diff --git a/assembly/assembly/lemon-pepper-BOM.csv b/assembly/assembly/lemon-pepper-BOM.csv
new file mode 100644
index 0000000..b5f13b2
--- /dev/null
+++ b/assembly/assembly/lemon-pepper-BOM.csv
@@ -0,0 +1,34 @@
+Comment,Designator,Footprint,JLCPCB Part #
+10u,"C101, C102, C103, C104, C105, C106, C107, C108, C501, C503",805,C440198
+47p,"C201, C202",402,C1567
+100n,"C301, C302, C303, C304, C308, C401, C701, C702, C703",402,C307331
+20p,"C305, C306",402,C1554
+1u,C502,402,C52923
+10n,C601,402,C15195
+220n,C602,402,C16772
+SS210,D101,SMA,C14996
+1N4148WS,"D201, D602, D603",SOD-323,C2128
+USER,D301,603,C72041
+FAULT,D302,603,C2286
+BZT52C30S,"D501, D502",SOD-323,C22622
+OCD,D601,603,C2286
+USB_C_Receptacle_USB2.0,J201,USB-C-SMD_GT-USB-7052_1,C963223
+33u,L501,1210,C394994
+MMBT5551,Q501,SOT-23,C2145
+5k1,"R101, R102, R301, R302, R601",402,C25905
+120R,R103,402,C25079
+0R,"R104, R105",402,C17168
+10k,R306,402,C25744
+200k,R501,402,C25764
+51k,R502,402,C25794
+22k,R503,402,C25768
+5R,R504,402,C22936
+15k,R505,402,C25756
+SRV05-4,U201,SOT-23-6,C7420376
+STM32G431,U301,QFN-48,C529356
+SN65HVD230,U302,SOIC-8,C12084
+MT6835,U401,TSSOP-16,C2932578
+MAX15062CATA+T,U501,TDFN-8,C1121853
+L6226QTR,U601,VQFN-32,C95357
+ACS711KEXLT-31AB-T,"U701, U702, U703",ACS711KEXLT-15AB-T,C146412
+12MHz,Y301,3225,C9002
\ No newline at end of file
diff --git a/assembly/assembly/lemon-pepper-CPL.csv b/assembly/assembly/lemon-pepper-CPL.csv
new file mode 100644
index 0000000..4ec62f1
--- /dev/null
+++ b/assembly/assembly/lemon-pepper-CPL.csv
@@ -0,0 +1,66 @@
+Designation,Mid X,Mid Y,Layer,Rotation
+C101,138.025,-70.725,top,0
+C102,138.025,-72.75,top,180
+C103,138.025,-74.8,top,0
+C104,154.675,-70.725,top,0
+C105,154.675,-74.8,top,180
+C106,154.125,-91.5,top,90
+C107,154.675,-72.75,top,180
+C108,152.325,-94.65,top,180
+C201,139.7,-90.875,top,180
+C202,141.7,-90.875,top,0
+C301,134.25,-78.575,top,135
+C302,134.225,-90.528939,top,-135
+C303,132.8,-89.1,top,-135
+C304,141.525349,-86.064949,top,45
+C305,130.210589,-78.259411,top,-135
+C306,130.5,-82.325,top,135
+C308,135.8,-76.65,top,45
+C401,162.2,-96.65,top,180
+C501,152.325,-96.725,top,180
+C502,157.665,-94.86,top,-90
+C503,162.125,-91.175,top,90
+C601,158.05,-87.95,top,90
+C602,157.3,-90.725,top,-90
+C701,140.12,-80.475,top,180
+C702,150.1,-80.5,top,180
+C703,144.82,-80.513857,top,180
+D101,161.9,-84.85,top,-90
+D201,131.125,-94.95,top,180
+D301,131.0625,-91.275,top,0
+D302,131.0625,-92.925,top,0
+D501,154.1,-77.525,top,-90
+D502,156.125,-77.825,top,-90
+D601,159.325,-87.375,top,-90
+D602,159.45,-91.9,top,180
+D603,159.45,-89.9,top,0
+FID101,129.9,-76.2,top,0
+FID102,130.25,-96.775,top,0
+FID103,162.5,-76.65,top,0
+J201,137.060284,-96.225629,top,-45
+L501,160.825,-94.525,top,0
+Q501,159.0625,-78.825,top,0
+R101,142.125,-97.85,top,90
+R102,138.65,-92.35,top,90
+R103,152.115,-93.075,top,0
+R104,151.25,-89.025,top,90
+R105,150.225,-89.025,top,-90
+R301,133.5,-89.825,top,-135
+R302,134.914376,-91.260624,top,-135
+R306,135,-77.875,top,135
+R501,157.19,-96.335,top,180
+R502,155.665,-96.785,top,-90
+R503,154.59,-96.785,top,-90
+R504,161.8,-79.05,top,90
+R505,156.15,-79.975,top,0
+R601,162.165,-88.925,top,0
+U201,140.9,-93.475,top,-90
+U301,135.950349,-85.039949,top,-45
+U302,146.85,-95.02,top,0
+U401,146.3,-86.975,top,90
+U501,155.515,-94.635,top,-90
+U601,154,-84.225,top,-135
+U701,141,-77.925,top,180
+U702,150.95,-77.975,top,180
+U703,145.7,-77.975,top,180
+Y301,131.823223,-79.898858,top,-135
\ No newline at end of file
diff --git a/assembly/gerbers/lemon-pepper-B_Cu.gbr b/assembly/gerbers/lemon-pepper-B_Cu.gbr
new file mode 100644
index 0000000..77178b1
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-B_Cu.gbr
@@ -0,0 +1,4531 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
+%TF.CreationDate,2023-10-18T19:00:46-04:00*%
+%TF.ProjectId,lemon-pepper,6c656d6f-6e2d-4706-9570-7065722e6b69,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Copper,L4,Bot*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 7.0.8) date 2023-10-18 19:00:46*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+G04 Aperture macros list*
+%AMRoundRect*
+0 Rectangle with rounded corners*
+0 $1 Rounding radius*
+0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
+0 Add a 4 corners polygon primitive as box body*
+4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
+0 Add four circle primitives for the rounded corners*
+1,1,$1+$1,$2,$3*
+1,1,$1+$1,$4,$5*
+1,1,$1+$1,$6,$7*
+1,1,$1+$1,$8,$9*
+0 Add four rect primitives between the rounded corners*
+20,1,$1+$1,$2,$3,$4,$5,0*
+20,1,$1+$1,$4,$5,$6,$7,0*
+20,1,$1+$1,$6,$7,$8,$9,0*
+20,1,$1+$1,$8,$9,$2,$3,0*%
+G04 Aperture macros list end*
+%TA.AperFunction,ComponentPad*%
+%ADD10C,0.700000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD11C,1.300000*%
+%TD*%
+%TA.AperFunction,HeatsinkPad*%
+%ADD12C,0.500000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD13O,1.750000X1.750000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD14O,1.750000X2.000000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD15C,5.800000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD16RoundRect,0.250000X0.600000X0.725000X-0.600000X0.725000X-0.600000X-0.725000X0.600000X-0.725000X0*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD17O,1.700000X1.950000*%
+%TD*%
+%TA.AperFunction,ViaPad*%
+%ADD18C,0.800000*%
+%TD*%
+%TA.AperFunction,ViaPad*%
+%ADD19C,0.300000*%
+%TD*%
+%TA.AperFunction,ViaPad*%
+%ADD20C,0.350000*%
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+%TA.AperFunction,Conductor*%
+%ADD21C,0.100000*%
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+%TA.AperFunction,Conductor*%
+%ADD22C,0.200000*%
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+G04 APERTURE END LIST*
+D10*
+%TO.P,J201,*%
+%TO.N,*%
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+D15*
+%TO.P,H101,1,1*%
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+%TO.N,Vmot*%
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+D17*
+%TO.P,J101,2,Pin_2*%
+%TO.N,GND*%
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diff --git a/assembly/gerbers/lemon-pepper-B_Mask.gbr b/assembly/gerbers/lemon-pepper-B_Mask.gbr
new file mode 100644
index 0000000..0197d46
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-B_Mask.gbr
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diff --git a/assembly/gerbers/lemon-pepper-B_Paste.gbr b/assembly/gerbers/lemon-pepper-B_Paste.gbr
new file mode 100644
index 0000000..cca2e8e
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-B_Paste.gbr
@@ -0,0 +1,23 @@
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diff --git a/assembly/gerbers/lemon-pepper-B_Silkscreen.gbr b/assembly/gerbers/lemon-pepper-B_Silkscreen.gbr
new file mode 100644
index 0000000..f2f8d5e
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-B_Silkscreen.gbr
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diff --git a/assembly/gerbers/lemon-pepper-Edge_Cuts.gbr b/assembly/gerbers/lemon-pepper-Edge_Cuts.gbr
new file mode 100644
index 0000000..8cf18d2
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-Edge_Cuts.gbr
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diff --git a/assembly/gerbers/lemon-pepper-F_Cu.gbr b/assembly/gerbers/lemon-pepper-F_Cu.gbr
new file mode 100644
index 0000000..fea3051
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-F_Cu.gbr
@@ -0,0 +1,6508 @@
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+0 Add a 4 corners polygon primitive as box body*
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+0 Add four circle primitives for the rounded corners*
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+%TO.N,/mcu/USBD_P*%
+X141220000Y-90875000D03*
+%TO.P,C202,2*%
+%TO.N,GND*%
+X142180000Y-90875000D03*
+%TD*%
+D39*
+%TO.P,C301,1*%
+%TO.N,+3V3*%
+X134589411Y-78914411D03*
+%TO.P,C301,2*%
+%TO.N,GND*%
+X133910589Y-78235589D03*
+%TD*%
+D40*
+%TO.P,M101,1*%
+%TO.N,/current sense/U_OUT*%
+X142600000Y-70200000D03*
+D41*
+X142600000Y-72075000D03*
+D42*
+X142600000Y-72325000D03*
+D43*
+X142600000Y-74825000D03*
+D40*
+%TO.P,M101,2,-*%
+%TO.N,/current sense/W_OUT*%
+X145100000Y-70200000D03*
+D41*
+X145100000Y-72075000D03*
+D42*
+X145100000Y-72325000D03*
+D43*
+X145100000Y-74825000D03*
+D40*
+%TO.P,M101,3*%
+%TO.N,/half bridges/OUT1B*%
+X147600000Y-70200000D03*
+D41*
+X147600000Y-72075000D03*
+D42*
+X147600000Y-72325000D03*
+D43*
+X147600000Y-74825000D03*
+D40*
+%TO.P,M101,4*%
+%TO.N,/current sense/V_OUT*%
+X150100000Y-70200000D03*
+D41*
+X150100000Y-72075000D03*
+D42*
+X150100000Y-72325000D03*
+D43*
+X150100000Y-74825000D03*
+%TD*%
+D32*
+%TO.P,R502,1*%
+%TO.N,Net-(U501-FB{slash}VOUT)*%
+X155665000Y-96275000D03*
+%TO.P,R502,2*%
+%TO.N,Net-(R502-Pad2)*%
+X155665000Y-97295000D03*
+%TD*%
+D44*
+%TO.P,D201,1,K*%
+%TO.N,Vmot*%
+X132175000Y-94950000D03*
+%TO.P,D201,2,A*%
+%TO.N,/usb/USB_5V*%
+X130075000Y-94950000D03*
+%TD*%
+D45*
+%TO.P,U601,1,GND*%
+%TO.N,GND*%
+X156941564Y-83758310D03*
+%TO.P,U601,2,NC*%
+X156588011Y-83404756D03*
+%TO.P,U601,3,NC*%
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+%TO.P,U601,4,NC*%
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+%TO.P,U601,5,NC*%
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+%TO.P,U601,6,NC*%
+X155173797Y-81990543D03*
+%TO.P,U601,7,NC*%
+X154820244Y-81636989D03*
+%TO.P,U601,8,NC*%
+X154466690Y-81283436D03*
+D46*
+%TO.P,U601,9,OUT1B*%
+%TO.N,/half bridges/OUT1B*%
+X153533310Y-81283436D03*
+%TO.P,U601,10,NC*%
+%TO.N,GND*%
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+%TO.P,U601,11,OCDB*%
+%TO.N,Net-(D601-K)*%
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+%TO.P,U601,12,SENSEB*%
+%TO.N,GND*%
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+%TO.P,U601,13,IN1B*%
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+X152119096Y-82697649D03*
+%TO.P,U601,14,IN2B*%
+%TO.N,/half bridges/IN2B*%
+X151765543Y-83051203D03*
+%TO.P,U601,15,PROGCLB*%
+%TO.N,GND*%
+X151411989Y-83404756D03*
+%TO.P,U601,16,ENB*%
+%TO.N,/half bridges/ENA*%
+X151058436Y-83758310D03*
+D45*
+%TO.P,U601,17,VBOOT*%
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+X151058436Y-84691690D03*
+%TO.P,U601,18,NC*%
+%TO.N,GND*%
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+%TO.P,U601,19,OUT2B*%
+%TO.N,/current sense/W_IN*%
+X151765543Y-85398797D03*
+%TO.P,U601,20,VSB*%
+%TO.N,Vmot*%
+X152119096Y-85752351D03*
+%TO.P,U601,21,GND*%
+%TO.N,GND*%
+X152472649Y-86105904D03*
+%TO.P,U601,22,VSA*%
+%TO.N,Vmot*%
+X152826203Y-86459457D03*
+%TO.P,U601,23,OUT2A*%
+%TO.N,/current sense/U_IN*%
+X153179756Y-86813011D03*
+%TO.P,U601,24,VCP*%
+%TO.N,Net-(U601-VCP)*%
+X153533310Y-87166564D03*
+D46*
+%TO.P,U601,25,ENA*%
+%TO.N,/half bridges/ENA*%
+X154466690Y-87166564D03*
+%TO.P,U601,26,PROGCLA*%
+%TO.N,GND*%
+X154820244Y-86813011D03*
+%TO.P,U601,27,IN1A*%
+%TO.N,/half bridges/IN1A*%
+X155173797Y-86459457D03*
+%TO.P,U601,28,IN2A*%
+%TO.N,/half bridges/IN2A*%
+X155527351Y-86105904D03*
+%TO.P,U601,29,SENSEA*%
+%TO.N,GND*%
+X155880904Y-85752351D03*
+%TO.P,U601,30,OCDA*%
+%TO.N,Net-(D601-K)*%
+X156234457Y-85398797D03*
+%TO.P,U601,31,OUT1A*%
+%TO.N,/current sense/V_IN*%
+X156588011Y-85045244D03*
+%TO.P,U601,32,NC*%
+%TO.N,GND*%
+X156941564Y-84691690D03*
+D47*
+%TO.P,U601,33,EP*%
+X154000000Y-84225000D03*
+%TD*%
+D48*
+%TO.P,C601,1*%
+%TO.N,Net-(D602-K)*%
+X158050000Y-88430000D03*
+%TO.P,C601,2*%
+%TO.N,Net-(U601-VCP)*%
+X158050000Y-87470000D03*
+%TD*%
+D49*
+%TO.P,U501,1,VIN*%
+%TO.N,Vmot*%
+X154635000Y-93885000D03*
+%TO.P,U501,2,EN/UVLO*%
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+%TO.P,U501,3,VCC*%
+%TO.N,Net-(U501-VCC)*%
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+%TO.P,U501,4,FB/VOUT*%
+%TO.N,Net-(U501-FB{slash}VOUT)*%
+X154635000Y-95385000D03*
+%TO.P,U501,5,MODE*%
+%TO.N,GND*%
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+%TO.P,U501,6,~{RESET}*%
+%TO.N,Net-(U501-VCC)*%
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+%TO.P,U501,7,GND*%
+%TO.N,GND*%
+X156395000Y-94385000D03*
+%TO.P,U501,8,LX*%
+%TO.N,Net-(U501-LX)*%
+X156395000Y-93885000D03*
+%TD*%
+D50*
+%TO.P,U301,1,VBAT*%
+%TO.N,unconnected-(U301-VBAT-Pad1)*%
+X135464213Y-80664726D03*
+%TO.P,U301,2,PC13*%
+%TO.N,unconnected-(U301-PC13-Pad2)*%
+X135110660Y-81018279D03*
+%TO.P,U301,3,PC14*%
+%TO.N,unconnected-(U301-PC14-Pad3)*%
+X134757106Y-81371833D03*
+%TO.P,U301,4,PC15*%
+%TO.N,unconnected-(U301-PC15-Pad4)*%
+X134403553Y-81725386D03*
+%TO.P,U301,5,PF0*%
+%TO.N,/mcu/XIN*%
+X134050000Y-82078939D03*
+%TO.P,U301,6,PF1*%
+%TO.N,/mcu/XOUT*%
+X133696446Y-82432493D03*
+%TO.P,U301,7,PG10*%
+%TO.N,/mcu/RESET*%
+X133342893Y-82786046D03*
+%TO.P,U301,8,PA0*%
+%TO.N,/half bridges/IN1B*%
+X132989339Y-83139600D03*
+%TO.P,U301,9,PA1*%
+%TO.N,/half bridges/IN2B*%
+X132635786Y-83493153D03*
+%TO.P,U301,10,PA2*%
+%TO.N,unconnected-(U301-PA2-Pad10)*%
+X132282233Y-83846706D03*
+%TO.P,U301,11,PA3*%
+%TO.N,/current sense/U_SENSE*%
+X131928679Y-84200260D03*
+%TO.P,U301,12,PA4*%
+%TO.N,unconnected-(U301-PA4-Pad12)*%
+X131575126Y-84553813D03*
+D51*
+%TO.P,U301,13,PA5*%
+%TO.N,/encoder/SCK*%
+X131575126Y-85526085D03*
+%TO.P,U301,14,PA6*%
+%TO.N,/encoder/CIPO*%
+X131928679Y-85879638D03*
+%TO.P,U301,15,PA7*%
+%TO.N,/encoder/COPI*%
+X132282233Y-86233192D03*
+%TO.P,U301,16,PC4*%
+%TO.N,/encoder/CS*%
+X132635786Y-86586745D03*
+%TO.P,U301,17,PB0*%
+%TO.N,/current sense/W_SENSE*%
+X132989339Y-86940298D03*
+%TO.P,U301,18,PB1*%
+%TO.N,/encoder/CAL_EN*%
+X133342893Y-87293852D03*
+%TO.P,U301,19,PB2*%
+%TO.N,unconnected-(U301-PB2-Pad19)*%
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+%TO.P,U301,20,VREF+*%
+%TO.N,+3V3*%
+X134050000Y-88000959D03*
+%TO.P,U301,21,VDDA*%
+X134403553Y-88354512D03*
+%TO.P,U301,22,PB10*%
+%TO.N,Net-(U301-PB10)*%
+X134757106Y-88708065D03*
+%TO.P,U301,23,VDD*%
+%TO.N,+3V3*%
+X135110660Y-89061619D03*
+%TO.P,U301,24,PB11*%
+%TO.N,Net-(U301-PB11)*%
+X135464213Y-89415172D03*
+D50*
+%TO.P,U301,25,PB12*%
+%TO.N,/half bridges/ENA*%
+X136436485Y-89415172D03*
+%TO.P,U301,26,PB13*%
+%TO.N,/current sense/V_SENSE*%
+X136790038Y-89061619D03*
+%TO.P,U301,27,PB14*%
+%TO.N,/mcu/STEP*%
+X137143592Y-88708065D03*
+%TO.P,U301,28,PB15*%
+%TO.N,/mcu/DIR*%
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+%TO.P,U301,29,PC6*%
+%TO.N,/mcu/MOT_EN_B*%
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+%TO.P,U301,30,PA8*%
+%TO.N,/mcu/MOT_EN_A*%
+X138204252Y-87647405D03*
+%TO.P,U301,31,PA9*%
+%TO.N,/half bridges/IN1A*%
+X138557805Y-87293852D03*
+%TO.P,U301,32,PA10*%
+%TO.N,/half bridges/IN2A*%
+X138911359Y-86940298D03*
+%TO.P,U301,33,PA11*%
+%TO.N,/mcu/USBD_N*%
+X139264912Y-86586745D03*
+%TO.P,U301,34,PA12*%
+%TO.N,/mcu/USBD_P*%
+X139618465Y-86233192D03*
+%TO.P,U301,35,VDD*%
+%TO.N,+3V3*%
+X139972019Y-85879638D03*
+%TO.P,U301,36,PA13*%
+%TO.N,/mcu/SWDIO*%
+X140325572Y-85526085D03*
+D51*
+%TO.P,U301,37,PA14*%
+%TO.N,/mcu/SWCLK*%
+X140325572Y-84553813D03*
+%TO.P,U301,38,PA15*%
+%TO.N,unconnected-(U301-PA15-Pad38)*%
+X139972019Y-84200260D03*
+%TO.P,U301,39,PC10*%
+%TO.N,unconnected-(U301-PC10-Pad39)*%
+X139618465Y-83846706D03*
+%TO.P,U301,40,PC11*%
+%TO.N,unconnected-(U301-PC11-Pad40)*%
+X139264912Y-83493153D03*
+%TO.P,U301,41,PB3*%
+%TO.N,/encoder/A*%
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+%TO.P,U301,42,PB4*%
+%TO.N,/encoder/B*%
+X138557805Y-82786046D03*
+%TO.P,U301,43,PB5*%
+%TO.N,/encoder/Z*%
+X138204252Y-82432493D03*
+%TO.P,U301,44,PB6*%
+%TO.N,unconnected-(U301-PB6-Pad44)*%
+X137850698Y-82078939D03*
+%TO.P,U301,45,PB7*%
+%TO.N,unconnected-(U301-PB7-Pad45)*%
+X137497145Y-81725386D03*
+%TO.P,U301,46,PB8*%
+%TO.N,/mcu/CAN_TX*%
+X137143592Y-81371833D03*
+%TO.P,U301,47,PB9*%
+%TO.N,/mcu/CAN_RX*%
+X136790038Y-81018279D03*
+%TO.P,U301,48,VDD*%
+%TO.N,+3V3*%
+X136436485Y-80664726D03*
+D52*
+%TO.P,U301,49,VSS*%
+%TO.N,GND*%
+X135950349Y-85039949D03*
+%TD*%
+D32*
+%TO.P,R503,1*%
+%TO.N,Net-(R502-Pad2)*%
+X154590000Y-96275000D03*
+%TO.P,R503,2*%
+%TO.N,GND*%
+X154590000Y-97295000D03*
+%TD*%
+D53*
+%TO.P,H101,1,1*%
+%TO.N,GND*%
+X133300000Y-99975000D03*
+X159300000Y-99975000D03*
+X133300000Y-73975000D03*
+X159300000Y-73975000D03*
+%TD*%
+D10*
+%TO.P,C104,1*%
+%TO.N,Vmot*%
+X153725000Y-70725000D03*
+%TO.P,C104,2*%
+%TO.N,GND*%
+X155625000Y-70725000D03*
+%TD*%
+D27*
+%TO.P,U702,1,IP+*%
+%TO.N,/current sense/V_IN*%
+X152300000Y-78475000D03*
+%TO.P,U702,2,IP-*%
+%TO.N,/current sense/V_OUT*%
+X152300000Y-77475000D03*
+D28*
+%TO.P,U702,5,GND*%
+%TO.N,GND*%
+X150800000Y-76525000D03*
+%TO.P,U702,6,#FAULT*%
+%TO.N,unconnected-(U702-#FAULT-Pad6)*%
+X150300000Y-76525000D03*
+D29*
+%TO.P,U702,7,NC*%
+%TO.N,GND*%
+X149600000Y-77225000D03*
+%TO.P,U702,8,NC*%
+X149600000Y-77725000D03*
+%TO.P,U702,9,NC*%
+X149600000Y-78225000D03*
+%TO.P,U702,10,NC*%
+X149600000Y-78725000D03*
+D28*
+%TO.P,U702,11,VIOUT*%
+%TO.N,/current sense/V_SENSE*%
+X150300000Y-79425000D03*
+%TO.P,U702,12,VCC*%
+%TO.N,+3V3*%
+X150800000Y-79425000D03*
+%TD*%
+D25*
+%TO.P,C702,1*%
+%TO.N,/current sense/V_SENSE*%
+X150580000Y-80500000D03*
+%TO.P,C702,2*%
+%TO.N,GND*%
+X149620000Y-80500000D03*
+%TD*%
+D34*
+%TO.P,C105,1*%
+%TO.N,GND*%
+X155625000Y-74800000D03*
+%TO.P,C105,2*%
+%TO.N,Vmot*%
+X153725000Y-74800000D03*
+%TD*%
+D13*
+%TO.P,R505,1*%
+%TO.N,Net-(D502-A)*%
+X155640000Y-79975000D03*
+%TO.P,R505,2*%
+%TO.N,Net-(Q501-B)*%
+X156660000Y-79975000D03*
+%TD*%
+D24*
+%TO.P,C303,1*%
+%TO.N,+3V3*%
+X133139411Y-88760589D03*
+%TO.P,C303,2*%
+%TO.N,GND*%
+X132460589Y-89439411D03*
+%TD*%
+D54*
+%TO.P,Y301,1,1*%
+%TO.N,/mcu/XIN*%
+X132000000Y-78520000D03*
+%TO.P,Y301,2,2*%
+%TO.N,GND*%
+X130444365Y-80075635D03*
+%TO.P,Y301,3,3*%
+%TO.N,/mcu/XOUT*%
+X131646446Y-81277716D03*
+%TO.P,Y301,4,4*%
+%TO.N,GND*%
+X133202081Y-79722081D03*
+%TD*%
+D31*
+%TO.P,FID101,*%
+%TO.N,*%
+X129900000Y-76200000D03*
+%TD*%
+D44*
+%TO.P,D602,1,K*%
+%TO.N,Net-(D602-K)*%
+X160500000Y-91900000D03*
+%TO.P,D602,2,A*%
+%TO.N,Vmot*%
+X158400000Y-91900000D03*
+%TD*%
+D55*
+%TO.P,J101,1,Pin_1*%
+%TO.N,Vmot*%
+X153525000Y-101700000D03*
+D56*
+%TO.P,J101,2,Pin_2*%
+%TO.N,GND*%
+X151025000Y-101700000D03*
+%TO.P,J101,3,Pin_3*%
+%TO.N,/mcu/CANL*%
+X148525000Y-101700000D03*
+%TO.P,J101,4,Pin_4*%
+%TO.N,/mcu/CANH*%
+X146025000Y-101700000D03*
+%TD*%
+D57*
+%TO.P,U401,1,U*%
+%TO.N,unconnected-(U401-U-Pad1)*%
+X144025000Y-89750000D03*
+%TO.P,U401,2,V*%
+%TO.N,unconnected-(U401-V-Pad2)*%
+X144675000Y-89750000D03*
+%TO.P,U401,3,W*%
+%TO.N,unconnected-(U401-W-Pad3)*%
+X145325000Y-89750000D03*
+%TO.P,U401,4,CAL_EN*%
+%TO.N,/encoder/CAL_EN*%
+X145975000Y-89750000D03*
+%TO.P,U401,5,MISO*%
+%TO.N,/encoder/CIPO*%
+X146625000Y-89750000D03*
+%TO.P,U401,6,MOSI*%
+%TO.N,/encoder/COPI*%
+X147275000Y-89750000D03*
+%TO.P,U401,7,SCK*%
+%TO.N,/encoder/SCK*%
+X147925000Y-89750000D03*
+%TO.P,U401,8,CSN*%
+%TO.N,/encoder/CS*%
+X148575000Y-89750000D03*
+%TO.P,U401,9,VDD*%
+%TO.N,+3V3*%
+X148575000Y-84200000D03*
+%TO.P,U401,10,PWM_OUT*%
+%TO.N,unconnected-(U401-PWM_OUT-Pad10)*%
+X147925000Y-84200000D03*
+%TO.P,U401,11,TEST*%
+%TO.N,unconnected-(U401-TEST-Pad11)*%
+X147275000Y-84200000D03*
+%TO.P,U401,12,VSS*%
+%TO.N,GND*%
+X146625000Y-84200000D03*
+%TO.P,U401,13,TEST_EN*%
+%TO.N,unconnected-(U401-TEST_EN-Pad13)*%
+X145975000Y-84200000D03*
+%TO.P,U401,14,Z*%
+%TO.N,/encoder/Z*%
+X145325000Y-84200000D03*
+%TO.P,U401,15,B*%
+%TO.N,/encoder/B*%
+X144675000Y-84200000D03*
+%TO.P,U401,16,A*%
+%TO.N,/encoder/A*%
+X144025000Y-84200000D03*
+%TD*%
+D31*
+%TO.P,FID103,*%
+%TO.N,*%
+X162500000Y-76650000D03*
+%TD*%
+D34*
+%TO.P,C108,1*%
+%TO.N,Vmot*%
+X153275000Y-94650000D03*
+%TO.P,C108,2*%
+%TO.N,GND*%
+X151375000Y-94650000D03*
+%TD*%
+D30*
+%TO.P,C502,1*%
+%TO.N,Net-(U501-VCC)*%
+X157665000Y-94380000D03*
+%TO.P,C502,2*%
+%TO.N,GND*%
+X157665000Y-95340000D03*
+%TD*%
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diff --git a/assembly/gerbers/lemon-pepper-F_Paste.gbr b/assembly/gerbers/lemon-pepper-F_Paste.gbr
new file mode 100644
index 0000000..a896b85
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+++ b/assembly/gerbers/lemon-pepper-F_Paste.gbr
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new file mode 100644
index 0000000..bd6f032
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diff --git a/assembly/gerbers/lemon-pepper-In1_Cu.gbr b/assembly/gerbers/lemon-pepper-In1_Cu.gbr
new file mode 100644
index 0000000..a45c6b4
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-In1_Cu.gbr
@@ -0,0 +1,4787 @@
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diff --git a/assembly/gerbers/lemon-pepper-In2_Cu.gbr b/assembly/gerbers/lemon-pepper-In2_Cu.gbr
new file mode 100644
index 0000000..4a47e3d
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-In2_Cu.gbr
@@ -0,0 +1,4550 @@
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+1,1,$1+$1,$6,$7*
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+0 Add four rect primitives between the rounded corners*
+20,1,$1+$1,$2,$3,$4,$5,0*
+20,1,$1+$1,$4,$5,$6,$7,0*
+20,1,$1+$1,$6,$7,$8,$9,0*
+20,1,$1+$1,$8,$9,$2,$3,0*%
+G04 Aperture macros list end*
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+G04 APERTURE END LIST*
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diff --git a/assembly/gerbers/lemon-pepper-NPTH.drl b/assembly/gerbers/lemon-pepper-NPTH.drl
new file mode 100644
index 0000000..6cf02a7
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+; #@! TF.GenerationSoftware,Kicad,Pcbnew,7.0.8
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diff --git a/assembly/gerbers/lemon-pepper-PTH-drl_map.gbr b/assembly/gerbers/lemon-pepper-PTH-drl_map.gbr
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index 0000000..f16b441
--- /dev/null
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diff --git a/assembly/gerbers/lemon-pepper-PTH.drl b/assembly/gerbers/lemon-pepper-PTH.drl
new file mode 100644
index 0000000..f0e4013
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-PTH.drl
@@ -0,0 +1,201 @@
+M48
+; DRILL file {KiCad 7.0.8} date 2023 October 18, Wednesday 19:00:48
+; FORMAT={-:-/ absolute / inch / decimal}
+; #@! TF.CreationDate,2023-10-18T19:00:48-04:00
+; #@! TF.GenerationSoftware,Kicad,Pcbnew,7.0.8
+; #@! TF.FileFunction,Plated,1,4,PTH
+FMAT,2
+INCH
+; #@! TA.AperFunction,Plated,PTH,ViaDrill
+T1C0.0079
+; #@! TA.AperFunction,Plated,PTH,ComponentDrill
+T2C0.0118
+; #@! TA.AperFunction,Plated,PTH,ViaDrill
+T3C0.0157
+; #@! TA.AperFunction,Plated,PTH,ComponentDrill
+T4C0.0276
+; #@! TA.AperFunction,Plated,PTH,ComponentDrill
+T5C0.0354
+; #@! TA.AperFunction,Plated,PTH,ComponentDrill
+T6C0.0374
+; #@! TA.AperFunction,Plated,PTH,ComponentDrill
+T7C0.0413
+; #@! TA.AperFunction,Plated,PTH,ComponentDrill
+T8C0.1220
+%
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diff --git a/assembly/gerbers/lemon-pepper-job.gbrjob b/assembly/gerbers/lemon-pepper-job.gbrjob
new file mode 100644
index 0000000..413d0d4
--- /dev/null
+++ b/assembly/gerbers/lemon-pepper-job.gbrjob
@@ -0,0 +1,176 @@
+{
+  "Header": {
+    "GenerationSoftware": {
+      "Vendor": "KiCad",
+      "Application": "Pcbnew",
+      "Version": "7.0.8"
+    },
+    "CreationDate": "2023-10-18T19:00:47-04:00"
+  },
+  "GeneralSpecs": {
+    "ProjectId": {
+      "Name": "lemon-pepper",
+      "GUID": "6c656d6f-6e2d-4706-9570-7065722e6b69",
+      "Revision": "rev?"
+    },
+    "Size": {
+      "X": 35.15,
+      "Y": 35.15
+    },
+    "LayerNumber": 4,
+    "BoardThickness": 1.6062,
+    "Finish": "None"
+  },
+  "DesignRules": [
+    {
+      "Layers": "Outer",
+      "PadToPad": 0.0,
+      "PadToTrack": 0.0,
+      "TrackToTrack": 0.1,
+      "MinLineWidth": 0.1,
+      "TrackToRegion": 0.2,
+      "RegionToRegion": 0.2
+    },
+    {
+      "Layers": "Inner",
+      "PadToPad": 0.0,
+      "PadToTrack": 0.0,
+      "TrackToTrack": 0.1,
+      "MinLineWidth": 0.25,
+      "TrackToRegion": 0.2,
+      "RegionToRegion": 0.2
+    }
+  ],
+  "FilesAttributes": [
+    {
+      "Path": "lemon-pepper-F_Cu.gbr",
+      "FileFunction": "Copper,L1,Top",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-In1_Cu.gbr",
+      "FileFunction": "Copper,L2,Inr",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-In2_Cu.gbr",
+      "FileFunction": "Copper,L3,Inr",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-B_Cu.gbr",
+      "FileFunction": "Copper,L4,Bot",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-F_Paste.gbr",
+      "FileFunction": "SolderPaste,Top",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-B_Paste.gbr",
+      "FileFunction": "SolderPaste,Bot",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-F_Silkscreen.gbr",
+      "FileFunction": "Legend,Top",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-B_Silkscreen.gbr",
+      "FileFunction": "Legend,Bot",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "lemon-pepper-F_Mask.gbr",
+      "FileFunction": "SolderMask,Top",
+      "FilePolarity": "Negative"
+    },
+    {
+      "Path": "lemon-pepper-B_Mask.gbr",
+      "FileFunction": "SolderMask,Bot",
+      "FilePolarity": "Negative"
+    },
+    {
+      "Path": "lemon-pepper-Edge_Cuts.gbr",
+      "FileFunction": "Profile",
+      "FilePolarity": "Positive"
+    }
+  ],
+  "MaterialStackup": [
+    {
+      "Type": "Legend",
+      "Color": "White",
+      "Name": "Top Silk Screen"
+    },
+    {
+      "Type": "SolderPaste",
+      "Name": "Top Solder Paste"
+    },
+    {
+      "Type": "SolderMask",
+      "Color": "Black",
+      "Thickness": 0.01,
+      "Name": "Top Solder Mask"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.035,
+      "Name": "F.Cu"
+    },
+    {
+      "Type": "Dielectric",
+      "Color": "R109G116B75",
+      "Thickness": 0.2104,
+      "Material": "7628*1",
+      "Name": "F.Cu/In1.Cu",
+      "Notes": "Type: dielectric layer 1 (from F.Cu to In1.Cu)"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.0152,
+      "Name": "In1.Cu"
+    },
+    {
+      "Type": "Dielectric",
+      "Thickness": 1.065,
+      "Material": "FR4",
+      "Name": "In1.Cu/In2.Cu",
+      "Notes": "Type: dielectric layer 2 (from In1.Cu to In2.Cu)"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.0152,
+      "Name": "In2.Cu"
+    },
+    {
+      "Type": "Dielectric",
+      "Color": "R109G116B75",
+      "Thickness": 0.2104,
+      "Material": "7628*1",
+      "Name": "In2.Cu/B.Cu",
+      "Notes": "Type: dielectric layer 3 (from In2.Cu to B.Cu)"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.035,
+      "Name": "B.Cu"
+    },
+    {
+      "Type": "SolderMask",
+      "Color": "Black",
+      "Thickness": 0.01,
+      "Name": "Bottom Solder Mask"
+    },
+    {
+      "Type": "SolderPaste",
+      "Name": "Bottom Solder Paste"
+    },
+    {
+      "Type": "Legend",
+      "Color": "White",
+      "Name": "Bottom Silk Screen"
+    }
+  ]
+}
diff --git a/assembly/gerbers/lemon-pepper.zip b/assembly/gerbers/lemon-pepper.zip
new file mode 100644
index 0000000..f8d080b
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diff --git a/hardware/currentsense.kicad_sch b/hardware/currentsense.kicad_sch
index 8e57434..aa59bbd 100644
--- a/hardware/currentsense.kicad_sch
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+  (symbol (lib_id "power:+3V3") (at 139.7 120.65 0) (unit 1)
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+    (uuid 8f5f561a-d4d1-4ef2-9b83-c9f21d44f7f9)
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+    (pin "1" (uuid 914f2ed2-909a-42f3-bc83-970bb3d857e6))
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+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
+          (reference "#PWR0705") (unit 1)
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+  )
+
+  (symbol (lib_id "power:GND") (at 149.86 104.14 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no)
+    (uuid a57d7973-e8bd-4e5c-a8e8-50626aa398a1)
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+      (effects (font (size 1.27 1.27)) hide)
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-          (reference "#PWR0806") (unit 1)
+          (reference "#PWR0708") (unit 1)
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@@ -1086,7 +793,7 @@
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     (uuid d3979e58-c139-4296-8a4a-cbb53b0b701a)
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     (property "Value" "GND" (at 139.7 109.22 0)
@@ -1102,28 +809,28 @@
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         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
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+          (reference "#PWR0704") (unit 1)
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+  (symbol (lib_id "Device:C_Small") (at 149.86 96.52 0) (mirror y) (unit 1)
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+          (reference "C702") (unit 1)
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@@ -1140,7 +847,7 @@
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@@ -1156,57 +863,57 @@
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-    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 161.29 60.96 0)
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-    (pin "2" (uuid ef0a646e-be0c-4b44-8d13-589ed30893b5))
+    (pin "1" (uuid adc28b76-3a96-4a05-9b12-48fd217f1871))
+    (pin "2" (uuid 58b76ddb-f8ac-43e6-bc99-4ebabaeceb94))
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diff --git a/hardware/driver.kicad_sch b/hardware/driver.kicad_sch
deleted file mode 100644
index c45f494..0000000
--- a/hardware/driver.kicad_sch
+++ /dev/null
@@ -1,1416 +0,0 @@
-(kicad_sch (version 20230121) (generator eeschema)
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-  (uuid 7d29d495-e4c8-41e7-92c7-4b84ebf80775)
-
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-
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diff --git a/hardware/fets.kicad_sch b/hardware/fets.kicad_sch
deleted file mode 100644
index 21d2347..0000000
--- a/hardware/fets.kicad_sch
+++ /dev/null
@@ -1,4113 +0,0 @@
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diff --git a/hardware/fp-info-cache b/hardware/fp-info-cache
index 11f18a9..ff61886 100644
--- a/hardware/fp-info-cache
+++ b/hardware/fp-info-cache
@@ -1,4 +1,4 @@
-22745743298908890
+22794966424070243
 Audio_Module
 Reverb_BTDR-1H
 Digital Reverberation Unit, http://www.belton.co.kr/inc/downfile.php?seq=17&file=pdf (footprint from http://www.uk-electronic.de/PDF/BTDR-1.pdf)
@@ -93331,6 +93331,20 @@ HDR-SMD_14P-P1.27-V-M-R2-C7-LS5.3
 14
 14
 easyeda2kicad
+IC-SMD_ACS711KEXLT-15AB-T
+
+
+0
+10
+10
+easyeda2kicad
+KEY-SMD_4P-L2.6-W1.6-P0.80-LS3.0
+
+
+0
+4
+4
+easyeda2kicad
 MLP55-27_L5.0-W5.0-P0.50-TL_SIC46XXX
 
