100 R 50 50 1 1 P
+X VBB 6 0 500 100 D 50 50 1 1 W
+X OUT1 7 400 300 100 L 50 50 1 1 w
+X LSS 8 400 100 100 L 50 50 1 1 W
+X OUT2 9 400 200 100 L 50 50 1 1 w
+ENDDRAW
+ENDDEF
+#
+# DRV8308
+#
+DEF DRV8308 U 0 40 Y Y 1 F N
+F0 "U" -700 1450 50 H V L CNN
+F1 "DRV8308" -700 -850 50 H V L CNN
+F2 "Package_DFN_QFN:Texas_S-PVQFN-N40_EP3.52x2.62mm" 50 -1000 50 H I C CNN
+F3 "" -700 1450 50 H I C CNN
+$FPLIST
+ Texas*S*PVQFN*N40*3.52x2.62mm*
+$ENDFPLIST
+DRAW
+T 0 650 -100 50 0 0 0 "Hall Sensors" Normal 0 R C
+T 0 675 1000 50 0 0 0 "Phase U" Normal 0 R C
+T 0 675 600 50 0 0 0 "Phase V" Normal 0 R C
+T 0 675 200 50 0 0 0 "Phase W" Normal 0 R C
+S -700 1400 700 -800 0 1 10 f
+X UHP 1 800 -200 100 L 50 50 1 1 I
+X FGINP 10 -800 -400 100 R 50 50 1 1 B
+X SCLK 11 -800 1000 100 R 50 50 1 1 I
+X SCS 12 -800 900 100 R 50 50 1 1 I
+X SMODE 13 -800 600 100 R 50 50 1 1 I
+X SDATAI 14 -800 800 100 R 50 50 1 1 I
+X SDATAO 15 -800 700 100 R 50 50 1 1 O
+X FGOUT 16 -800 -500 100 R 50 50 1 1 O
+X ~FAULTn 17 -800 -600 100 R 50 50 1 1 O
+X ~LOCKn 18 -800 -700 100 R 50 50 1 1 O
+X CLKIN 19 -800 200 100 R 50 50 1 1 I
+X UHN 2 800 -300 100 L 50 50 1 1 I
+X BRAKE 20 -800 300 100 R 50 50 1 1 I
+X DIR 21 -800 100 100 R 50 50 1 1 I
+X ENABLE 22 -800 0 100 R 50 50 1 1 I
+X RESET 23 -800 400 100 R 50 50 1 1 I
+X VREG 24 200 1500 100 D 50 50 1 1 w
+X VINT 25 -300 1500 100 D 50 50 1 1 P
+X GND 26 -100 -900 100 U 50 50 1 1 W
+X VM 27 0 1500 100 D 50 50 1 1 W
+X VCP 28 -200 1500 100 D 50 50 1 1 P
+X CP2 29 -800 1200 100 R 50 50 1 1 P
+X VHP 3 800 -400 100 L 50 50 1 1 I
+X CP1 30 -800 1300 100 R 50 50 1 1 P
+X ISEN 31 800 0 100 L 50 50 1 1 I
+X UHSG 32 800 1300 100 L 50 50 1 1 O
+X U 33 800 1200 100 L 50 50 1 1 I
+X ULSG 34 800 1100 100 L 50 50 1 1 O
+X VHSG 35 800 900 100 L 50 50 1 1 O
+X V 36 800 800 100 L 50 50 1 1 I
+X VLSG 37 800 700 100 L 50 50 1 1 O
+X WHSG 38 800 500 100 L 50 50 1 1 O
+X W 39 800 400 100 L 50 50 1 1 I
+X VHN 4 800 -500 100 L 50 50 1 1 I
+X WLSG 40 800 300 100 L 50 50 1 1 O
+X GND 41 100 -900 100 U 50 50 1 1 W
+X WHP 5 800 -600 100 L 50 50 1 1 I
+X WHN 6 800 -700 100 L 50 50 1 1 I
+X VSW 7 100 1500 100 D 50 50 1 1 w
+X FGFB 8 -800 -200 100 R 50 50 1 1 O
+X FGINN_TACH 9 -800 -300 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# DRV8662
+#
+DEF DRV8662 U 0 20 Y Y 1 F N
+F0 "U" -450 950 50 H V L CNN
+F1 "DRV8662" -450 850 50 H V L CNN
+F2 "Package_DFN_QFN:Texas_S-PVQFN-N20_EP2.7x2.7mm_ThermalVias" 50 -850 50 H I L CNN
+F3 "" -150 900 50 H I C CNN
+$FPLIST
+ Texas*S*PVQFN*EP2.7x2.7mm*ThermalVias*
+$ENDFPLIST
+DRAW
+S -500 800 500 -800 0 1 10 f
+X VPUMP 1 -600 300 100 R 50 50 1 1 O
+X VBST 10 100 900 100 D 50 50 1 1 w
+X VBST 11 100 900 100 D 50 50 1 1 P N
+X PVDD 12 300 900 100 D 50 50 1 1 W
+X OUT+ 13 600 -300 100 L 50 50 1 1 O
+X OUT- 14 600 -400 100 L 50 50 1 1 O
+X REXT 15 600 200 100 L 50 50 1 1 I
+X IN- 16 -600 -400 100 R 50 50 1 1 I
+X IN+ 17 -600 -300 100 R 50 50 1 1 I
+X GAIN0 18 -600 100 100 R 50 50 1 1 I
+X GAIN1 19 -600 0 100 R 50 50 1 1 I
+X VDD 2 0 900 100 D 50 50 1 1 W
+X EN 20 -600 -100 100 R 50 50 1 1 I
+X GND 21 0 -900 100 U 50 50 1 1 P N
+X FB 3 600 300 100 L 50 50 1 1 I
+X GND 4 0 -900 100 U 50 50 1 1 W
+X GND 5 0 -900 100 U 50 50 1 1 P N
+X GND 6 0 -900 100 U 50 50 1 1 P N
+X SW 7 -600 500 100 R 50 50 1 1 I
+X SW 8 -600 500 100 R 50 50 1 1 I N
+X NC 9 -600 -600 100 R 50 50 1 1 N N
+ENDDRAW
+ENDDEF
+#
+# DRV8711
+#
+DEF DRV8711 U 0 40 Y Y 1 F N
+F0 "U" 0 1325 50 H V C CNN
+F1 "DRV8711" 0 1250 50 H V C CNN
+F2 "" 0 -1250 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ HTSSOP-38
+$ENDFPLIST
+DRAW
+S -600 1200 600 -1200 0 1 10 f
+X CP1 1 -700 1100 100 R 50 50 1 1 B
+X STEP/AIN1 10 -700 100 100 R 50 50 1 1 I
+X DIR/AIN2 11 -700 0 100 R 50 50 1 1 I
+X BIN1 12 -700 -100 100 R 50 50 1 1 I
+X BIN2 13 -700 -200 100 R 50 50 1 1 I
+X SCLK 14 -700 -400 100 R 50 50 1 1 I
+X SDATI 15 -700 -500 100 R 50 50 1 1 I
+X SCS 16 -700 -600 100 R 50 50 1 1 I
+X SDATO 17 -700 -700 100 R 50 50 1 1 O
+X FAULTn 18 -700 -900 100 R 50 50 1 1 O
+X STALLn/BEMFVn 19 -700 -1000 100 R 50 50 1 1 O
+X CP2 2 -700 1000 100 R 50 50 1 1 B
+X BEMF 20 -700 -1100 100 R 50 50 1 1 O
+X BOUT2 21 700 -500 100 L 50 50 1 1 O
+X B2HS 22 700 -400 100 L 50 50 1 1 O
+X B2LS 23 700 -300 100 L 50 50 1 1 O
+X BISENN 24 700 -200 100 L 50 50 1 1 I
+X BISENP 25 700 -100 100 L 50 50 1 1 I
+X B1LS 26 700 0 100 L 50 50 1 1 O
+X B1HS 27 700 100 100 L 50 50 1 1 O
+X BOUT1 28 700 200 100 L 50 50 1 1 O
+X GND 29 700 -900 100 L 50 50 1 1 W
+X VCP 3 -700 900 100 R 50 50 1 1 B
+X AOUT2 30 700 400 100 L 50 50 1 1 O
+X A2HS 31 700 500 100 L 50 50 1 1 O
+X A2LS 32 700 600 100 L 50 50 1 1 O
+X AISENN 33 700 700 100 L 50 50 1 1 I
+X AISENP 34 700 800 100 L 50 50 1 1 I
+X A1LS 35 700 900 100 L 50 50 1 1 O
+X A1HS 36 700 1000 100 L 50 50 1 1 O
+X AOUT1 37 700 1100 100 L 50 50 1 1 O
+X GND 38 700 -1000 100 L 50 50 1 1 W
+X GND 39 700 -700 100 L 50 50 1 1 W
+X VM 4 -700 800 100 R 50 50 1 1 W
+X GND 5 700 -800 100 L 50 50 1 1 W
+X V5 6 -700 600 100 R 50 50 1 1 w
+X VINT 7 -700 500 100 R 50 50 1 1 W
+X SLEEPn 8 -700 300 100 R 50 50 1 1 I
+X RESET 9 -700 200 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# DRV8800PWP
+#
+DEF DRV8800PWP U 0 40 Y Y 1 F N
+F0 "U" -500 650 50 H V L CNN
+F1 "DRV8800PWP" -500 550 50 H V L CNN
+F2 "Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask3x3mm_ThermalVias" 1200 550 50 H I C CNN
+F3 "" 50 900 50 H I C CNN
+$FPLIST
+ *TSSOP*4.4x5mm*P0.65mm*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X ~FAULT 1 700 -200 200 L 50 50 1 1 C
+X OUT- 10 700 300 200 L 50 50 1 1 w
+X CP1 11 -700 200 200 R 50 50 1 1 W
+X CP2 12 -700 100 200 R 50 50 1 1 W
+X GND 13 100 -700 200 U 50 50 1 1 W
+X VCP 14 -700 300 200 R 50 50 1 1 W
+X VREG 15 700 -300 200 L 50 50 1 1 O
+X NC 16 -700 -100 200 R 50 50 1 1 N N
+X GND(PPAD) 17 -100 -700 200 U 50 50 1 1 W
+X MODE 2 -700 0 200 R 50 50 1 1 I
+X PHASE 3 -700 -200 200 R 50 50 1 1 I
+X GND 4 0 -700 200 U 50 50 1 1 W
+X ~SLEEP 5 -700 -400 200 R 50 50 1 1 I
+X ENABLE 6 -700 -300 200 R 50 50 1 1 I
+X OUT+ 7 700 400 200 L 50 50 1 1 w
+X SENSE 8 700 100 200 L 50 50 1 1 w
+X VBB 9 -700 400 200 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# DRV8800RTY
+#
+DEF DRV8800RTY U 0 40 Y Y 1 F N
+F0 "U" -500 650 50 H V L CNN
+F1 "DRV8800RTY" -500 550 50 H V L CNN
+F2 "Package_DFN_QFN:Texas_S-PWQFN-N16_EP2.1x2.1mm_ThermalVias" 1150 550 50 H I C CNN
+F3 "" 50 900 50 H I C CNN
+$FPLIST
+ Texas*S?PWQFN?N*EP*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X PHASE 1 -700 -200 200 R 50 50 1 1 I
+X CP1 10 -700 200 200 R 50 50 1 1 W
+X CP2 11 -700 100 200 R 50 50 1 1 W
+X GND 12 100 -700 200 U 50 50 1 1 W
+X VCP 13 -700 300 200 R 50 50 1 1 W
+X VREG 14 700 -300 200 L 50 50 1 1 O
+X ~FAULT 15 700 -200 200 L 50 50 1 1 C
+X MODE 16 -700 0 200 R 50 50 1 1 I
+X GND(PPAD) 17 -100 -700 200 U 50 50 1 1 W
+X GND 2 0 -700 200 U 50 50 1 1 W
+X ~SLEEP 3 -700 -400 200 R 50 50 1 1 I
+X ENABLE 4 -700 -300 200 R 50 50 1 1 I
+X NC 5 -700 -100 200 R 50 50 1 1 N N
+X OUT+ 6 700 400 200 L 50 50 1 1 w
+X SENSE 7 700 100 200 L 50 50 1 1 w
+X VBB 8 -700 400 200 R 50 50 1 1 W
+X OUT- 9 700 300 200 L 50 50 1 1 w
+ENDDRAW
+ENDDEF
+#
+# DRV8801PWP
+#
+DEF DRV8801PWP U 0 40 Y Y 1 F N
+F0 "U" -500 650 50 H V L CNN
+F1 "DRV8801PWP" -500 550 50 H V L CNN
+F2 "Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask3x3mm_ThermalVias" 1200 550 50 H I C CNN
+F3 "" 50 900 50 H I C CNN
+$FPLIST
+ *TSSOP*4.4x5mm*P0.65mm*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X ~FAULT 1 700 -200 200 L 50 50 1 1 C
+X OUT- 10 700 300 200 L 50 50 1 1 w
+X CP1 11 -700 200 200 R 50 50 1 1 W
+X CP2 12 -700 100 200 R 50 50 1 1 W
+X GND 13 100 -700 200 U 50 50 1 1 W
+X VCP 14 -700 300 200 R 50 50 1 1 W
+X VPROPI 15 700 -300 200 L 50 50 1 1 O
+X MODE2 16 -700 -100 200 R 50 50 1 1 I
+X GND(PPAD) 17 -100 -700 200 U 50 50 1 1 W
+X MODE1 2 -700 0 200 R 50 50 1 1 I
+X PHASE 3 -700 -200 200 R 50 50 1 1 I
+X GND 4 0 -700 200 U 50 50 1 1 W
+X ~SLEEP 5 -700 -400 200 R 50 50 1 1 I
+X ENABLE 6 -700 -300 200 R 50 50 1 1 I
+X OUT+ 7 700 400 200 L 50 50 1 1 w
+X SENSE 8 700 100 200 L 50 50 1 1 w
+X VBB 9 -700 400 200 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# DRV8801RTY
+#
+DEF DRV8801RTY U 0 40 Y Y 1 F N
+F0 "U" -500 650 50 H V L CNN
+F1 "DRV8801RTY" -500 550 50 H V L CNN
+F2 "Package_DFN_QFN:Texas_S-PWQFN-N16_EP2.1x2.1mm_ThermalVias" 1150 550 50 H I C CNN
+F3 "" 50 800 50 H I C CNN