 
@@ -93413,7 +93427,14 @@ USB-C-SMD_GT-USB-7052_1
 
 0
 29
-28
+25
+easyeda2kicad
+VQFN-32_L5.0-W5.0-P0.50-TL-EP
+
+
+0
+33
+33
 easyeda2kicad
 WSON-8_L1.7-W1.4-P0.40-BL-EP
 
@@ -93428,6 +93449,188 @@ WSON-12_L4.0-W4.0-P0.50-BL-EP
 0
 13
 13
+footprints
+C0402
+
+
+0
+2
+2
+footprints
+C_0603_1608Metric
+Capacitor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator
+capacitor
+0
+2
+2
+footprints
+C_1206_3216Metric
+Capacitor SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator
+capacitor
+0
+2
+2
+footprints
+Crystal-3225-4P
+SMD Crystal SERIES SMD3225/4 http://www.txccrystal.com/images/pdf/7m-accuracy.pdf, 3.2x2.5mm^2 package
+SMD SMT crystal
+0
+4
+4
+footprints
+D_SMB
+Diode SMB (DO-214AA)
+Diode SMB (DO-214AA)
+0
+2
+2
+footprints
+Fuse_1812_4532Metric
+Fuse SMD 1812 (4532 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: https://www.nikhef.nl/pub/departments/mt/projects/detectorR_D/dtddice/ERJ2G.pdf), generated with kicad-footprint-generator
+fuse
+0
+5
+2
+footprints
+LED_0603_1608Metric
+LED SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator
+LED
+0
+2
+2
+footprints
+LED_RGB_0606
+
+
+0
+4
+4
+footprints
+LGA-14L_3x2.5mm_P0.5mm
+LGA-14 Bosch https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMI160-DS000-07.pdf
+lga land grid array
+0
+14
+14
+footprints
+L_0805_2012Metric
+Inductor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 80, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator
+inductor
+0
+2
+2
+footprints
+MountingHole
+Mounting Hole 3.2mm, M3
+mounting hole 3.2mm m3
+0
+0
+0
+footprints
+PH2.0 2P
+
+
+0
+8
+2
+footprints
+PinSocket_2x04_P1.27mm_Vertical
+Through hole straight socket strip, 2x04, 1.27mm pitch, double cols (from Kicad 4.0.7), script generated
+Through hole socket strip THT 2x04 1.27mm double row
+0
+16
+8
+footprints
+QFN-28-termal
+
+
+0
+49
+29
+footprints
+QFN-48-1EP_7x7mm_P0.5mm_EP5.6x5.6mm
+QFN, 48 Pin (http://www.st.com/resource/en/datasheet/stm32f042k6.pdf#page=94), generated with kicad-footprint-generator ipc_noLead_generator.py
+QFN NoLead
+0
+65
+49
+footprints
+R0402
+
+
+0
+2
+2
+footprints
+R_1206_3216Metric
+Resistor SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator
+resistor
+0
+2
+2
+footprints
+SOIC-8_3.9x4.9mm_P1.27mm
+SOIC, 8 Pin (JEDEC MS-012AA, https://www.analog.com/media/en/package-pcb-resources/package/pkg_pdf/soic_narrow-r/r_8.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py
+SOIC SO
+0
+8
+8
+footprints
+SOT-23-3
+SOT, 3 Pin (https://www.jedec.org/sites/default/files/docs/Mo-178D.PDF inferred 3-pin variant), generated with kicad-footprint-generator ipc_gullwing_generator.py
+SOT TO_SOT_SMD
+0
+3
+3
+footprints
+SOT-23-6
+SOT, 6 Pin (https://www.jedec.org/sites/default/files/docs/Mo-178c.PDF variant AB), generated with kicad-footprint-generator ipc_gullwing_generator.py
+SOT TO_SOT_SMD
+0
+6
+6
+footprints
+SW_SPST_PTS810
+C&K Components, PTS 810 Series, Microminiature SMT Top Actuated, http://www.ckswitches.com/media/1476/pts810.pdf
+SPST Button Switch
+0
+4
+2
+footprints
+SolderJumper
+SMD Solder Jumper, 1x1.5mm Triangular Pads, 0.3mm gap, open
+solder jumper open
+0
+2
+2
+footprints
+USB-TYPE-C-31-M-12-SWD
+
+
+0
+26
+17
+footprints
+XH2.54 2P
+
+
+0
+8
+2
+footprints
+XH2.54 4P
+
+
+0
+16
+4
+footprints
+XH2.54 6P
+
+
+0
+24
+6
 matei
 01x05_sidemount
 Unnamed1 StepUp generated footprint
diff --git a/hardware/fp-lib-table b/hardware/fp-lib-table
index e3de2d8..943b1d3 100644
--- a/hardware/fp-lib-table
+++ b/hardware/fp-lib-table
@@ -1,4 +1,5 @@
 (fp_lib_table
   (version 7)
   (lib (name "mechanical")(type "KiCad")(uri "/Users/mateijordache/Documents/electronics_projects/lemon-pepper-stepper/mechanical")(options "")(descr ""))
+  (lib (name "footprints")(type "KiCad")(uri "/Users/mateijordache/Documents/github-stuff/CLN17/hardware/CLN17-V1/libs/footprints.pretty")(options "")(descr ""))
 )
diff --git a/hardware/halfbridges.kicad_sch b/hardware/halfbridges.kicad_sch
new file mode 100644
index 0000000..cc01a59
--- /dev/null
+++ b/hardware/halfbridges.kicad_sch
@@ -0,0 +1,1200 @@
+(kicad_sch (version 20230121) (generator eeschema)
+
+  (uuid eff2ef24-23e4-47f9-ac87-de52c952d6f5)
+
+  (paper "A4")
+
+  (lib_symbols
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+      (property "Reference" "C" (at 0.254 1.778 0)
+        (effects (font (size 1.27 1.27)) (justify left))
+      )
+      (property "Value" "C_Small" (at 0.254 -2.032 0)
+        (effects (font (size 1.27 1.27)) (justify left))
+      )
+      (property "Footprint" "" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Datasheet" "~" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_keywords" "capacitor cap" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "Unpolarized capacitor, small symbol" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "C_*" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "C_Small_0_1"
+        (polyline
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+        )
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+      (property "Value" "D_Small" (at -3.81 -2.032 0)
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+      (property "Datasheet" "~" (at 0 0 90)
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+      (property "Sim.Pins" "1=K 2=A" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
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+      (property "ki_keywords" "diode" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
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+      (property "ki_description" "Diode, small symbol" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "TO-???* *_Diode_* *SingleDiode* D_*" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
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+      (symbol "D_Small_0_1"
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+          (fill (type none))
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+      (symbol "D_Small_1_1"
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+          (number "1" (effects (font (size 1.27 1.27))))
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+        (pin passive line (at 2.54 0 180) (length 1.778)
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+          (number "2" (effects (font (size 1.27 1.27))))
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+      (property "ki_description" "Light emitting diode" (at 0 0 0)
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+      (property "ki_fp_filters" "LED* LED_SMD:* LED_THT:*" (at 0 0 0)
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+          (number "2" (effects (font (size 1.27 1.27))))
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+        (effects (font (size 1.27 1.27)) hide)
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+        (effects (font (size 1.27 1.27)) hide)
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+      (property "Value" "L6226QTR" (at 0 -35.56 0)
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+        (effects (font (size 1.27 1.27)) hide)
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+        (effects (font (size 1.27 1.27)) hide)
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+        (rectangle (start -16.51 17.78) (end 16.51 -17.78)
+          (stroke (width 0) (type default))
+          (fill (type background))
+        )
+        (pin power_out line (at -1.27 -20.32 90) (length 2.54)
+          (name "GND" (effects (font (size 1.27 1.27))))
+          (number "1" (effects (font (size 1.27 1.27))))
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+        (pin output line (at -19.05 -7.62 0) (length 2.54)
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+        (pin input line (at -19.05 -13.97 0) (length 2.54)
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+        (pin power_in line (at 19.05 12.7 180) (length 2.54)
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+        (pin passive line (at -7.62 20.32 270) (length 2.54)
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+        (pin input line (at -19.05 13.97 0) (length 2.54)
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+          (number "28" (effects (font (size 1.27 1.27))))
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+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/ac193888-c8ba-43d9-af32-3c2e2d16ba47"
+          (reference "D603") (unit 1)
+        )
+      )
+    )
+  )
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+    )
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+        )
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+          (reference "#PWR0601") (unit 1)
+        )
+      )
+    )
+  )
+
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+      (effects (font (size 1.27 1.27)))
+    )
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+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 107.95 99.06 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "LCSC Part" "C2286" (at 107.95 99.06 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 41cb4711-7271-4bbf-83a2-71348c73b3a3))
+    (pin "2" (uuid eebdaa37-993b-417c-ab77-12378ce2558d))
+    (instances
+      (project "lemon-pepper"
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
+          (reference "D?") (unit 1)
+        )
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/ac193888-c8ba-43d9-af32-3c2e2d16ba47"
+          (reference "D601") (unit 1)
+        )
+      )
+    )
+  )
+)
diff --git a/hardware/lemon-pepper.kicad_pcb b/hardware/lemon-pepper.kicad_pcb
index 4491fa0..eaf12ac 100644
--- a/hardware/lemon-pepper.kicad_pcb
+++ b/hardware/lemon-pepper.kicad_pcb
@@ -1,12 +1,14 @@
 (kicad_pcb (version 20221018) (generator pcbnew)
 
   (general
-    (thickness 1.6)
+    (thickness 1.6062)
   )
 
   (paper "A4")
   (layers
     (0 "F.Cu" signal)
+    (1 "In1.Cu" signal)
+    (2 "In2.Cu" signal)
     (31 "B.Cu" signal)
     (32 "B.Adhes" user "B.Adhesive")
     (33 "F.Adhes" user "F.Adhesive")
@@ -38,6 +40,23 @@
   )
 
   (setup
+    (stackup
+      (layer "F.SilkS" (type "Top Silk Screen") (color "White"))
+      (layer "F.Paste" (type "Top Solder Paste"))
+      (layer "F.Mask" (type "Top Solder Mask") (color "Black") (thickness 0.01))
+      (layer "F.Cu" (type "copper") (thickness 0.035))
+      (layer "dielectric 1" (type "prepreg") (color "FR4 natural") (thickness 0.2104) (material "7628*1") (epsilon_r 4.6) (loss_tangent 0))
+      (layer "In1.Cu" (type "copper") (thickness 0.0152))
+      (layer "dielectric 2" (type "core") (thickness 1.065) (material "FR4") (epsilon_r 4.5) (loss_tangent 0.02))
+      (layer "In2.Cu" (type "copper") (thickness 0.0152))
+      (layer "dielectric 3" (type "prepreg") (color "FR4 natural") (thickness 0.2104) (material "7628*1") (epsilon_r 4.6) (loss_tangent 0))
+      (layer "B.Cu" (type "copper") (thickness 0.035))
+      (layer "B.Mask" (type "Bottom Solder Mask") (color "Black") (thickness 0.01))
+      (layer "B.Paste" (type "Bottom Solder Paste"))
+      (layer "B.SilkS" (type "Bottom Silk Screen") (color "White"))
+      (copper_finish "None")
+      (dielectric_constraints no)
+    )
     (pad_to_mask_clearance 0)
     (pcbplotparams
       (layerselection 0x00010fc_ffffffff)
@@ -69,130 +88,104 @@
       (subtractmaskfromsilk false)
       (outputformat 1)
       (mirror false)
-      (drillshape 1)
+      (drillshape 0)
       (scaleselection 1)
-      (outputdirectory "")
+      (outputdirectory "../assembly/gerbers/")
     )
   )
 
   (net 0 "")
   (net 1 "GND")
   (net 2 "Vmot")
-  (net 3 "/mcu/USB_N")
-  (net 4 "/mcu/USB_P")
-  (net 5 "+3V3")
-  (net 6 "/mcu/RESET")
-  (net 7 "/mcu/XIN")
-  (net 8 "/mcu/XOUT")
-  (net 9 "/mcu/USR_BTN")
-  (net 10 "/driver/DRV_PWR")
-  (net 11 "/driver/U_BOOTSTRAP")
-  (net 12 "/current sense/U_IN")
-  (net 13 "/driver/V_BOOTSTRAP")
-  (net 14 "/current sense/V_IN")
-  (net 15 "/driver/W_BOOTSTRAP")
-  (net 16 "/current sense/W_IN")
-  (net 17 "GNDPWR")
-  (net 18 "+5V")
-  (net 19 "Net-(U601-BST)")
-  (net 20 "Net-(C605-Pad2)")
-  (net 21 "Net-(U601-VCC)")
-  (net 22 "Net-(U601-SS)")
-  (net 23 "Net-(C701-Pad1)")
-  (net 24 "Net-(C702-Pad1)")
-  (net 25 "Net-(C703-Pad1)")
-  (net 26 "/current sense/U_SENSE")
-  (net 27 "/current sense/V_SENSE")
-  (net 28 "/current sense/W_SENSE")
-  (net 29 "/usb/USB_5V")
-  (net 30 "Net-(D301-A)")
-  (net 31 "Net-(D302-A)")
-  (net 32 "/mcu/CANH")
-  (net 33 "/mcu/CANL")
-  (net 34 "unconnected-(J301-NC-Pad1)")
-  (net 35 "unconnected-(J301-NC-Pad2)")
-  (net 36 "/mcu/SWDIO")
-  (net 37 "/mcu/SWCLK")
-  (net 38 "unconnected-(J301-JTDO{slash}SWO-Pad8)")
-  (net 39 "unconnected-(J301-JRCLK{slash}NC-Pad9)")
-  (net 40 "unconnected-(J301-JTDI{slash}NC-Pad10)")
-  (net 41 "/mcu/UART3_RX")
-  (net 42 "/mcu/UART3_TX")
-  (net 43 "Net-(JP101-B)")
-  (net 44 "/current sense/U_OUT")
-  (net 45 "/current sense/V_OUT")
-  (net 46 "/current sense/W_OUT")
-  (net 47 "/driver/~{DRV_SHDN}")
-  (net 48 "Net-(Q701-G2)")
-  (net 49 "Net-(Q701-G1)")
-  (net 50 "Net-(Q702-G2)")
-  (net 51 "Net-(Q702-G1)")
-  (net 52 "Net-(Q703-G2)")
-  (net 53 "Net-(Q703-G1)")
-  (net 54 "/usb/UCPD_CC2")
-  (net 55 "/usb/UCPD_CC1")
-  (net 56 "Net-(U301-PB10)")
-  (net 57 "Net-(U301-PB11)")
-  (net 58 "/mcu/USBD_N")
-  (net 59 "Net-(U601-RT)")
-  (net 60 "Net-(U601-FB)")
-  (net 61 "/driver/V_FET_H")
-  (net 62 "/driver/U_FET_L")
-  (net 63 "/driver/U_FET_H")
-  (net 64 "/driver/V_FET_L")
-  (net 65 "/driver/W_FET_H")
-  (net 66 "/driver/W_FET_L")
-  (net 67 "Net-(U801-OUT)")
-  (net 68 "Net-(U802-OUT)")
-  (net 69 "Net-(U803-OUT)")
-  (net 70 "/encoder/A")
-  (net 71 "/encoder/B")
-  (net 72 "/encoder/Z")
-  (net 73 "unconnected-(U301-VBAT-Pad1)")
-  (net 74 "unconnected-(U301-PC15-Pad4)")
-  (net 75 "/mcu/ADC1_IN1")
-  (net 76 "/mcu/ADC1_IN3")
-  (net 77 "unconnected-(U301-PA4-Pad12)")
-  (net 78 "/encoder/SCK")
-  (net 79 "/encoder/CIPO")
-  (net 80 "/encoder/COPI")
-  (net 81 "/encoder/CS")
-  (net 82 "/mcu/~{ENC_SHDN}")
-  (net 83 "/encoder/CAL_EN")
-  (net 84 "/driver/U_L")
-  (net 85 "/driver/V_L")
-  (net 86 "/driver/W_L")
-  (net 87 "unconnected-(U301-PC6-Pad29)")
-  (net 88 "/driver/U_H")
-  (net 89 "/driver/V_H")
-  (net 90 "/driver/W_H")
-  (net 91 "/mcu/SDIO")
-  (net 92 "unconnected-(U301-PB4-Pad42)")
-  (net 93 "unconnected-(U301-PB5-Pad43)")
-  (net 94 "/mcu/CAN_TX")
-  (net 95 "/mcu/CAN_RX")
-  (net 96 "unconnected-(U302-Vref-Pad5)")
-  (net 97 "unconnected-(U401-U-Pad1)")
-  (net 98 "unconnected-(U401-V-Pad2)")
-  (net 99 "unconnected-(U401-W-Pad3)")
-  (net 100 "unconnected-(U401-PWM_OUT-Pad10)")
-  (net 101 "unconnected-(U401-TEST-Pad11)")
-  (net 102 "unconnected-(U401-TEST_EN-Pad13)")
-  (net 103 "unconnected-(U501-NC-Pad5)")
-  (net 104 "unconnected-(U501-NC-Pad7)")
-  (net 105 "unconnected-(U501-NC-Pad8)")
-  (net 106 "unconnected-(U501-NC-Pad21)")
-  (net 107 "unconnected-(U601-#RESET-Pad5)")
-  (net 108 "unconnected-(U601-SYNC-Pad6)")
-  (net 109 "unconnected-(U601-CF-Pad8)")
-  (net 110 "unconnected-(U601-MODE-Pad11)")
-  (net 111 "unconnected-(U801-NC-Pad6)")
-  (net 112 "unconnected-(U802-NC-Pad6)")
-  (net 113 "unconnected-(U803-NC-Pad6)")
+  (net 3 "/mcu/USBD_P")
+  (net 4 "+3V3")
+  (net 5 "/mcu/RESET")
+  (net 6 "/mcu/XIN")
+  (net 7 "/mcu/XOUT")
+  (net 8 "unconnected-(U301-PB2-Pad19)")
+  (net 9 "/current sense/U_IN")
+  (net 10 "/current sense/V_IN")
+  (net 11 "/current sense/W_IN")
+  (net 12 "unconnected-(U301-PA2-Pad10)")
+  (net 13 "Net-(U501-VCC)")
+  (net 14 "Net-(D602-K)")
+  (net 15 "Net-(U601-VCP)")
+  (net 16 "/current sense/U_SENSE")
+  (net 17 "/current sense/V_SENSE")
+  (net 18 "/current sense/W_SENSE")
+  (net 19 "/usb/USB_5V")
+  (net 20 "Net-(D301-A)")
+  (net 21 "Net-(D302-A)")
+  (net 22 "/mcu/CANH")
+  (net 23 "/mcu/CANL")
+  (net 24 "/mcu/SWDIO")
+  (net 25 "/mcu/SWCLK")
+  (net 26 "unconnected-(U301-PC10-Pad39)")
+  (net 27 "unconnected-(U301-PC11-Pad40)")
+  (net 28 "Net-(JP101-B)")
+  (net 29 "/current sense/U_OUT")
+  (net 30 "/current sense/V_OUT")
+  (net 31 "/current sense/W_OUT")
+  (net 32 "Net-(D603-K)")
+  (net 33 "Net-(D601-K)")
+  (net 34 "Net-(D601-A)")
+  (net 35 "Net-(U501-LX)")
+  (net 36 "Net-(U501-FB{slash}VOUT)")
+  (net 37 "Net-(R502-Pad2)")
+  (net 38 "unconnected-(U701-#FAULT-Pad6)")
+  (net 39 "/usb/UCPD_CC2")
+  (net 40 "/usb/UCPD_CC1")
+  (net 41 "Net-(U301-PB10)")
+  (net 42 "Net-(U301-PB11)")
+  (net 43 "/mcu/USBD_N")
+  (net 44 "unconnected-(U702-#FAULT-Pad6)")
+  (net 45 "unconnected-(U703-#FAULT-Pad6)")
+  (net 46 "/half bridges/ENA")
+  (net 47 "/encoder/A")
+  (net 48 "/encoder/B")
+  (net 49 "/encoder/Z")
+  (net 50 "unconnected-(U301-VBAT-Pad1)")
+  (net 51 "unconnected-(U301-PC15-Pad4)")
+  (net 52 "Net-(D501-A)")
+  (net 53 "Net-(D502-A)")
+  (net 54 "unconnected-(U301-PA4-Pad12)")
+  (net 55 "/encoder/SCK")
+  (net 56 "/encoder/CIPO")
+  (net 57 "/encoder/COPI")
+  (net 58 "/encoder/CS")
+  (net 59 "unconnected-(U301-PC13-Pad2)")
+  (net 60 "/encoder/CAL_EN")
+  (net 61 "unconnected-(U301-PC14-Pad3)")
+  (net 62 "/mcu/MOT_EN_B")
+  (net 63 "/mcu/MOT_EN_A")
+  (net 64 "/mcu/CAN_TX")
+  (net 65 "/mcu/CAN_RX")
+  (net 66 "unconnected-(U302-Vref-Pad5)")
+  (net 67 "unconnected-(U401-U-Pad1)")
+  (net 68 "unconnected-(U401-V-Pad2)")
+  (net 69 "unconnected-(U401-W-Pad3)")
+  (net 70 "unconnected-(U401-PWM_OUT-Pad10)")
+  (net 71 "unconnected-(U401-TEST-Pad11)")
+  (net 72 "unconnected-(U401-TEST_EN-Pad13)")
+  (net 73 "/half bridges/IN2B")
+  (net 74 "unconnected-(U301-PA15-Pad38)")
+  (net 75 "unconnected-(U301-PB6-Pad44)")
+  (net 76 "/half bridges/IN1A")
+  (net 77 "/half bridges/IN2A")
+  (net 78 "/half bridges/IN1B")
+  (net 79 "unconnected-(J201-SBU1-PadA8)")
+  (net 80 "unconnected-(J201-SBU2-PadB8)")
+  (net 81 "unconnected-(J301-SWO-Pad6)")
+  (net 82 "Net-(Q501-B)")
+  (net 83 "Net-(Q501-C)")
+  (net 84 "unconnected-(U301-PB7-Pad45)")
+  (net 85 "/half bridges/OUT1B")
+  (net 86 "/mcu/DIR")
+  (net 87 "/mcu/STEP")
 
   (footprint "Capacitor_SMD:C_0805_2012Metric" (layer "F.Cu")
     (tstamp 0029b22c-e86d-46df-8159-b6fa5e6704e2)
-    (at 53.4575 73.845)
+    (at 138.025 74.8)
     (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
     (tags "capacitor")
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@@ -245,389 +238,160 @@
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-    (pad "2" smd rect (at 3 1.875) (size 1 0.75) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 1 "GND") (pinfunction "2") (pintype "passive") (tstamp 807c579e-8013-41dc-8d11-539e0d895beb))
-    (model "/Users/mateijordache/Documents/KiCad/6.0/3dmodels/TS-1187A-B-A-B--3DModel-STEP-56544.STEP"
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-  (footprint "Diode_SMD:D_SMA" (layer "F.Cu")
-    (tstamp 05c3707f-1d1e-49ce-82af-7174b724922a)
-    (at 97.8925 81.885)
-    (descr "Diode SMA (DO-214AC)")
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-    (property "Sheetfile" "driver.kicad_sch")
-    (property "Sheetname" "driver")
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-
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+  (footprint "Connector:Tag-Connect_TC2030-IDC-NL_2x03_P1.27mm_Vertical" (layer "F.Cu")
     (tstamp 06131b84-9542-4d49-8209-4194403dd480)
-    (at 127.605 77.18)
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-    (tags "Through hole pin header THT 2x07 1.27mm double row")
+    (at 139.075 102.175 11)
+    (descr "Tag-Connect programming header; http://www.tag-connect.com/Materials/TC2030-IDC-NL.pdf")
+    (tags "tag connect programming header pogo pins")
     (property "Sheetfile" "mcu.kicad_sch")
     (property "Sheetname" "mcu")
     (property "exclude_from_bom" "")
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+      (net 5 "/mcu/RESET") (pinfunction "~{RESET}") (pintype "open_collector") (tstamp 63509b1a-e04f-469d-afa5-f015f6063915))
+    (pad "4" connect circle (at 0 -0.635 11) (size 0.7874 0.7874) (layers "F.Cu" "F.Mask")
+      (net 25 "/mcu/SWCLK") (pinfunction "SWCLK") (pintype "output") (tstamp 14823375-9d7b-4aaa-ac92-c8867fde8df5))
+    (pad "5" connect circle (at 1.27 0.635 11) (size 0.7874 0.7874) (layers "F.Cu" "F.Mask")
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+      (keepout (tracks allowed) (vias not_allowed) (pads allowed) (copperpour not_allowed) (footprints not_allowed))
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+    (pad "3" smd roundrect (at 0.9375 0) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 83 "Net-(Q501-C)") (pinfunction "C") (pintype "passive") (tstamp ac128303-1ef2-4eca-903d-cdc88287fb95))
+    (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23.wrl"
+      (offset (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
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   )
 
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     (tstamp 0d91f9c3-511d-4306-a59b-30fb3e1714e0)
-    (at 109.9475 104.895)
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     (tags "resistor")
-    (property "LCSC Part" "C25765")
-    (property "Sheetfile" "psu.kicad_sch")
-    (property "Sheetname" "psu")
+    (property "LCSC Part" "C25905")
+    (property "Sheetfile" "halfbridges.kicad_sch")
+    (property "Sheetname" "half bridges")
     (property "ki_description" "Resistor, small US symbol")
     (property "ki_keywords" "r resistor")
-    (path "/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/f1a80925-264b-4ee1-9384-e627a412627a")
+    (path "/ac193888-c8ba-43d9-af32-3c2e2d16ba47/8890abe6-70b8-4275-9fc5-c77630cd7d38")
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-      (net 59 "Net-(U601-RT)") (pintype "passive") (tstamp b89f0805-7b25-4ca9-b728-019f26c63a49))
+      (net 34 "Net-(D601-A)") (pintype "passive") (tstamp b89f0805-7b25-4ca9-b728-019f26c63a49))
     (pad "2" smd roundrect (at 0.51 0) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 1 "GND") (pintype "passive") (tstamp 6d393467-30db-4638-a5b6-ef3dbde09a62))
+      (net 4 "+3V3") (pintype "passive") (tstamp 6d393467-30db-4638-a5b6-ef3dbde09a62))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -666,116 +430,69 @@
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-    (tags "SOT TO_SOT_SMD")
-    (property "LCSC Part" "C5446")
+  (footprint "Diode_SMD:D_SOD-323" (layer "F.Cu")
+    (tstamp 0fa45199-c764-4e08-8317-0194074cfd5a)
+    (at 156.125 77.825 -90)
+    (descr "SOD-323")
+    (tags "SOD-323")
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+      (net 52 "Net-(D501-A)") (pinfunction "A") (pintype "passive") (tstamp 7f2c646e-9b64-4e4a-8986-e93ad6476ba8))
+    (model "${KICAD6_3DMODEL_DIR}/Diode_SMD.3dshapes/D_SOD-323.wrl"
+      (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
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@@ -916,7 +643,7 @@
 
   (footprint "Resistor_SMD:R_0402_1005Metric" (layer "F.Cu")
     (tstamp 1a398b72-3046-4d02-a00d-fe5a9f6adaa0)
-    (at 59.6875 82.565)
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     (tags "resistor")
     (property "LCSC Part" "C25905")
@@ -924,17 +651,17 @@
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     (property "ki_description" "Resistor, small US symbol")
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+    (pad "1" smd roundrect (at -0.51 0 90) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
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-      (net 54 "/usb/UCPD_CC2") (pintype "passive") (tstamp b023fe6a-0daf-4be6-9fe4-639300eadb57))
+    (pad "2" smd roundrect (at 0.51 0 90) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 39 "/usb/UCPD_CC2") (pintype "passive") (tstamp b023fe6a-0daf-4be6-9fe4-639300eadb57))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
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@@ -971,7 +698,7 @@
 
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     (tstamp 1abe8758-32b4-4fde-8e2e-ac55781ae9a8)
-    (at 59.6875 86.545)
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@@ -1024,40 +751,9 @@
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     (tstamp 1d272530-b909-4625-957c-8bf2010e2968)
-    (at 79.1575 106.885)
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     (tags "resistor")
     (property "LCSC Part" "C25905")
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+    (fp_text reference "R302" (at 0 -1.17 45) (layer "F.SilkS") hide
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       (tstamp 455c2594-9ec0-4878-a960-3c3d87176ff0)
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+    (pad "1" smd roundrect (at -0.51 0 225) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 42 "Net-(U301-PB11)") (pintype "passive") (tstamp fc77261b-597e-4174-b624-c471dd4fa0f5))
+    (pad "2" smd roundrect (at 0.51 0 225) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 21 "Net-(D302-A)") (pintype "passive") (tstamp 9c0b3ec9-543d-4067-9356-db04a4947e15))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
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@@ -1112,7 +808,7 @@
 
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     (tstamp 2168d318-aadf-4613-90fd-1eae2cf16e2d)
-    (at 68.2675 110.795)
+    (at 141.525349 86.064949 45)
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+      (net 4 "+3V3") (pintype "passive") (tstamp 6c5ba8b3-4760-4820-b2e6-39911fab8eff))
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@@ -1165,60 +861,72 @@
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-    (tstamp 27c65023-ab44-4386-9004-bac0e2ab5019)
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-    (property "LCSC Part" "C350864")
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-    (path "/41d11f3b-333a-47c0-a126-1f991ee11e83/7030117b-e7a3-42eb-9cc3-325d4312d5a1")
+  (footprint "Diode_SMD:D_SMA" (layer "F.Cu")
+    (tstamp 27e71118-5519-41eb-adee-6fb85d57cfca)
+    (at 161.9 84.85 -90)
+    (descr "Diode SMA (DO-214AC)")
+    (tags "Diode SMA (DO-214AC)")
+    (property "LCSC Part" "C14996")
+    (property "Sheetfile" "lemon-pepper.kicad_sch")
+    (property "Sheetname" "")
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+    (property "Sim.Pins" "1=K 2=A")
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+    (fp_line (start -3.51 -1.65) (end 2 -1.65)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp d2ddda64-f00d-4368-a13d-7de7773582c2))
+    (fp_line (start -3.51 1.65) (end 2 1.65)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 8ec7edf0-aa49-4b95-8d78-bf63a87c36cd))
+    (fp_line (start -3.5 -1.75) (end 3.5 -1.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 3016a226-545a-4346-8177-49da652e50da))
+    (fp_line (start -3.5 1.75) (end -3.5 -1.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp bd2767f8-66b9-4d2b-a533-c4001d4baf32))
+    (fp_line (start 3.5 -1.75) (end 3.5 1.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 8f42734f-593a-4353-80ce-d0253ceffbcd))
+    (fp_line (start 3.5 1.75) (end -3.5 1.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 65152836-34ed-4af0-95b3-c3da916aed82))
+    (fp_line (start -2.3 1.5) (end -2.3 -1.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp e2965bad-0d5f-4b62-b7a5-06bdeb4c5952))
+    (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 7554e8d2-ce39-46ed-b01b-823b220b09e5))
+    (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 7860f7db-dcca-45c8-9d87-76b02d302777))
+    (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 648addaf-e87b-421f-9378-ad2e01cb113b))
+    (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 52aa4698-77ed-44fb-81be-f7afb0ea5cc8))
+    (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp dd566548-65f0-4b16-9e4c-055531f2b9d9))
+    (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 1a9d0839-d6e6-48a4-833d-339886cf5795))
+    (fp_line (start 2.3 -1.5) (end -2.3 -1.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 10497aa1-d49a-4017-83c1-b5b73652c1aa))
+    (fp_line (start 2.3 -1.5) (end 2.3 1.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 09bc4d44-445e-42d4-9c05-354fcc87c083))
+    (fp_line (start 2.3 1.5) (end -2.3 1.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 52829aea-bedd-405d-80a6-559ca546b8a7))
+    (pad "1" smd roundrect (at -2 0 270) (size 2.5 1.8) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.1388888889)
+      (net 2 "Vmot") (pinfunction "K") (pintype "passive") (tstamp 0f937cc9-f7df-4597-92f1-3553a2f7fc47))
+    (pad "2" smd roundrect (at 2 0 270) (size 2.5 1.8) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.1388888889)
+      (net 1 "GND") (pinfunction "A") (pintype "passive") (tstamp 86f81a2c-3c10-411d-956e-aab8aea5291d))
+    (model "${KICAD6_3DMODEL_DIR}/Diode_SMD.3dshapes/D_SMA.wrl"
+      (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
@@ -1226,7 +934,7 @@
 
   (footprint "Capacitor_SMD:C_0805_2012Metric" (layer "F.Cu")
     (tstamp 2c46646d-cc7f-4cd7-9517-a972d0ae2125)
-    (at 53.4575 82.875)
+    (at 154.125 91.5 90)
     (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
     (tags "capacitor")
     (property "LCSC Part" "C440198")
@@ -1236,15 +944,15 @@
     (property "ki_keywords" "capacitor cap")
     (path "/ca116305-8462-4efa-8dd8-c4ecc4b539ce")
     (attr smd)
-    (fp_text reference "C106" (at 0 -1.68) (layer "F.SilkS") hide
+    (fp_text reference "C106" (at 0 -1.68 90) (layer "F.SilkS") hide
         (effects (font (size 1 1) (thickness 0.15)))
       (tstamp bf03ad26-8daf-4bc3-a04c-1dbd5d607495)
     )
-    (fp_text value "10u" (at 0 1.68) (layer "F.Fab")
+    (fp_text value "10u" (at 0 1.68 90) (layer "F.Fab")
         (effects (font (size 1 1) (thickness 0.15)))
       (tstamp 726d4a24-9feb-46d9-908e-000cb883e698)
     )
-    (fp_text user "${REFERENCE}" (at 0 0) (layer "F.Fab")
+    (fp_text user "${REFERENCE}" (at 0 0 90) (layer "F.Fab")
         (effects (font (size 0.5 0.5) (thickness 0.08)))
       (tstamp a169b5b3-9ed5-416c-bc70-dac480717fa9)
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@@ -1268,9 +976,9 @@
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 2fb9b184-697f-416d-96bb-34c4991f97db))
     (fp_line (start 1 0.625) (end -1 0.625)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp d848acb5-c796-46b7-92bf-715f2437afb3))
-    (pad "1" smd roundrect (at -0.95 0) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+    (pad "1" smd roundrect (at -0.95 0 90) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 2 "Vmot") (pintype "passive") (tstamp 0c2a7d88-3bdd-4c7d-81dd-44e3b4f35c7b))
-    (pad "2" smd roundrect (at 0.95 0) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+    (pad "2" smd roundrect (at 0.95 0 90) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp d2fc58fc-fd44-457f-bdc9-34212bc2542b))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl"
       (offset (xyz 0 0 0))
@@ -1279,9 +987,68 @@
     )
   )
 
+  (footprint "Diode_SMD:D_0603_1608Metric" (layer "F.Cu")
+    (tstamp 2c6de549-2343-4d02-83d8-b0e687284d79)
+    (at 159.325 87.375 -90)
+    (descr "Diode SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+    (tags "diode")
+    (property "LCSC Part" "C2286")
+    (property "Sheetfile" "halfbridges.kicad_sch")
+    (property "Sheetname" "half bridges")
+    (property "ki_description" "Light emitting diode")
+    (property "ki_keywords" "LED diode")
+    (path "/ac193888-c8ba-43d9-af32-3c2e2d16ba47/fd0e2a50-e9d1-47f3-a8dd-0b3fcc5e140e")
+    (attr smd)
+    (fp_text reference "D601" (at 0 -1.43 90) (layer "F.SilkS") hide
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 022b330a-2c93-4c0e-ba61-0e84608acabc)
+    )
+    (fp_text value "OCD" (at 0 1.43 90) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp b43715b2-557d-48a2-888d-5bba0b996dd1)
+    )
+    (fp_text user "${REFERENCE}" (at 0 0 90) (layer "F.Fab")
+        (effects (font (size 0.4 0.4) (thickness 0.06)))
+      (tstamp c8342208-0f11-4fc0-a411-18b7ae720f4e)
+    )
+    (fp_line (start -1.485 -0.735) (end -1.485 0.735)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp fa9a540d-9e9f-40a2-9c3e-a7d038bc072f))
+    (fp_line (start -1.485 0.735) (end 0.8 0.735)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 9c32b65b-1fef-404a-9203-4d0e583fa5ad))
+    (fp_line (start 0.8 -0.735) (end -1.485 -0.735)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 3160457d-3385-4bf7-9968-05a2759d8f3f))
+    (fp_line (start -1.48 -0.73) (end 1.48 -0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 5e620de7-bed2-4fdc-aa73-f5aa58405b9c))
+    (fp_line (start -1.48 0.73) (end -1.48 -0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp b1d6ae12-45b6-4cbc-9fe7-f3559b5e3eab))
+    (fp_line (start 1.48 -0.73) (end 1.48 0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 4a0e043a-1767-4487-9ae7-8083ec6e0674))
+    (fp_line (start 1.48 0.73) (end -1.48 0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 68669499-03de-45fe-9be6-caab83d81c53))
+    (fp_line (start -0.8 -0.1) (end -0.8 0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp ba7d85be-35cb-4aff-8de9-60b814a0eaa7))
+    (fp_line (start -0.8 0.4) (end 0.8 0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 3261c11f-4aa5-43ef-8082-17870904bf1f))
+    (fp_line (start -0.5 -0.4) (end -0.8 -0.1)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a08fe104-d942-4aba-9ec8-d0177fa143f2))
+    (fp_line (start 0.8 -0.4) (end -0.5 -0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 26ea122d-b59a-4171-8254-c1d8afea4447))
+    (fp_line (start 0.8 0.4) (end 0.8 -0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 52b30d08-a120-46bb-84cc-616be11d160d))
+    (pad "1" smd roundrect (at -0.7875 0 270) (size 0.875 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 33 "Net-(D601-K)") (pinfunction "K") (pintype "passive") (tstamp b0ef27ec-73a8-418d-ae54-7b4e3e415d83))
+    (pad "2" smd roundrect (at 0.7875 0 270) (size 0.875 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 34 "Net-(D601-A)") (pinfunction "A") (pintype "passive") (tstamp 50a34ad4-e7f9-4cc7-9900-de9845b92c2b))
+    (model "${KICAD6_3DMODEL_DIR}/Diode_SMD.3dshapes/D_0603_1608Metric.wrl"
+      (offset (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
   (footprint "Diode_SMD:D_0603_1608Metric" (layer "F.Cu")
     (tstamp 2eebbbcc-cb74-4ed5-8d34-d7c5bc3cf54e)
-    (at 86.2875 124.145)
+    (at 131.0625 91.275)
     (descr "Diode SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
     (tags "diode")
     (property "LCSC Part" "C72041")
@@ -1330,7 +1097,7 @@
     (pad "1" smd roundrect (at -0.7875 0) (size 0.875 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pinfunction "K") (pintype "passive") (tstamp 6467d436-4004-478d-9189-e7d0461e075e))
     (pad "2" smd roundrect (at 0.7875 0) (size 0.875 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 30 "Net-(D301-A)") (pinfunction "A") (pintype "passive") (tstamp de6a3437-79d9-4275-8bf0-ad95a7dd6361))
+      (net 20 "Net-(D301-A)") (pinfunction "A") (pintype "passive") (tstamp de6a3437-79d9-4275-8bf0-ad95a7dd6361))
     (model "${KICAD6_3DMODEL_DIR}/Diode_SMD.3dshapes/D_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -1338,55 +1105,55 @@
     )
   )
 
-  (footprint "Capacitor_SMD:C_0402_1005Metric" (layer "F.Cu")
-    (tstamp 32788bcb-8273-4438-82f6-22c2f9042148)
-    (at 109.9275 112.825)
-    (descr "Capacitor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
-    (tags "capacitor")
-    (property "LCSC Part" "C1548")
+  (footprint "Inductor_SMD:L_1210_3225Metric" (layer "F.Cu")
+    (tstamp 308456ff-f38f-4d90-910c-1fa4f39fc87d)
+    (at 160.825 94.525)
+    (descr "Inductor SMD 1210 (3225 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+    (tags "inductor")
+    (property "LCSC Part" "C394994")
     (property "Sheetfile" "psu.kicad_sch")
     (property "Sheetname" "psu")
-    (property "ki_description" "Unpolarized capacitor, small symbol")
-    (property "ki_keywords" "capacitor cap")
-    (path "/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/b517fadb-4145-4156-b878-6cb0ecad6bcb")
+    (property "ki_description" "Inductor, small symbol")
+    (property "ki_keywords" "inductor choke coil reactor magnetic")
+    (path "/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/93063cd2-1c42-4c29-b62d-c145e04fcf13")
     (attr smd)
-    (fp_text reference "C607" (at 0 -1.16) (layer "F.SilkS") hide
+    (fp_text reference "L501" (at 0 -2.28) (layer "F.SilkS") hide
         (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp b9593cc7-57f0-464f-b003-d5a1335e4dd6)
+      (tstamp dcb9a799-117d-4a9c-b42d-d43b51691b33)
     )
-    (fp_text value "12n" (at 0 1.16) (layer "F.Fab")
+    (fp_text value "33u" (at 0 2.28) (layer "F.Fab")
         (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 26f320cc-b2a7-42ab-9da7-10d515c64c5d)
+      (tstamp 9072798d-b4be-415b-be7b-6c44b37ee5f9)
     )
     (fp_text user "${REFERENCE}" (at 0 0) (layer "F.Fab")
-        (effects (font (size 0.25 0.25) (thickness 0.04)))
-      (tstamp fd34bb37-bf22-4288-a3b0-096559700023)
+        (effects (font (size 0.8 0.8) (thickness 0.12)))
+      (tstamp 2f34f713-c8b9-4536-bc76-a95ac2b6e216)
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-    (fp_line (start -0.107836 -0.36) (end 0.107836 -0.36)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp b22b98e1-e883-4cb7-8564-48cb38491b6a))
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-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a55b6cf7-dcac-4ae5-8b87-3470eaa9b901))
-    (fp_line (start 0.5 -0.25) (end 0.5 0.25)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 83692709-627e-4559-badc-ee4c58979405))
-    (fp_line (start 0.5 0.25) (end -0.5 0.25)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 46a4b2ff-b8a8-4e5c-980b-9e2cdbd72ea0))
-    (pad "1" smd roundrect (at -0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 22 "Net-(U601-SS)") (pintype "passive") (tstamp b9473d66-9e3b-4a0b-8c5c-a9f6a4538c03))
-    (pad "2" smd roundrect (at 0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 1 "GND") (pintype "passive") (tstamp 07fc8a28-6109-42c8-8b21-76264877f31c))
-    (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
+    (fp_line (start -0.602064 -1.36) (end 0.602064 -1.36)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp a1878329-7f33-4517-b758-abffcd4d27d5))
+    (fp_line (start -0.602064 1.36) (end 0.602064 1.36)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 3164476b-8206-4f63-87c9-7640a15f2f1c))
+    (fp_line (start -2.28 -1.58) (end 2.28 -1.58)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp d34658f1-b484-46d1-a0c1-aac5a18024a4))
+    (fp_line (start -2.28 1.58) (end -2.28 -1.58)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 351402a9-7b17-4d0c-99de-a840b09140b3))
+    (fp_line (start 2.28 -1.58) (end 2.28 1.58)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp b11324b7-e816-4859-af82-b0ded7c39b68))
+    (fp_line (start 2.28 1.58) (end -2.28 1.58)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 5aab8b40-5f18-45bb-a47d-b2326292b6ea))
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+      (net 35 "Net-(U501-LX)") (pintype "passive") (tstamp 5bb6007c-4090-4723-b5f6-7e20568140d4))
+    (pad "2" smd roundrect (at 1.4 0) (size 1.25 2.65) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2)
+      (net 4 "+3V3") (pintype "passive") (tstamp cbfee4fb-d819-434d-bffc-f76eb94af6d6))
+    (model "${KICAD6_3DMODEL_DIR}/Inductor_SMD.3dshapes/L_1210_3225Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -1395,25 +1162,25 @@
 