+$FPLIST
+ Texas*S?PWQFN?N*EP*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X PHASE 1 -700 -200 200 R 50 50 1 1 I
+X CP1 10 -700 200 200 R 50 50 1 1 W
+X CP2 11 -700 100 200 R 50 50 1 1 W
+X GND 12 100 -700 200 U 50 50 1 1 W
+X VCP 13 -700 300 200 R 50 50 1 1 W
+X VPROPI 14 700 -300 200 L 50 50 1 1 O
+X ~FAULT 15 700 -200 200 L 50 50 1 1 C
+X MODE1 16 -700 0 200 R 50 50 1 1 I
+X GND(PPAD) 17 -100 -700 200 U 50 50 1 1 W
+X GND 2 0 -700 200 U 50 50 1 1 W
+X ~SLEEP 3 -700 -400 200 R 50 50 1 1 I
+X ENABLE 4 -700 -300 200 R 50 50 1 1 I
+X MODE2 5 -700 -100 200 R 50 50 1 1 I
+X OUT+ 6 700 400 200 L 50 50 1 1 w
+X SENSE 7 700 100 200 L 50 50 1 1 w
+X VBB 8 -700 400 200 R 50 50 1 1 W
+X OUT- 9 700 300 200 L 50 50 1 1 w
+ENDDRAW
+ENDDEF
+#
+# DRV8833PW
+#
+DEF DRV8833PW U 0 40 Y Y 1 F N
+F0 "U" -150 650 50 H V C CNN
+F1 "DRV8833PW" -150 550 50 H V C CNN
+F2 "Package_SO:TSSOP-16_4.4x5mm_P0.65mm" 450 450 50 H I L CNN
+F3 "" -150 550 50 H I C CNN
+$FPLIST
+ TSSOP-16*4.4x5mm*P0.65mm*
+$ENDFPLIST
+DRAW
+S -400 500 400 -500 0 1 10 f
+X nSLEEP 1 -600 400 200 R 50 50 1 1 I
+X BIN2 10 -600 -400 200 R 50 50 1 1 I
+X VCP 11 -600 300 200 R 50 50 1 1 B
+X VM 12 300 700 200 D 50 50 1 1 W
+X GND 13 0 -700 200 U 50 50 1 1 W
+X VINT 14 200 700 200 D 50 50 1 1 W
+X AIN2 15 -600 -200 200 R 50 50 1 1 I
+X AIN1 16 -600 -100 200 R 50 50 1 1 I
+X AOUT1 2 600 -100 200 L 50 50 1 1 w
+X AISEN 3 -600 200 200 R 50 50 1 1 B
+X AOUT2 4 600 -200 200 L 50 50 1 1 w
+X BOUT2 5 600 -400 200 L 50 50 1 1 w
+X BISEN 6 -600 100 200 R 50 50 1 1 B
+X BOUT1 7 600 -300 200 L 50 50 1 1 w
+X nFAULT 8 600 100 200 L 50 50 1 1 C
+X BIN1 9 -600 -300 200 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# DRV8833PWP
+#
+DEF DRV8833PWP U 0 40 Y Y 1 F N
+F0 "U" -150 650 50 H V C CNN
+F1 "DRV8833PWP" -150 550 50 H V C CNN
+F2 "Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias" 450 450 50 H I L CNN
+F3 "" -150 550 50 H I C CNN
+$FPLIST
+ HTSSOP-16-1EP*4.4x5mm*P0.65mm*
+$ENDFPLIST
+DRAW
+S -400 500 400 -500 0 1 10 f
+X nSLEEP 1 -600 400 200 R 50 50 1 1 I
+X BIN2 10 -600 -400 200 R 50 50 1 1 I
+X VCP 11 -600 300 200 R 50 50 1 1 B
+X VM 12 300 700 200 D 50 50 1 1 W
+X GND 13 0 -700 200 U 50 50 1 1 W
+X VINT 14 200 700 200 D 50 50 1 1 W
+X AIN2 15 -600 -200 200 R 50 50 1 1 I
+X AIN1 16 -600 -100 200 R 50 50 1 1 I
+X GND(PPAD) 17 -100 -700 200 U 50 50 1 1 W
+X AOUT1 2 600 -100 200 L 50 50 1 1 w
+X AISEN 3 -600 200 200 R 50 50 1 1 B
+X AOUT2 4 600 -200 200 L 50 50 1 1 w
+X BOUT2 5 600 -400 200 L 50 50 1 1 w
+X BISEN 6 -600 100 200 R 50 50 1 1 B
+X BOUT1 7 600 -300 200 L 50 50 1 1 w
+X nFAULT 8 600 100 200 L 50 50 1 1 C
+X BIN1 9 -600 -300 200 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# DRV8833RTY
+#
+DEF DRV8833RTY U 0 40 Y Y 1 F N
+F0 "U" -150 650 50 H V C CNN
+F1 "DRV8833RTY" -150 550 50 H V C CNN
+F2 "Package_DFN_QFN:Texas_S-PWQFN-N16_EP2.1x2.1mm_ThermalVias" 450 450 50 H I L CNN
+F3 "" -150 550 50 H I C CNN
+$FPLIST
+ Texas*S?PWQFN?N*EP*
+$ENDFPLIST
+DRAW
+S -400 500 400 -500 0 1 10 f
+X AISEN 1 -600 200 200 R 50 50 1 1 B
+X VM 10 300 700 200 D 50 50 1 1 W
+X GND 11 0 -700 200 U 50 50 1 1 W
+X VINT 12 200 700 200 D 50 50 1 1 W
+X AIN2 13 -600 -200 200 R 50 50 1 1 I
+X AIN1 14 -600 -100 200 R 50 50 1 1 I
+X nSLEEP 15 -600 400 200 R 50 50 1 1 I
+X AOUT1 16 600 -100 200 L 50 50 1 1 w
+X GND(PPAD) 17 -100 -700 200 U 50 50 1 1 W
+X AOUT2 2 600 -200 200 L 50 50 1 1 w
+X BOUT2 3 600 -400 200 L 50 50 1 1 w
+X BISEN 4 -600 100 200 R 50 50 1 1 B
+X BOUT1 5 600 -300 200 L 50 50 1 1 w
+X nFAULT 6 600 100 200 L 50 50 1 1 C
+X BIN1 7 -600 -300 200 R 50 50 1 1 I
+X BIN2 8 -600 -400 200 R 50 50 1 1 I
+X VCP 9 -600 300 200 R 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
+# DRV8837C
+#
+DEF DRV8837C U 0 20 Y Y 1 F N
+F0 "U" 250 450 50 H V C CNN
+F1 "DRV8837C" -400 450 50 H V C CNN
+F2 "Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm" 0 -850 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+ALIAS DRV8837
+$FPLIST
+ WSON*1EP*2x2mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -300 400 300 -400 0 1 10 f
+X VM 1 0 500 100 D 50 50 1 1 W
+X OUT1 2 400 300 100 L 50 50 1 1 O
+X OUT2 3 400 -300 100 L 50 50 1 1 O
+X GND 4 0 -500 100 U 50 50 1 1 W
+X IN2 5 -400 -100 100 R 50 50 1 1 I
+X IN1 6 -400 0 100 R 50 50 1 1 I
+X ~SLEEP 7 -400 100 100 R 50 50 1 1 I
+X VCC 8 -100 500 100 D 50 50 1 1 W
+X GND 9 0 -500 100 U 50 50 1 1 P N
+ENDDRAW
+ENDDEF
+#
+# DRV8838
+#
+DEF DRV8838 U 0 20 Y Y 1 F N
+F0 "U" 250 450 50 H V C CNN
+F1 "DRV8838" -400 450 50 H V C CNN
+F2 "Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm" 0 -850 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ WSON*1EP*2x2mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -300 400 300 -400 0 1 10 f
+X VM 1 0 500 100 D 50 50 1 1 W
+X OUT1 2 400 300 100 L 50 50 1 1 O
+X OUT2 3 400 -300 100 L 50 50 1 1 O
+X GND 4 0 -500 100 U 50 50 1 1 W
+X EN 5 -400 -100 100 R 50 50 1 1 I
+X PH 6 -400 0 100 R 50 50 1 1 I
+X ~SLEEP 7 -400 100 100 R 50 50 1 1 I
+X VCC 8 -100 500 100 D 50 50 1 1 W
+X GND 9 0 -500 100 U 50 50 1 1 P N
+ENDDRAW
+ENDDEF
+#
+# DRV8848
+#
+DEF DRV8848 U 0 40 Y Y 1 F N
+F0 "U" -450 560 50 H V C CNN
+F1 "DRV8848" 290 560 50 H V C CNN
+F2 "Package_SO:TSSOP-16-1EP_4.4x5mm_P0.65mm" 0 -700 50 H I C CNN
+F3 "" -1150 1350 50 H I C CNN
+$FPLIST
+ TSSOP*1EP*4.4x5mm*P0.65mm*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X nSLEEP 1 -600 200 100 R 50 50 1 1 I
+X BIN2 10 -600 -400 100 R 50 50 1 1 I
+X VREF 11 -600 400 100 R 50 50 1 1 I
+X VM 12 0 600 100 D 50 50 1 1 W
+X GND 13 0 -600 100 U 50 50 1 1 W
+X VINT 14 600 400 100 L 50 50 1 1 P
+X AIN2 15 -600 -100 100 R 50 50 1 1 I
+X AIN1 16 -600 0 100 R 50 50 1 1 I
+X PPAD 17 100 -600 100 U 50 50 1 1 W
+X AOUT1 2 600 200 100 L 50 50 1 1 O
+X AISEN 3 600 0 100 L 50 50 1 1 P
+X AOUT2 4 600 100 100 L 50 50 1 1 O
+X BOUT2 5 600 -300 100 L 50 50 1 1 O
+X BISEN 6 600 -400 100 L 50 50 1 1 P
+X BOUT1 7 600 -200 100 L 50 50 1 1 O
+X nFAULT 8 -600 300 100 R 50 50 1 1 C
+X BIN1 9 -600 -300 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# DRV8870DDA
+#
+DEF DRV8870DDA U 0 20 Y Y 1 F N
+F0 "U" -250 250 50 H V C CNN
+F1 "DRV8870DDA" 350 250 50 H V C CNN
+F2 "Package_SO:Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias" 100 -100 50 H I C CNN
+F3 "" -250 350 50 H I C CNN
+$FPLIST
+ Texas*HTSOP*1EP*3.9x4.9mm*P1.27mm*EP2.95x4.9mm*Mask2.4x3.1mm*
+$ENDFPLIST
+DRAW
+S -300 200 300 -300 0 1 10 f
+X GND 1 0 -400 100 U 50 50 1 1 W
+X IN2 2 -400 0 100 R 50 50 1 1 I
+X IN1 3 -400 100 100 R 50 50 1 1 I
+X VREF 4 -400 -200 100 R 50 50 1 1 I
+X VM 5 0 300 100 D 50 50 1 1 W
+X OUT1 6 400 100 100 L 50 50 1 1 O
+X ISEN 7 400 -200 100 L 50 50 1 1 P
+X OUT2 8 400 0 100 L 50 50 1 1 O
+X GND 9 0 -400 100 U 50 50 1 1 P N
+ENDDRAW
+ENDDEF
+#
+# DRV8871DDA
+#
+DEF DRV8871DDA U 0 20 Y Y 1 F N
+F0 "U" -250 250 50 H V C CNN
+F1 "DRV8871DDA" 350 250 50 H V C CNN
+F2 "Package_SO:Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias" 250 -50 50 H I C CNN
+F3 "" 250 -50 50 H I C CNN
+$FPLIST
+ Texas*HTSOP*1EP*3.9x4.9mm*P1.27mm*EP2.95x4.9mm*Mask2.4x3.1mm*
+$ENDFPLIST
+DRAW
+S -300 200 300 -300 0 1 10 f
+X GND 1 0 -400 100 U 50 50 1 1 W
+X IN2 2 -400 0 100 R 50 50 1 1 I
+X IN1 3 -400 100 100 R 50 50 1 1 I
+X ILIM 4 400 -200 100 L 50 50 1 1 P
+X VM 5 0 300 100 D 50 50 1 1 W
+X OUT1 6 400 100 100 L 50 50 1 1 O
+X GND 7 0 -400 100 U 50 50 1 1 P N
+X OUT2 8 400 0 100 L 50 50 1 1 O
+X GND 9 0 -400 100 U 50 50 1 1 P N
+ENDDRAW
+ENDDEF
+#
+# DRV8872DDA
+#
+DEF DRV8872DDA U 0 20 Y Y 1 F N
+F0 "U" -250 250 50 H V C CNN
+F1 "DRV8872DDA" 350 250 50 H V C CNN
+F2 "Package_SO:Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias" 200 -100 50 H I C CNN
+F3 "" -250 350 50 H I C CNN
+$FPLIST
+ Texas*HTSOP*1EP*3.9x4.9mm*P1.27mm*EP2.95x4.9mm*Mask2.4x3.1mm*
+$ENDFPLIST
+DRAW
+S -300 200 300 -300 0 1 10 f
+X GND 1 0 -400 100 U 50 50 1 1 W
+X IN2 2 -400 0 100 R 50 50 1 1 I
+X IN1 3 -400 100 100 R 50 50 1 1 I
+X nFAULT 4 -400 -200 100 R 50 50 1 1 C
+X VM 5 0 300 100 D 50 50 1 1 W
+X OUT1 6 400 100 100 L 50 50 1 1 O
+X ISEN 7 400 -200 100 L 50 50 1 1 P
+X OUT2 8 400 0 100 L 50 50 1 1 O
+X GND 9 0 -400 100 U 50 50 1 1 P N
+ENDDRAW
+ENDDEF
+#
+# L293
+#
+DEF L293 U 0 40 Y Y 1 F N
+F0 "U" -200 1025 50 H V R CNN
+F1 "L293" -200 950 50 H V R CNN
+F2 "Package_DIP:DIP-16_W7.62mm" 250 -750 50 H I L CNN
+F3 "" -300 700 50 H I C CNN
+ALIAS L293D
+$FPLIST
+ DIP*W7.62mm*
+$ENDFPLIST
+DRAW
+C -90 -270 10 0 1 0 F