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     (tstamp 32b79dff-002e-4a93-9ef1-fc392b11e969)
-    (at 68.2675 112.765)
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     (tags "capacitor")
-    (property "LCSC Part" "C307331")
+    (property "LCSC Part" "C1554")
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     (property "Sheetname" "mcu")
     (property "ki_description" "Unpolarized capacitor, small symbol")
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-    (path "/7f2d245a-6dca-4eb9-9839-7fdf255edd98/f03bdecc-5bf2-4d7f-8598-6540a8577403")
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-    (pad "2" smd roundrect (at 0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+    (pad "1" smd roundrect (at -0.48 0 225) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 6 "/mcu/XIN") (pintype "passive") (tstamp db67cbdf-b1dc-4ace-929a-557bd742e404))
+    (pad "2" smd roundrect (at 0.48 0 225) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp b3387ed2-f3e1-4c68-a3a2-e901d405eb15))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
@@ -1448,141 +1215,23 @@
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-    (property "Sheetfile" "driver.kicad_sch")
-    (property "Sheetname" "driver")
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-      (rotate (xyz 0 0 0))
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-      (net 14 "/current sense/V_IN") (pintype "passive") (tstamp 53a4aeab-608d-48ae-a23c-377d476d73b3))
-    (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
-      (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
-      (rotate (xyz 0 0 0))
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   (footprint "Capacitor_SMD:C_0402_1005Metric" (layer "F.Cu")
     (tstamp 3411c388-966f-45a8-809d-da08be9fc16d)
-    (at 76.9975 90.945)
+    (at 140.12 80.475 180)
     (descr "Capacitor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "capacitor")
-    (property "LCSC Part" "C1523")
-    (property "Sheetfile" "fets.kicad_sch")
-    (property "Sheetname" "fets")
+    (property "LCSC Part" "C307331")
+    (property "Sheetfile" "currentsense.kicad_sch")
+    (property "Sheetname" "current sense")
     (property "ki_description" "Unpolarized capacitor, small symbol")
     (property "ki_keywords" "capacitor cap")
-    (path "/4ae515ef-7634-40dd-8c26-7b515d9d6b82/120dc20d-3bb1-457f-9737-fb6838e924b3")
+    (path "/41d11f3b-333a-47c0-a126-1f991ee11e83/f0b3bc82-d997-4802-8add-753ac44970ad")
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     (fp_text reference "C701" (at 0 -1.16) (layer "F.SilkS") hide
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-    (fp_text value "1n" (at 0 1.16) (layer "F.Fab")
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-      (net 23 "Net-(C701-Pad1)") (pintype "passive") (tstamp 6e49e9d2-88b5-40e3-9d64-61946951a079))
-    (pad "2" smd roundrect (at 0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+    (pad "1" smd roundrect (at -0.48 0 180) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 16 "/current sense/U_SENSE") (pintype "passive") (tstamp 6e49e9d2-88b5-40e3-9d64-61946951a079))
+    (pad "2" smd roundrect (at 0.48 0 180) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 0feb491a-baef-4031-96d8-1e54d3e18199))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
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@@ -1623,7 +1272,7 @@
 
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     (tstamp 362d98ed-25b6-4c78-9824-540a20bde82b)
-    (at 68.2675 118.675)
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     (tags "capacitor")
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@@ -1631,17 +1280,17 @@
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     (property "ki_keywords" "capacitor cap")
-    (path "/7f2d245a-6dca-4eb9-9839-7fdf255edd98/16ccc106-b3e7-4cc8-9c5f-8d61dc8d1657")
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-      (net 3 "/mcu/USB_N") (pinfunction "IO3") (pintype "passive") (tstamp be247724-bcf3-439a-8fdb-a7272fa92399))
-    (pad "5" smd roundrect (at 1.1375 0) (size 1.325 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 18 "+5V") (pinfunction "VP") (pintype "passive") (tstamp 36be2197-c4f6-412c-b4fc-cf4d4d7df522))
-    (pad "6" smd roundrect (at 1.1375 -0.95) (size 1.325 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 4 "/mcu/USB_P") (pinfunction "IO4") (pintype "passive") (tstamp 73ea6a49-1c13-4d5f-9bf6-d81a928768a5))
+    (pad "3" smd roundrect (at -1.1375 0.95 270) (size 1.325 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 43 "/mcu/USBD_N") (pinfunction "IO2") (pintype "passive") (tstamp a08dafe6-ad4d-47c7-8ef9-fff20d6194b4))
+    (pad "4" smd roundrect (at 1.1375 0.95 270) (size 1.325 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 43 "/mcu/USBD_N") (pinfunction "IO3") (pintype "passive") (tstamp be247724-bcf3-439a-8fdb-a7272fa92399))
+    (pad "5" smd roundrect (at 1.1375 0 270) (size 1.325 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 19 "/usb/USB_5V") (pinfunction "VP") (pintype "passive") (tstamp 36be2197-c4f6-412c-b4fc-cf4d4d7df522))
+    (pad "6" smd roundrect (at 1.1375 -0.95 270) (size 1.325 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 3 "/mcu/USBD_P") (pinfunction "IO4") (pintype "passive") (tstamp 73ea6a49-1c13-4d5f-9bf6-d81a928768a5))
     (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23-6.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -1964,126 +1394,76 @@
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-    (path "/4ae515ef-7634-40dd-8c26-7b515d9d6b82/24e26b2b-1041-4297-ab3f-a14e0e4b7c39")
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+    (tstamp 3c5d6b7d-c3ab-4d3b-9ff4-7159f00f45fc)
+    (at 145.7 77.975 180)
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+    (property "Sheetfile" "currentsense.kicad_sch")
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+    (path "/41d11f3b-333a-47c0-a126-1f991ee11e83/37feff03-c1c6-40e4-bf89-9ed25f3b433f")
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-    (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
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+      (stroke (width 0.25) (type solid)) (fill none) (layer "F.SilkS") (tstamp cc88b882-f1e6-47e9-b501-3c800a179a62))
+    (fp_circle (center -2.8 -2.03) (end -2.77 -2.03)
+      (stroke (width 0.06) (type solid)) (fill none) (layer "F.Fab") (tstamp f009a3c5-a1f4-418f-8931-68e8e8f9f211))
+    (pad "1" smd rect (at -1.35 -0.5 270) (size 0.8 1.27) (layers "F.Cu" "F.Paste" "F.Mask")
+      (net 11 "/current sense/W_IN") (pinfunction "IP+") (pintype "unspecified") (tstamp 9d5cdd3a-36b4-40fb-9086-eb408a156437))
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+      (net 31 "/current sense/W_OUT") (pinfunction "IP-") (pintype "unspecified") (tstamp e128e5bc-7637-4b39-9b6f-951593bfdbb9))
+    (pad "5" smd rect (at 0.15 1.45) (size 0.3 0.85) (layers "F.Cu" "F.Paste" "F.Mask")
+      (net 1 "GND") (pinfunction "GND") (pintype "unspecified") (tstamp 90e80153-e626-465b-abd4-a26910788b04))
+    (pad "6" smd rect (at 0.65 1.45) (size 0.3 0.85) (layers "F.Cu" "F.Paste" "F.Mask")
+      (net 45 "unconnected-(U703-#FAULT-Pad6)") (pinfunction "#FAULT") (pintype "unspecified+no_connect") (tstamp 6fdf20bc-d70b-4983-a17d-83b9c843ca3c))
+    (pad "7" smd rect (at 1.35 0.75 90) (size 0.3 0.85) (layers "F.Cu" "F.Paste" "F.Mask")
+      (net 1 "GND") (pinfunction "NC") (pintype "unspecified") (tstamp 7104b3b3-4c75-4700-8afa-d30e288a234e))
+    (pad "8" smd rect (at 1.35 0.25 90) (size 0.3 0.85) (layers "F.Cu" "F.Paste" "F.Mask")
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+      (net 1 "GND") (pinfunction "NC") (pintype "unspecified") (tstamp 06b7bc5b-3ad0-4441-8fe4-7689d12016f4))
+    (pad "11" smd rect (at 0.65 -1.45 180) (size 0.3 0.85) (layers "F.Cu" "F.Paste" "F.Mask")
+      (net 18 "/current sense/W_SENSE") (pinfunction "VIOUT") (pintype "unspecified") (tstamp 23d7f568-4011-4b5b-b2e3-5a6e5a69f03e))
+    (pad "12" smd rect (at 0.15 -1.45 180) (size 0.3 0.85) (layers "F.Cu" "F.Paste" "F.Mask")
+      (net 4 "+3V3") (pinfunction "VCC") (pintype "unspecified") (tstamp 2a0c983b-003a-454f-beb1-9cb7fc6e34c6))
+    (model "/Users/mateijordache/Documents/KiCad/easyeda2kicad/easyeda2kicad.3dshapes/IC-SMD_ACS711KEXLT-15AB-T.wrl"
+      (offset (xyz -0.1 -0 -0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
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-    (pad "1" smd circle (at 0 0) (size 1 1) (layers "F.Cu" "F.Mask")
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     (tstamp 3f7c3665-15b2-44ea-a083-5bb3e32f5a50)
-    (at 68.2675 106.855)
+    (at 134.225 90.528939 -135)
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     (tags "capacitor")
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@@ -2093,15 +1473,15 @@
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     (attr smd)
-    (fp_text reference "C302" (at 0 -1.16) (layer "F.SilkS") hide
+    (fp_text reference "C302" (at 0 -1.16 45) (layer "F.SilkS") hide
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       (tstamp eaec32b0-9a37-46aa-b52b-ad7a4533311a)
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-    (fp_text value "100n" (at 0 1.16) (layer "F.Fab")
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       (tstamp 7a81fce0-2291-49db-b9db-14d03609aadc)
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-    (fp_text user "${REFERENCE}" (at 0 0) (layer "F.Fab")
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       (tstamp 51981173-868b-42c6-a7dd-1fb9816b95bd)
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+      (net 4 "+3V3") (pintype "passive") (tstamp 64e51c81-0c34-4a01-aa7e-62c2108e424e))
+    (pad "2" smd roundrect (at 0.48 0 225) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp a08a2e72-9920-4d5e-928b-a35a60e3465c))
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@@ -2136,110 +1516,55 @@
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+  (footprint "Capacitor_SMD:C_0402_1005Metric" (layer "F.Cu")
     (tstamp 43cfab83-bcd9-478a-9054-bd4c02809531)
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+    (at 157.3 90.725 -90)
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+      (net 32 "Net-(D603-K)") (pintype "passive") (tstamp 258f7913-49e6-4fb7-8246-14a9211ec1ad))
+    (pad "2" smd roundrect (at 0.48 0 270) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 2 "Vmot") (pintype "passive") (tstamp 34c9e917-50c2-467a-979e-9f5d4dbc93e5))
+    (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -2248,7 +1573,7 @@
 
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     (tstamp 4544b91d-6d06-4a15-abfe-ecb9cde7c878)
-    (at 56.9575 85.395)
+    (at 130.25 96.775)
     (descr "Circular Fiducial, 0.5mm bare copper, 1mm soldermask opening (Level C)")
     (tags "fiducial")
     (property "Sheetfile" "lemon-pepper.kicad_sch")
@@ -2280,7 +1605,7 @@
 
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     (tstamp 4bbbd1f9-42d4-48f5-b867-b0624db8022f)
-    (at 68.2675 76.625)
+    (at 162.2 96.65 180)
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     (tags "capacitor")
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+      (net 4 "+3V3") (pintype "passive") (tstamp 717a4630-2925-45c3-8487-8bfe6438be5f))
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       (net 1 "GND") (pintype "passive") (tstamp bfb75589-d464-4c65-bc40-4843473c1cf0))
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@@ -2335,7 +1660,7 @@
 
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     (tstamp 4c51e23d-29c9-44eb-94f8-b21b2d3800a5)
-    (at 86.2875 126.735)
+    (at 131.0625 92.925)
     (descr "Diode SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
     (tags "diode")
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@@ -2384,7 +1709,7 @@
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       (net 1 "GND") (pinfunction "K") (pintype "passive") (tstamp bd83eb14-0771-4a27-bb14-504ae4f7efe4))
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-      (net 31 "Net-(D302-A)") (pinfunction "A") (pintype "passive") (tstamp 49ab0f3a-7a21-43c6-bafa-9f51257516b6))
+      (net 21 "Net-(D302-A)") (pinfunction "A") (pintype "passive") (tstamp 49ab0f3a-7a21-43c6-bafa-9f51257516b6))
     (model "${KICAD6_3DMODEL_DIR}/Diode_SMD.3dshapes/D_0603_1608Metric.wrl"
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@@ -2394,7 +1719,7 @@
 
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     (tstamp 4d1aa79d-b7b5-4981-8d8b-764cd984b57a)
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     (tags "resistor")
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@@ -2402,17 +1727,17 @@
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     (property "ki_keywords" "r resistor")
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+      (net 40 "/usb/UCPD_CC1") (pintype "passive") (tstamp ed451fd0-25fe-4cc6-a52f-6ba55173e181))
+    (pad "2" smd roundrect (at 0.51 0 90) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 9bb93002-a397-4fef-b73c-630da2d20181))
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@@ -2448,53 +1773,53 @@
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-    (tstamp 4f27c92a-f98b-4f59-9c29-e7ea89a009b6)
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     (tags "resistor")
-    (property "LCSC Part" "C25744")
-    (property "Sheetfile" "fets.kicad_sch")
-    (property "Sheetname" "fets")
+    (property "LCSC Part" "C17168")
+    (property "Sheetfile" "lemon-pepper.kicad_sch")
+    (property "Sheetname" "")
     (property "ki_description" "Resistor, small US symbol")
     (property "ki_keywords" "r resistor")
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+      (net 4 "+3V3") (pintype "passive") (tstamp ab45a326-d4fb-4695-a1c9-1d15ca3d1fb8))
+    (pad "2" smd roundrect (at 0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 36 "Net-(U501-FB{slash}VOUT)") (pintype "passive") (tstamp 484ad957-4efe-4742-b997-53f353ddc54d))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
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     (tstamp 552d97f1-51ad-4854-bbf7-2bb7cc6d96e9)
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@@ -2734,15 +1949,15 @@
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-      (net 27 "/current sense/V_SENSE") (pintype "passive") (tstamp 01e80f83-0922-4be4-b2d1-ae78e0347c01))
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+      (net 41 "Net-(U301-PB10)") (pintype "passive") (tstamp f2f54910-1680-4667-a858-3d650b94ccb1))
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+      (net 20 "Net-(D301-A)") (pintype "passive") (tstamp 5aaf8f73-a6f1-4c73-b6b2-a6b663fa1fb5))
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+    (pad "1" smd roundrect (at -0.48 0 180) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 43 "/mcu/USBD_N") (pintype "passive") (tstamp 389e62fd-bb53-4613-974c-782cb3c0adbe))
+    (pad "2" smd roundrect (at 0.48 0 180) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
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     (tstamp 55de41c0-cf30-4446-911f-9361bfe68a9b)
-    (at 53.4575 70.835)
+    (at 138.025 72.75 180)
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+    (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
+      (offset (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
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     (tstamp a7966cba-a736-4e91-88f5-4654f18eba59)
-    (at 68.2675 108.825)
+    (at 132.8 89.1 -135)
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+      (net 4 "+3V3") (pintype "passive") (tstamp 215e71e4-d970-4c33-8ad0-55af9c7878d4))
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@@ -5151,7 +4106,7 @@
 
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+      (net 6 "/mcu/XIN") (pinfunction "1") (pintype "passive") (tstamp fab61589-f579-4cbc-84a0-3fcbb06248db))
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+      (net 7 "/mcu/XOUT") (pinfunction "3") (pintype "passive") (tstamp 729ef9c1-8639-431b-b779-afa38c723e43))
+    (pad "4" smd rect (at -1.1 -0.85 225) (size 1.4 1.2) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "4") (pintype "passive") (tstamp 03b15ad2-a831-423e-9633-dc8cc9932279))
     (model "${KICAD6_3DMODEL_DIR}/Crystal.3dshapes/Crystal_SMD_3225-4Pin_3.2x2.5mm.wrl"
       (offset (xyz 0 0 0))
@@ -5210,64 +4165,9 @@
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-    (property "Sheetname" "psu")
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-      (net 18 "+5V") (pintype "passive") (tstamp 6b7eae90-44a5-42a7-b966-1ce9f93a4f2b))
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     (tstamp b0170452-2c2a-4b77-b250-cd23587074b8)
-    (at 56.9575 82.845)
+    (at 129.9 76.2)
     (descr "Circular Fiducial, 0.5mm bare copper, 1mm soldermask opening (Level C)")
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@@ -5297,70 +4197,635 @@
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-    (property "ki_description" "Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)")
-    (property "ki_keywords" "connector")
-    (path "/4d6dcc0d-7e35-4592-ada8-bf24128aa9db")
+  (footprint "Diode_SMD:D_SOD-323" (layer "F.Cu")
+    (tstamp b07be34b-8e5e-4fc8-9eb1-fffb7531e9a0)
+    (at 159.45 91.9 180)
+    (descr "SOD-323")
+    (tags "SOD-323")
+    (property "LCSC Part" "C2128")
+    (property "Sheetfile" "halfbridges.kicad_sch")
+    (property "Sheetname" "half bridges")
+    (property "Sim.Device" "D")
+    (property "Sim.Pins" "1=K 2=A")
+    (property "ki_description" "Diode, small symbol")
+    (property "ki_keywords" "diode")
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+    (fp_line (start -0.91 -0.46) (end 0.91 -0.46)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 88a8e76c-13aa-43db-9edb-04a8035dc238))
+    (fp_line (start -0.91 0.46) (end -0.91 -0.46)
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+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp d519f610-f140-4769-a75a-b99ada2c1d96))
+    (fp_line (start -0.5 -0.25) (end 0.5 -0.25)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp b21bea2a-857a-402b-ba36-a663cad3b931))
+    (fp_line (start -0.5 0.25) (end -0.5 -0.25)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 6f8b11ae-57b6-4d45-9c04-83f4e7be8182))
+    (fp_line (start 0.5 -0.25) (end 0.5 0.25)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp d3338b4e-10c9-4ba8-98d7-2b0449f55b1f))
+    (fp_line (start 0.5 0.25) (end -0.5 0.25)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp db1ba0d8-f731-427d-b67d-01de16040021))
+    (pad "1" smd roundrect (at -0.48 0 270) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 13 "Net-(U501-VCC)") (pintype "passive") (tstamp c6b47ae4-a5bd-44e5-9c46-c599ce3bde02))
+    (pad "2" smd roundrect (at 0.48 0 270) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 1 "GND") (pintype "passive") (tstamp cd7d4420-90d8-4e03-a1cb-ec5cb35a8405))
+    (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
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-    (tstamp ccacf505-07ec-48b5-9cb9-c8bf3ed6d0dc)
-    (at 104.1375 84.125)
-    (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
-    (tags "capacitor")
-    (property "LCSC Part" "C13967")
-    (property "Sheetfile" "driver.kicad_sch")
-    (property "Sheetname" "driver")
-    (property "ki_description" "Unpolarized capacitor, small symbol")
-    (property "ki_keywords" "capacitor cap")
-    (path "/40d0f733-2cb2-4037-bc30-ae30111fe2e1/19a48a8f-685a-4dd5-b979-938a27078019")
+  (footprint "Diode_SMD:D_SOD-323" (layer "F.Cu")
+    (tstamp d1e5c4c6-5fc6-44c2-a4a3-6a585a2878da)
+    (at 159.45 89.9)
+    (descr "SOD-323")
+    (tags "SOD-323")
+    (property "LCSC Part" "C2128")
+    (property "Sheetfile" "halfbridges.kicad_sch")
+    (property "Sheetname" "half bridges")
+    (property "Sim.Device" "D")
+    (property "Sim.Pins" "1=K 2=A")
+    (property "ki_description" "Diode, small symbol")
+    (property "ki_keywords" "diode")
+    (path "/ac193888-c8ba-43d9-af32-3c2e2d16ba47/f33a26df-aece-43c8-9415-6ac5576d1432")
     (attr smd)
-    (fp_text reference "C502" (at 0 -1.68) (layer "F.SilkS") hide
+    (fp_text reference "D603" (at 0 -1.85) (layer "F.SilkS") hide
         (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 62bd9ae1-a267-4f28-900d-c803091ce1c4)
+      (tstamp db8c9742-98af-45d0-9e93-bf241c631834)
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-    (fp_text value "470n" (at 0 1.68) (layer "F.Fab")
+    (fp_text value "1N4148WS" (at 0.1 1.9) (layer "F.Fab")
         (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp c3ddd7bf-7b4a-4537-8ac1-1484c4c27b43)
+      (tstamp 1f345c4f-8c53-4b15-84a4-aae5d4316eb6)
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-    (fp_text user "${REFERENCE}" (at 0 0) (layer "F.Fab")
-        (effects (font (size 0.5 0.5) (thickness 0.08)))
-      (tstamp 2d1aa0d2-dbec-496e-ba24-670aa0de5008)
+    (fp_text user "${REFERENCE}" (at 0 -1.85) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp c4ea6454-7a58-4a0d-a6c8-05453471a036)
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-      (net 11 "/driver/U_BOOTSTRAP") (pintype "passive") (tstamp f824c959-d4e2-4fe5-b71e-005ebd42f461))
-    (pad "2" smd roundrect (at 0.95 0) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 12 "/current sense/U_IN") (pintype "passive") (tstamp c5c7e3d0-d64b-4725-a5ba-609dd118cf53))
-    (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl"
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+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 14204d87-c75f-4001-97c0-7b724f6ab322))
+    (fp_line (start -1.61 -0.85) (end 1.05 -0.85)
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+    (fp_line (start -1.6 -0.95) (end -1.6 0.95)
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+    (fp_line (start -0.9 0.7) (end -0.9 -0.7)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 084bc986-214d-43ab-903d-6da218f8bd65))
+    (fp_line (start -0.3 -0.35) (end -0.3 0.35)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp eada9ddd-3421-4ca4-a014-9a719ab8d027))
+    (fp_line (start -0.3 0) (end -0.5 0)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 81c54837-cede-4435-867a-a7265b362019))
+    (fp_line (start -0.3 0) (end 0.2 -0.35)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 05ec526d-aa8e-40af-9e2d-e20d345bc877))
+    (fp_line (start 0.2 -0.35) (end 0.2 0.35)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 6cbb4184-2934-4003-a952-016faf56b818))
+    (fp_line (start 0.2 0) (end 0.45 0)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 9ef510f8-b8d2-4049-9a04-3190057a2548))
+    (fp_line (start 0.2 0.35) (end -0.3 0)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 59c969a5-fbff-4d68-942d-3dd9e2b677c8))
+    (fp_line (start 0.9 -0.7) (end 0.9 0.7)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 9bc12a60-bcaf-44ea-807b-66d4a445a8bd))
+    (fp_line (start 0.9 0.7) (end -0.9 0.7)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 647b35b9-6286-47fe-ae6b-499c1a1222d5))
+    (pad "1" smd roundrect (at -1.05 0) (size 0.6 0.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 32 "Net-(D603-K)") (pinfunction "K") (pintype "passive") (tstamp f4006549-5d4f-473b-820b-747949b3e34d))
+    (pad "2" smd roundrect (at 1.05 0) (size 0.6 0.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 14 "Net-(D602-K)") (pinfunction "A") (pintype "passive") (tstamp 1f7e9fa5-1c85-4b06-9c37-6e4ac50a19d0))
+    (model "${KICAD6_3DMODEL_DIR}/Diode_SMD.3dshapes/D_SOD-323.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (footprint "TestPoint:TestPoint_Pad_D1.0mm" (layer "F.Cu")
-    (tstamp d07f1650-2777-4b6e-adb5-1cb3f7703841)
-    (at 63.3075 70.895)
-    (descr "SMD pad as test Point, diameter 1.0mm")
-    (tags "test point SMD pad")
-    (property "Sheetfile" "lemon-pepper.kicad_sch")
-    (property "Sheetname" "")
-    (property "ki_description" "test point")
-    (property "ki_keywords" "test point tp")
-    (path "/c505e6f6-fa02-47fb-b81f-09c686f9d687")
-    (attr exclude_from_pos_files)
-    (fp_text reference "TP112" (at 0 -1.448) (layer "F.SilkS") hide
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 51d80a2a-3ef1-440c-a5ec-63b99f79a6a3)
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-    (fp_text value "V" (at 0 1.55) (layer "F.Fab")
-        (effects (font (size 1 1) (thickness 0.15)))
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-    (fp_text user "${REFERENCE}" (at 0 -1.45) (layer "F.Fab")
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp dff6cccd-7f60-4d15-8bd6-17bba8f79ff9)
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-    (fp_circle (center 0 0) (end 0 0.7)
-      (stroke (width 0.12) (type solid)) (fill none) (layer "F.SilkS") (tstamp e9e9bb88-a118-4d6a-9191-b48a3fb2234f))
-    (fp_circle (center 0 0) (end 1 0)
-      (stroke (width 0.05) (type solid)) (fill none) (layer "F.CrtYd") (tstamp 6e10b78c-2cbd-413c-8063-31dcd94d152c))
-    (pad "1" smd circle (at 0 0) (size 1 1) (layers "F.Cu" "F.Mask")
-      (net 14 "/current sense/V_IN") (pinfunction "1") (pintype "passive") (tstamp ab70326a-89a6-452c-8243-b7968a5029ab))
-  )
-
   (footprint "Capacitor_SMD:C_0805_2012Metric" (layer "F.Cu")
     (tstamp d219e3bc-aa7a-49a6-88ce-25b2efce637e)
-    (at 104.1375 81.115)
+    (at 152.325 96.725 180)
     (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
     (tags "capacitor")
     (property "LCSC Part" "C440198")
-    (property "Sheetfile" "driver.kicad_sch")
-    (property "Sheetname" "driver")
+    (property "Sheetfile" "psu.kicad_sch")
+    (property "Sheetname" "psu")
     (property "ki_description" "Unpolarized capacitor, small symbol")
     (property "ki_keywords" "capacitor cap")
-    (path "/40d0f733-2cb2-4037-bc30-ae30111fe2e1/eb96d99d-b160-404e-9d44-cbc16795e63b")
+    (path "/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/c2e248dc-262a-4629-a710-625bec428a81")
     (attr smd)
     (fp_text reference "C501" (at 0 -1.68) (layer "F.SilkS") hide
         (effects (font (size 1 1) (thickness 0.15)))
@@ -6101,9 +5167,9 @@
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 7cf652b7-f535-43c5-bb52-d6416c5bab8d))
     (fp_line (start 1 0.625) (end -1 0.625)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp e0082fe2-27c4-499e-ac33-96ddef4a24a4))
-    (pad "1" smd roundrect (at -0.95 0) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 10 "/driver/DRV_PWR") (pintype "passive") (tstamp 509d7520-6a53-4850-8468-ebcfc9020e32))
-    (pad "2" smd roundrect (at 0.95 0) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+    (pad "1" smd roundrect (at -0.95 0 180) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 2 "Vmot") (pintype "passive") (tstamp 509d7520-6a53-4850-8468-ebcfc9020e32))
+    (pad "2" smd roundrect (at 0.95 0 180) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 636846ec-204c-4778-b74f-19a3e92834e8))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl"
       (offset (xyz 0 0 0))
@@ -6114,7 +5180,7 @@
 
   (footprint "Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm" (layer "F.Cu")
     (tstamp d4a29b6c-3feb-407f-8235-67950f80f884)
-    (at 60.4075 89.315)
+    (at 151.4 91.275)
     (descr "SMD Solder Jumper, 1x1.5mm, rounded Pads, 0.3mm gap, open")
     (tags "solder jumper open")
     (property "Sheetfile" "lemon-pepper.kicad_sch")
@@ -6157,7 +5223,7 @@
     (fp_line (start 1.65 1.25) (end 1.65 -1.25)
       (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 190c14b2-9b03-417a-861a-d32a96faf685))
     (pad "1" smd custom (at -0.65 0) (size 1 0.5) (layers "F.Cu" "F.Mask")
-      (net 33 "/mcu/CANL") (pinfunction "A") (pintype "passive") (zone_connect 2)
+      (net 22 "/mcu/CANH") (pinfunction "A") (pintype "passive") (zone_connect 2)
       (options (clearance outline) (anchor rect))
       (primitives
         (gr_circle (center 0 0.25) (end 0.5 0.25) (width 0) (fill yes))
@@ -6172,7 +5238,7 @@
           (width 0) (fill yes))
       ) (tstamp 73f529a2-5b6c-41b4-b00f-4aec993a13bb))
     (pad "2" smd custom (at 0.65 0) (size 1 0.5) (layers "F.Cu" "F.Mask")
-      (net 43 "Net-(JP101-B)") (pinfunction "B") (pintype "passive") (zone_connect 2)
+      (net 28 "Net-(JP101-B)") (pinfunction "B") (pintype "passive") (zone_connect 2)
       (options (clearance outline) (anchor rect))
       (primitives
         (gr_circle (center 0 0.25) (end 0.5 0.25) (width 0) (fill yes))
@@ -6188,64 +5254,9 @@
       ) (tstamp 0a9b08bf-25e2-4081-971e-500734eddbb5))
   )
 