+C -90 325 10 0 1 0 F
+S -400 900 400 -700 0 1 10 f
+P 2 0 1 0 -250 -195 -50 -195 N
+P 2 0 1 0 -250 5 -125 5 N
+P 2 0 1 0 -250 400 -50 400 N
+P 2 0 1 0 -250 600 -125 600 N
+P 2 0 1 0 -50 5 250 5 N
+P 2 0 1 0 -50 600 250 600 N
+P 2 0 1 0 25 -195 250 -195 N
+P 2 0 1 0 25 400 250 400 N
+P 3 0 1 0 -90 -270 -10 -270 -10 -220 N
+P 3 0 1 0 -90 -25 -90 -400 -140 -400 N
+P 3 0 1 0 -90 325 -10 325 -10 375 N
+P 3 0 1 0 -90 570 -90 200 -140 200 N
+P 4 0 1 0 -125 55 -125 -45 -50 5 -125 55 N
+P 4 0 1 0 -125 650 -125 550 -50 600 -125 650 N
+P 4 0 1 0 -50 -145 -50 -245 25 -195 -50 -145 N
+P 4 0 1 0 -50 450 -50 350 25 400 -50 450 N
+X EN1,2 1 -500 200 100 R 50 50 1 1 I
+X 3A 10 -500 0 100 R 50 50 1 1 I
+X 3Y 11 500 0 100 L 50 50 1 1 O
+X GND 12 100 -800 100 U 50 50 1 1 W
+X GND 13 200 -800 100 U 50 50 1 1 W
+X 4Y 14 500 -200 100 L 50 50 1 1 O
+X 4A 15 -500 -200 100 R 50 50 1 1 I
+X VCC1 16 -100 1000 100 D 50 50 1 1 W
+X 1A 2 -500 600 100 R 50 50 1 1 I
+X 1Y 3 500 600 100 L 50 50 1 1 O
+X GND 4 -200 -800 100 U 50 50 1 1 W
+X GND 5 -100 -800 100 U 50 50 1 1 W
+X 2Y 6 500 400 100 L 50 50 1 1 O
+X 2A 7 -500 400 100 R 50 50 1 1 I
+X VCC2 8 100 1000 100 D 50 50 1 1 W
+X EN3,4 9 -500 -400 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# L293E
+#
+DEF L293E U 0 20 Y Y 1 F N
+F0 "U" -450 450 50 H V C CNN
+F1 "L293E" 350 450 50 H V C CNN
+F2 "Package_DIP:DIP-20_W7.62mm" 800 -500 50 H I C CNN
+F3 "" -400 -750 50 H I C CNN
+$FPLIST
+ DIP*W7.62mm*
+$ENDFPLIST
+DRAW
+S -500 400 500 -400 0 1 10 f
+X EN12 1 -600 300 100 R 50 50 1 1 I
+X VS 10 -100 500 100 D 50 50 1 1 W
+X EN34 11 600 300 100 L 50 50 1 1 I
+X IN3 12 600 -300 100 L 50 50 1 1 I
+X OUT3 13 600 -200 100 L 50 50 1 1 O
+X SENSE3 14 600 -100 100 L 50 50 1 1 P
+X GND 15 0 -500 100 U 50 50 1 1 P N
+X GND 16 0 -500 100 U 50 50 1 1 P N
+X SENSE4 17 600 0 100 L 50 50 1 1 P
+X OUT4 18 600 100 100 L 50 50 1 1 O
+X IN4 19 600 200 100 L 50 50 1 1 I
+X IN1 2 -600 200 100 R 50 50 1 1 I
+X VSS 20 100 500 100 D 50 50 1 1 W
+X OUT1 3 -600 100 100 R 50 50 1 1 O
+X SENSE1 4 -600 0 100 R 50 50 1 1 P
+X GND 5 0 -500 100 U 50 50 1 1 W
+X GND 6 0 -500 100 U 50 50 1 1 P N
+X SENSE2 7 -600 -100 100 R 50 50 1 1 P
+X OUT2 8 -600 -200 100 R 50 50 1 1 O
+X IN2 9 -600 -300 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# L297
+#
+DEF L297 U 0 40 Y Y 1 F N
+F0 "U" -250 750 50 H V C CNN
+F1 "L297" -250 650 50 H V C CNN
+F2 "" -250 650 50 H I C CNN
+F3 "" -250 650 50 H I C CNN
+$FPLIST
+ DIP*
+ SO*
+$ENDFPLIST
+DRAW
+S -500 600 500 -600 0 1 10 f
+X CONTROL 11 -700 0 200 R 50 50 1 0 I
+X Vs 12 200 800 200 D 50 50 1 0 W
+X SENS2 13 -700 -300 200 R 50 50 1 0 I
+X SENS1 14 -700 -200 200 R 50 50 1 0 I
+X Vref 15 300 800 200 D 50 50 1 0 I
+X OSC 16 -700 -400 200 R 50 50 1 0 I
+X CW 17 -700 300 200 R 50 50 1 0 I
+X CLOCK 18 -700 400 200 R 50 50 1 0 I I
+X HALF 19 -700 500 200 R 50 50 1 0 I
+X RESET 20 -700 100 200 R 50 50 1 0 I I
+X SYNC 1 -700 -500 200 R 50 50 1 1 B
+X ENABLE 10 -700 200 200 R 50 50 1 1 I
+X GND 2 0 -800 200 U 50 50 1 1 W
+X HOME 3 700 -500 200 L 50 50 1 1 C
+X A 4 700 300 200 L 50 50 1 1 O
+X INH1 5 700 -200 200 L 50 50 1 1 O I
+X B 6 700 200 200 L 50 50 1 1 O
+X C 7 700 100 200 L 50 50 1 1 O
+X INH2 8 700 -300 200 L 50 50 1 1 O I
+X D 9 700 0 200 L 50 50 1 1 O
+ENDDRAW
+ENDDEF
+#
+# L298HN
+#
+DEF L298HN U 0 40 Y Y 1 F N
+F0 "U" -400 650 50 H V R CNN
+F1 "L298HN" 500 650 50 H V R CNN
+F2 "Package_TO_SOT_THT:TO-220-15_P2.54x2.54mm_StaggerOdd_Lead4.58mm_Vertical" 50 -650 50 H I L CNN
+F3 "" 150 250 50 H I C CNN
+$FPLIST
+ TO?220*
+$ENDFPLIST
+DRAW
+S -500 600 500 -600 0 1 10 f
+X SENSE_A 1 -300 -700 100 U 50 50 1 1 W
+X IN3 10 -600 100 100 R 50 50 1 1 I
+X EnB 11 -600 -100 100 R 50 50 1 1 I
+X IN4 12 -600 0 100 R 50 50 1 1 I
+X OUT3 13 600 -100 100 L 50 50 1 1 O
+X OUT4 14 600 -200 100 L 50 50 1 1 O
+X SENSE_B 15 -200 -700 100 U 50 50 1 1 W
+X OUT1 2 600 200 100 L 50 50 1 1 O
+X OUT2 3 600 100 100 L 50 50 1 1 O
+X Vs 4 100 700 100 D 50 50 1 1 W
+X IN1 5 -600 500 100 R 50 50 1 1 I
+X EnA 6 -600 300 100 R 50 50 1 1 I
+X IN2 7 -600 400 100 R 50 50 1 1 I
+X GND 8 0 -700 100 U 50 50 1 1 W
+X Vss 9 0 700 100 D 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# L298P
+#
+DEF L298P U 0 40 Y Y 1 F N
+F0 "U" -400 650 50 H V C CNN
+F1 "L298P" 400 -650 50 H V C CNN
+F2 "" 150 250 50 H I C CNN
+F3 "" 150 250 50 H I C CNN
+DRAW
+S -500 600 500 -600 0 1 10 f
+X GND 1 -100 -700 100 U 50 50 1 1 W
+X GND 10 0 -700 100 U 50 50 1 1 W
+X GND 11 100 -700 100 U 50 50 1 1 W
+X Vss 12 0 700 100 D 50 50 1 1 W
+X IN3 13 -600 100 100 R 50 50 1 1 I
+X EnB 14 -600 -100 100 R 50 50 1 1 I
+X IN4 15 -600 0 100 R 50 50 1 1 I
+X OUT3 16 600 -100 100 L 50 50 1 1 O
+X OUT4 17 600 -200 100 L 50 50 1 1 O
+X NC 18 600 400 100 L 50 50 1 1 N N
+X SENSE_B 19 -300 -700 100 U 50 50 1 1 W
+X SENSE_A 2 -400 -700 100 U 50 50 1 1 W
+X GND 20 200 -700 100 U 50 50 1 1 W
+X NC 3 600 500 100 L 50 50 1 1 N N
+X OUT1 4 600 200 100 L 50 50 1 1 O
+X OUT2 5 600 100 100 L 50 50 1 1 O
+X Vs 6 100 700 100 D 50 50 1 1 W
+X IN1 7 -600 500 100 R 50 50 1 1 I
+X EnA 8 -600 300 100 R 50 50 1 1 I
+X IN2 9 -600 400 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# LMD18200
+#
+DEF LMD18200 U 0 20 Y Y 1 F N
+F0 "U" -500 750 50 H V R CNN
+F1 "LMD18200" 600 750 50 H V R CNN
+F2 "Package_TO_SOT_THT:TO-220-11_P3.4x5.08mm_StaggerOdd_Lead4.85mm_Vertical" -1450 -1350 50 H I L CNN
+F3 "" -100 0 50 H I C CNN
+$FPLIST
+ TO?220*
+$ENDFPLIST
+DRAW
+S -600 -800 600 700 0 1 10 f
+X BOOTSTRAP1 1 700 300 100 L 50 50 1 1 P
+X OUTPUT2 10 700 -200 100 L 50 50 1 1 O
+X BOOTSTRAP2 11 700 100 100 L 50 50 1 1 P
+X OUTPUT1 2 700 600 100 L 50 50 1 1 O
+X DIRECTION 3 -700 0 100 R 50 50 1 1 I
+X BRAKE 4 -700 -300 100 R 50 50 1 1 I
+X PWM 5 -700 300 100 R 50 50 1 1 I
+X VS 6 0 800 100 D 50 50 1 1 W
+X GND 7 0 -900 100 U 50 50 1 1 W
+X CURRENT_SENSE_OUTPUT 8 700 -400 100 L 50 50 1 1 O
+X ~THERMAL_FLAG_OUTPUT 9 700 -500 100 L 50 50 1 1 C
+ENDDRAW
+ENDDEF
+#
+# PG001M
+#
+DEF PG001M U 0 40 Y Y 1 F N
+F0 "U" -400 550 50 H V C CNN
+F1 "PG001M" 300 -550 50 H V C CNN
+F2 "" 0 -100 50 H I C CNN
+F3 "" 0 -100 50 H I C CNN
+$FPLIST
+ DIP*
+ PDIP*
+$ENDFPLIST
+DRAW
+S 500 -500 -500 500 0 1 10 f
+X ~RESET~ 1 -600 400 100 R 50 50 1 1 I
+X DATA_B 10 600 0 100 L 50 50 1 1 O
+X DATA_A 11 600 100 100 L 50 50 1 1 O
+X ~STROBE~ 13 600 -100 100 L 50 50 1 1 O
+X CLK_OUT 14 600 -200 100 L 50 50 1 1 O
+X VECTOR 15 -600 -300 100 R 50 50 1 1 I
+X Vdd 16 0 600 100 D 50 50 1 1 W
+X CLK_IN 2 -600 300 100 R 50 50 1 1 I
+X ~CW~ 3 -600 200 100 R 50 50 1 1 I
+X MSEL_1 6 -600 0 100 R 50 50 1 1 I
+X MSEL_2 7 -600 -100 100 R 50 50 1 1 I
+X GND 8 0 -600 100 U 50 50 1 1 W
+X ~MONITOR~ 9 -600 -400 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# Pololu_Breakout_A4988
+#
+DEF Pololu_Breakout_A4988 A 0 20 Y Y 1 F N
+F0 "A" -100 750 50 H V R CNN
+F1 "Pololu_Breakout_A4988" -100 650 50 H V R CNN
+F2 "Module:Pololu_Breakout-16_15.2x20.3mm" 275 -750 50 H I L CNN
+F3 "" 100 -300 50 H I C CNN
+$FPLIST
+ Pololu*Breakout*15.2x20.3mm*
+$ENDFPLIST
+DRAW
+S 400 -700 -300 600 0 1 10 f
+X GND 1 0 -800 100 U 50 50 1 1 W
+X MS1 10 -400 -300 100 R 50 50 1 1 I
+X MS2 11 -400 -400 100 R 50 50 1 1 I
+X MS3 12 -400 -500 100 R 50 50 1 1 I
+X ~RESET 13 -400 400 100 R 50 50 1 1 I
+X ~SLEEP 14 -400 300 100 R 50 50 1 1 I
+X STEP 15 -400 0 100 R 50 50 1 1 I
+X DIR 16 -400 -100 100 R 50 50 1 1 I
+X VDD 2 0 700 100 D 50 50 1 1 W
+X 1B 3 500 100 100 L 50 50 1 1 O
+X 1A 4 500 0 100 L 50 50 1 1 O
+X 2A 5 500 -100 100 L 50 50 1 1 O
+X 2B 6 500 -200 100 L 50 50 1 1 O
+X GND 7 200 -800 100 U 50 50 1 1 W
+X VMOT 8 200 700 100 D 50 50 1 1 W
+X ~ENABLE 9 -400 100 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# Pololu_Breakout_DRV8825
+#
+DEF Pololu_Breakout_DRV8825 A 0 20 Y Y 1 F N
+F0 "A" -100 650 50 H V R CNN
+F1 "Pololu_Breakout_DRV8825" -100 550 50 H V R CNN
+F2 "Module:Pololu_Breakout-16_15.2x20.3mm" 200 -800 50 H I L CNN
+F3 "" 100 -300 50 H I C CNN
+$FPLIST
+ Pololu*Breakout*15.2x20.3mm*
+$ENDFPLIST
+DRAW
+S 300 -700 -300 500 0 1 10 f
+X GND 1 0 -800 100 U 50 50 1 1 W
+X M0 10 -400 -400 100 R 50 50 1 1 I
+X M1 11 -400 -500 100 R 50 50 1 1 I
+X M2 12 -400 -600 100 R 50 50 1 1 I
+X ~RST 13 -400 300 100 R 50 50 1 1 I
+X ~SLP 14 -400 200 100 R 50 50 1 1 I
+X STEP 15 -400 -100 100 R 50 50 1 1 I
+X DIR 16 -400 -200 100 R 50 50 1 1 I
+X ~FLT 2 -400 400 100 R 50 50 1 1 O
+X A2 3 400 0 100 L 50 50 1 1 O
+X A1 4 400 100 100 L 50 50 1 1 O