-  (footprint "Capacitor_SMD:C_0805_2012Metric" (layer "F.Cu")
-    (tstamp da7e4f08-f739-403a-bc72-6a727a8b8f0a)
-    (at 92.5175 117.445)
-    (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
-    (tags "capacitor")
-    (property "LCSC Part" "C377773")
-    (property "Sheetfile" "psu.kicad_sch")
-    (property "Sheetname" "psu")
-    (property "ki_description" "Unpolarized capacitor, small symbol")
-    (property "ki_keywords" "capacitor cap")
-    (path "/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/ab066238-6b8e-4029-9601-83b2c0b245e5")
-    (attr smd)
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-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 9d98fe56-a0fa-4928-bef6-f6cafbd112f0)
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-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 274bb00b-71ab-42f3-b8bc-5e1f035f5779)
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-    (fp_text user "${REFERENCE}" (at 0 0) (layer "F.Fab")
-        (effects (font (size 0.5 0.5) (thickness 0.08)))
-      (tstamp f7c8dfc9-6763-48d7-ae51-16c984322c86)
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+    (tstamp eff89581-ca64-4897-b991-183a6047b0b7)
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-    (pad "2" smd roundrect (at 0.95 0) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+    (pad "2" smd roundrect (at 0.95 0 180) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 2 "Vmot") (pintype "passive") (tstamp c251a98c-3637-4340-9153-87a83638e99d))
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+        (xy 160.37828 84.671716)
+        (xy 160.315281 84.623376)
+        (xy 160.274078 84.566948)
+        (xy 160.269923 84.497202)
+        (xy 160.304135 84.436282)
+        (xy 160.315281 84.426624)
+        (xy 160.341166 84.406762)
+        (xy 160.378282 84.378282)
+        (xy 160.474536 84.252841)
+        (xy 160.535044 84.106762)
+        (xy 160.555682 83.95)
+        (xy 160.549452 83.902682)
+        (xy 160.535044 83.793239)
+        (xy 160.535044 83.793238)
+        (xy 160.529177 83.779075)
+        (xy 160.521708 83.709609)
+        (xy 160.552981 83.647129)
+        (xy 160.556004 83.643995)
+        (xy 160.575 83.625)
+        (xy 160.575 81.451362)
+        (xy 160.594685 81.384323)
+        (xy 160.611319 81.363681)
+        (xy 161.188681 80.786319)
+        (xy 161.250004 80.752834)
+        (xy 161.276362 80.75)
+        (xy 162.798638 80.75)
+      )
+    )
+  )
 )
diff --git a/hardware/lemon-pepper.kicad_prl b/hardware/lemon-pepper.kicad_prl
index 51566e0..a941770 100644
--- a/hardware/lemon-pepper.kicad_prl
+++ b/hardware/lemon-pepper.kicad_prl
@@ -12,7 +12,7 @@
       "pads": 1.0,
       "tracks": 1.0,
       "vias": 1.0,
-      "zones": 0.6
+      "zones": 1.0
     },
     "selection_filter": {
       "dimensions": true,
@@ -64,7 +64,7 @@
       40
     ],
     "visible_layers": "fffffff_ffffffff",
-    "zone_display_mode": 0
+    "zone_display_mode": 1
   },
   "meta": {
     "filename": "lemon-pepper.kicad_prl",
diff --git a/hardware/lemon-pepper.kicad_pro b/hardware/lemon-pepper.kicad_pro
index b496383..3508781 100644
--- a/hardware/lemon-pepper.kicad_pro
+++ b/hardware/lemon-pepper.kicad_pro
@@ -3,26 +3,191 @@
     "3dviewports": [],
     "design_settings": {
       "defaults": {
-        "board_outline_line_width": 0.1,
-        "copper_line_width": 0.2,
+        "board_outline_line_width": 0.09999999999999999,
+        "copper_line_width": 0.19999999999999998,
+        "copper_text_italic": false,
         "copper_text_size_h": 1.5,
         "copper_text_size_v": 1.5,
         "copper_text_thickness": 0.3,
+        "copper_text_upright": false,
+        "courtyard_line_width": 0.049999999999999996,
+        "dimension_precision": 4,
+        "dimension_units": 3,
+        "dimensions": {
+          "arrow_length": 1270000,
+          "extension_offset": 500000,
+          "keep_text_aligned": true,
+          "suppress_zeroes": false,
+          "text_position": 0,
+          "units_format": 1
+        },
+        "fab_line_width": 0.09999999999999999,
+        "fab_text_italic": false,
+        "fab_text_size_h": 1.0,
+        "fab_text_size_v": 1.0,
+        "fab_text_thickness": 0.15,
+        "fab_text_upright": false,
         "other_line_width": 0.15,
+        "other_text_italic": false,
+        "other_text_size_h": 1.0,
+        "other_text_size_v": 1.0,
+        "other_text_thickness": 0.15,
+        "other_text_upright": false,
+        "pads": {
+          "drill": 0.762,
+          "height": 1.524,
+          "width": 1.524
+        },
         "silk_line_width": 0.15,
+        "silk_text_italic": false,
         "silk_text_size_h": 1.0,
         "silk_text_size_v": 1.0,
-        "silk_text_thickness": 0.15
+        "silk_text_thickness": 0.15,
+        "silk_text_upright": false,
+        "zones": {
+          "min_clearance": 0.19999999999999998
+        }
       },
-      "diff_pair_dimensions": [],
+      "diff_pair_dimensions": [
+        {
+          "gap": 0.0,
+          "via_gap": 0.0,
+          "width": 0.0
+        }
+      ],
       "drc_exclusions": [],
-      "rules": {
-        "min_copper_edge_clearance": 0.0,
-        "solder_mask_clearance": 0.0,
-        "solder_mask_min_width": 0.0
+      "meta": {
+        "version": 2
       },
-      "track_widths": [],
-      "via_dimensions": []
+      "rule_severities": {
+        "annular_width": "error",
+        "clearance": "error",
+        "connection_width": "warning",
+        "copper_edge_clearance": "error",
+        "copper_sliver": "warning",
+        "courtyards_overlap": "error",
+        "diff_pair_gap_out_of_range": "error",
+        "diff_pair_uncoupled_length_too_long": "error",
+        "drill_out_of_range": "error",
+        "duplicate_footprints": "warning",
+        "extra_footprint": "warning",
+        "footprint": "error",
+        "footprint_type_mismatch": "ignore",
+        "hole_clearance": "error",
+        "hole_near_hole": "error",
+        "invalid_outline": "error",
+        "isolated_copper": "warning",
+        "item_on_disabled_layer": "error",
+        "items_not_allowed": "error",
+        "length_out_of_range": "error",
+        "lib_footprint_issues": "ignore",
+        "lib_footprint_mismatch": "ignore",
+        "malformed_courtyard": "error",
+        "microvia_drill_out_of_range": "error",
+        "missing_courtyard": "ignore",
+        "missing_footprint": "warning",
+        "net_conflict": "warning",
+        "npth_inside_courtyard": "ignore",
+        "padstack": "warning",
+        "pth_inside_courtyard": "ignore",
+        "shorting_items": "error",
+        "silk_edge_clearance": "ignore",
+        "silk_over_copper": "warning",
+        "silk_overlap": "ignore",
+        "skew_out_of_range": "error",
+        "solder_mask_bridge": "error",
+        "starved_thermal": "error",
+        "text_height": "warning",
+        "text_thickness": "warning",
+        "through_hole_pad_without_hole": "error",
+        "too_many_vias": "error",
+        "track_dangling": "warning",
+        "track_width": "error",
+        "tracks_crossing": "error",
+        "unconnected_items": "error",
+        "unresolved_variable": "error",
+        "via_dangling": "warning",
+        "zones_intersect": "error"
+      },
+      "rules": {
+        "max_error": 0.005,
+        "min_clearance": 0.0,
+        "min_connection": 0.0,
+        "min_copper_edge_clearance": 0.0,
+        "min_hole_clearance": 0.25,
+        "min_hole_to_hole": 0.25,
+        "min_microvia_diameter": 0.19999999999999998,
+        "min_microvia_drill": 0.09999999999999999,
+        "min_resolved_spokes": 1,
+        "min_silk_clearance": 0.0,
+        "min_text_height": 0.7999999999999999,
+        "min_text_thickness": 0.08,
+        "min_through_hole_diameter": 0.19999999999999998,
+        "min_track_width": 0.0,
+        "min_via_annular_width": 0.049999999999999996,
+        "min_via_diameter": 0.3,
+        "solder_mask_clearance": 0.0,
+        "solder_mask_min_width": 0.0,
+        "solder_mask_to_copper_clearance": 0.0,
+        "use_height_for_length_calcs": true
+      },
+      "teardrop_options": [
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 5,
+          "td_on_pad_in_zone": false,
+          "td_onpadsmd": true,
+          "td_onroundshapesonly": false,
+          "td_ontrackend": false,
+          "td_onviapad": true
+        }
+      ],
+      "teardrop_parameters": [
+        {
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_target_name": "td_round_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_target_name": "td_rect_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_target_name": "td_track_end",
+          "td_width_to_size_filter_ratio": 0.9
+        }
+      ],
+      "track_widths": [
+        0.0,
+        0.125,
+        0.15,
+        0.2
+      ],
+      "via_dimensions": [
+        {
+          "diameter": 0.0,
+          "drill": 0.0
+        },
+        {
+          "diameter": 0.8,
+          "drill": 0.4
+        }
+      ],
+      "zones_allow_external_fillets": false
     },
     "layer_presets": [],
     "viewports": []
@@ -254,19 +419,19 @@
     "classes": [
       {
         "bus_width": 12,
-        "clearance": 0.2,
+        "clearance": 0.1,
         "diff_pair_gap": 0.25,
         "diff_pair_via_gap": 0.25,
-        "diff_pair_width": 0.2,
+        "diff_pair_width": 0.1,
         "line_style": 0,
         "microvia_diameter": 0.3,
         "microvia_drill": 0.1,
         "name": "Default",
         "pcb_color": "rgba(0, 0, 0, 0.000)",
         "schematic_color": "rgba(0, 0, 0, 0.000)",
-        "track_width": 0.25,
-        "via_diameter": 0.8,
-        "via_drill": 0.4,
+        "track_width": 0.1,
+        "via_diameter": 0.35,
+        "via_drill": 0.2,
         "wire_width": 6
       },
       {
@@ -286,6 +451,23 @@
         "via_drill": 0.4,
         "wire_width": 20
       },
+      {
+        "bus_width": 12,
+        "clearance": 0.1,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.1,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "MOTOR",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.4,
+        "via_diameter": 0.3,
+        "via_drill": 0.2,
+        "wire_width": 6
+      },
       {
         "bus_width": 12,
         "clearance": 0.2,
@@ -309,10 +491,16 @@
     },
     "net_colors": null,
     "netclass_assignments": {
-      "/driver/DRV_PWR": "PWR",
+      "/current sense/U_IN": "MOTOR",
+      "/current sense/U_OUT": "MOTOR",
+      "/current sense/V_IN": "MOTOR",
+      "/current sense/V_OUT": "MOTOR",
+      "/current sense/W_IN": "MOTOR",
+      "/current sense/W_OUT": "MOTOR",
+      "/half bridges/OUT1B": "MOTOR",
       "/usb/USB_5V": "PWR",
-      "GND": "GND",
-      "Vmot": "PWR"
+      "Net-(D602-K)": "MOTOR",
+      "Net-(D603-K)": "MOTOR"
     },
     "netclass_patterns": [
       {
@@ -385,7 +573,7 @@
     },
     "net_format_name": "",
     "page_layout_descr_file": "",
-    "plot_directory": "",
+    "plot_directory": "../",
     "spice_current_sheet_as_root": false,
     "spice_external_command": "spice \"%I\"",
     "spice_model_current_sheet_as_root": true,
@@ -411,17 +599,13 @@
       "e3a86f21-c1c7-4a99-9511-7bc9966878a0",
       "encoder"
     ],
-    [
-      "40d0f733-2cb2-4037-bc30-ae30111fe2e1",
-      "driver"
-    ],
     [
       "1237e3d8-f89f-4b6e-a633-6dbf7c464e03",
       "psu"
     ],
     [
-      "4ae515ef-7634-40dd-8c26-7b515d9d6b82",
-      "fets"
+      "ac193888-c8ba-43d9-af32-3c2e2d16ba47",
+      "half bridges"
     ],
     [
       "41d11f3b-333a-47c0-a126-1f991ee11e83",
diff --git a/hardware/lemon-pepper.kicad_sch b/hardware/lemon-pepper.kicad_sch
index e12368f..0475e61 100644
--- a/hardware/lemon-pepper.kicad_sch
+++ b/hardware/lemon-pepper.kicad_sch
@@ -12,41 +12,6 @@
   )
 
   (lib_symbols
-    (symbol "Connector:TestPoint" (pin_numbers hide) (pin_names (offset 0.762) hide) (in_bom yes) (on_board yes)
-      (property "Reference" "TP" (at 0 6.858 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Value" "TestPoint" (at 0 5.08 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (at 5.08 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "~" (at 5.08 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "test point tp" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "test point" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_fp_filters" "Pin* Test*" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "TestPoint_0_1"
-        (circle (center 0 3.302) (radius 0.762)
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-      )
-      (symbol "TestPoint_1_1"
-        (pin passive line (at 0 0 90) (length 2.54)
-          (name "1" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "Connector_Generic:Conn_01x04" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
       (property "Reference" "J" (at 0 5.08 0)
         (effects (font (size 1.27 1.27)))
@@ -108,65 +73,6 @@
         )
       )
     )
-    (symbol "Device:C_Polarized_Small" (pin_numbers hide) (pin_names (offset 0.254) hide) (in_bom yes) (on_board yes)
-      (property "Reference" "C" (at 0.254 1.778 0)
-        (effects (font (size 1.27 1.27)) (justify left))
-      )
-      (property "Value" "C_Polarized_Small" (at 0.254 -2.032 0)
-        (effects (font (size 1.27 1.27)) (justify left))
-      )
-      (property "Footprint" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "~" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "cap capacitor" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "Polarized capacitor, small symbol" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_fp_filters" "CP_*" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "C_Polarized_Small_0_1"
-        (rectangle (start -1.524 -0.3048) (end 1.524 -0.6858)
-          (stroke (width 0) (type default))
-          (fill (type outline))
-        )
-        (rectangle (start -1.524 0.6858) (end 1.524 0.3048)
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-        (polyline
-          (pts
-            (xy -1.27 1.524)
-            (xy -0.762 1.524)
-          )
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-        (polyline
-          (pts
-            (xy -1.016 1.27)
-            (xy -1.016 1.778)
-          )
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-      )
-      (symbol "C_Polarized_Small_1_1"
-        (pin passive line (at 0 2.54 270) (length 1.8542)
-          (name "~" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-        (pin passive line (at 0 -2.54 90) (length 1.8542)
-          (name "~" (effects (font (size 1.27 1.27))))
-          (number "2" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "Device:C_Small" (pin_numbers hide) (pin_names (offset 0.254) hide) (in_bom yes) (on_board yes)
       (property "Reference" "C" (at 0.254 1.778 0)
         (effects (font (size 1.27 1.27)) (justify left))
@@ -478,12 +384,15 @@
       (property "Value" "MOT" (at -2.1209 -5.08 90)
         (effects (font (size 1.27 1.27)) (justify right))
       )
-      (property "Footprint" "Connector_JST:JST_XH_S4B-XH-A_1x04_P2.50mm_Horizontal" (at 0.254 -0.254 0)
+      (property "Footprint" "footprints:XH2.54 4P" (at 0.254 -0.254 0)
         (effects (font (size 1.27 1.27)) hide)
       )
       (property "Datasheet" "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" (at 0.254 -0.254 0)
         (effects (font (size 1.27 1.27)) hide)
       )
+      (property "LCSC Part" "" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
       (property "ki_keywords" "bipolar stepper motor" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
@@ -577,7 +486,7 @@
         )
       )
       (symbol "Stepper_Motor_bipolar_1_1"
-        (pin passive line (at 2.54 7.62 270) (length 2.54)
+        (pin passive line (at -7.62 2.54 0) (length 2.54)
           (name "~" (effects (font (size 1.27 1.27))))
           (number "1" (effects (font (size 1.27 1.27))))
         )
@@ -585,7 +494,7 @@
           (name "-" (effects (font (size 1.27 1.27))))
           (number "2" (effects (font (size 1.27 1.27))))
         )
-        (pin passive line (at -7.62 2.54 0) (length 2.54)
+        (pin passive line (at 2.54 7.62 270) (length 2.54)
           (name "~" (effects (font (size 1.27 1.27))))
           (number "3" (effects (font (size 1.27 1.27))))
         )
@@ -689,415 +598,276 @@
     )
   )
 
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-    (uuid 018bd361-bfee-45e9-8f4c-c8f9146d443c)
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-    (uuid 07ee5c51-aff3-4db8-b051-bfb0323f26a1)
-  )
-  (junction (at 104.14 177.8) (diameter 0) (color 0 0 0 0)
+  (junction (at 106.68 177.8) (diameter 0) (color 0 0 0 0)
     (uuid 083cb3ae-01a7-499c-ba75-4394a6a62221)
   )
-  (junction (at 149.86 170.18) (diameter 0) (color 0 0 0 0)
-    (uuid 139f08b8-a014-428d-8f40-9cd8312d01dc)
+  (junction (at 236.22 68.58) (diameter 0) (color 0 0 0 0)
+    (uuid 1237c91f-4ad0-4cfb-b4d9-4edc964a45c1)
   )
-  (junction (at 109.22 177.8) (diameter 0) (color 0 0 0 0)
+  (junction (at 111.76 177.8) (diameter 0) (color 0 0 0 0)
     (uuid 14a15b6d-273f-43c2-837e-627cdbc620d2)
   )
-  (junction (at 109.22 170.18) (diameter 0) (color 0 0 0 0)
+  (junction (at 111.76 170.18) (diameter 0) (color 0 0 0 0)
     (uuid 153f5d03-7534-432a-9ef9-78185b8c9e35)
   )
-  (junction (at 233.68 55.88) (diameter 0) (color 0 0 0 0)
-    (uuid 16e794dc-47e5-4495-9cd0-c660d23a996c)
-  )
-  (junction (at 73.66 59.69) (diameter 0) (color 0 0 0 0)
+  (junction (at 78.74 59.69) (diameter 0) (color 0 0 0 0)
     (uuid 21d92aba-427e-46dd-b197-9e8f24a47c30)
   )
-  (junction (at 144.78 177.8) (diameter 0) (color 0 0 0 0)
-    (uuid 2a69b42e-67cd-411b-99e6-35b1f2d69495)
+  (junction (at 69.85 95.25) (diameter 0) (color 0 0 0 0)
+    (uuid 349e443b-a884-488a-b12f-c19166531597)
   )
-  (junction (at 209.55 82.55) (diameter 0) (color 0 0 0 0)
-    (uuid 320d2d47-5d9e-4787-9f62-25d0ae4b4a15)
+  (junction (at 163.83 48.26) (diameter 0) (color 0 0 0 0)
+    (uuid 38614e14-fe88-4093-aafa-b9d27963c44d)
   )
-  (junction (at 154.94 177.8) (diameter 0) (color 0 0 0 0)
-    (uuid 33a096a1-dd78-4fe9-8617-ccaf5e4754f9)
+  (junction (at 240.03 71.12) (diameter 0) (color 0 0 0 0)
+    (uuid 388f08a9-0a57-4ea1-a2ea-c197064420b9)
   )
-  (junction (at 64.77 41.91) (diameter 0) (color 0 0 0 0)
-    (uuid 39469adb-4dd0-41cc-899c-6e9f01ed5586)
-  )
-  (junction (at 212.09 82.55) (diameter 0) (color 0 0 0 0)
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-      (effects (font (size 1.27 1.27)) hide)
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     (uuid 06968917-e117-4639-b96e-4b370a0ff377)
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       (effects (font (size 1.27 1.27)) hide)
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     (pin "1" (uuid ec3e34d1-3e0b-4ecb-b6be-efec394ac9e1))
@@ -1576,134 +1231,53 @@
     )
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     (uuid 06afae19-288f-40f9-87b1-56bcbbd9ff72)
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       (effects (font (size 1.27 1.27)) hide)
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         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
-          (reference "#PWR0110") (unit 1)
+          (reference "#PWR0105") (unit 1)
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     (uuid 20975541-5938-45e0-8687-059b966a0fda)
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       (effects (font (size 1.27 1.27)) (justify left))
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-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 124.46 182.88 0)
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       (effects (font (size 1.27 1.27)) hide)
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       (effects (font (size 1.27 1.27)) hide)
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@@ -1711,31 +1285,28 @@
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+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 121.92 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 119.38 173.99 0)
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       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C440198" (at 119.38 173.99 0)
+    (property "LCSC Part" "C440198" (at 121.92 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
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     (pin "2" (uuid 05564079-92a3-479f-80eb-3dea8d9129bb))
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-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/4ae515ef-7634-40dd-8c26-7b515d9d6b82"
-          (reference "C?") (unit 1)
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         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
           (reference "C104") (unit 1)
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@@ -1743,44 +1314,59 @@
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-      (effects (font (size 1.27 1.27)) (justify left))
+  (symbol (lib_id "Device:R_Small_US") (at 82.55 92.71 90) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no)
+    (uuid 2ee515ec-1c12-40ce-9c56-215ed6b94d01)
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     )
-    (property "Value" "V_SENS" (at 175.26 93.218 0)
-      (effects (font (size 1.27 1.27)) (justify left))
+    (property "Value" "0R" (at 86.36 90.17 90)
+      (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "TestPoint:TestPoint_Pad_D1.0mm" (at 177.8 95.25 0)
+    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 82.55 92.71 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 177.8 95.25 0)
+    (property "Datasheet" "~" (at 82.55 92.71 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid 9f342b3c-d063-4420-9c88-2b90cd3c0325))
+    (property "LCSC Part" "C17168" (at 82.55 92.71 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid f19c32a8-819b-41d5-ada7-ca6c0694c2b1))
+    (pin "2" (uuid 876c1359-50ed-48de-a448-e8f2eb799a0b))
     (instances
       (project "lemon-pepper"
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
+          (reference "R602") (unit 1)
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         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
-          (reference "TP109") (unit 1)
+          (reference "R104") (unit 1)
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+      (project "stm32g431-mt6701-stspin233"
+        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/9a7f39aa-afb0-48e5-a983-57776588e1e5"
+          (reference "R602") (unit 1)
+        )
+        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
+          (reference "R206") (unit 1)
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+  (symbol (lib_id "Mechanical:Fiducial") (at 261.62 96.52 0) (unit 1)
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     (uuid 30d1b7cc-f9d6-4676-bd15-dc410d168d62)
-    (property "Reference" "FID102" (at 256.54 99.06 0)
+    (property "Reference" "FID102" (at 264.16 95.25 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Fiducial" (at 256.54 101.6 0)
+    (property "Value" "Fiducial" (at 264.16 97.79 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Fiducial:Fiducial_0.5mm_Mask1mm" (at 254 100.33 0)
+    (property "Footprint" "Fiducial:Fiducial_0.5mm_Mask1mm" (at 261.62 96.52 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 254 100.33 0)
+    (property "Datasheet" "~" (at 261.62 96.52 0)
       (effects (font (size 1.27 1.27)) hide)
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     (instances
@@ -1792,98 +1378,59 @@
     )
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-  (symbol (lib_id "Device:C_Polarized_Small") (at 149.86 173.99 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
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-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Value" "100uF" (at 152.4 174.7139 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Footprint" "Capacitor_SMD:CP_Elec_10x10.5" (at 149.86 173.99 0)
-      (effects (font (size 1.27 1.27)) hide)
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-    (property "Datasheet" "~" (at 149.86 173.99 0)
-      (effects (font (size 1.27 1.27)) hide)
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-    (property "LCSC Part" "C280414" (at 149.86 173.99 0)
-      (effects (font (size 1.27 1.27)) hide)
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-    (pin "2" (uuid 46d2a226-292a-4265-a1ea-3599b1a99a6b))
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-    )
-  )
-
-  (symbol (lib_id "Connector:TestPoint") (at 148.59 118.11 0) (unit 1)
+  (symbol (lib_id "Device:R_Small_US") (at 82.55 95.25 270) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
-    (uuid 38a45407-cf3b-4f70-a3b7-6688b79babb3)
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-      (effects (font (size 1.27 1.27)) (justify left))
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-    (property "Footprint" "TestPoint:TestPoint_Pad_D1.0mm" (at 153.67 118.11 0)
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-    (pin "1" (uuid d1b1acca-47b2-4d2f-aea5-cbec4918dc6c))
-    (instances
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-  (symbol (lib_id "Connector:TestPoint") (at 49.53 90.17 0) (mirror y) (unit 1)
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-    (property "Value" "DIR/CANH" (at 46.99 83.82 0)
-      (effects (font (size 1.27 1.27)) (justify right))
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-    (property "Footprint" "TestPoint:TestPoint_Pad_D1.0mm" (at 44.45 90.17 0)
-      (effects (font (size 1.27 1.27)) hide)
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-    (property "Datasheet" "~" (at 44.45 90.17 0)
-      (effects (font (size 1.27 1.27)) hide)
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-    (pin "1" (uuid c501ba47-3b79-42e0-819f-729009174f01))
-    (instances
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-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "GND" (at 39.37 102.87 0)
+    (uuid 46ce0156-2765-4c40-8ac1-08ac50337531)
+    (property "Reference" "R603" (at 78.74 97.79 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 39.37 97.79 0)
+    (property "Value" "0R" (at 86.36 97.79 90)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 82.55 95.25 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 39.37 97.79 0)
+    (property "Datasheet" "~" (at 82.55 95.25 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "LCSC Part" "C17168" (at 82.55 95.25 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 933a57e8-4c9c-42c1-99af-2fbc49e006a1))
+    (pin "2" (uuid bceff20a-34d8-4368-af34-4924bbfbdc45))
+    (instances
+      (project "lemon-pepper"
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
+          (reference "R603") (unit 1)
+        )
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
+          (reference "R105") (unit 1)
+        )
+      )
+      (project "stm32g431-mt6701-stspin233"
+        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/9a7f39aa-afb0-48e5-a983-57776588e1e5"
+          (reference "R603") (unit 1)
+        )
+        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
+          (reference "R207") (unit 1)
+        )
+      )
+    )
+  )
+
+  (symbol (lib_id "power:GND") (at 46.99 97.79 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 49e6b4e1-9709-41e1-b5af-8d9e2afddf33)
+    (property "Reference" "#PWR0102" (at 46.99 104.14 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (at 46.99 102.87 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 46.99 97.79 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 46.99 97.79 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid e3d929bc-a13e-41ee-8eb2-85494d4dc302))
@@ -1896,22 +1443,22 @@
     )
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x04") (at 29.21 90.17 0) (mirror y) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x04") (at 36.83 90.17 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 4d6dcc0d-7e35-4592-ada8-bf24128aa9db)
-    (property "Reference" "J101" (at 29.21 81.28 0)
+    (property "Reference" "J101" (at 36.83 81.28 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "INPUT" (at 29.21 83.82 0)
+    (property "Value" "INPUT" (at 36.83 83.82 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "easyeda2kicad:CONN-TH_4P-P0.20_XUNPU_WAFER-XH2.54-4PWB" (at 29.21 90.17 0)
+    (property "Footprint" "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" (at 36.83 90.17 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 29.21 90.17 0)
+    (property "Datasheet" "~" (at 36.83 90.17 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C3029478" (at 29.21 90.17 0)
+    (property "LCSC Part" "" (at 36.83 90.17 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid ccccd7b6-d114-4251-acfa-aecc5e7ef0f5))
@@ -1927,59 +1474,53 @@
     )
   )
 
-  (symbol (lib_id "matei:Vmot") (at 91.44 168.91 0) (unit 1)
+  (symbol (lib_id "matei:Vmot") (at 93.98 168.91 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 5010828e-1f3e-4f5e-8ee8-6209738335fd)
-    (property "Reference" "#PWR0713" (at 86.36 172.72 0)
+    (property "Reference" "#PWR0104" (at 88.9 172.72 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "Vmot" (at 91.44 163.83 0)
+    (property "Value" "Vmot" (at 93.98 163.83 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 91.44 168.91 0)
+    (property "Footprint" "" (at 93.98 168.91 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 91.44 168.91 0)
+    (property "Datasheet" "" (at 93.98 168.91 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 7b43b506-e147-4f31-949d-3ff9874a836f))
     (instances
       (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/4ae515ef-7634-40dd-8c26-7b515d9d6b82"
-          (reference "#PWR0713") (unit 1)
-        )
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
-          (reference "#PWR0107") (unit 1)
+          (reference "#PWR0104") (unit 1)
         )
       )
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 134.62 182.88 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 137.16 182.88 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 556d90d3-857f-453f-96f6-c8d75bd92b47)
-    (property "Reference" "C?" (at 137.16 181.6163 0)
+    (property "Reference" "C107" (at 139.7 181.6163 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "10u" (at 137.16 184.1563 0)
+    (property "Value" "10u" (at 139.7 184.1563 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 134.62 182.88 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 137.16 182.88 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 134.62 182.88 0)
+    (property "Datasheet" "~" (at 137.16 182.88 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C440198" (at 134.62 182.88 0)
+    (property "LCSC Part" "C440198" (at 137.16 182.88 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 27af329d-9623-4d4e-8f3f-6634a29f38db))
     (pin "2" (uuid b9273bab-5fcd-4d8c-a7e7-b9a3a67afafd))
     (instances
       (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/4ae515ef-7634-40dd-8c26-7b515d9d6b82"
-          (reference "C?") (unit 1)
-        )
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
           (reference "C107") (unit 1)
         )
@@ -1987,31 +1528,28 @@
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 139.7 173.99 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 142.24 173.99 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 6feb179a-83d5-4e07-90f0-94967c8b5026)
-    (property "Reference" "C?" (at 142.24 172.7263 0)
+    (property "Reference" "C108" (at 144.78 172.7263 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "10u" (at 142.24 175.2663 0)
+    (property "Value" "10u" (at 144.78 175.2663 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 139.7 173.99 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 142.24 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 139.7 173.99 0)
+    (property "Datasheet" "~" (at 142.24 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C440198" (at 139.7 173.99 0)
+    (property "LCSC Part" "C440198" (at 142.24 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid 0aa4b183-7db4-476a-86a3-e6dead28b002))
-    (pin "2" (uuid 5224963a-2b1d-4b74-8c2f-c762d81ae34e))
+    (pin "1" (uuid 7cf95af7-0583-48a3-ba04-83f2b423837c))
+    (pin "2" (uuid 1bfa8f77-7a00-48b9-ba18-a9443cec09ab))
     (instances
       (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/4ae515ef-7634-40dd-8c26-7b515d9d6b82"
-          (reference "C?") (unit 1)
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         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
           (reference "C108") (unit 1)
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@@ -2019,22 +1557,22 @@
     )
   )
 
-  (symbol (lib_id "Motor:Stepper_Motor_bipolar") (at 264.16 130.81 90) (unit 1)
+  (symbol (lib_id "Motor:Stepper_Motor_bipolar") (at 269.24 130.81 90) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 714257b9-ce21-4115-8a76-cf9ef1ecf8c7)
-    (property "Reference" "M101" (at 269.24 130.3909 90)
+    (property "Reference" "M101" (at 274.32 130.3909 90)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "MOT" (at 269.24 132.9309 90)
+    (property "Value" "MOT" (at 274.32 132.9309 90)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Footprint" "easyeda2kicad:CONN-TH_4P-P0.20_XUNPU_WAFER-XH2.54-4PWB" (at 264.414 130.556 0)
+    (property "Footprint" "footprints:XH2.54 4P" (at 269.494 130.556 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" (at 264.414 130.556 0)
+    (property "Datasheet" "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" (at 269.494 130.556 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C3029478" (at 264.16 130.81 0)
+    (property "LCSC Part" "" (at 269.24 130.81 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 40c1064e-5ba1-4eda-94cf-381bb0c78a56))
@@ -2050,22 +1588,22 @@
     )
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-  (symbol (lib_id "Device:R_Small_US") (at 73.66 110.49 0) (unit 1)
+  (symbol (lib_id "Device:R_Small_US") (at 58.42 110.49 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 72527ab6-368a-4332-b2bc-7c5218c8fa61)
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-  (symbol (lib_id "Device:C_Small") (at 104.14 182.88 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 106.68 182.88 0) (unit 1)
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+    (property "Value" "10u" (at 109.22 184.1563 0)
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-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 104.14 182.88 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 106.68 182.88 0)
       (effects (font (size 1.27 1.27)) hide)
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     (pin "2" (uuid c5ae57c0-27d9-4b1a-a5db-33b550de3e98))
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@@ -2228,44 +1706,19 @@
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-  (symbol (lib_id "Mechanical:Fiducial") (at 254 93.98 0) (unit 1)
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-    (property "Value" "Fiducial" (at 256.54 95.25 0)
+    (property "Value" "Fiducial" (at 264.16 91.44 0)
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-    (property "Footprint" "Fiducial:Fiducial_0.5mm_Mask1mm" (at 254 93.98 0)
+    (property "Footprint" "Fiducial:Fiducial_0.5mm_Mask1mm" (at 261.62 90.17 0)
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@@ -2277,31 +1730,28 @@
     )
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+  (symbol (lib_id "Device:C_Small") (at 116.84 182.88 0) (unit 1)
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-    (property "Value" "10u" (at 116.84 184.1563 0)
+    (property "Value" "10u" (at 119.38 184.1563 0)
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-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 114.3 182.88 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 116.84 182.88 0)
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-    (property "Datasheet" "~" (at 114.3 182.88 0)
+    (property "Datasheet" "~" (at 116.84 182.88 0)
       (effects (font (size 1.27 1.27)) hide)
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-    (property "LCSC Part" "C440198" (at 114.3 182.88 0)
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     (pin "2" (uuid 92bae468-7eed-455b-9764-369889400dc5))
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           (reference "C103") (unit 1)
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@@ -2309,106 +1759,28 @@
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+  (symbol (lib_id "Device:C_Small") (at 132.08 173.99 0) (unit 1)
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-    (property "Value" "10u" (at 132.08 175.2663 0)
+    (property "Value" "10u" (at 134.62 175.2663 0)
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-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 129.54 173.99 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 132.08 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
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-    (property "Datasheet" "~" (at 129.54 173.99 0)
+    (property "Datasheet" "~" (at 132.08 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
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-    (property "LCSC Part" "C440198" (at 129.54 173.99 0)
+    (property "LCSC Part" "C440198" (at 132.08 173.99 0)
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@@ -2416,44 +1788,19 @@
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-  (symbol (lib_id "Mechanical:MountingHole_Pad") (at 254 68.58 0) (unit 1)
+  (symbol (lib_id "Mechanical:MountingHole_Pad") (at 261.62 64.77 0) (unit 1)
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     (uuid cfcd4999-f7bf-40e5-bd46-fc8e5e9235e0)
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+    (property "Reference" "H101" (at 261.62 57.15 0)
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+    (property "Value" "PCB" (at 261.62 59.69 0)
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     )
-    (property "Footprint" "mechanical:NEMA17" (at 254 68.58 0)
+    (property "Footprint" "mechanical:NEMA14" (at 261.62 64.77 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 254 68.58 0)
+    (property "Datasheet" "~" (at 261.62 64.77 0)
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@@ -2466,22 +1813,22 @@
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+    (property "Reference" "R602" (at 66.04 54.61 90)
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-    (property "Value" "5k1" (at 59.69 62.23 90)
+    (property "Value" "5k1" (at 73.66 54.61 90)
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-    (property "LCSC Part" "C25905" (at 63.5 59.69 0)
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@@ -2492,7 +1839,7 @@
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         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
-          (reference "R101") (unit 1)
+          (reference "R102") (unit 1)
         )
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       (project "stm32g431-mt6701-stspin233"
@@ -2506,69 +1853,19 @@
     )
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-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
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-  (symbol (lib_id "Mechanical:Fiducial") (at 254 106.68 0) (unit 1)
+  (symbol (lib_id "Mechanical:Fiducial") (at 261.62 102.87 0) (unit 1)
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     (uuid d7aa10b9-737f-4000-a4aa-39f9c13b48a1)
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-    (property "Value" "Fiducial" (at 256.54 107.95 0)
+    (property "Value" "Fiducial" (at 264.16 104.14 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Fiducial:Fiducial_0.5mm_Mask1mm" (at 254 106.68 0)
+    (property "Footprint" "Fiducial:Fiducial_0.5mm_Mask1mm" (at 261.62 102.87 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 254 106.68 0)
+    (property "Datasheet" "~" (at 261.62 102.87 0)
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@@ -2580,31 +1877,28 @@
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+  (symbol (lib_id "Device:C_Small") (at 111.76 173.99 0) (unit 1)
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+    (property "Reference" "C102" (at 114.3 172.7263 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "10u" (at 111.76 175.2663 0)
+    (property "Value" "10u" (at 114.3 175.2663 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 109.22 173.99 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 111.76 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 109.22 173.99 0)
+    (property "Datasheet" "~" (at 111.76 173.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C440198" (at 109.22 173.99 0)
+    (property "LCSC Part" "C440198" (at 111.76 173.99 0)
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     (pin "1" (uuid 14dd776c-8a5f-4165-8f0d-bd69439a36d0))
     (pin "2" (uuid 0c1f3892-354d-442d-b734-b2dfaf2bbdaf))
     (instances
       (project "lemon-pepper"
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-          (reference "C?") (unit 1)
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           (reference "C102") (unit 1)
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@@ -2612,19 +1906,19 @@
     )
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-  (symbol (lib_id "matei:Vmot") (at 39.37 82.55 0) (unit 1)
+  (symbol (lib_id "matei:Vmot") (at 46.99 82.55 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid dd69b1d5-cb57-46a4-a457-627df3f9a7fd)
-    (property "Reference" "#PWR0101" (at 34.29 86.36 0)
+    (property "Reference" "#PWR0101" (at 41.91 86.36 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "Vmot" (at 39.37 77.47 0)
+    (property "Value" "Vmot" (at 46.99 77.47 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 39.37 82.55 0)
+    (property "Footprint" "" (at 46.99 82.55 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 39.37 82.55 0)
+    (property "Datasheet" "" (at 46.99 82.55 0)
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     (pin "1" (uuid d493ec41-1538-4dc4-b876-1d2db5c734ec))
@@ -2637,23 +1931,23 @@
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-    (in_bom no) (on_board yes) (dnp no) (fields_autoplaced)
+  (symbol (lib_id "Jumper:SolderJumper_2_Open") (at 69.85 110.49 90) (mirror x) (unit 1)
+    (in_bom no) (on_board yes) (dnp no)
     (uuid e22d205f-8c28-4a2e-8942-03f2906b8179)
-    (property "Reference" "JP101" (at 78.74 109.22 90)
+    (property "Reference" "JP101" (at 67.31 109.22 90)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "TERM" (at 78.74 111.76 90)
+    (property "Value" "TERM" (at 67.31 111.76 90)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm" (at 76.2 110.49 0)
+    (property "Footprint" "Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm" (at 69.85 110.49 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 76.2 110.49 0)
+    (property "Datasheet" "~" (at 69.85 110.49 0)
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-    (pin "1" (uuid cded5cde-8215-452f-bf54-37f23ab5a1fa))
-    (pin "2" (uuid 23685dea-6dc0-472f-a50b-d7d50dfc9bef))
+    (pin "1" (uuid 4623f100-6ff3-4eed-b656-9dab6a7ed156))
+    (pin "2" (uuid 220ecc7b-bd3c-46eb-8edf-c8f32bd87a10))
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       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad"
@@ -2663,51 +1957,22 @@
     )
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-    (property "Value" "100uF" (at 147.32 183.6039 0)
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-    (property "Footprint" "Capacitor_SMD:CP_Elec_10x10.5" (at 144.78 182.88 0)
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-    (property "Datasheet" "~" (at 144.78 182.88 0)
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-
-  (symbol (lib_id "Device:R_Small_US") (at 63.5 57.15 90) (unit 1)
+  (symbol (lib_id "Device:R_Small_US") (at 69.85 59.69 270) (unit 1)
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     (uuid f3ddb8ee-dbb4-493a-ae39-77e171290f99)
-    (property "Reference" "R603" (at 67.31 54.61 90)
+    (property "Reference" "R603" (at 66.04 62.23 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "5k1" (at 59.69 54.61 90)
+    (property "Value" "5k1" (at 73.66 62.23 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 63.5 57.15 0)
+    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 69.85 59.69 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 63.5 57.15 0)
+    (property "Datasheet" "~" (at 69.85 59.69 0)
       (effects (font (size 1.27 1.27)) hide)
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-    (property "LCSC Part" "C25905" (at 63.5 57.15 0)
+    (property "LCSC Part" "C25905" (at 69.85 59.69 0)
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     (pin "1" (uuid 9e701238-e91a-4ef3-b9a9-3826795eb52f))
@@ -2718,7 +1983,7 @@
           (reference "R603") (unit 1)
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-          (reference "R102") (unit 1)
+          (reference "R101") (unit 1)
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       (project "stm32g431-mt6701-stspin233"
@@ -2732,39 +1997,14 @@
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-    (property "Sheetfile" "psu.kicad_sch" (at 26.67 150.4446 0)
+    (property "Sheetfile" "psu.kicad_sch" (at 31.75 150.4446 0)
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@@ -2774,29 +2014,29 @@
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     (uuid 3af4e77c-61b4-4c93-bd22-ce60f55b568c)
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-    (property "Sheetfile" "usb.kicad_sch" (at 26.67 65.3546 0)
+    (property "Sheetfile" "usb.kicad_sch" (at 31.75 65.3546 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
-    (pin "USB_P" bidirectional (at 57.15 41.91 0)
+    (pin "USB_P" bidirectional (at 62.23 41.91 0)
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       (uuid aaa229a4-c7fe-44de-a75c-7505f25a175c)
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-    (pin "USB_N" bidirectional (at 57.15 44.45 0)
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-    (pin "UCPD_CC2" bidirectional (at 57.15 59.69 0)
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-    (pin "UCPD_CC1" bidirectional (at 57.15 57.15 0)
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@@ -2807,130 +2047,49 @@
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       (uuid c6f18afa-fa81-4abb-b61d-90d1d3744c1b)
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-    (pin "U_OUT" output (at 241.3 137.16 0)
+    (pin "U_OUT" output (at 246.38 140.97 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid ea973d60-8574-4294-9cc3-d5dcf4d70a7b)
     )
-    (pin "V_OUT" output (at 241.3 140.97 0)
+    (pin "V_OUT" output (at 246.38 144.78 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 4cbf8096-6b07-40c0-b8bf-f8dd2e1baf10)
     )
-    (pin "W_OUT" output (at 241.3 144.78 0)
+    (pin "W_OUT" output (at 246.38 133.35 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 23b74e08-c081-473c-87e7-8f1c393ee459)
     )
-    (pin "V_IN" input (at 229.87 114.3 90)
+    (pin "V_IN" input (at 240.03 114.3 90)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid a3bc5605-10c2-4965-8386-e49581b3fa1e)
     )
-    (pin "W_IN" input (at 226.06 114.3 90)
+    (pin "W_IN" input (at 236.22 114.3 90)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 561a38ea-c042-4a51-aeac-d65f3cfa5542)
     )
-    (pin "V_SENSE" output (at 212.09 114.3 90)
+    (pin "V_SENSE" output (at 213.36 114.3 90)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 311502d2-42b6-4f77-8bfd-872f2d064c6d)
     )
-    (pin "U_SENSE" output (at 215.9 114.3 90)
+    (pin "U_SENSE" output (at 220.98 114.3 90)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 782932d6-e090-41b9-9e9e-b7b23097870e)
     )
-    (pin "W_SENSE" output (at 208.28 114.3 90)
+    (pin "W_SENSE" output (at 217.17 114.3 90)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid bb415e6c-5a62-4be4-aef9-0c2aca88bf0f)
     )
@@ -2941,209 +2100,104 @@
     )
   )
 
-  (sheet (at 189.23 36.83) (size 26.67 43.18) (fields_autoplaced)
-    (stroke (width 0.1524) (type solid))
-    (fill (color 0 0 0 0.0000))
-    (uuid 4ae515ef-7634-40dd-8c26-7b515d9d6b82)
-    (property "Sheetname" "fets" (at 189.23 36.1184 0)
-      (effects (font (size 1.27 1.27)) (justify left bottom))
-    )
-    (property "Sheetfile" "fets.kicad_sch" (at 189.23 80.5946 0)
-      (effects (font (size 1.27 1.27)) (justify left top))
-    )
-    (pin "U_L" input (at 189.23 46.99 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid f2d1f8b5-682e-4e7e-9436-dc369114b7ca)
-    )
-    (pin "MOT_U" output (at 215.9 55.88 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid af0fc9fa-6db0-42a1-a08c-8f8bc3117505)
-    )
-    (pin "V_L" input (at 189.23 58.42 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 2b8a471c-683e-467c-83bb-b047af43d9ca)
-    )
-    (pin "MOT_V" output (at 215.9 58.42 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid d17e0dbb-8a7d-43ca-b396-6178a3b06b0b)
-    )
-    (pin "W_L" input (at 189.23 68.58 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 938b48b8-c4b1-444f-a3af-a95a3dc06354)
-    )
-    (pin "MOT_W" output (at 215.9 60.96 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 0ac6de03-0275-4d89-9470-97a323784fd5)
-    )
-    (pin "U_H" input (at 189.23 44.45 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 5993c617-2b18-4c9a-bf03-c5bd32bb0f7d)
-    )
-    (pin "V_H" input (at 189.23 55.88 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid f5499fa5-f828-4e31-89e5-2e4609b07eff)
-    )
-    (pin "W_H" input (at 189.23 66.04 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 71925c60-3575-4a24-92ea-cc4fa093fd11)
-    )
-    (pin "DRV_U" output (at 189.23 49.53 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 433e15e2-bb2f-4eff-acd7-632cf895c120)
-    )
-    (pin "DRV_V" output (at 189.23 60.96 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid c97b0f74-6054-4180-9f85-7057e66b6347)
-    )
-    (pin "DRV_W" output (at 189.23 71.12 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid ceca0dea-6b66-4e74-8174-25dae577313d)
-    )
-    (pin "W_LS_SHUNT" output (at 212.09 80.01 270)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 0ed90d5a-1c68-42d9-a73d-c67879013ca8)
-    )
-    (pin "U_LS_SHUNT" output (at 207.01 80.01 270)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid b009e565-665d-4f58-9614-e921b0a3fab1)
-    )
-    (pin "V_LS_SHUNT" output (at 209.55 80.01 270)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid a601a221-317d-43e2-b2b6-2228e51c403a)
-    )
-    (pin "W_HS_SHUNT" input (at 212.09 36.83 90)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid ea20a8f1-6335-46a0-9a1c-085e251df56e)
-    )
-    (pin "V_HS_SHUNT" input (at 209.55 36.83 90)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid dac0fcbc-2a67-49c4-afc6-0887b7ee1c30)
-    )
-    (pin "U_HS_SHUNT" input (at 207.01 36.83 90)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid be38239b-f19f-41a0-be88-fe8466746f9b)
-    )
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad" (page "7"))
-      )
-    )
-  )
-
-  (sheet (at 87.63 36.83) (size 43.18 111.76) (fields_autoplaced)
+  (sheet (at 92.71 36.83) (size 43.18 111.76) (fields_autoplaced)
     (stroke (width 0.1524) (type solid))
     (fill (color 0 0 0 0.0000))
     (uuid 7f2d245a-6dca-4eb9-9839-7fdf255edd98)
-    (property "Sheetname" "mcu" (at 87.63 36.1184 0)
+    (property "Sheetname" "mcu" (at 92.71 36.1184 0)
       (effects (font (size 1.27 1.27)) (justify left bottom))
     )
-    (property "Sheetfile" "mcu.kicad_sch" (at 87.63 149.1746 0)
+    (property "Sheetfile" "mcu.kicad_sch" (at 92.71 149.1746 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
-    (pin "TIM1_CH1" output (at 130.81 49.53 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 0a08cc9f-186c-4242-bd88-b1f2c240926e)
-    )
-    (pin "TIM1_CH2" output (at 130.81 52.07 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 14e015e7-6bf4-4959-921b-f2e2d63e62ea)
-    )
-    (pin "USB_N" bidirectional (at 87.63 44.45 180)
+    (pin "USB_N" bidirectional (at 92.71 44.45 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 2ddbf672-f3f4-451b-a328-fe0c49d9dd8c)
     )
-    (pin "TIM1_CH3" output (at 130.81 54.61 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 7a12e572-fc3f-43de-9dc4-c6366f583c14)
-    )
-    (pin "USB_P" bidirectional (at 87.63 41.91 180)
+    (pin "USB_P" bidirectional (at 92.71 41.91 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 211584fb-5057-499d-b4d3-0a89aae92d28)
     )
-    (pin "TIM1_CH1N" output (at 130.81 59.69 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 1655a9bf-cdeb-4bbd-9a43-a8ba9fbeba14)
-    )
-    (pin "TIM1_CH2N" output (at 130.81 62.23 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 03c9af45-78cd-440c-b5cb-f8f2b757475c)
-    )
-    (pin "TIM1_CH3N" output (at 130.81 64.77 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid d43f2b67-f528-456c-838c-97b3f25d8240)
-    )
-    (pin "ENC_CAL" output (at 130.81 130.81 0)
+    (pin "ENC_CAL" output (at 135.89 130.81 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 128edcdf-261b-43cd-8700-0d11fd34caf4)
     )
-    (pin "~{MOT_SHDN}" output (at 130.81 44.45 0)
+    (pin "~{MOT_SHDN}" output (at 135.89 48.26 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid deee487d-5c17-4482-9012-eb83b41362a2)
     )
-    (pin "~{ENC_CS}" output (at 130.81 137.16 0)
+    (pin "~{ENC_CS}" output (at 135.89 137.16 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 57e4a128-98fc-45d8-a88a-7658ee19d6ac)
     )
-    (pin "TIM4_CH2" input (at 130.81 123.19 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid f461f67e-7721-4b04-89b2-d658a497b122)
-    )
-    (pin "DIR" input (at 87.63 92.71 180)
+    (pin "DIR" input (at 92.71 92.71 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 488759b6-fb1d-406c-a1cb-49d855b2a3b8)
     )
-    (pin "STEP" input (at 87.63 95.25 180)
+    (pin "STEP" input (at 92.71 95.25 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid e69298d2-b4c5-481c-8926-b071845f7ef3)
     )
-    (pin "OPAMP2_VINP" input (at 130.81 101.6 0)
+    (pin "OPAMP2_VINP" input (at 135.89 101.6 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid eaa445df-85cc-4225-b19e-5ae5bf2edaff)
     )
-    (pin "TIM4_CH1" input (at 130.81 120.65 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 78e5bf7d-5721-4e92-8dee-c4e3ca83e7ac)
-    )
-    (pin "TIM4_ETR" input (at 130.81 125.73 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-      (uuid 2633cd7f-df6b-4637-8b9d-3d9bec45ab02)
-    )
-    (pin "SPI1_SCK" output (at 130.81 144.78 0)
+    (pin "SPI1_SCK" output (at 135.89 144.78 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 020a2a45-23d6-4b03-a554-204197d4b28f)
     )
-    (pin "SPI1_COPI" output (at 130.81 139.7 0)
+    (pin "SPI1_COPI" output (at 135.89 139.7 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 78da78c3-ab88-4b04-b7fc-15e353b2e4a5)
     )
-    (pin "SPI1_CIPO" input (at 130.81 142.24 0)
+    (pin "SPI1_CIPO" input (at 135.89 142.24 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 1deb0b89-9c38-42f0-9076-12e2f6213433)
     )
-    (pin "OPAMP3_VINP" input (at 130.81 105.41 0)
+    (pin "OPAMP3_VINP" input (at 135.89 105.41 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid e38080eb-38c4-416c-a2b1-19f2f4020e59)
     )
-    (pin "OPAMP1_VINP" input (at 130.81 97.79 0)
+    (pin "OPAMP1_VINP" input (at 135.89 97.79 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 00ae8448-5ce9-45c6-9082-d5c3f060c618)
     )
-    (pin "ADC1_IN1" input (at 87.63 134.62 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 177af611-945d-40be-8f4a-1f764948af96)
-    )
-    (pin "ADC1_IN3" input (at 87.63 137.16 180)
-      (effects (font (size 1.27 1.27)) (justify left))
-      (uuid 1ffe6062-43e9-4bdf-acb7-19a331c419c8)
-    )
-    (pin "CANH" bidirectional (at 87.63 100.33 180)
+    (pin "CANH" bidirectional (at 92.71 102.87 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid bb56502b-307e-45f0-8419-b84f0781db0a)
     )
-    (pin "CANL" bidirectional (at 87.63 102.87 180)
+    (pin "CANL" bidirectional (at 92.71 100.33 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid e63a1e67-e91b-434a-b227-dda0b76b9d72)
     )
+    (pin "TIM2_CH4" output (at 135.89 62.23 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid fa8cc594-79a9-4c06-8267-e2d592ac44db)
+    )
+    (pin "TIM2_CH3" output (at 135.89 59.69 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid f401a85e-2717-43bf-bfaa-68637557ca14)
+    )
+    (pin "TIM2_CH2" output (at 135.89 57.15 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid afa4f03d-b3f9-49cc-8d99-4ce15ff476c6)
+    )
+    (pin "TIM2_CH1" output (at 135.89 54.61 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid 9ddbb6a1-19e8-4d4e-89b2-7638af082cbe)
+    )
+    (pin "TIM3_ETR" input (at 135.89 125.73 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid 4d42009f-23c8-453b-8051-27a0dc2dc5b9)
+    )
+    (pin "TIM3_CH1" input (at 135.89 120.65 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid 1b72858b-9229-4bf3-8518-7d20aaeba61e)
+    )
+    (pin "TIM3_CH2" input (at 135.89 123.19 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid a162bbe7-f6bd-4d0b-b62d-add1ec6e5493)
+    )
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad" (page "3"))
@@ -3151,45 +2205,102 @@
     )
   )
 