+X B1 5 400 -200 100 L 50 50 1 1 O
+X B2 6 400 -300 100 L 50 50 1 1 O
+X GND 7 100 -800 100 U 50 50 1 1 W
+X VMOT 8 0 600 100 D 50 50 1 1 W
+X ~EN 9 -400 0 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# SLA7044M
+#
+DEF SLA7044M U 0 40 Y Y 2 F N
+F0 "U" -300 450 50 H V C CNN
+F1 "SLA7044M" 300 -450 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+ALIAS SLA7042M
+$FPLIST
+ SLA704XM
+$ENDFPLIST
+DRAW
+S -400 400 400 -400 0 1 10 f
+X OUT 1 500 100 100 L 50 50 1 1 O
+X ~STROBE~ 2 -500 100 100 R 50 50 1 1 I
+X REF 3 -500 -100 100 R 50 50 1 1 I
+X Vdd 4 0 500 100 D 50 50 1 1 W
+X ~CLOCK~ 5 -500 200 100 R 50 50 1 1 I
+X DATA 6 -500 300 100 R 50 50 1 1 I
+X GND 7 0 -500 100 U 50 50 1 1 W
+X ~OUT~ 8 500 0 100 L 50 50 1 1 O
+X RS 9 -500 -300 100 R 50 50 1 1 I
+X RS 10 -500 -300 100 R 50 50 2 1 I
+X OUT 11 500 100 100 L 50 50 2 1 O
+X GND 12 0 -500 100 U 50 50 2 1 W
+X ~STROBE~ 13 -500 100 100 R 50 50 2 1 I
+X REF 14 -500 -100 100 R 50 50 2 1 I
+X Vdd 15 0 500 100 D 50 50 2 1 W
+X ~CLOCK~ 16 -500 200 100 R 50 50 2 1 I
+X DATA 17 -500 300 100 R 50 50 2 1 I
+X ~OUT~ 18 500 0 100 L 50 50 2 1 O
+ENDDRAW
+ENDDEF
+#
+# SLA7070MPRT
+#
+DEF SLA7070MPRT U 0 40 Y Y 1 F N
+F0 "U" -400 1000 50 H V C CNN
+F1 "SLA7070MPRT" 300 -1000 50 H V C CNN
+F2 "" 0 0 50 H I C CIN
+F3 "" 0 0 50 H I C CNN
+ALIAS SLA7071MPRT SLA7072MPRT SLA7073MPRT
+$FPLIST
+ ZIP23
+$ENDFPLIST
+DRAW
+S -450 950 450 -950 0 1 10 f
+X OUTA 1 600 800 150 L 50 50 1 1 O
+X CLOCK 10 -600 -100 150 R 50 50 1 1 I
+X VBB 11 -100 1100 150 D 50 50 1 1 W
+X GND 12 0 -1100 150 U 50 50 1 1 W
+X REF/SLEEP1 13 -600 500 150 R 50 50 1 1 I
+X VDD 14 100 1100 150 D 50 50 1 1 W
+X RESET 15 -600 700 150 R 50 50 1 1 I
+X CW/CCW 16 -600 -300 150 R 50 50 1 1 I
+X SYNC 17 -600 -500 150 R 50 50 1 1 I
+X FLAG 18 600 -600 150 L 50 50 1 1 O
+X SENSE_B 19 600 -400 150 L 50 50 1 1 O
+X OUTA 2 600 700 150 L 50 50 1 1 O
+X ~OUTB~ 20 600 300 150 L 50 50 1 1 O
+X ~OUTB~ 21 600 200 150 L 50 50 1 1 O
+X OUTB 22 600 100 150 L 50 50 1 1 O
+X OUTB 23 600 0 150 L 50 50 1 1 O
+X ~OUTA~ 3 600 600 150 L 50 50 1 1 O
+X ~OUTA~ 4 600 500 150 L 50 50 1 1 O
+X SENSE_A 5 600 -200 150 L 50 50 1 1 O
+X N.C. 6 400 -800 150 L 50 50 1 1 N N
+X M1 7 -600 300 150 R 50 50 1 1 I
+X M2 8 -600 200 150 R 50 50 1 1 I
+X M3 9 -600 100 150 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# SLA7075MPRT
+#
+DEF SLA7075MPRT U 0 40 Y Y 1 F N
+F0 "U" -400 1000 50 H V C CNN
+F1 "SLA7075MPRT" 300 -1000 50 H V C CNN
+F2 "" 0 0 50 H I C CIN
+F3 "" 0 0 50 H I C CNN
+ALIAS SLA7076MPRT SLA7077MPRT SLA7078MPRT
+$FPLIST
+ ZIP23
+$ENDFPLIST
+DRAW
+S -450 950 450 -950 0 1 10 f
+X OUTA 1 600 800 150 L 50 50 1 1 O
+X CLOCK 10 -600 -100 150 R 50 50 1 1 I
+X VBB 11 -100 1100 150 D 50 50 1 1 W
+X GND 12 0 -1100 150 U 50 50 1 1 W
+X REF/SLEEP1 13 -600 500 150 R 50 50 1 1 I
+X VDD 14 100 1100 150 D 50 50 1 1 W
+X RESET 15 -600 700 150 R 50 50 1 1 I
+X CW/CCW 16 -600 -300 150 R 50 50 1 1 I
+X SYNC 17 -600 -500 150 R 50 50 1 1 I
+X FLAG 18 600 -600 150 L 50 50 1 1 O
+X SENSE_B 19 600 -400 150 L 50 50 1 1 O
+X OUTA 2 600 700 150 L 50 50 1 1 O
+X ~OUTB~ 20 600 300 150 L 50 50 1 1 O
+X ~OUTB~ 21 600 200 150 L 50 50 1 1 O
+X OUTB 22 600 100 150 L 50 50 1 1 O
+X OUTB 23 600 0 150 L 50 50 1 1 O
+X ~OUTA~ 3 600 600 150 L 50 50 1 1 O
+X ~OUTA~ 4 600 500 150 L 50 50 1 1 O
+X SENSE_A 5 600 -200 150 L 50 50 1 1 O
+X MO 6 600 -800 150 L 50 50 1 1 O
+X M1 7 -600 300 150 R 50 50 1 1 I
+X M2 8 -600 200 150 R 50 50 1 1 I
+X M3 9 -600 100 150 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# STK672-040-E
+#
+DEF STK672-040-E U 0 40 Y Y 1 F N
+F0 "U" -400 750 50 H V C CNN
+F1 "STK672-040-E" 0 0 50 V V C CNN
+F2 "" 150 50 50 H I C CNN
+F3 "" 150 50 50 H I C CNN
+$FPLIST
+ STK672-040-E
+$ENDFPLIST
+DRAW
+S -500 700 500 -700 0 1 10 f
+X ~B~ 1 600 100 100 L 50 50 1 1 O
+X M2 10 -600 500 100 R 50 50 1 1 I
+X M3 11 -600 400 100 R 50 50 1 1 I
+X M4 12 -600 300 100 R 50 50 1 1 I
+X M5 13 -600 200 100 R 50 50 1 1 I
+X CLK 14 -600 0 100 R 50 50 1 1 I
+X CWB 15 -600 -100 100 R 50 50 1 1 I
+X ~RESET~ 16 -600 -400 100 R 50 50 1 1 I
+X RETURN 17 -600 -200 100 R 50 50 1 1 I
+X ENABLE 18 -600 -300 100 R 50 50 1 1 I
+X MOI 19 600 -100 100 L 50 50 1 1 O
+X B 2 600 200 100 L 50 50 1 1 O
+X MO1 20 600 -200 100 L 50 50 1 1 O
+X MO2 21 600 -300 100 L 50 50 1 1 O
+X SG 22 100 -800 100 U 50 50 1 1 W
+X PG 3 0 -800 100 U 50 50 1 1 W
+X PG 4 -100 -800 100 U 50 50 1 1 W
+X ~A~ 5 600 300 100 L 50 50 1 1 O
+X A 6 600 400 100 L 50 50 1 1 O
+X VCC 7 0 800 100 D 50 50 1 1 W
+X Vref 8 -600 -600 100 R 50 50 1 1 I
+X M1 9 -600 600 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# STK672-080-E
+#
+DEF STK672-080-E U 0 40 Y Y 1 F N
+F0 "U" -300 650 50 H V C CNN
+F1 "STK672-080-E" 0 0 50 V V C CNN
+F2 "" 50 -50 50 H I C CNN
+F3 "" 50 -50 50 H I C CNN
+$FPLIST
+ STK672-080-E
+$ENDFPLIST
+DRAW
+S -400 600 400 -600 0 1 10 f
+X PG 1 0 -700 100 U 50 50 1 1 W
+X CWB 10 -500 0 100 R 50 50 1 1 I
+X CLOCK 11 -500 100 100 R 50 50 1 1 I
+X M3 12 -500 300 100 R 50 50 1 1 I
+X ~RESET~ 13 -500 -300 100 R 50 50 1 1 I
+X MOI 14 500 -200 100 L 50 50 1 1 O
+X ENABLE 15 -500 -200 100 R 50 50 1 1 I
+X BB 2 500 0 100 L 50 50 1 1 O
+X B 3 500 100 100 L 50 50 1 1 O
+X AB 4 500 200 100 L 50 50 1 1 O
+X A 5 500 300 100 L 50 50 1 1 O
+X VCC 6 0 700 100 D 50 50 1 1 W
+X Vref 7 -500 -500 100 R 50 50 1 1 I
+X M1 8 -500 500 100 R 50 50 1 1 I
+X M2 9 -500 400 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# STSPIN220
+#
+DEF STSPIN220 U 0 40 Y Y 1 F N
+F0 "U" -400 650 50 H V L CNN
+F1 "STSPIN220" 200 650 50 H V L CNN
+F2 "Package_DFN_QFN:VQFN-16-1EP_3x3mm_P0.5mm_EP1.8x1.8mm" 200 750 50 H I L CNN
+F3 "" 150 250 50 H I C CNN
+$FPLIST
+ VQFN*1EP*3x3mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -400 600 500 -600 0 1 10 f
+X DIR 1 -500 500 100 R 50 50 1 1 I
+X OUTB1 10 600 0 100 L 50 50 1 1 w
+X REF 11 -500 -400 100 R 50 50 1 1 I
+X TOFF 12 -500 -500 100 R 50 50 1 1 I
+X EN/FLT 13 -500 -100 100 R 50 50 1 1 B
+X STBY/RESET 14 -500 -200 100 R 50 50 1 1 I
+X MODE2 15 -500 100 100 R 50 50 1 1 I
+X MODE1 16 -500 200 100 R 50 50 1 1 I
+X EPAD 17 100 -700 100 U 50 50 1 1 W
+X STCK 2 -500 400 100 R 50 50 1 1 I
+X OUTA1 3 600 500 100 L 50 50 1 1 w
+X SENSEA 4 600 300 100 L 50 50 1 1 w
+X OUTA2 5 600 400 100 L 50 50 1 1 w
+X VS 6 0 700 100 D 50 50 1 1 W
+X GND 7 0 -700 100 U 50 50 1 1 W
+X OUTB2 8 600 -100 100 L 50 50 1 1 w
+X SENSEB 9 600 -200 100 L 50 50 1 1 w
+ENDDRAW
+ENDDEF
+#
+# STSPIN230
+#
+DEF STSPIN230 U 0 40 Y Y 1 F N
+F0 "U" -400 650 50 H V L CNN
+F1 "STSPIN230" 200 650 50 H V L CNN
+F2 "Package_DFN_QFN:VQFN-16-1EP_3x3mm_P0.5mm_EP1.8x1.8mm" 200 750 50 H I L CNN
+F3 "" 150 250 50 H I C CNN
+$FPLIST
+ VQFN*1EP*3x3mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -400 600 500 -600 0 1 10 f
+X INUH 1 -500 500 100 R 50 50 1 1 I
+X OUTW 10 600 -100 100 L 50 50 1 1 w
+X INWL 11 -500 -200 100 R 50 50 1 1 I
+X INWH 12 -500 -100 100 R 50 50 1 1 I
+X EN/FLT 13 -500 -400 100 R 50 50 1 1 B
+X STBY 14 -500 -500 100 R 50 50 1 1 I
+X INVL 15 -500 100 100 R 50 50 1 1 I
+X INVH 16 -500 200 100 R 50 50 1 1 I
+X PAD 17 100 -700 100 U 50 50 1 1 W
+X INUL 2 -500 400 100 R 50 50 1 1 I
+X OUTU 3 600 500 100 L 50 50 1 1 w
+X SENSE 4 600 -300 100 L 50 50 1 1 I
+X NC 5 200 -700 100 U 50 50 1 1 N N
+X VS 6 0 700 100 D 50 50 1 1 W
+X GND 7 0 -700 100 U 50 50 1 1 W
+X OUTV 8 600 200 100 L 50 50 1 1 w
+X SENSE 9 600 -400 100 L 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# STSPIN240
+#
+DEF STSPIN240 U 0 40 Y Y 1 F N
+F0 "U" -400 650 50 H V L CNN
+F1 "STSPIN240" 200 650 50 H V L CNN
+F2 "Package_DFN_QFN:VQFN-16-1EP_3x3mm_P0.5mm_EP1.8x1.8mm" 200 750 50 H I L CNN
+F3 "" 150 250 50 H I C CNN
+$FPLIST
+ VQFN*1EP*3x3mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -400 600 500 -600 0 1 10 f
+X PHA 1 -500 500 100 R 50 50 1 1 I
+X OUTB1 10 600 0 100 L 50 50 1 1 w
+X REF 11 -500 -400 100 R 50 50 1 1 I
+X TOFF 12 -500 -500 100 R 50 50 1 1 I
+X EN/FLT 13 -500 -100 100 R 50 50 1 1 B
+X STBY/RESET 14 -500 -200 100 R 50 50 1 1 I
+X PHB 15 -500 200 100 R 50 50 1 1 I
+X PWMB 16 -500 100 100 R 50 50 1 1 I
+X EPAD 17 100 -700 100 U 50 50 1 1 W
+X PWMA 2 -500 400 100 R 50 50 1 1 I
+X OUTA1 3 600 500 100 L 50 50 1 1 w
+X SENSEA 4 600 300 100 L 50 50 1 1 w
+X OUTA2 5 600 400 100 L 50 50 1 1 w
+X VS 6 0 700 100 D 50 50 1 1 W
+X GND 7 0 -700 100 U 50 50 1 1 W
+X OUTB2 8 600 -100 100 L 50 50 1 1 w
+X SENSEB 9 600 -200 100 L 50 50 1 1 w
+ENDDRAW
+ENDDEF
+#