-  (sheet (at 153.67 114.3) (size 26.67 34.29) (fields_autoplaced)
+  (sheet (at 167.64 36.83) (size 38.1 39.37) (fields_autoplaced)
+    (stroke (width 0.1524) (type solid))
+    (fill (color 0 0 0 0.0000))
+    (uuid ac193888-c8ba-43d9-af32-3c2e2d16ba47)
+    (property "Sheetname" "half bridges" (at 167.64 36.1184 0)
+      (effects (font (size 1.27 1.27)) (justify left bottom))
+    )
+    (property "Sheetfile" "halfbridges.kicad_sch" (at 167.64 76.7846 0)
+      (effects (font (size 1.27 1.27)) (justify left top))
+    )
+    (pin "OUT2B" output (at 205.74 59.69 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid b043629d-a78c-429d-8c82-a969d414dcf5)
+    )
+    (pin "OUT1A" output (at 205.74 57.15 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid ceb21191-d73b-4b1c-8e4b-051ca29a2156)
+    )
+    (pin "OUT2A" output (at 205.74 54.61 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid e2081b05-98d2-4b64-8b93-e2409ebc73bb)
+    )
+    (pin "OUT1B" output (at 205.74 52.07 0)
+      (effects (font (size 1.27 1.27)) (justify right))
+      (uuid 58773861-f03a-4a1c-82fb-0148b3d308db)
+    )
+    (pin "IN2B" input (at 167.64 57.15 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid 79a6e749-10e4-43b0-be86-8b111a3f73d5)
+    )
+    (pin "IN1B" input (at 167.64 54.61 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid 3395a2a8-df08-4d3e-b8a3-475649bb1e75)
+    )
+    (pin "IN1A" input (at 167.64 59.69 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid 6e6998ab-c54b-4777-b495-68246c459767)
+    )
+    (pin "ENB" input (at 167.64 50.8 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid b4a28b00-5068-4a3a-8ed1-b2bd2ebb1c6f)
+    )
+    (pin "ENA" input (at 167.64 48.26 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid 6a8e3a4f-e98b-4065-8f6b-113f6f3aa22f)
+    )
+    (pin "IN2A" input (at 167.64 62.23 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid db4ad5b7-0b1c-420d-aa3f-7c9443e5bb3b)
+    )
+    (instances
+      (project "lemon-pepper"
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad" (page "7"))
+      )
+    )
+  )
+
+  (sheet (at 158.75 114.3) (size 26.67 34.29) (fields_autoplaced)
     (stroke (width 0.1524) (type solid))
     (fill (color 0 0 0 0.0000))
     (uuid e3a86f21-c1c7-4a99-9511-7bc9966878a0)
-    (property "Sheetname" "encoder" (at 153.67 113.5884 0)
+    (property "Sheetname" "encoder" (at 158.75 113.5884 0)
       (effects (font (size 1.27 1.27)) (justify left bottom))
     )
-    (property "Sheetfile" "encoder.kicad_sch" (at 153.67 149.1746 0)
+    (property "Sheetfile" "encoder.kicad_sch" (at 158.75 149.1746 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
-    (pin "B" output (at 153.67 123.19 180)
+    (pin "B" output (at 158.75 123.19 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 8438fa37-4637-4ea6-bc9a-4d7f2ade10b7)
     )
-    (pin "Z" output (at 153.67 125.73 180)
+    (pin "Z" output (at 158.75 125.73 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid dd12f713-ff17-41e4-8685-f85c5f7b1c90)
     )
-    (pin "A" output (at 153.67 120.65 180)
+    (pin "A" output (at 158.75 120.65 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 05174bd5-7fd9-40eb-8c47-fca1bccbcde2)
     )
-    (pin "COPI" input (at 153.67 139.7 180)
+    (pin "COPI" input (at 158.75 139.7 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 20c5ef79-05b9-44ec-ae1f-c614bc04c63a)
     )
-    (pin "CIPO" output (at 153.67 142.24 180)
+    (pin "CIPO" output (at 158.75 142.24 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 7bc1c9d4-733d-419a-a750-0a324d121953)
     )
-    (pin "CS" input (at 153.67 137.16 180)
+    (pin "CS" input (at 158.75 137.16 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 7f5ead0f-9063-4d26-92a9-e8a8a5e9f33e)
     )
-    (pin "SCK" input (at 153.67 144.78 180)
+    (pin "SCK" input (at 158.75 144.78 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 08b9c2d8-5049-4733-9108-b3e5f4455ae4)
     )
-    (pin "CAL_EN" input (at 153.67 130.81 180)
+    (pin "CAL_EN" input (at 158.75 130.81 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 3044826c-17d5-48e5-a619-5f5ac520b53d)
     )
diff --git a/hardware/lemon-pepper.xml b/hardware/lemon-pepper.xml
new file mode 100644
index 0000000..eeeae7e
--- /dev/null
+++ b/hardware/lemon-pepper.xml
@@ -0,0 +1,2126 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<export version="E">
+  <design>
+    <source>/Users/mateijordache/Documents/electronics_projects/lemon-pepper-stepper/hardware/lemon-pepper.kicad_sch</source>
+    <date>2023 October 18, Wednesday 19:01:59</date>
+    <tool>Eeschema 7.0.8</tool>
+    <sheet number="1" name="/" tstamps="/">
+      <title_block>
+        <title>LEMON PEPPER STEPPER</title>
+        <company>matei repair lab</company>
+        <rev>0.1</rev>
+        <date>2023-10-11</date>
+        <source>lemon-pepper.kicad_sch</source>
+        <comment number="1" value=""/>
+        <comment number="2" value=""/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+        <comment number="5" value=""/>
+        <comment number="6" value=""/>
+        <comment number="7" value=""/>
+        <comment number="8" value=""/>
+        <comment number="9" value=""/>
+      </title_block>
+    </sheet>
+    <sheet number="2" name="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/">
+      <title_block>
+        <title>USB &amp; ESD</title>
+        <company>matei repair lab</company>
+        <rev>0.1</rev>
+        <date>2023-10-11</date>
+        <source>usb.kicad_sch</source>
+        <comment number="1" value=""/>
+        <comment number="2" value=""/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+        <comment number="5" value=""/>
+        <comment number="6" value=""/>
+        <comment number="7" value=""/>
+        <comment number="8" value=""/>
+        <comment number="9" value=""/>
+      </title_block>
+    </sheet>
+    <sheet number="3" name="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/">
+      <title_block>
+        <title>MICROCONTROLLER</title>
+        <company>matei repair lab</company>
+        <rev>0.1</rev>
+        <date>2023-10-11</date>
+        <source>mcu.kicad_sch</source>
+        <comment number="1" value=""/>
+        <comment number="2" value=""/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+        <comment number="5" value=""/>
+        <comment number="6" value=""/>
+        <comment number="7" value=""/>
+        <comment number="8" value=""/>
+        <comment number="9" value=""/>
+      </title_block>
+    </sheet>
+    <sheet number="4" name="/encoder/" tstamps="/e3a86f21-c1c7-4a99-9511-7bc9966878a0/">
+      <title_block>
+        <title>MAGNETIC ENCODER 14 BIT</title>
+        <company>matei repair lab</company>
+        <rev>0.1</rev>
+        <date>2023-10-11</date>
+        <source>encoder.kicad_sch</source>
+        <comment number="1" value=""/>
+        <comment number="2" value=""/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+        <comment number="5" value=""/>
+        <comment number="6" value=""/>
+        <comment number="7" value=""/>
+        <comment number="8" value=""/>
+        <comment number="9" value=""/>
+      </title_block>
+    </sheet>
+    <sheet number="5" name="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/">
+      <title_block>
+        <title>POWER SUPPLY &amp; FILTERING</title>
+        <company>matei repair lab</company>
+        <rev>0.1</rev>
+        <date>2023-10-11</date>
+        <source>psu.kicad_sch</source>
+        <comment number="1" value=""/>
+        <comment number="2" value=""/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+        <comment number="5" value=""/>
+        <comment number="6" value=""/>
+        <comment number="7" value=""/>
+        <comment number="8" value=""/>
+        <comment number="9" value=""/>
+      </title_block>
+    </sheet>
+    <sheet number="6" name="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/">
+      <title_block>
+        <title/>
+        <company/>
+        <rev/>
+        <date/>
+        <source>halfbridges.kicad_sch</source>
+        <comment number="1" value=""/>
+        <comment number="2" value=""/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+        <comment number="5" value=""/>
+        <comment number="6" value=""/>
+        <comment number="7" value=""/>
+        <comment number="8" value=""/>
+        <comment number="9" value=""/>
+      </title_block>
+    </sheet>
+    <sheet number="7" name="/current sense/" tstamps="/41d11f3b-333a-47c0-a126-1f991ee11e83/">
+      <title_block>
+        <title>HALL CURRENT SENSING</title>
+        <company>matei repair lab</company>
+        <rev>0.1</rev>
+        <date>2023-10-11</date>
+        <source>currentsense.kicad_sch</source>
+        <comment number="1" value=""/>
+        <comment number="2" value=""/>
+        <comment number="3" value=""/>
+        <comment number="4" value=""/>
+        <comment number="5" value=""/>
+        <comment number="6" value=""/>
+        <comment number="7" value=""/>
+        <comment number="8" value=""/>
+        <comment number="9" value=""/>
+      </title_block>
+    </sheet>
+  </design>
+  <components>
+    <comp ref="C101">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>9a931155-c1ba-4bc5-b089-29b9bf5cb89c</tstamps>
+    </comp>
+    <comp ref="C102">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>db32eecc-9cbf-4a45-9d11-8b235dad8189</tstamps>
+    </comp>
+    <comp ref="C103">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>b4f62e8c-4821-4eae-b004-36723c50b56e</tstamps>
+    </comp>
+    <comp ref="C104">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>2c2e3079-875a-44bd-ba8b-183a1e5cc380</tstamps>
+    </comp>
+    <comp ref="C105">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>20975541-5938-45e0-8687-059b966a0fda</tstamps>
+    </comp>
+    <comp ref="C106">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>ca116305-8462-4efa-8dd8-c4ecc4b539ce</tstamps>
+    </comp>
+    <comp ref="C107">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>556d90d3-857f-453f-96f6-c8d75bd92b47</tstamps>
+    </comp>
+    <comp ref="C108">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>6feb179a-83d5-4e07-90f0-94967c8b5026</tstamps>
+    </comp>
+    <comp ref="D101">
+      <value>SS210</value>
+      <footprint>Diode_SMD:D_SMA</footprint>
+      <fields>
+        <field name="LCSC Part">C14996</field>
+        <field name="Sim.Device">D</field>
+        <field name="Sim.Pins">1=K 2=A</field>
+      </fields>
+      <libsource lib="Device" part="D" description="Diode"/>
+      <property name="Sim.Device" value="D"/>
+      <property name="Sim.Pins" value="1=K 2=A"/>
+      <property name="LCSC Part" value="C14996"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Diode"/>
+      <property name="ki_keywords" value="diode"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>83a538b9-da0c-41da-8848-8f6b71ad5f29</tstamps>
+    </comp>
+    <comp ref="J101">
+      <value>INPUT</value>
+      <footprint>Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical</footprint>
+      <libsource lib="Connector_Generic" part="Conn_01x04" description="Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)"/>
+      <property name="LCSC Part" value=""/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)"/>
+      <property name="ki_keywords" value="connector"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>4d6dcc0d-7e35-4592-ada8-bf24128aa9db</tstamps>
+    </comp>
+    <comp ref="M101">
+      <value>MOT</value>
+      <footprint>footprints:XH2.54 4P</footprint>
+      <datasheet>http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0</datasheet>
+      <libsource lib="Motor" part="Stepper_Motor_bipolar" description="4-wire bipolar stepper motor"/>
+      <property name="LCSC Part" value=""/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="4-wire bipolar stepper motor"/>
+      <property name="ki_keywords" value="bipolar stepper motor"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>714257b9-ce21-4115-8a76-cf9ef1ecf8c7</tstamps>
+    </comp>
+    <comp ref="R101">
+      <value>5k1</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25905</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25905"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>f3ddb8ee-dbb4-493a-ae39-77e171290f99</tstamps>
+    </comp>
+    <comp ref="R102">
+      <value>5k1</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25905</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25905"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>d321c20b-6961-4094-9a94-4da017abbada</tstamps>
+    </comp>
+    <comp ref="R103">
+      <value>120R</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25079</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25079"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>72527ab6-368a-4332-b2bc-7c5218c8fa61</tstamps>
+    </comp>
+    <comp ref="R104">
+      <value>0R</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C17168</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C17168"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>2ee515ec-1c12-40ce-9c56-215ed6b94d01</tstamps>
+    </comp>
+    <comp ref="R105">
+      <value>0R</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C17168</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C17168"/>
+      <property name="Sheetname" value=""/>
+      <property name="Sheetfile" value="lemon-pepper.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/" tstamps="/"/>
+      <tstamps>46ce0156-2765-4c40-8ac1-08ac50337531</tstamps>
+    </comp>
+    <comp ref="C201">
+      <value>47p</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C1567</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C1567"/>
+      <property name="Sheetname" value="usb"/>
+      <property name="Sheetfile" value="usb.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/"/>
+      <tstamps>cb323398-3b6f-4a42-a847-71234d3d92ba</tstamps>
+    </comp>
+    <comp ref="C202">
+      <value>47p</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C1567</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C1567"/>
+      <property name="Sheetname" value="usb"/>
+      <property name="Sheetfile" value="usb.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/"/>
+      <tstamps>8f38dda2-81f2-49ba-949e-98b121097ad0</tstamps>
+    </comp>
+    <comp ref="D201">
+      <value>1N4148WS</value>
+      <footprint>Diode_SMD:D_SOD-323</footprint>
+      <fields>
+        <field name="LCSC Part">C2128</field>
+        <field name="Sim.Device">D</field>
+        <field name="Sim.Pins">1=K 2=A</field>
+      </fields>
+      <libsource lib="Device" part="D" description="Diode"/>
+      <property name="Sim.Device" value="D"/>
+      <property name="Sim.Pins" value="1=K 2=A"/>
+      <property name="LCSC Part" value="C2128"/>
+      <property name="Sheetname" value="usb"/>
+      <property name="Sheetfile" value="usb.kicad_sch"/>
+      <property name="ki_description" value="Diode"/>
+      <property name="ki_keywords" value="diode"/>
+      <sheetpath names="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/"/>
+      <tstamps>68b1a8c4-1258-4055-9cf5-0723ea413e16</tstamps>
+    </comp>
+    <comp ref="J201">
+      <value>USB_C_Receptacle_USB2.0</value>
+      <footprint>easyeda2kicad:USB-C-SMD_GT-USB-7052_1</footprint>
+      <datasheet>https://www.usb.org/sites/default/files/documents/usb_type-c.zip</datasheet>
+      <fields>
+        <field name="LCSC Part">C963223</field>
+      </fields>
+      <libsource lib="Connector" part="USB_C_Receptacle_USB2.0" description="USB 2.0-only Type-C Receptacle connector"/>
+      <property name="LCSC Part" value="C963223"/>
+      <property name="Sheetname" value="usb"/>
+      <property name="Sheetfile" value="usb.kicad_sch"/>
+      <property name="ki_description" value="USB 2.0-only Type-C Receptacle connector"/>
+      <property name="ki_keywords" value="usb universal serial bus type-C USB2.0"/>
+      <sheetpath names="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/"/>
+      <tstamps>7dadba43-7b05-4cb5-aa6a-7b6320a6123d</tstamps>
+    </comp>
+    <comp ref="U201">
+      <value>SRV05-4</value>
+      <footprint>Package_TO_SOT_SMD:SOT-23-6</footprint>
+      <datasheet>http://www.onsemi.com/pub/Collateral/SRV05-4-D.PDF</datasheet>
+      <fields>
+        <field name="LCSC Part">C7420376</field>
+      </fields>
+      <libsource lib="Power_Protection" part="SRV05-4" description="ESD Protection Diodes with Low Clamping Voltage, SOT-23-6"/>
+      <property name="LCSC Part" value="C7420376"/>
+      <property name="Sheetname" value="usb"/>
+      <property name="Sheetfile" value="usb.kicad_sch"/>
+      <property name="ki_description" value="ESD Protection Diodes with Low Clamping Voltage, SOT-23-6"/>
+      <property name="ki_keywords" value="ESD protection diodes"/>
+      <sheetpath names="/usb/" tstamps="/3af4e77c-61b4-4c93-bd22-ce60f55b568c/"/>
+      <tstamps>5d601d28-8bc0-4fbd-88a9-cb24b48aaca5</tstamps>
+    </comp>
+    <comp ref="C301">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>67898294-3a13-497c-9fd5-dc7616178616</tstamps>
+    </comp>
+    <comp ref="C302">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>3c2191cb-9685-4460-965f-4dcdbf4285d9</tstamps>
+    </comp>
+    <comp ref="C303">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>40f55700-e25b-4694-a529-b20bba98e0cb</tstamps>
+    </comp>
+    <comp ref="C304">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>2c1b5fcc-3967-48c3-afc2-d8b1a6f95876</tstamps>
+    </comp>
+    <comp ref="C305">
+      <value>20p</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C1554</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C1554"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>142bb1df-93a0-4996-98cb-f8bc864c5d8e</tstamps>
+    </comp>
+    <comp ref="C306">
+      <value>20p</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C1554</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C1554"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>f4fd6cee-a64c-4c59-b5e4-778c1c3ed0e7</tstamps>
+    </comp>
+    <comp ref="C308">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>f03bdecc-5bf2-4d7f-8598-6540a8577403</tstamps>
+    </comp>
+    <comp ref="D301">
+      <value>USER</value>
+      <footprint>Diode_SMD:D_0603_1608Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C72041</field>
+      </fields>
+      <libsource lib="Device" part="LED" description="Light emitting diode"/>
+      <property name="LCSC Part" value="C72041"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Light emitting diode"/>
+      <property name="ki_keywords" value="LED diode"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>daa0ddb0-76a1-47be-8de0-0f81294fa208</tstamps>
+    </comp>
+    <comp ref="D302">
+      <value>FAULT</value>
+      <footprint>Diode_SMD:D_0603_1608Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C2286</field>
+      </fields>
+      <libsource lib="Device" part="LED" description="Light emitting diode"/>
+      <property name="LCSC Part" value="C2286"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Light emitting diode"/>
+      <property name="ki_keywords" value="LED diode"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>31656acb-8efe-42f8-88ba-402815415785</tstamps>
+    </comp>
+    <comp ref="R301">
+      <value>5k1</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25905</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25905"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>258b80d6-f1ad-4909-b10f-e52cdadedaf5</tstamps>
+    </comp>
+    <comp ref="R302">
+      <value>5k1</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25905</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25905"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>bcdfe6bb-8b97-405d-8a31-211d6374565f</tstamps>
+    </comp>
+    <comp ref="R306">
+      <value>10k</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25744</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25744"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>02f80c6e-d2bc-410d-b2aa-64d7505d6045</tstamps>
+    </comp>
+    <comp ref="U301">
+      <value>STM32G431</value>
+      <footprint>Package_DFN_QFN:QFN-48-1EP_7x7mm_P0.5mm_EP5.6x5.6mm</footprint>
+      <datasheet>https://www.st.com/resource/en/datasheet/stm32g431cb.pdf</datasheet>
+      <fields>
+        <field name="LCSC Part">C529356</field>
+      </fields>
+      <libsource lib="MCU_ST_STM32G4" part="STM32G431CBUx" description="STMicroelectronics Arm Cortex-M4 MCU, 128KB flash, 32KB RAM, 170 MHz, 1.71-3.6V, 42 GPIO, UFQFPN48"/>
+      <property name="LCSC Part" value="C529356"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="STMicroelectronics Arm Cortex-M4 MCU, 128KB flash, 32KB RAM, 170 MHz, 1.71-3.6V, 42 GPIO, UFQFPN48"/>
+      <property name="ki_keywords" value="Arm Cortex-M4 STM32G4 STM32G4x1"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>6f168aa5-bae3-4fd6-a221-9b8c0365b246</tstamps>
+    </comp>
+    <comp ref="U302">
+      <value>SN65HVD230</value>
+      <footprint>Package_SO:SOIC-8_3.9x4.9mm_P1.27mm</footprint>
+      <datasheet>http://www.ti.com/lit/ds/symlink/sn65hvd230.pdf</datasheet>
+      <fields>
+        <field name="LCSC Part">C12084</field>
+      </fields>
+      <libsource lib="Interface_CAN_LIN" part="SN65HVD230" description="CAN Bus Transceivers, 3.3V, 1Mbps, Low-Power capabilities, SOIC-8"/>
+      <property name="LCSC Part" value="C12084"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="CAN Bus Transceivers, 3.3V, 1Mbps, Low-Power capabilities, SOIC-8"/>
+      <property name="ki_keywords" value="can transeiver ti low-power"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>ddce32a1-14d3-461c-8f22-1d4b78cfd7dc</tstamps>
+    </comp>
+    <comp ref="Y301">
+      <value>12MHz</value>
+      <footprint>Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm</footprint>
+      <fields>
+        <field name="LCSC Part">C9002</field>
+      </fields>
+      <libsource lib="Device" part="Crystal_GND24" description="Four pin crystal, GND on pins 2 and 4"/>
+      <property name="LCSC Part" value="C9002"/>
+      <property name="Sheetname" value="mcu"/>
+      <property name="Sheetfile" value="mcu.kicad_sch"/>
+      <property name="ki_description" value="Four pin crystal, GND on pins 2 and 4"/>
+      <property name="ki_keywords" value="quartz ceramic resonator oscillator"/>
+      <sheetpath names="/mcu/" tstamps="/7f2d245a-6dca-4eb9-9839-7fdf255edd98/"/>
+      <tstamps>0bb03e1a-94ab-4e17-8f7d-750a0bf4dccf</tstamps>
+    </comp>
+    <comp ref="C401">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="encoder"/>
+      <property name="Sheetfile" value="encoder.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/encoder/" tstamps="/e3a86f21-c1c7-4a99-9511-7bc9966878a0/"/>
+      <tstamps>94834f1b-05ab-4bcf-9674-3eb1092330b6</tstamps>
+    </comp>
+    <comp ref="U401">
+      <value>MT6835</value>
+      <footprint>matei:MagnTek TSSOP-16-1EP_4.4x5mm_P0.65mm</footprint>
+      <datasheet>http://www.magntek.com.cn/upload/MT6835_Rev.1.2.pdf</datasheet>
+      <fields>
+        <field name="LCSC Part">C2932578</field>
+      </fields>
+      <libsource lib="matei" part="MT6835" description=""/>
+      <property name="LCSC Part" value="C2932578"/>
+      <property name="Sheetname" value="encoder"/>
+      <property name="Sheetfile" value="encoder.kicad_sch"/>
+      <sheetpath names="/encoder/" tstamps="/e3a86f21-c1c7-4a99-9511-7bc9966878a0/"/>
+      <tstamps>efd8885f-06c2-415b-876b-2a36a953a464</tstamps>
+    </comp>
+    <comp ref="C501">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>c2e248dc-262a-4629-a710-625bec428a81</tstamps>
+    </comp>
+    <comp ref="C502">
+      <value>1u</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C52923</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C52923"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>2dee52c0-0783-4f1f-985e-12fa02cb3d16</tstamps>
+    </comp>
+    <comp ref="C503">
+      <value>10u</value>
+      <footprint>Capacitor_SMD:C_0805_2012Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C440198</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C440198"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>f925e386-8547-4ff7-bedc-e402960558ec</tstamps>
+    </comp>
+    <comp ref="D501">
+      <value>BZT52C30S</value>
+      <footprint>Diode_SMD:D_SOD-323</footprint>
+      <fields>
+        <field name="LCSC Part">C22622</field>
+      </fields>
+      <libsource lib="Device" part="D_Zener" description="Zener diode"/>
+      <property name="LCSC Part" value="C22622"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Zener diode"/>
+      <property name="ki_keywords" value="diode"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>58c237bf-d017-4401-8ec7-ba5f76684b79</tstamps>
+    </comp>
+    <comp ref="D502">
+      <value>BZT52C30S</value>
+      <footprint>Diode_SMD:D_SOD-323</footprint>
+      <fields>
+        <field name="LCSC Part">C22622</field>
+      </fields>
+      <libsource lib="Device" part="D_Zener" description="Zener diode"/>
+      <property name="LCSC Part" value="C22622"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Zener diode"/>
+      <property name="ki_keywords" value="diode"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>53e57da2-1b24-4c45-899c-14b2c77ca4d7</tstamps>
+    </comp>
+    <comp ref="L501">
+      <value>33u</value>
+      <footprint>Inductor_SMD:L_1210_3225Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C394994</field>
+      </fields>
+      <libsource lib="Device" part="L_Small" description="Inductor, small symbol"/>
+      <property name="LCSC Part" value="C394994"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Inductor, small symbol"/>
+      <property name="ki_keywords" value="inductor choke coil reactor magnetic"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>93063cd2-1c42-4c29-b62d-c145e04fcf13</tstamps>
+    </comp>
+    <comp ref="Q501">
+      <value>MMBT5551</value>
+      <footprint>Package_TO_SOT_SMD:SOT-23</footprint>
+      <datasheet>www.onsemi.com/pub/Collateral/MMBT5550LT1-D.PDF</datasheet>
+      <fields>
+        <field name="LCSC Part">C2145</field>
+        <field name="Sim.Device">NPN</field>
+        <field name="Sim.Pins">1=C 2=B 3=E</field>
+      </fields>
+      <libsource lib="Transistor_BJT" part="MMBT5551L" description="0.6A Ic, 160V Vce, NPN Transistor, SOT-23"/>
+      <property name="Sim.Device" value="NPN"/>
+      <property name="Sim.Type" value=""/>
+      <property name="Sim.Pins" value="1=C 2=B 3=E"/>
+      <property name="LCSC Part" value="C2145"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="0.6A Ic, 160V Vce, NPN Transistor, SOT-23"/>
+      <property name="ki_keywords" value="NPN Transistor"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>23cd43fa-d71e-4f33-b9f2-0ad51c27d6de</tstamps>
+    </comp>
+    <comp ref="R501">
+      <value>200k</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25764</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25764"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>ff364c04-b7c8-4b05-8ce2-409b718ee78d</tstamps>
+    </comp>
+    <comp ref="R502">
+      <value>51k</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25794</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25794"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>d8bd8ef8-dbac-4d77-818b-77383390d826</tstamps>
+    </comp>
+    <comp ref="R503">
+      <value>22k</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25768</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25768"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>550e3891-67c7-4637-9028-f3ce72eee91b</tstamps>
+    </comp>
+    <comp ref="R504">
+      <value>5R</value>
+      <footprint>Resistor_SMD:R_0603_1608Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C22936</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C22936"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>5fdac8cd-b1c6-4b7c-b506-36d532e6bd5a</tstamps>
+    </comp>
+    <comp ref="R505">
+      <value>15k</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25756</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25756"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>426b400f-c9b1-4a44-88cd-2fc835bb0014</tstamps>
+    </comp>
+    <comp ref="U501">
+      <value>MAX15062CATA+T</value>
+      <footprint>easyeda2kicad:TDFN-8_L2.0-W2.0-P0.50-BL</footprint>
+      <fields>
+        <field name="LCSC Part">C1121853</field>
+      </fields>
+      <libsource lib="easyeda2kicad" part="MAX15062CATA+T" description=""/>
+      <property name="LCSC Part" value="C1121853"/>
+      <property name="Sheetname" value="psu"/>
+      <property name="Sheetfile" value="psu.kicad_sch"/>
+      <sheetpath names="/psu/" tstamps="/1237e3d8-f89f-4b6e-a633-6dbf7c464e03/"/>
+      <tstamps>520222c7-a220-43ed-a03b-c6256bd3be3a</tstamps>
+    </comp>
+    <comp ref="C601">
+      <value>10n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C15195</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C15195"/>
+      <property name="Sheetname" value="half bridges"/>
+      <property name="Sheetfile" value="halfbridges.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/"/>
+      <tstamps>bf8452e9-5264-4688-ab6e-658f3294d8a8</tstamps>
+    </comp>
+    <comp ref="C602">
+      <value>220n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C16772</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C16772"/>
+      <property name="Sheetname" value="half bridges"/>
+      <property name="Sheetfile" value="halfbridges.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/"/>
+      <tstamps>b314e2a1-05b5-4717-81c4-f8b715eeebac</tstamps>
+    </comp>
+    <comp ref="D601">
+      <value>OCD</value>
+      <footprint>Diode_SMD:D_0603_1608Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C2286</field>
+      </fields>
+      <libsource lib="Device" part="LED" description="Light emitting diode"/>
+      <property name="LCSC Part" value="C2286"/>
+      <property name="Sheetname" value="half bridges"/>
+      <property name="Sheetfile" value="halfbridges.kicad_sch"/>
+      <property name="ki_description" value="Light emitting diode"/>
+      <property name="ki_keywords" value="LED diode"/>
+      <sheetpath names="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/"/>
+      <tstamps>fd0e2a50-e9d1-47f3-a8dd-0b3fcc5e140e</tstamps>
+    </comp>
+    <comp ref="D602">
+      <value>1N4148WS</value>