+# TB6612FNG
+#
+DEF TB6612FNG U 0 40 Y Y 1 F N
+F0 "U" 450 700 50 H V L CNN
+F1 "TB6612FNG" 450 600 50 H V L CNN
+F2 "Package_SO:SSOP-24_5.3x8.2mm_P0.65mm" 1300 -900 50 H I C CNN
+F3 "" 450 600 50 H I C CNN
+$FPLIST
+ SSOP-24*5.3x8.2mm*P0.65mm*
+$ENDFPLIST
+DRAW
+S -400 800 400 -800 0 1 10 f
+X AO1 1 600 400 200 L 50 50 1 1 O
+X PGND2 10 300 -1000 200 U 50 50 1 1 P N
+X BO1 11 600 -100 200 L 50 50 1 1 O
+X BO1 12 600 -100 200 L 50 50 1 1 P N
+X VM2 13 200 1000 200 D 50 50 1 1 W
+X VM3 14 300 1000 200 D 50 50 1 1 W
+X PWMB 15 -600 100 200 R 50 50 1 1 I
+X BIN2 16 -600 -400 200 R 50 50 1 1 I
+X BIN1 17 -600 -300 200 R 50 50 1 1 I
+X GND 18 -300 -1000 200 U 50 50 1 1 W
+X STBY 19 -600 400 200 R 50 50 1 1 I I
+X AO1 2 600 400 200 L 50 50 1 1 P N
+X VCC 20 -300 1000 200 D 50 50 1 1 W
+X AIN1 21 -600 -100 200 R 50 50 1 1 I
+X AIN2 22 -600 -200 200 R 50 50 1 1 I
+X PWMA 23 -600 200 200 R 50 50 1 1 I
+X VM1 24 100 1000 200 D 50 50 1 1 W
+X PGND1 3 100 -1000 200 U 50 50 1 1 W
+X PGND1 4 100 -1000 200 U 50 50 1 1 P N
+X AO2 5 600 200 200 L 50 50 1 1 O
+X AO2 6 600 200 200 L 50 50 1 1 P N
+X BO2 7 600 -300 200 L 50 50 1 1 O
+X BO2 8 600 -300 200 L 50 50 1 1 P N
+X PGND2 9 300 -1000 200 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# TMC2041-LA
+#
+DEF TMC2041-LA U 0 20 Y Y 1 F N
+F0 "U" -500 1050 50 H V L CNN
+F1 "TMC2041-LA" 350 1050 50 H V L CNN
+F2 "Package_DFN_QFN:QFN-48-1EP_7x7mm_P0.5mm_EP5.3x5.3mm_ThermalVias" 0 -1200 50 H I C CNN
+F3 "" 600 1800 50 H I C CNN
+$FPLIST
+ QFN*1EP*7x7mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -500 1000 500 -1000 0 1 10 f
+X GNDD 1 0 -1100 100 U 50 50 1 1 P N
+X SWION 10 -600 -600 100 R 50 50 1 1 B
+X CLK 11 -600 600 100 R 50 50 1 1 I
+X SWSEL 12 -600 -700 100 R 50 50 1 1 I
+X GNDD 13 0 -1100 100 U 50 50 1 1 P N
+X O2A1 14 600 -100 100 L 50 50 1 1 O
+X BR2A 15 600 -500 100 L 50 50 1 1 P
+X O2A2 16 600 -200 100 L 50 50 1 1 O
+X VS 17 -200 1100 100 D 50 50 1 1 W
+X GNDP 18 100 -1100 100 U 50 50 1 1 W
+X VS 19 -200 1100 100 D 50 50 1 1 P N
+X GNDD 2 0 -1100 100 U 50 50 1 1 P N
+X O2B1 20 600 -300 100 L 50 50 1 1 O
+X BR2B 21 600 -600 100 L 50 50 1 1 P
+X O2B2 22 600 -400 100 L 50 50 1 1 O
+X GNDD 23 0 -1100 100 U 50 50 1 1 P N
+X NEXTADDR 24 -600 -400 100 R 50 50 1 1 I
+X DIR2 25 -600 200 100 R 50 50 1 1 I
+X STEP2 26 -600 300 100 R 50 50 1 1 I
+X DIR1 27 -600 400 100 R 50 50 1 1 I
+X STEP1 28 -600 500 100 R 50 50 1 1 I
+X ~DRV_ENN 29 -600 700 100 R 50 50 1 1 I
+X CSN/IO0 3 -600 0 100 R 50 50 1 1 B
+X VSA 30 -300 1100 100 D 50 50 1 1 W
+X GNDA 31 200 -1100 100 U 50 50 1 1 W
+X 5VOUT 32 200 1100 100 D 50 50 1 1 w
+X VCC 33 100 1100 100 D 50 50 1 1 W
+X GNDD 34 0 -1100 100 U 50 50 1 1 P N
+X CPO 35 600 -900 100 L 50 50 1 1 P
+X CPI 36 600 -800 100 L 50 50 1 1 P
+X VCP 37 300 1100 100 D 50 50 1 1 P
+X GNDD 38 0 -1100 100 U 50 50 1 1 P N
+X O1B2 39 600 300 100 L 50 50 1 1 O
+X SCK/IO1 4 -600 -100 100 R 50 50 1 1 B
+X BR1B 40 600 100 100 L 50 50 1 1 P
+X O1B1 41 600 400 100 L 50 50 1 1 O
+X VS 42 -100 1100 100 D 50 50 1 1 W
+X GNDP 43 100 -1100 100 U 50 50 1 1 P N
+X VS 44 -100 1100 100 D 50 50 1 1 P N
+X O1A2 45 600 500 100 L 50 50 1 1 O
+X BR1A 46 600 200 100 L 50 50 1 1 P
+X O1A1 47 600 600 100 L 50 50 1 1 O
+X TST_MODE 48 -600 -900 100 R 50 50 1 1 I
+X GNDD 49 0 -1100 100 U 50 50 1 1 P N
+X SDI/IO2 5 -600 -200 100 R 50 50 1 1 B
+X GNDD 6 0 -1100 100 U 50 50 1 1 W
+X VCC_IO 7 0 1100 100 D 50 50 1 1 W
+X SDO 8 -600 -300 100 R 50 50 1 1 B
+X SWIOP 9 -600 -500 100 R 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
+# TMC2100-LA
+#
+DEF TMC2100-LA U 0 20 Y Y 1 F N
+F0 "U" -450 950 50 H V C CNN
+F1 "TMC2100-LA" 350 950 50 H V L CNN
+F2 "Package_DFN_QFN:QFN-36-1EP_5x6mm_P0.5mm_EP3.6x4.1mm_ThermalVias" -200 -1100 50 H I C CNN
+F3 "" -1150 1050 50 H I C CNN
+$FPLIST
+ QFN*1EP*5x6mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -500 900 500 -900 0 1 10 f
+X CLK 1 -600 400 100 R 50 50 1 1 I
+X GNDD 10 0 -1000 100 U 50 50 1 1 W
+X GNDD 11 0 -1000 100 U 50 50 1 1 P N
+X GNDP 12 100 -1000 100 U 50 50 1 1 W
+X OB1 13 600 -300 100 L 50 50 1 1 O
+X BRB 14 600 -100 100 L 50 50 1 1 P
+X OB2 15 600 -200 100 L 50 50 1 1 O
+X VS 16 -200 1000 100 D 50 50 1 1 W
+X DNC 17 500 400 100 L 50 50 1 1 N N
+X CFG4 18 -600 -500 100 R 50 50 1 1 I
+X CFG5 19 -600 -600 100 R 50 50 1 1 I
+X CFG3 2 -600 -400 100 R 50 50 1 1 I
+X ERROR 20 600 600 100 L 50 50 1 1 C
+X INDEX 21 600 500 100 L 50 50 1 1 C
+X ~CFG6_ENN 22 -600 500 100 R 50 50 1 1 I
+X AIN_REF 23 -600 600 100 R 50 50 1 1 I
+X GNDA 24 200 -1000 100 U 50 50 1 1 W
+X 5VOUT 25 200 1000 100 D 50 50 1 1 w
+X VCC 26 100 1000 100 D 50 50 1 1 W
+X CP0 27 600 -600 100 L 50 50 1 1 P
+X CPI 28 600 -500 100 L 50 50 1 1 P
+X VCP 29 600 700 100 L 50 50 1 1 P
+X CFG2 3 -600 -300 100 R 50 50 1 1 I
+X VSA 30 -300 1000 100 D 50 50 1 1 W
+X VS 31 -100 1000 100 D 50 50 1 1 W
+X OA2 32 600 200 100 L 50 50 1 1 O
+X BRA 33 600 100 100 L 50 50 1 1 P
+X OA1 34 600 300 100 L 50 50 1 1 O
+X GNDP 35 100 -1000 100 U 50 50 1 1 P N
+X TST_MODE 36 -600 -800 100 R 50 50 1 1 I
+X GNDD 37 0 -1000 100 U 50 50 1 1 P N
+X CFG1 4 -600 -200 100 R 50 50 1 1 I
+X CFG0 5 -600 -100 100 R 50 50 1 1 I
+X STEP 6 -600 200 100 R 50 50 1 1 I
+X DIR 7 -600 100 100 R 50 50 1 1 I
+X VCC_IO 8 0 1000 100 D 50 50 1 1 W
+X DNC 9 500 0 100 L 50 50 1 1 N N
+ENDDRAW
+ENDDEF
+#
+# TMC2100-TA
+#
+DEF TMC2100-TA U 0 20 Y Y 1 F N
+F0 "U" -450 950 50 H V C CNN
+F1 "TMC2100-TA" 350 950 50 H V L CNN
+F2 "Package_QFP:TQFP-48-1EP_7x7mm_P0.5mm_EP5x5mm_ThermalVias" 0 -1100 50 H I C CNN
+F3 "" -1150 1050 50 H I C CNN
+$FPLIST
+ TQFP*1EP*7x7mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -500 900 500 -900 0 1 10 f
+X TST_MODE 1 -600 -800 100 R 50 50 1 1 I
+X VCC_IO 10 0 1000 100 D 50 50 1 1 W
+X DNC 11 -500 700 100 R 50 50 1 1 N N
+X GNDD 12 0 -1000 100 U 50 50 1 1 W
+X GNDP 13 100 -1000 100 U 50 50 1 1 P N
+X DNC 14 -500 300 100 R 50 50 1 1 N N
+X OB1 15 600 -400 100 L 50 50 1 1 O
+X DNC 16 -500 0 100 R 50 50 1 1 N N
+X BRB 17 600 -200 100 L 50 50 1 1 P
+X DNC 18 -500 -700 100 R 50 50 1 1 N N
+X OB2 19 600 -300 100 L 50 50 1 1 O
+X CLK 2 -600 400 100 R 50 50 1 1 I
+X DNC 20 500 700 100 L 50 50 1 1 N N
+X VS 21 -200 1000 100 D 50 50 1 1 W
+X DNC 22 300 -900 100 U 50 50 1 1 N N
+X DNC 23 500 800 100 L 50 50 1 1 N N
+X CFG4 24 -600 -500 100 R 50 50 1 1 I
+X CFG5 25 -600 -600 100 R 50 50 1 1 I
+X ERROR 26 600 600 100 L 50 50 1 1 C
+X INDEX 27 600 500 100 L 50 50 1 1 C
+X DNC 28 500 -800 100 L 50 50 1 1 N N
+X ~CFG6_ENN 29 -600 500 100 R 50 50 1 1 I
+X CFG3 3 -600 -400 100 R 50 50 1 1 I
+X AIN_REF 30 -600 600 100 R 50 50 1 1 I
+X GNDD 31 0 -1000 100 U 50 50 1 1 P N
+X GNDA 32 200 -1000 100 U 50 50 1 1 W
+X 5VOUT 33 200 1000 100 D 50 50 1 1 w
+X VCC 34 100 1000 100 D 50 50 1 1 W
+X CP0 35 600 -700 100 L 50 50 1 1 P
+X GNDD 36 0 -1000 100 U 50 50 1 1 P N
+X CPI 37 600 -600 100 L 50 50 1 1 P
+X VCP 38 300 1000 100 D 50 50 1 1 P
+X VSA 39 -300 1000 100 D 50 50 1 1 W
+X CFG2 4 -600 -300 100 R 50 50 1 1 I
+X VS 40 -100 1000 100 D 50 50 1 1 W
+X DNC 41 500 -500 100 L 50 50 1 1 N N
+X OA2 42 600 200 100 L 50 50 1 1 O
+X DNC 43 500 -100 100 L 50 50 1 1 N N
+X BRA 44 600 100 100 L 50 50 1 1 P
+X DNC 45 500 0 100 L 50 50 1 1 N N
+X OA1 46 600 300 100 L 50 50 1 1 O
+X DNC 47 500 400 100 L 50 50 1 1 N N
+X GNDP 48 100 -1000 100 U 50 50 1 1 W
+X GNDD 49 0 -1000 100 U 50 50 1 1 P N
+X CFG1 5 -600 -200 100 R 50 50 1 1 I
+X GNDD 6 0 -1000 100 U 50 50 1 1 P N
+X CFG0 7 -600 -100 100 R 50 50 1 1 I
+X STEP 8 -600 200 100 R 50 50 1 1 I
+X DIR 9 -600 100 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# TMC2130-LA
+#
+DEF TMC2130-LA U 0 20 Y Y 1 F N
+F0 "U" -600 1200 50 H V C CNN
+F1 "TMC2130-LA" 700 1200 50 H V C CNN
+F2 "Package_DFN_QFN:QFN-36-1EP_5x6mm_P0.5mm_EP3.6x4.1mm" 0 -1600 50 H I C CNN
+F3 "" 0 -1700 50 H I C CNN
+$FPLIST
+ QFN*1EP*5x6mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -600 1100 600 -1100 0 1 10 f
+X CLK 1 -700 1000 100 R 50 50 1 1 I
+X SPI_MODE 10 -700 -900 100 R 50 50 1 1 I
+X GNDD 11 -100 -1200 100 U 50 50 1 1 P N
+X GNDP 12 100 -1200 100 U 50 50 1 1 W
+X OB1 13 700 -1000 100 L 50 50 1 1 O
+X BRB 14 700 -800 100 L 50 50 1 1 P
+X OB2 15 700 -900 100 L 50 50 1 1 O
+X VS 16 400 1200 100 D 50 50 1 1 W
+X DCO 17 -700 200 100 R 50 50 1 1 O
+X DCEN_CFG4 18 -700 100 100 R 50 50 1 1 I
+X DCIN_CFG5 19 -700 0 100 R 50 50 1 1 I
+X ~CS~_CFG3 2 -700 900 100 R 50 50 1 1 I
+X DIAG0 20 -700 -400 100 R 50 50 1 1 O
+X DIAG1 21 -700 -500 100 R 50 50 1 1 O
+X ~DRV_EN~_CFG6 22 -700 -200 100 R 50 50 1 1 I
+X AIN_IREF 23 -700 -700 100 R 50 50 1 1 I
+X GNDA 24 0 -1200 100 U 50 50 1 1 W
+X 5VOUT 25 100 1200 100 D 50 50 1 1 w
+X VCC 26 0 1200 100 D 50 50 1 1 W
+X CPO 27 700 800 100 L 50 50 1 1 P
+X CPI 28 700 500 100 L 50 50 1 1 P
+X VCP 29 700 900 100 L 50 50 1 1 P
+X SCK_CFG2 3 -700 800 100 R 50 50 1 1 I
+X VSA 30 200 1200 100 D 50 50 1 1 W
+X VS 31 300 1200 100 D 50 50 1 1 W
+X OA2 32 700 100 100 L 50 50 1 1 O
+X BRA 33 700 0 100 L 50 50 1 1 P
+X OA1 34 700 200 100 L 50 50 1 1 O
+X GNDP 35 100 -1200 100 U 50 50 1 1 P N
+X TST_MODE 36 -700 -1000 100 R 50 50 1 1 I
+X GNDD 37 -100 -1200 100 U 50 50 1 1 W
+X SDI_CFG1 4 -700 700 100 R 50 50 1 1 I
+X SDO_CFG0 5 -700 600 100 R 50 50 1 1 B
+X STEP 6 -700 400 100 R 50 50 1 1 I
+X DIR 7 -700 300 100 R 50 50 1 1 I
+X VCC_IO 8 -100 1200 100 D 50 50 1 1 W
+X DNC 9 600 700 100 L 50 50 1 1 N N
+ENDDRAW
+ENDDEF
+#
+# TMC2130-TA
+#
+DEF TMC2130-TA U 0 20 Y Y 1 F N
+F0 "U" -600 1200 50 H V C CNN
+F1 "TMC2130-TA" 700 1200 50 H V C CNN
+F2 "Package_QFP:TQFP-48-1EP_7x7mm_P0.5mm_EP5x5mm" 0 -1700 50 H I C CNN
+F3 "" 2100 -1800 50 H I C CNN
+$FPLIST
+ TQFP*1EP*7x7mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -600 1100 600 -1100 1 1 10 f
+X TST_MODE 1 -700 -1000 100 R 50 50 1 1 I
+X VCC_IO 10 -100 1200 100 D 50 50 1 1 W
+X DNC 11 600 600 100 L 50 50 1 1 N N
+X SPI_MODE 12 -700 -900 100 R 50 50 1 1 I
+X GNDP 13 100 -1200 100 U 50 50 1 1 W
+X DNC 14 600 400 100 L 50 50 1 1 N N
+X OB1 15 700 -1000 100 L 50 50 1 1 O
+X DNC 16 600 300 100 L 50 50 1 1 N N
+X BRB 17 700 -800 100 L 50 50 1 1 P
+X DNC 18 600 -100 100 L 50 50 1 1 N N
+X OB2 19 700 -900 100 L 50 50 1 1 O
+X CLK 2 -700 1000 100 R 50 50 1 1 I
+X DNC 20 600 -200 100 L 50 50 1 1 N N
+X VS 21 400 1200 100 D 50 50 1 1 W
+X DNC 22 600 -300 100 L 50 50 1 1 N N
+X DCO 23 -700 200 100 R 50 50 1 1 O
+X DCEN_CFG4 24 -700 100 100 R 50 50 1 1 I
+X DCIN_CFG5 25 -700 0 100 R 50 50 1 1 I
+X DIAG0 26 -700 -400 100 R 50 50 1 1 O
+X DIAG1 27 -700 -500 100 R 50 50 1 1 O
+X DNC 28 600 -400 100 L 50 50 1 1 N N
+X ~DRV_EN~_CFG6 29 -700 -200 100 R 50 50 1 1 I
+X ~CS~_CFG3 3 -700 900 100 R 50 50 1 1 I
+X AIN_IREF 30 -700 -700 100 R 50 50 1 1 I
+X GNDD 31 -100 -1200 100 U 50 50 1 1 P N
+X GNDA 32 0 -1200 100 U 50 50 1 1 W
+X 5VOUT 33 100 1200 100 D 50 50 1 1 w
+X VCC 34 0 1200 100 D 50 50 1 1 W
+X CPO 35 700 800 100 L 50 50 1 1 P
+X GNDD 36 -100 -1200 100 U 50 50 1 1 P N
+X CPI 37 700 500 100 L 50 50 1 1 P
+X VCP 38 700 900 100 L 50 50 1 1 P
+X VSA 39 200 1200 100 D 50 50 1 1 W
+X SCK_CFG2 4 -700 800 100 R 50 50 1 1 I
+X VS 40 300 1200 100 D 50 50 1 1 W
+X DNC 41 600 -500 100 L 50 50 1 1 N N
+X OA2 42 700 100 100 L 50 50 1 1 O
+X DNC 43 600 -600 100 L 50 50 1 1 N N
+X BRA 44 700 0 100 L 50 50 1 1 P
+X DNC 45 600 700 100 L 50 50 1 1 N N
+X OA1 46 700 200 100 L 50 50 1 1 O
+X DNC 47 600 -700 100 L 50 50 1 1 N N
+X GNDP 48 100 -1200 100 U 50 50 1 1 P N
+X GNDD 49 -100 -1200 100 U 50 50 1 1 W
+X SDI_CFG1 5 -700 700 100 R 50 50 1 1 I
+X GNDD 6 -100 -1200 100 U 50 50 1 1 P N
+X SDO_CFG0 7 -700 600 100 R 50 50 1 1 B
+X STEP 8 -700 400 100 R 50 50 1 1 I
+X DIR 9 -700 300 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# TMC262
+#
+DEF TMC262 U 0 20 Y Y 1 F N
+F0 "U" 0 0 50 H V C CNN
+F1 "TMC262" 0 100 50 H V C CNN
+F2 "Package_DFN_QFN:QFN-32-1EP_5x5mm_P0.5mm_EP3.45x3.45mm" 0 -1400 50 H I C CNN
+F3 "" 50 -1350 50 H I C CNN
+$FPLIST
+ QFN*1EP*5x5mm*P0.5mm*
+$ENDFPLIST
+DRAW
+S -700 1200 700 -1200 0 1 10 f
+X GND 1 200 -1300 100 U 50 50 1 1 W
+X SD0 10 -800 -100 100 R 50 50 1 1 T
+X SDI 11 -800 -200 100 R 50 50 1 1 I
+X SCK 12 -800 -300 100 R 50 50 1 1 I
+X GND 13 100 -1300 100 U 50 50 1 1 W
+X CSN 14 -800 -400 100 R 50 50 1 1 I
+X ~ENN~ 15 -800 400 100 R 50 50 1 1 I
+X CLK 16 -800 200 100 R 50 50 1 1 I C
+X SRB 17 800 100 100 L 50 50 1 1 I
+X LB2 18 800 -200 100 L 50 50 1 1 O
+X LB1 19 800 -100 100 L 50 50 1 1 O
+X HA1 2 800 1100 100 L 50 50 1 1 O
+X BMB1 20 800 -400 100 L 50 50 1 1 I
+X BMB2 21 800 -500 100 L 50 50 1 1 I
+X HB2 22 800 -800 100 L 50 50 1 1 O
+X HB1 23 800 -700 100 L 50 50 1 1 O
+X VHS 24 100 1300 100 D 50 50 1 1 W
+X VS 25 0 1300 100 D 50 50 1 1 W
+X TST_ANA 26 800 -1000 100 L 50 50 1 1 O
+X SG_TST 27 800 -1100 100 L 50 50 1 1 O
+X GNDP 28 0 -1300 100 U 50 50 1 1 W
+X VCC_IO 29 -100 1300 100 D 50 50 1 1 W
+X HA2 3 800 1000 100 L 50 50 1 1 O
+X DIR 30 -800 800 100 R 50 50 1 1 I
+X STEP 31 -800 700 100 R 50 50 1 1 I
+X TST_MODE 32 -800 -800 100 R 50 50 1 1 I
+X DIE_PAD 33 -100 -1300 100 U 50 50 1 1 I
+X BMA2 4 800 700 100 L 50 50 1 1 I
+X BMA1 5 800 800 100 L 50 50 1 1 I
+X LA1 6 800 500 100 L 50 50 1 1 O
+X LA2 7 800 400 100 L 50 50 1 1 O
+X SRA 8 800 200 100 L 50 50 1 1 I
+X 5VOUT 9 -300 1300 100 D 50 50 1 1 w
+ENDDRAW
+ENDDEF
+#
+# VNH2SP30
+#
+DEF VNH2SP30 U 0 40 Y Y 1 F N
+F0 "U" -500 1000 50 H V C CNN
+F1 "VNH2SP30" 550 1000 50 H V C CNN
+F2 "Package_SO:ST_MultiPowerSO-30" 0 925 50 H I C CNN
+F3 "" -500 1000 50 H I C CNN
+$FPLIST
+ ST*MultiPowerSO*
+$ENDFPLIST
+DRAW
+S -500 900 500 -900 1 1 10 f
+X OUTA 1 700 100 200 L 50 50 1 1 P N
+X EN/DIAB 10 700 600 200 L 50 50 1 1 O
+X INB 11 -700 400 200 R 50 50 1 1 I
+X NC 12 -700 -300 200 R 50 50 1 1 N N
+X VCC 13 0 1100 200 D 50 50 1 1 P N
+X NC 14 -700 -400 200 R 50 50 1 1 N N
+X OUTB 15 700 -100 200 L 50 50 1 1 P N
+X OUTB 16 700 -100 200 L 50 50 1 1 P N
+X NC 17 -700 -800 200 R 50 50 1 1 N N
+X GNDB 18 -100 -1100 200 U 50 50 1 1 P N
+X GNDB 19 -100 -1100 200 U 50 50 1 1 P N
+X NC 2 -700 0 200 R 50 50 1 1 N N
+X GNDB 20 -100 -1100 200 U 50 50 1 1 P
+X OUTB 21 700 -100 200 L 50 50 1 1 O
+X NC 22 -700 -700 200 R 50 50 1 1 N N
+X VCC 23 0 1100 200 D 50 50 1 1 P N
+X NC 24 -700 -600 200 R 50 50 1 1 N N
+X OUTA 25 700 100 200 L 50 50 1 1 P N
+X GNDA 26 100 -1100 200 U 50 50 1 1 P N
+X GNDA 27 100 -1100 200 U 50 50 1 1 P N
+X GNDA 28 100 -1100 200 U 50 50 1 1 P
+X NC 29 -700 -500 200 R 50 50 1 1 N N
+X VCC 3 0 1100 200 D 50 50 1 1 W
+X OUTA 30 700 100 200 L 50 50 1 1 P N
+X VCC 31 0 1100 200 D 50 50 1 1 P N
+X OUTA 32 700 100 200 L 50 50 1 1 P
+X OUTB 33 700 -100 200 L 50 50 1 1 P N
+X NC 4 -700 -100 200 R 50 50 1 1 N N
+X INA 5 -700 600 200 R 50 50 1 1 I
+X EN/DIAA 6 700 800 200 L 50 50 1 1 O
+X NC 7 -700 -200 200 R 50 50 1 1 N N
+X PWM 8 -700 200 200 R 50 50 1 1 I
+X CS 9 700 -600 200 L 50 50 1 1 O
+ENDDRAW
+ENDDEF
+#
+# VNH5019A-E
+#
+DEF VNH5019A-E U 0 20 Y Y 1 F N
+F0 "U" -300 550 50 H V C CNN
+F1 "VNH5019A-E" 500 550 50 H V C CNN
+F2 "Package_SO:ST_MultiPowerSO-30" 900 -550 50 H I C CNN
+F3 "" -450 850 50 H I C CNN
+$FPLIST
+ ST*MultiPowerSO*
+$ENDFPLIST
+DRAW
+S -400 500 400 -500 0 1 10 f
+X OUTA 1 500 100 100 L 50 50 1 1 O
+X INB 10 -500 300 100 R 50 50 1 1 I
+X CP 11 500 400 100 L 50 50 1 1 O
+X VBAT 12 0 600 100 D 50 50 1 1 W
+X VCC 13 200 600 100 D 50 50 1 1 P N
+X NC 14 400 -400 100 L 50 50 1 1 N N
+X OUTB 15 500 -100 100 L 50 50 1 1 O
+X OUTB 16 500 -100 100 L 50 50 1 1 P N
+X NC 17 400 -200 100 L 50 50 1 1 N N
+X GNDB 18 200 -600 100 U 50 50 1 1 W
+X GNDB 19 200 -600 100 U 50 50 1 1 P N
+X NC 2 400 -300 100 L 50 50 1 1 N N
+X GNDB 20 200 -600 100 U 50 50 1 1 P N
+X OUTB 21 500 -100 100 L 50 50 1 1 P N
+X NC 22 400 0 100 L 50 50 1 1 N N
+X VCC 23 200 600 100 D 50 50 1 1 P N
+X NC 24 400 200 100 L 50 50 1 1 N N
+X OUTA 25 500 100 100 L 50 50 1 1 P N
+X GNDA 26 0 -600 100 U 50 50 1 1 W
+X GNDA 27 0 -600 100 U 50 50 1 1 P N
+X GNDA 28 0 -600 100 U 50 50 1 1 P N
+X NC 29 400 300 100 L 50 50 1 1 N N
+X VCC 3 200 600 100 D 50 50 1 1 W
+X OUTA 30 500 100 100 L 50 50 1 1 P N
+X VCC 31 200 600 100 D 50 50 1 1 P N
+X OUTB 32 500 -100 100 L 50 50 1 1 P N
+X OUTA 33 500 100 100 L 50 50 1 1 P N
+X INA 4 -500 400 100 R 50 50 1 1 I
+X EN/DIAGA 5 -500 0 100 R 50 50 1 1 C
+X CS_DIS 6 -500 -300 100 R 50 50 1 1 I
+X PWM 7 -500 200 100 R 50 50 1 1 I
+X CS 8 -500 -400 100 R 50 50 1 1 O
+X EN/DIAGB 9 -500 -100 100 R 50 50 1 1 C
+ENDDRAW
+ENDDEF
+#
+# ZXBM5210-S
+#
+DEF ZXBM5210-S U 0 20 Y Y 1 F N
+F0 "U" -300 350 50 H V C CNN
+F1 "ZXBM5210-S" 400 350 50 H V C CNN
+F2 "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm" 50 -250 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ SOIC*3.9x4.9mm*P1.27mm*
+$ENDFPLIST
+DRAW
+S -300 300 300 -200 0 1 10 f
+X OUT1 1 400 100 100 L 50 50 0 0 O
+X VM 2 100 400 100 D 50 50 0 0 W
+X VDD 3 -100 400 100 D 50 50 0 0 W
+X FWD 4 -400 0 100 R 50 50 0 0 I
+X REV 5 -400 -100 100 R 50 50 0 0 I
+X VREF 6 -400 100 100 R 50 50 0 0 I
+X OUT2 7 400 -100 100 L 50 50 0 0 O
+X GND 8 0 -300 100 U 50 50 0 0 W
+ENDDRAW
+ENDDEF
+#
+# ZXBM5210-SP
+#
+DEF ZXBM5210-SP U 0 20 Y Y 1 F N
+F0 "U" -300 350 50 H V C CNN
+F1 "ZXBM5210-SP" 400 350 50 H V C CNN
+F2 "Package_SO:Diodes_SO-8EP" 50 -250 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ Diodes*SO*EP*
+$ENDFPLIST
+DRAW
+S -300 300 300 -200 0 1 10 f
+X OUT1 1 400 100 100 L 50 50 0 0 O
+X VM 2 100 400 100 D 50 50 0 0 W
+X VDD 3 -100 400 100 D 50 50 0 0 W
+X FWD 4 -400 0 100 R 50 50 0 0 I
+X REV 5 -400 -100 100 R 50 50 0 0 I
+X VREF 6 -400 100 100 R 50 50 0 0 I
+X OUT2 7 400 -100 100 L 50 50 0 0 O
+X GND 8 0 -300 100 U 50 50 0 0 W
+X GND 9 0 -300 100 U 50 50 0 0 P N
+ENDDRAW
+ENDDEF
+#
+# 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 "" 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 12v ~ -450 -500 100 U 50 50 1 1 W
+X 5v ~ -250 -500 100 U 50 50 1 1 W
+X EnA ~ -50 -500 100 U 50 50 1 1 W
+X EnB ~ 450 -500 100 U 50 50 1 1 W
+X gnd ~ -350 -500 100 U 50 50 1 1 W
+X in1 ~ 50 -500 100 U 50 50 1 1 W
+X in2 ~ 150 -500 100 U 50 50 1 1 W
+X in3 ~ 250 -500 100 U 50 50 1 1 W
+X in4 ~ 350 -500 100 U 50 50 1 1 W
+X ou4 ~ 500 250 100 L 50 50 1 1 W
+X out1 ~ -500 250 100 R 50 50 1 1 W
+X out2 ~ -500 150 100 R 50 50 1 1 W
+X out3 ~ 500 150 100 L 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/pcb/openmv_m7_r2.dcm b/pcb/openmv_m7_r2.dcm
new file mode 100644
index 0000000..5f3ed79
--- /dev/null
+++ b/pcb/openmv_m7_r2.dcm
@@ -0,0 +1,3 @@
+EESchema-DOCLIB Version 2.0
+#
+#End Doc Library
diff --git a/pcb/openmv_m7_r2.lib b/pcb/openmv_m7_r2.lib
new file mode 100644
index 0000000..bee3d3d
--- /dev/null
+++ b/pcb/openmv_m7_r2.lib
@@ -0,0 +1,35 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# openMV_M7_R2
+#
+DEF openMV_M7_R2 U 0 40 Y Y 1 F N
+F0 "U" 0 1350 50 H V C CNN
+F1 "openMV_M7_R2" 0 1200 50 H V C CNN
+F2 "" 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
+#
+#End Library
diff --git a/pcb/pcb b/pcb/pcb
new file mode 100644
index 0000000..3f46dff
--- /dev/null
+++ b/pcb/pcb
@@ -0,0 +1,38 @@
+"Source:" "/home/abel/Documents/robotica/pcb/pcb.sch"
+"Date:" "Wed May 1 16:25:15 2024"
+"Tool:" "Eeschema 5.1.9+dfsg1-1+deb11u1"
+"Component Count:" "33"
+"Ref" "Value" "Part" "Footprint" "Description" "Vendor"
+"3.3vconverter1" "ATA00F18S-L" "Converter_DCDC:ATA00F18S-L" "Converter_DCDC:Converter_DCDC_Artesyn_ATA_SMD" "Artesyn 2W Isolated DC/DC Converter Module, 3.3V Output Voltage, 9-36V Input Voltage" ""
+"5Vconverter1" "ATA00A18S-L" "Converter_DCDC:ATA00A18S-L" "Converter_DCDC:Converter_DCDC_Artesyn_ATA_SMD" "Artesyn 3W Isolated DC/DC Converter Module, 5V Output Voltage, 9-36V Input Voltage" ""
+"collor_sensor_1" "tcs3472_color_sensor" "tcs3472_color_sensor:tcs3472_color_sensor" "" "" ""
+"collor_sensor_2" "tcs3472_color_sensor" "tcs3472_color_sensor:tcs3472_color_sensor" "" "" ""
+"collor_sensor_3" "tcs3472_color_sensor" "tcs3472_color_sensor:tcs3472_color_sensor" "" "" ""
+"collor_sensor_4" "tcs3472_color_sensor" "tcs3472_color_sensor:tcs3472_color_sensor" "" "" ""
+"collor_sensor_5" "tcs3472_color_sensor" "tcs3472_color_sensor:tcs3472_color_sensor" "" "" ""
+"collor_sensor_6" "tcs3472_color_sensor" "tcs3472_color_sensor:tcs3472_color_sensor" "" "" ""
+"controllboard1" "Teensy4.1" "teensy:Teensy4.1" "" "" ""
+"i2converter1" "PCA9548ADB" "Interface_Expansion:PCA9548ADB" "Package_SO:SSOP-24_5.3x8.2mm_P0.65mm" "Low voltage 8-channel I2C switch with reset, SSOP-24" ""
+"io_expender2" "MCP23017_SP" "Interface_Expansion:MCP23017_SP" "Package_DIP:DIP-28_W7.62mm" "16-bit I/O expander, I2C, interrupts, w pull-ups, SPDIP-28" ""
+"io_expernder1" "MCP23017_SP" "Interface_Expansion:MCP23017_SP" "Package_DIP:DIP-28_W7.62mm" "16-bit I/O expander, I2C, interrupts, w pull-ups, SPDIP-28" ""
+"ir_sensor_1" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_2" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_3" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_4" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_5" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_6" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_7" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_8" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_9" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_10" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_11" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_12" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_13" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_14" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_15" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"ir_sensor_16" "tssp4038" "tssp4038:tssp4038" "" "" ""
+"motor1" "pololu_motor" "pololu_motor:pololu_motor" "" "" ""
+"motor2" "pololu_motor" "pololu_motor:pololu_motor" "" "" ""
+"motor3" "pololu_motor" "pololu_motor:pololu_motor" "" "" ""
+"motor_driver1" "l298n" "l298n:l298n" "" "" ""
+"motor_driver2" "l298n" "l298n:l298n" "" "" ""
diff --git a/pcb/pcb-cache.lib b/pcb/pcb-cache.lib
index c04e402..f7fdfff 100644
--- a/pcb/pcb-cache.lib
+++ b/pcb/pcb-cache.lib
@@ -58,6 +58,43 @@ X +VOUT 9 500 200 100 L 50 50 1 1 w
ENDDRAW
ENDDEF
#
+# Device_Buzzer
+#
+DEF Device_Buzzer BZ 0 1 Y N 1 F N
+F0 "BZ" 150 50 50 H V L CNN
+F1 "Device_Buzzer" 150 -50 50 H V L CNN
+F2 "" -25 100 50 V I C CNN
+F3 "" -25 100 50 V I C CNN
+$FPLIST
+ *Buzzer*
+$ENDFPLIST
+DRAW
+A 0 0 125 -899 899 0 1 0 N 0 -125 0 125
+P 2 0 1 0 -65 75 -45 75 N
+P 2 0 1 0 -55 85 -55 65 N
+P 2 0 1 0 0 125 0 -125 N
+X - 1 -100 100 100 R 50 50 1 1 P
+X + 2 -100 -100 100 R 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# 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
@@ -140,6 +177,71 @@ X SC2 9 400 300 100 L 50 50 1 1 O
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
+#
# l298n_l298n
#
DEF l298n_l298n U 0 40 Y Y 1 F N
@@ -165,6 +267,37 @@ X out3 ~ 500 150 100 L 50 50 1 1 W
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 "" 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
+#
# pololu_motor_pololu_motor
#
DEF pololu_motor_pololu_motor U 0 40 Y Y 1 F N
diff --git a/pcb/pcb-readme.md b/pcb/pcb-readme.md
index 3322ea5..4c992e3 100644
--- a/pcb/pcb-readme.md
+++ b/pcb/pcb-readme.md
@@ -5,4 +5,5 @@ created:
l298n - https://www.kiwi-electronics.com/nl/dual-h-bridge-dc-stepper-motor-driver-l298n-4117?search=l293n
pololu_motor - https://www.pololu.com/product/4840
tssp4038 - https://www.vishay.com/docs/82458/tssp40.pdf
- tcs3472_color_sensor -h ttps://www.biomaker.org/block-catalogue/2021/12/17/rgb-colour-sensor-tcs34725
+ tcs3472_color_sensor - https://www.biomaker.org/block-catalogue/2021/12/17/rgb-colour-sensor-tcs34725
+ openmv_m7_r2 - https://openmv.io/products/openmv-cam-m7
diff --git a/pcb/pcb.sch b/pcb/pcb.sch
index caa6049..933442b 100644
--- a/pcb/pcb.sch
+++ b/pcb/pcb.sch
@@ -125,10 +125,10 @@ Wire Wire Line
Wire Wire Line
4350 6500 4350 6250
$Comp
-L Interface_Expansion:PCA9548ADB i2converter
+L Interface_Expansion:PCA9548ADB i2converter1
U 1 1 663863AE
P 5000 2800
-F 0 "i2converter" H 5000 3881 50 0000 C CNN
+F 0 "i2converter1" H 5000 3881 50 0000 C CNN
F 1 "PCA9548ADB" H 5000 3790 50 0000 C CNN
F 2 "Package_SO:SSOP-24_5.3x8.2mm_P0.65mm" H 5000 1800 50 0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/pca9548a.pdf" H 5050 3050 50 0001 C CNN
@@ -450,8 +450,6 @@ Wire Wire Line
Wire Wire Line
5650 3500 5400 3500
Wire Wire Line
- 6650 11050 4100 11050
-Wire Wire Line
4100 11050 4100 8450
Connection ~ 4100 6700
Wire Wire Line
@@ -1323,4 +1321,375 @@ Wire Wire Line
12125 12875 16725 12875
Wire Wire Line
16725 12875 16725 11850
+Wire Wire Line
+ 10850 1900 10250 1900
+Wire Wire Line
+ 10250 1900 10250 1425
+Wire Wire Line
+ 11500 2875 11500 3000
+Wire Wire Line
+ 10225 3000 10225 1450
+Wire Wire Line
+ 10225 1450 9200 1450
+Wire Wire Line
+ 9200 1450 9200 750
+Wire Wire Line
+ 9200 750 4575 750
+Wire Wire Line
+ 4575 750 4575 1500
+Wire Wire Line
+ 4575 1500 3500 1500
+Wire Wire Line
+ 3500 1400 4550 1400
+Wire Wire Line
+ 4550 1400 4550 725
+Wire Wire Line
+ 4550 725 9250 725
+Wire Wire Line
+ 9250 725 9250 1425
+Wire Wire Line
+ 9250 1425 10250 1425
+$Comp
+L Switch:SW_DIP_x06 settings
+U 1 1 670F1323
+P 11150 2200
+F 0 "settings" H 11150 2767 50 0000 C CNN
+F 1 "SW_DIP_x06" H 11150 2676 50 0000 C CNN
+F 2 "" 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 R?
+U 1 1 675AF867
+P 11500 2725
+F 0 "R?" H 11570 2771 50 0000 L CNN
+F 1 "R" H 11570 2680 50 0000 L CNN
+F 2 "" V 11430 2725 50 0001 C CNN
+F 3 "~" H 11500 2725 50 0001 C CNN
+ 1 11500 2725
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R?
+U 1 1 675B0045
+P 11725 2725
+F 0 "R?" H 11795 2771 50 0000 L CNN
+F 1 "R" H 11795 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 675E18E7
+P 11950 2725
+F 0 "R?" H 12020 2771 50 0000 L CNN
+F 1 "R" H 12020 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 67613260
+P 12175 2725
+F 0 "R?" H 12245 2771 50 0000 L CNN
+F 1 "R" H 12245 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 67644AE6
+P 12400 2725
+F 0 "R?" H 12470 2771 50 0000 L CNN
+F 1 "R" H 12470 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 676761F6
+P 12625 2725
+F 0 "R?" H 12695 2771 50 0000 L CNN
+F 1 "R" H 12695 2680 50 0000 L CNN
+F 2 "" 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 BZ?
+U 1 1 67A68A9E
+P 13050 2100
+F 0 "BZ?" H 13202 2129 50 0000 L CNN
+F 1 "Buzzer" H 13202 2038 50 0000 L CNN
+F 2 "" 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 U?
+U 1 1 67CD24B8
+P 2350 14050
+F 0 "U?" H 2350 15215 50 0000 C CNN
+F 1 "openMV_M7_R2" H 2350 15124 50 0000 C CNN
+F 2 "" 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_color
+U 1 1 68069763
+P 2275 12350
+F 0 "set_goal_color" H 2275 12617 50 0000 C CNN
+F 1 "SW_DIP_x01" H 2275 12526 50 0000 C CNN
+F 2 "" 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 R?
+U 1 1 6806A728
+P 2575 12500
+F 0 "R?" H 2645 12546 50 0000 L CNN
+F 1 "R" H 2645 12455 50 0000 L CNN
+F 2 "" 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
$EndSCHEMATC
diff --git a/pcb/pcb.sch-bak b/pcb/pcb.sch-bak
index 3e5105e..d36f7da 100644
--- a/pcb/pcb.sch-bak
+++ b/pcb/pcb.sch-bak
@@ -125,10 +125,10 @@ Wire Wire Line
Wire Wire Line
4350 6500 4350 6250
$Comp
-L Interface_Expansion:PCA9548ADB i2converter
+L Interface_Expansion:PCA9548ADB i2converter1
U 1 1 663863AE
P 5000 2800
-F 0 "i2converter" H 5000 3881 50 0000 C CNN
+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
@@ -450,8 +450,6 @@ Wire Wire Line
Wire Wire Line
5650 3500 5400 3500
Wire Wire Line
- 6650 11050 4100 11050
-Wire Wire Line
4100 11050 4100 8450
Connection ~ 4100 6700
Wire Wire Line
@@ -512,10 +510,10 @@ F 3 "" H 11400 6200 50 0001 C CNN
0 1 1 0
$EndComp
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_4
U 1 1 663895CC
P 11400 6750
-F 0 "ir_sensor_?" V 11354 6578 50 0000 L CNN
+F 0 "ir_sensor_4" V 11354 6578 50 0000 L CNN
F 1 "tssp4038" V 11445 6578 50 0000 L CNN
F 2 "" H 11400 6850 50 0001 C CNN
F 3 "" H 11400 6850 50 0001 C CNN
@@ -523,10 +521,10 @@ F 3 "" H 11400 6850 50 0001 C CNN
0 1 1 0
$EndComp
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_5
U 1 1 663953D2
P 11400 7400
-F 0 "ir_sensor_?" V 11354 7228 50 0000 L CNN
+F 0 "ir_sensor_5" V 11354 7228 50 0000 L CNN
F 1 "tssp4038" V 11445 7228 50 0000 L CNN
F 2 "" H 11400 7500 50 0001 C CNN
F 3 "" H 11400 7500 50 0001 C CNN
@@ -534,10 +532,10 @@ F 3 "" H 11400 7500 50 0001 C CNN
0 1 1 0
$EndComp
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_6
U 1 1 66395681
P 11400 8100
-F 0 "ir_sensor_?" V 11354 7928 50 0000 L CNN
+F 0 "ir_sensor_6" V 11354 7928 50 0000 L CNN
F 1 "tssp4038" V 11445 7928 50 0000 L CNN
F 2 "" H 11400 8200 50 0001 C CNN
F 3 "" H 11400 8200 50 0001 C CNN
@@ -545,10 +543,10 @@ F 3 "" H 11400 8200 50 0001 C CNN
0 1 1 0
$EndComp
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_7
U 1 1 6639568B
P 11400 8800
-F 0 "ir_sensor_?" V 11354 8628 50 0000 L CNN
+F 0 "ir_sensor_7" V 11354 8628 50 0000 L CNN
F 1 "tssp4038" V 11445 8628 50 0000 L CNN
F 2 "" H 11400 8900 50 0001 C CNN
F 3 "" H 11400 8900 50 0001 C CNN
@@ -556,10 +554,10 @@ F 3 "" H 11400 8900 50 0001 C CNN
0 1 1 0
$EndComp
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_8
U 1 1 66395696
P 11400 9450
-F 0 "ir_sensor_?" V 11354 9278 50 0000 L CNN
+F 0 "ir_sensor_8" V 11354 9278 50 0000 L CNN
F 1 "tssp4038" V 11445 9278 50 0000 L CNN
F 2 "" H 11400 9550 50 0001 C CNN
F 3 "" H 11400 9550 50 0001 C CNN
@@ -642,10 +640,10 @@ Wire Wire Line
10600 9450 9900 9450
Connection ~ 9900 9450
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_9
U 1 1 6642E25B
P 13550 4700
-F 0 "ir_sensor_?" V 13504 4528 50 0000 L CNN
+F 0 "ir_sensor_9" V 13504 4528 50 0000 L CNN
F 1 "tssp4038" V 13595 4528 50 0000 L CNN
F 2 "" H 13550 4800 50 0001 C CNN
F 3 "" H 13550 4800 50 0001 C CNN
@@ -653,66 +651,66 @@ F 3 "" H 13550 4800 50 0001 C CNN
0 1 1 0
$EndComp
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_10
U 1 1 6642E3F1
P 13550 5400
-F 0 "ir_sensor_?" V 13504 5228 50 0000 L CNN
-F 1 "tssp4038" V 13595 5228 50 0000 L CNN
+F 0 "ir_sensor_10" V 13504 5229 50 0000 L CNN
+F 1 "tssp4038" V 13595 5229 50 0000 L CNN
F 2 "" 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_?
+L tssp4038:tssp4038 ir_sensor_11
U 1 1 6642E3FB
P 13550 6100
-F 0 "ir_sensor_?" V 13504 5928 50 0000 L CNN
-F 1 "tssp4038" V 13595 5928 50 0000 L CNN
+F 0 "ir_sensor_11" V 13504 5929 50 0000 L CNN
+F 1 "tssp4038" V 13595 5929 50 0000 L CNN
F 2 "" 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_?
+L tssp4038:tssp4038 ir_sensor_12
U 1 1 6642E405
P 13550 6750
-F 0 "ir_sensor_?" V 13504 6578 50 0000 L CNN
-F 1 "tssp4038" V 13595 6578 50 0000 L CNN
+F 0 "ir_sensor_12" V 13504 6579 50 0000 L CNN
+F 1 "tssp4038" V 13595 6579 50 0000 L CNN
F 2 "" 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_?
+L tssp4038:tssp4038 ir_sensor_13
U 1 1 6642E40F
P 13550 7400
-F 0 "ir_sensor_?" V 13504 7228 50 0000 L CNN
-F 1 "tssp4038" V 13595 7228 50 0000 L CNN
+F 0 "ir_sensor_13" V 13504 7229 50 0000 L CNN
+F 1 "tssp4038" V 13595 7229 50 0000 L CNN
F 2 "" 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_?
+L tssp4038:tssp4038 ir_sensor_14
U 1 1 6642E419
P 13550 8100
-F 0 "ir_sensor_?" V 13504 7928 50 0000 L CNN
-F 1 "tssp4038" V 13595 7928 50 0000 L CNN
+F 0 "ir_sensor_14" V 13504 7929 50 0000 L CNN
+F 1 "tssp4038" V 13595 7929 50 0000 L CNN
F 2 "" H 13550 8200 50 0001 C CNN
F 3 "" H 13550 8200 50 0001 C CNN
1 13550 8100
0 1 1 0
$EndComp
$Comp
-L tssp4038:tssp4038 ir_sensor_?
+L tssp4038:tssp4038 ir_sensor_15
U 1 1 6642E423
P 13550 8800
-F 0 "ir_sensor_?" V 13504 8628 50 0000 L CNN
-F 1 "tssp4038" V 13595 8628 50 0000 L CNN
+F 0 "ir_sensor_15" V 13504 8629 50 0000 L CNN
+F 1 "tssp4038" V 13595 8629 50 0000 L CNN
F 2 "" H 13550 8900 50 0001 C CNN
F 3 "" H 13550 8900 50 0001 C CNN
1 13550 8800
@@ -1323,4 +1321,334 @@ Wire Wire Line
12125 12875 16725 12875
Wire Wire Line
16725 12875 16725 11850
+Wire Wire Line
+ 10850 1900 10250 1900
+Wire Wire Line
+ 10250 1900 10250 1425
+Wire Wire Line
+ 11500 2875 11500 3000
+Wire Wire Line
+ 10225 3000 10225 1450
+Wire Wire Line
+ 10225 1450 9200 1450
+Wire Wire Line
+ 9200 1450 9200 750
+Wire Wire Line
+ 9200 750 4575 750
+Wire Wire Line
+ 4575 750 4575 1500
+Wire Wire Line
+ 4575 1500 3500 1500
+Wire Wire Line
+ 3500 1400 4550 1400
+Wire Wire Line
+ 4550 1400 4550 725
+Wire Wire Line
+ 4550 725 9250 725
+Wire Wire Line
+ 9250 725 9250 1425
+Wire Wire Line
+ 9250 1425 10250 1425
+$Comp
+L Switch:SW_DIP_x06 settings
+U 1 1 670F1323
+P 11150 2200
+F 0 "settings" H 11150 2767 50 0000 C CNN
+F 1 "SW_DIP_x06" H 11150 2676 50 0000 C CNN
+F 2 "" 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 R?
+U 1 1 675AF867
+P 11500 2725
+F 0 "R?" H 11570 2771 50 0000 L CNN
+F 1 "R" H 11570 2680 50 0000 L CNN
+F 2 "" V 11430 2725 50 0001 C CNN
+F 3 "~" H 11500 2725 50 0001 C CNN
+ 1 11500 2725
+ 1 0 0 -1
+$EndComp
+$Comp
+L Device:R R?
+U 1 1 675B0045
+P 11725 2725
+F 0 "R?" H 11795 2771 50 0000 L CNN
+F 1 "R" H 11795 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 675E18E7
+P 11950 2725
+F 0 "R?" H 12020 2771 50 0000 L CNN
+F 1 "R" H 12020 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 67613260
+P 12175 2725
+F 0 "R?" H 12245 2771 50 0000 L CNN
+F 1 "R" H 12245 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 67644AE6
+P 12400 2725
+F 0 "R?" H 12470 2771 50 0000 L CNN
+F 1 "R" H 12470 2680 50 0000 L CNN
+F 2 "" 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 R?
+U 1 1 676761F6
+P 12625 2725
+F 0 "R?" H 12695 2771 50 0000 L CNN
+F 1 "R" H 12695 2680 50 0000 L CNN
+F 2 "" 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 BZ?
+U 1 1 67A68A9E
+P 13050 2100
+F 0 "BZ?" H 13202 2129 50 0000 L CNN
+F 1 "Buzzer" H 13202 2038 50 0000 L CNN
+F 2 "" 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 U?
+U 1 1 67CD24B8
+P 2350 14050
+F 0 "U?" H 2350 15215 50 0000 C CNN
+F 1 "openMV_M7_R2" H 2350 15124 50 0000 C CNN
+F 2 "" 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 1750 14550
+Wire Wire Line
+ 4100 11050 4100 14550
+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
$EndSCHEMATC
diff --git a/pcb/pcb.xml b/pcb/pcb.xml
new file mode 100644
index 0000000..71cc9ad
--- /dev/null
+++ b/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>
generated by cgit v1.2.3 (git 2.46.0) at 2026-09-30 04:57:25 +0000