+      <footprint>Diode_SMD:D_SOD-323</footprint>
+      <fields>
+        <field name="LCSC Part">C2128</field>
+        <field name="Sim.Device">D</field>
+        <field name="Sim.Pins">1=K 2=A</field>
+      </fields>
+      <libsource lib="Device" part="D_Small" description="Diode, small symbol"/>
+      <property name="Sim.Device" value="D"/>
+      <property name="Sim.Pins" value="1=K 2=A"/>
+      <property name="LCSC Part" value="C2128"/>
+      <property name="Sheetname" value="half bridges"/>
+      <property name="Sheetfile" value="halfbridges.kicad_sch"/>
+      <property name="ki_description" value="Diode, small symbol"/>
+      <property name="ki_keywords" value="diode"/>
+      <sheetpath names="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/"/>
+      <tstamps>8bcdea43-24d6-4037-aa47-a0b54c9c0c4e</tstamps>
+    </comp>
+    <comp ref="D603">
+      <value>1N4148WS</value>
+      <footprint>Diode_SMD:D_SOD-323</footprint>
+      <fields>
+        <field name="LCSC Part">C2128</field>
+        <field name="Sim.Device">D</field>
+        <field name="Sim.Pins">1=K 2=A</field>
+      </fields>
+      <libsource lib="Device" part="D_Small" description="Diode, small symbol"/>
+      <property name="Sim.Device" value="D"/>
+      <property name="Sim.Pins" value="1=K 2=A"/>
+      <property name="LCSC Part" value="C2128"/>
+      <property name="Sheetname" value="half bridges"/>
+      <property name="Sheetfile" value="halfbridges.kicad_sch"/>
+      <property name="ki_description" value="Diode, small symbol"/>
+      <property name="ki_keywords" value="diode"/>
+      <sheetpath names="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/"/>
+      <tstamps>f33a26df-aece-43c8-9415-6ac5576d1432</tstamps>
+    </comp>
+    <comp ref="R601">
+      <value>5k1</value>
+      <footprint>Resistor_SMD:R_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C25905</field>
+      </fields>
+      <libsource lib="Device" part="R_Small_US" description="Resistor, small US symbol"/>
+      <property name="LCSC Part" value="C25905"/>
+      <property name="Sheetname" value="half bridges"/>
+      <property name="Sheetfile" value="halfbridges.kicad_sch"/>
+      <property name="ki_description" value="Resistor, small US symbol"/>
+      <property name="ki_keywords" value="r resistor"/>
+      <sheetpath names="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/"/>
+      <tstamps>8890abe6-70b8-4275-9fc5-c77630cd7d38</tstamps>
+    </comp>
+    <comp ref="U601">
+      <value>L6226QTR</value>
+      <footprint>easyeda2kicad:VQFN-32_L5.0-W5.0-P0.50-TL-EP</footprint>
+      <datasheet>https://lcsc.com/product-detail/Motor-Drivers_STMicroelectronics-L6226QTR_C95357.html</datasheet>
+      <fields>
+        <field name="LCSC Part">C95357</field>
+      </fields>
+      <libsource lib="easyeda2kicad" part="L6226QTR" description=""/>
+      <property name="LCSC Part" value="C95357"/>
+      <property name="Sheetname" value="half bridges"/>
+      <property name="Sheetfile" value="halfbridges.kicad_sch"/>
+      <sheetpath names="/half bridges/" tstamps="/ac193888-c8ba-43d9-af32-3c2e2d16ba47/"/>
+      <tstamps>37880a97-b6a0-4a9d-a6d3-f01d330a7505</tstamps>
+    </comp>
+    <comp ref="C701">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="current sense"/>
+      <property name="Sheetfile" value="currentsense.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/current sense/" tstamps="/41d11f3b-333a-47c0-a126-1f991ee11e83/"/>
+      <tstamps>f0b3bc82-d997-4802-8add-753ac44970ad</tstamps>
+    </comp>
+    <comp ref="C702">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="current sense"/>
+      <property name="Sheetfile" value="currentsense.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/current sense/" tstamps="/41d11f3b-333a-47c0-a126-1f991ee11e83/"/>
+      <tstamps>d8f53127-8bd4-47cd-b50f-7d1a83c8ea9b</tstamps>
+    </comp>
+    <comp ref="C703">
+      <value>100n</value>
+      <footprint>Capacitor_SMD:C_0402_1005Metric</footprint>
+      <fields>
+        <field name="LCSC Part">C307331</field>
+      </fields>
+      <libsource lib="Device" part="C_Small" description="Unpolarized capacitor, small symbol"/>
+      <property name="LCSC Part" value="C307331"/>
+      <property name="Sheetname" value="current sense"/>
+      <property name="Sheetfile" value="currentsense.kicad_sch"/>
+      <property name="ki_description" value="Unpolarized capacitor, small symbol"/>
+      <property name="ki_keywords" value="capacitor cap"/>
+      <sheetpath names="/current sense/" tstamps="/41d11f3b-333a-47c0-a126-1f991ee11e83/"/>
+      <tstamps>fbe8f6af-e1ab-4e9c-b5a0-b04f9287fd9d</tstamps>
+    </comp>
+    <comp ref="U701">
+      <value>ACS711KEXLT-31AB-T</value>
+      <footprint>easyeda2kicad:IC-SMD_ACS711KEXLT-15AB-T</footprint>
+      <datasheet>https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</datasheet>
+      <fields>
+        <field name="LCSC Part">C146412</field>
+      </fields>
+      <libsource lib="easyeda2kicad" part="ACS711KEXLT-31AB-T" description=""/>
+      <property name="LCSC Part" value="C146412"/>
+      <property name="Sheetname" value="current sense"/>
+      <property name="Sheetfile" value="currentsense.kicad_sch"/>
+      <sheetpath names="/current sense/" tstamps="/41d11f3b-333a-47c0-a126-1f991ee11e83/"/>
+      <tstamps>1fdbef95-c635-476e-8a1d-9081026400e9</tstamps>
+    </comp>
+    <comp ref="U702">
+      <value>ACS711KEXLT-31AB-T</value>
+      <footprint>easyeda2kicad:IC-SMD_ACS711KEXLT-15AB-T</footprint>
+      <datasheet>https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</datasheet>
+      <fields>
+        <field name="LCSC Part">C146412</field>
+      </fields>
+      <libsource lib="easyeda2kicad" part="ACS711KEXLT-31AB-T" description=""/>
+      <property name="LCSC Part" value="C146412"/>
+      <property name="Sheetname" value="current sense"/>
+      <property name="Sheetfile" value="currentsense.kicad_sch"/>
+      <sheetpath names="/current sense/" tstamps="/41d11f3b-333a-47c0-a126-1f991ee11e83/"/>
+      <tstamps>8db00d14-4564-42f4-bc73-99e1bbe4542d</tstamps>
+    </comp>
+    <comp ref="U703">
+      <value>ACS711KEXLT-31AB-T</value>
+      <footprint>easyeda2kicad:IC-SMD_ACS711KEXLT-15AB-T</footprint>
+      <datasheet>https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</datasheet>
+      <fields>
+        <field name="LCSC Part">C146412</field>
+      </fields>
+      <libsource lib="easyeda2kicad" part="ACS711KEXLT-31AB-T" description=""/>
+      <property name="LCSC Part" value="C146412"/>
+      <property name="Sheetname" value="current sense"/>
+      <property name="Sheetfile" value="currentsense.kicad_sch"/>
+      <sheetpath names="/current sense/" tstamps="/41d11f3b-333a-47c0-a126-1f991ee11e83/"/>
+      <tstamps>37feff03-c1c6-40e4-bf89-9ed25f3b433f</tstamps>
+    </comp>
+  </components>
+  <libparts>
+    <libpart lib="Connector" part="Conn_ARM_SWD_TagConnect_TC2030-NL">
+      <description>Tag-Connect ARM Cortex SWD JTAG connector, 6 pin, no legs</description>
+      <docs>https://www.tag-connect.com/wp-content/uploads/bsk-pdf-manager/TC2030-CTX_1.pdf</docs>
+      <footprints>
+        <fp>*TC2030*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">J</field>
+        <field name="Value">Conn_ARM_SWD_TagConnect_TC2030-NL</field>
+        <field name="Footprint">Connector:Tag-Connect_TC2030-IDC-NL_2x03_P1.27mm_Vertical</field>
+        <field name="Datasheet">https://www.tag-connect.com/wp-content/uploads/bsk-pdf-manager/TC2030-CTX_1.pdf</field>
+      </fields>
+      <pins>
+        <pin num="1" name="VCC" type="power_in"/>
+        <pin num="2" name="SWDIO" type="bidirectional"/>
+        <pin num="3" name="~{RESET}" type="open_collector"/>
+        <pin num="4" name="SWCLK" type="output"/>
+        <pin num="5" name="GND" type="power_in"/>
+        <pin num="6" name="SWO" type="input"/>
+      </pins>
+    </libpart>
+    <libpart lib="Connector" part="USB_C_Receptacle_USB2.0">
+      <description>USB 2.0-only Type-C Receptacle connector</description>
+      <docs>https://www.usb.org/sites/default/files/documents/usb_type-c.zip</docs>
+      <footprints>
+        <fp>USB*C*Receptacle*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">J</field>
+        <field name="Value">USB_C_Receptacle_USB2.0</field>
+        <field name="Datasheet">https://www.usb.org/sites/default/files/documents/usb_type-c.zip</field>
+      </fields>
+      <pins>
+        <pin num="A1" name="GND" type="passive"/>
+        <pin num="A4" name="VBUS" type="passive"/>
+        <pin num="A5" name="CC1" type="bidirectional"/>
+        <pin num="A6" name="D+" type="bidirectional"/>
+        <pin num="A7" name="D-" type="bidirectional"/>
+        <pin num="A8" name="SBU1" type="bidirectional"/>
+        <pin num="A9" name="VBUS" type="passive"/>
+        <pin num="A12" name="GND" type="passive"/>
+        <pin num="B1" name="GND" type="passive"/>
+        <pin num="B4" name="VBUS" type="passive"/>
+        <pin num="B5" name="CC2" type="bidirectional"/>
+        <pin num="B6" name="D+" type="bidirectional"/>
+        <pin num="B7" name="D-" type="bidirectional"/>
+        <pin num="B8" name="SBU2" type="bidirectional"/>
+        <pin num="B9" name="VBUS" type="passive"/>
+        <pin num="B12" name="GND" type="passive"/>
+        <pin num="S1" name="SHIELD" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Connector_Generic" part="Conn_01x04">
+      <description>Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>Connector*:*_1x??_*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">J</field>
+        <field name="Value">Conn_01x04</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="Pin_1" type="passive"/>
+        <pin num="2" name="Pin_2" type="passive"/>
+        <pin num="3" name="Pin_3" type="passive"/>
+        <pin num="4" name="Pin_4" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="C_Small">
+      <description>Unpolarized capacitor, small symbol</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>C_*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">C</field>
+        <field name="Value">C_Small</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="" type="passive"/>
+        <pin num="2" name="" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="Crystal_GND24">
+      <description>Four pin crystal, GND on pins 2 and 4</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>Crystal*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">Y</field>
+        <field name="Value">Crystal_GND24</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="1" type="passive"/>
+        <pin num="2" name="2" type="passive"/>
+        <pin num="3" name="3" type="passive"/>
+        <pin num="4" name="4" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="D">
+      <description>Diode</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>TO-???*</fp>
+        <fp>*_Diode_*</fp>
+        <fp>*SingleDiode*</fp>
+        <fp>D_*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">D</field>
+        <field name="Value">D</field>
+        <field name="Datasheet">~</field>
+        <field name="Sim.Device">D</field>
+        <field name="Sim.Pins">1=K 2=A</field>
+      </fields>
+      <pins>
+        <pin num="1" name="K" type="passive"/>
+        <pin num="2" name="A" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="D_Small">
+      <description>Diode, small symbol</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>TO-???*</fp>
+        <fp>*_Diode_*</fp>
+        <fp>*SingleDiode*</fp>
+        <fp>D_*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">D</field>
+        <field name="Value">D_Small</field>
+        <field name="Datasheet">~</field>
+        <field name="Sim.Device">D</field>
+        <field name="Sim.Pins">1=K 2=A</field>
+      </fields>
+      <pins>
+        <pin num="1" name="K" type="passive"/>
+        <pin num="2" name="A" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="D_Zener">
+      <description>Zener diode</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>TO-???*</fp>
+        <fp>*_Diode_*</fp>
+        <fp>*SingleDiode*</fp>
+        <fp>D_*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">D</field>
+        <field name="Value">D_Zener</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="K" type="passive"/>
+        <pin num="2" name="A" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="LED">
+      <description>Light emitting diode</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>LED*</fp>
+        <fp>LED_SMD:*</fp>
+        <fp>LED_THT:*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">D</field>
+        <field name="Value">LED</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="K" type="passive"/>
+        <pin num="2" name="A" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="L_Small">
+      <description>Inductor, small symbol</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>Choke_*</fp>
+        <fp>*Coil*</fp>
+        <fp>Inductor_*</fp>
+        <fp>L_*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">L</field>
+        <field name="Value">L_Small</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="" type="passive"/>
+        <pin num="2" name="" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Device" part="R_Small_US">
+      <description>Resistor, small US symbol</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>R_*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">R</field>
+        <field name="Value">R_Small_US</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="" type="passive"/>
+        <pin num="2" name="" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Interface_CAN_LIN" part="SN65HVD230">
+      <description>CAN Bus Transceivers, 3.3V, 1Mbps, Low-Power capabilities, SOIC-8</description>
+      <docs>http://www.ti.com/lit/ds/symlink/sn65hvd230.pdf</docs>
+      <footprints>
+        <fp>SOIC*3.9x4.9mm*P1.27mm*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">SN65HVD230</field>
+        <field name="Footprint">Package_SO:SOIC-8_3.9x4.9mm_P1.27mm</field>
+        <field name="Datasheet">http://www.ti.com/lit/ds/symlink/sn65hvd230.pdf</field>
+      </fields>
+      <pins>
+        <pin num="1" name="D" type="input"/>
+        <pin num="2" name="GND" type="power_in"/>
+        <pin num="3" name="VCC" type="power_in"/>
+        <pin num="4" name="R" type="output"/>
+        <pin num="5" name="Vref" type="output"/>
+        <pin num="6" name="CANL" type="bidirectional"/>
+        <pin num="7" name="CANH" type="bidirectional"/>
+        <pin num="8" name="Rs" type="input"/>
+      </pins>
+    </libpart>
+    <libpart lib="Jumper" part="SolderJumper_2_Open">
+      <description>Solder Jumper, 2-pole, open</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>SolderJumper*Open*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">JP</field>
+        <field name="Value">SolderJumper_2_Open</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="A" type="passive"/>
+        <pin num="2" name="B" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="MCU_ST_STM32G4" part="STM32G431CBUx">
+      <description>STMicroelectronics Arm Cortex-M4 MCU, 128KB flash, 32KB RAM, 170 MHz, 1.71-3.6V, 42 GPIO, UFQFPN48</description>
+      <docs>https://www.st.com/resource/en/datasheet/stm32g431cb.pdf</docs>
+      <footprints>
+        <fp>QFN*1EP*7x7mm*P0.5mm*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">STM32G431CBUx</field>
+        <field name="Footprint">Package_DFN_QFN:QFN-48-1EP_7x7mm_P0.5mm_EP5.6x5.6mm</field>
+        <field name="Datasheet">https://www.st.com/resource/en/datasheet/stm32g431cb.pdf</field>
+      </fields>
+      <pins>
+        <pin num="1" name="VBAT" type="power_in"/>
+        <pin num="2" name="PC13" type="bidirectional"/>
+        <pin num="3" name="PC14" type="bidirectional"/>
+        <pin num="4" name="PC15" type="bidirectional"/>
+        <pin num="5" name="PF0" type="bidirectional"/>
+        <pin num="6" name="PF1" type="bidirectional"/>
+        <pin num="7" name="PG10" type="bidirectional"/>
+        <pin num="8" name="PA0" type="bidirectional"/>
+        <pin num="9" name="PA1" type="bidirectional"/>
+        <pin num="10" name="PA2" type="bidirectional"/>
+        <pin num="11" name="PA3" type="bidirectional"/>
+        <pin num="12" name="PA4" type="bidirectional"/>
+        <pin num="13" name="PA5" type="bidirectional"/>
+        <pin num="14" name="PA6" type="bidirectional"/>
+        <pin num="15" name="PA7" type="bidirectional"/>
+        <pin num="16" name="PC4" type="bidirectional"/>
+        <pin num="17" name="PB0" type="bidirectional"/>
+        <pin num="18" name="PB1" type="bidirectional"/>
+        <pin num="19" name="PB2" type="bidirectional"/>
+        <pin num="20" name="VREF+" type="input"/>
+        <pin num="21" name="VDDA" type="power_in"/>
+        <pin num="22" name="PB10" type="bidirectional"/>
+        <pin num="23" name="VDD" type="power_in"/>
+        <pin num="24" name="PB11" type="bidirectional"/>
+        <pin num="25" name="PB12" type="bidirectional"/>
+        <pin num="26" name="PB13" type="bidirectional"/>
+        <pin num="27" name="PB14" type="bidirectional"/>
+        <pin num="28" name="PB15" type="bidirectional"/>
+        <pin num="29" name="PC6" type="bidirectional"/>
+        <pin num="30" name="PA8" type="bidirectional"/>
+        <pin num="31" name="PA9" type="bidirectional"/>
+        <pin num="32" name="PA10" type="bidirectional"/>
+        <pin num="33" name="PA11" type="bidirectional"/>
+        <pin num="34" name="PA12" type="bidirectional"/>
+        <pin num="35" name="VDD" type="power_in"/>
+        <pin num="36" name="PA13" type="bidirectional"/>
+        <pin num="37" name="PA14" type="bidirectional"/>
+        <pin num="38" name="PA15" type="bidirectional"/>
+        <pin num="39" name="PC10" type="bidirectional"/>
+        <pin num="40" name="PC11" type="bidirectional"/>
+        <pin num="41" name="PB3" type="bidirectional"/>
+        <pin num="42" name="PB4" type="bidirectional"/>
+        <pin num="43" name="PB5" type="bidirectional"/>
+        <pin num="44" name="PB6" type="bidirectional"/>
+        <pin num="45" name="PB7" type="bidirectional"/>
+        <pin num="46" name="PB8" type="bidirectional"/>
+        <pin num="47" name="PB9" type="bidirectional"/>
+        <pin num="48" name="VDD" type="power_in"/>
+        <pin num="49" name="VSS" type="power_in"/>
+      </pins>
+    </libpart>
+    <libpart lib="Mechanical" part="Fiducial">
+      <description>Fiducial Marker</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>Fiducial*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">FID</field>
+        <field name="Value">Fiducial</field>
+        <field name="Datasheet">~</field>
+      </fields>
+    </libpart>
+    <libpart lib="Mechanical" part="MountingHole_Pad">
+      <description>Mounting Hole with connection</description>
+      <docs>~</docs>
+      <footprints>
+        <fp>MountingHole*Pad*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">H</field>
+        <field name="Value">MountingHole_Pad</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="1" type="input"/>
+      </pins>
+    </libpart>
+    <libpart lib="Motor" part="Stepper_Motor_bipolar">
+      <description>4-wire bipolar stepper motor</description>
+      <docs>http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0</docs>
+      <footprints>
+        <fp>PinHeader*P2.54mm*Vertical*</fp>
+        <fp>TerminalBlock*</fp>
+        <fp>Motor*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">M101</field>
+        <field name="Value">MOT</field>
+        <field name="Footprint">footprints:XH2.54 4P</field>
+        <field name="Datasheet">http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0</field>
+      </fields>
+      <pins>
+        <pin num="1" name="" type="passive"/>
+        <pin num="2" name="-" type="passive"/>
+        <pin num="3" name="" type="passive"/>
+        <pin num="4" name="" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Power_Protection" part="SRV05-4">
+      <description>ESD Protection Diodes with Low Clamping Voltage, SOT-23-6</description>
+      <docs>http://www.onsemi.com/pub/Collateral/SRV05-4-D.PDF</docs>
+      <footprints>
+        <fp>SOT?23*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">SRV05-4</field>
+        <field name="Footprint">Package_TO_SOT_SMD:SOT-23-6</field>
+        <field name="Datasheet">http://www.onsemi.com/pub/Collateral/SRV05-4-D.PDF</field>
+      </fields>
+      <pins>
+        <pin num="1" name="IO1" type="passive"/>
+        <pin num="2" name="VN" type="passive"/>
+        <pin num="3" name="IO2" type="passive"/>
+        <pin num="4" name="IO3" type="passive"/>
+        <pin num="5" name="VP" type="passive"/>
+        <pin num="6" name="IO4" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="Transistor_BJT" part="MMBT5551L">
+      <description>0.6A Ic, 160V Vce, NPN Transistor, SOT-23</description>
+      <docs>www.onsemi.com/pub/Collateral/MMBT5550LT1-D.PDF</docs>
+      <footprints>
+        <fp>SOT?23*</fp>
+      </footprints>
+      <fields>
+        <field name="Reference">Q</field>
+        <field name="Value">MMBT5551L</field>
+        <field name="Footprint">Package_TO_SOT_SMD:SOT-23</field>
+        <field name="Datasheet">www.onsemi.com/pub/Collateral/MMBT5550LT1-D.PDF</field>
+      </fields>
+      <pins>
+        <pin num="1" name="B" type="input"/>
+        <pin num="2" name="E" type="passive"/>
+        <pin num="3" name="C" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="easyeda2kicad" part="ACS711KEXLT-31AB-T">
+      <docs>https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</docs>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">ACS711KEXLT-31AB-T</field>
+        <field name="Footprint">easyeda2kicad:IC-SMD_ACS711KEXLT-15AB-T</field>
+        <field name="Datasheet">https://lcsc.com/product-detail/Sensors_ALLEGRO_ACS711KEXLT-31AB-T_ACS711KEXLT-31AB-T_C146412.html</field>
+        <field name="LCSC Part">C146412</field>
+      </fields>
+      <pins>
+        <pin num="1" name="IP+" type="unspecified"/>
+        <pin num="2" name="IP-" type="unspecified"/>
+        <pin num="5" name="GND" type="unspecified"/>
+        <pin num="6" name="#FAULT" type="unspecified"/>
+        <pin num="7" name="NC" type="unspecified"/>
+        <pin num="8" name="NC" type="unspecified"/>
+        <pin num="9" name="NC" type="unspecified"/>
+        <pin num="10" name="NC" type="unspecified"/>
+        <pin num="11" name="VIOUT" type="unspecified"/>
+        <pin num="12" name="VCC" type="unspecified"/>
+      </pins>
+    </libpart>
+    <libpart lib="easyeda2kicad" part="L6226QTR">
+      <docs>https://lcsc.com/product-detail/Motor-Drivers_STMicroelectronics-L6226QTR_C95357.html</docs>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">L6226QTR</field>
+        <field name="Footprint">easyeda2kicad:VQFN-32_L5.0-W5.0-P0.50-TL-EP</field>
+        <field name="Datasheet">https://lcsc.com/product-detail/Motor-Drivers_STMicroelectronics-L6226QTR_C95357.html</field>
+        <field name="LCSC Part">C95357</field>
+      </fields>
+      <pins>
+        <pin num="1" name="GND" type="power_out"/>
+        <pin num="2" name="NC" type="passive"/>
+        <pin num="3" name="NC" type="passive"/>
+        <pin num="4" name="NC" type="passive"/>
+        <pin num="5" name="NC" type="passive"/>
+        <pin num="6" name="NC" type="passive"/>
+        <pin num="7" name="NC" type="passive"/>
+        <pin num="8" name="NC" type="passive"/>
+        <pin num="9" name="OUT1B" type="output"/>
+        <pin num="10" name="NC" type="passive"/>
+        <pin num="11" name="OCDB" type="output"/>
+        <pin num="12" name="SENSEB" type="output"/>
+        <pin num="13" name="IN1B" type="input"/>
+        <pin num="14" name="IN2B" type="input"/>
+        <pin num="15" name="PROGCLB" type="input"/>
+        <pin num="16" name="ENB" type="input"/>
+        <pin num="17" name="VBOOT" type="passive"/>
+        <pin num="18" name="NC" type="passive"/>
+        <pin num="19" name="OUT2B" type="output"/>
+        <pin num="20" name="VSB" type="power_in"/>
+        <pin num="21" name="GND" type="power_out"/>
+        <pin num="22" name="VSA" type="power_in"/>
+        <pin num="23" name="OUT2A" type="power_in"/>
+        <pin num="24" name="VCP" type="passive"/>
+        <pin num="25" name="ENA" type="input"/>
+        <pin num="26" name="PROGCLA" type="input"/>
+        <pin num="27" name="IN1A" type="input"/>
+        <pin num="28" name="IN2A" type="input"/>
+        <pin num="29" name="SENSEA" type="output"/>
+        <pin num="30" name="OCDA" type="output"/>
+        <pin num="31" name="OUT1A" type="output"/>
+        <pin num="32" name="NC" type="passive"/>
+        <pin num="33" name="EP" type="passive"/>
+      </pins>
+    </libpart>
+    <libpart lib="easyeda2kicad" part="MAX15062CATA+T">
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">MAX15062CATA+T</field>
+        <field name="Footprint">easyeda2kicad:TDFN-8_L2.0-W2.0-P0.50-BL</field>
+        <field name="LCSC Part">C1121853</field>
+      </fields>
+      <pins>
+        <pin num="1" name="VIN" type="unspecified"/>
+        <pin num="2" name="EN/UVLO" type="unspecified"/>
+        <pin num="3" name="VCC" type="unspecified"/>
+        <pin num="4" name="FB/VOUT" type="unspecified"/>
+        <pin num="5" name="MODE" type="unspecified"/>
+        <pin num="6" name="~{RESET}" type="unspecified"/>
+        <pin num="7" name="GND" type="unspecified"/>
+        <pin num="8" name="LX" type="unspecified"/>
+      </pins>
+    </libpart>
+    <libpart lib="matei" part="MT6835">
+      <docs>http://www.magntek.com.cn/upload/MT6835_Rev.1.2.pdf</docs>
+      <fields>
+        <field name="Reference">U</field>
+        <field name="Value">MT6835</field>
+        <field name="Footprint">matei:MagnTek TSSOP-16-1EP_4.4x5mm_P0.65mm</field>
+        <field name="Datasheet">http://www.magntek.com.cn/upload/MT6835_Rev.1.2.pdf</field>
+      </fields>
+      <pins>
+        <pin num="1" name="U" type="output"/>
+        <pin num="2" name="V" type="output"/>
+        <pin num="3" name="W" type="output"/>
+        <pin num="4" name="CAL_EN" type="input"/>
+        <pin num="5" name="MISO" type="output"/>
+        <pin num="6" name="MOSI" type="input"/>
+        <pin num="7" name="SCK" type="input"/>
+        <pin num="8" name="CSN" type="input"/>
+        <pin num="9" name="VDD" type="power_in"/>
+        <pin num="10" name="PWM_OUT" type="output"/>
+        <pin num="11" name="TEST" type="no_connect"/>
+        <pin num="12" name="VSS" type="power_out"/>
+        <pin num="13" name="TEST_EN" type="no_connect"/>
+        <pin num="14" name="Z" type="output"/>
+        <pin num="15" name="B" type="output"/>
+        <pin num="16" name="A" type="output"/>
+      </pins>
+    </libpart>
+  </libparts>
+  <libraries>
+    <library logical="Connector">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Connector.kicad_sym</uri>
+    </library>
+    <library logical="Connector_Generic">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Connector_Generic.kicad_sym</uri>
+    </library>
+    <library logical="Device">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Device.kicad_sym</uri>
+    </library>
+    <library logical="Interface_CAN_LIN">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Interface_CAN_LIN.kicad_sym</uri>
+    </library>
+    <library logical="Jumper">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Jumper.kicad_sym</uri>
+    </library>
+    <library logical="MCU_ST_STM32G4">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//MCU_ST_STM32G4.kicad_sym</uri>
+    </library>
+    <library logical="Mechanical">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Mechanical.kicad_sym</uri>
+    </library>
+    <library logical="Motor">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Motor.kicad_sym</uri>
+    </library>
+    <library logical="Power_Protection">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Power_Protection.kicad_sym</uri>
+    </library>
+    <library logical="Transistor_BJT">
+      <uri>/Applications/KiCad/KiCad.app/Contents/SharedSupport/symbols//Transistor_BJT.kicad_sym</uri>
+    </library>
+    <library logical="easyeda2kicad">
+      <uri>/Users/mateijordache/Documents/KiCad/easyeda2kicad/easyeda2kicad.kicad_sym</uri>
+    </library>
+    <library logical="matei">
+      <uri>/Users/mateijordache/Documents/KiCad/6.0/symbols/matei.kicad_sym</uri>
+    </library>
+  </libraries>
+  <nets>
+    <net code="1" name="+3V3">
+      <node ref="C301" pin="1" pintype="passive"/>
+      <node ref="C302" pin="1" pintype="passive"/>
+      <node ref="C303" pin="1" pintype="passive"/>
+      <node ref="C304" pin="1" pintype="passive"/>
+      <node ref="C401" pin="1" pintype="passive"/>
+      <node ref="C503" pin="1" pintype="passive"/>
+      <node ref="L501" pin="2" pintype="passive"/>
+      <node ref="R306" pin="1" pintype="passive"/>
+      <node ref="R501" pin="1" pintype="passive"/>
+      <node ref="R601" pin="2" pintype="passive"/>
+      <node ref="U301" pin="20" pinfunction="VREF+" pintype="input"/>
+      <node ref="U301" pin="21" pinfunction="VDDA" pintype="power_in"/>
+      <node ref="U301" pin="23" pinfunction="VDD" pintype="power_in"/>
+      <node ref="U301" pin="35" pinfunction="VDD" pintype="power_in"/>
+      <node ref="U301" pin="48" pinfunction="VDD" pintype="power_in"/>
+      <node ref="U302" pin="3" pinfunction="VCC" pintype="power_in"/>
+      <node ref="U401" pin="9" pinfunction="VDD" pintype="power_in"/>
+      <node ref="U701" pin="12" pinfunction="VCC" pintype="unspecified"/>
+      <node ref="U702" pin="12" pinfunction="VCC" pintype="unspecified"/>
+      <node ref="U703" pin="12" pinfunction="VCC" pintype="unspecified"/>
+    </net>
+    <net code="2" name="/current sense/U_IN">
+      <node ref="U601" pin="23" pinfunction="OUT2A" pintype="power_in"/>
+      <node ref="U701" pin="1" pinfunction="IP+" pintype="unspecified"/>
+    </net>
+    <net code="3" name="/current sense/U_OUT">
+      <node ref="M101" pin="1" pintype="passive"/>
+      <node ref="U701" pin="2" pinfunction="IP-" pintype="unspecified"/>
+    </net>
+    <net code="4" name="/current sense/U_SENSE">
+      <node ref="C701" pin="1" pintype="passive"/>
+      <node ref="U301" pin="11" pinfunction="PA3" pintype="bidirectional"/>
+      <node ref="U701" pin="11" pinfunction="VIOUT" pintype="unspecified"/>
+    </net>
+    <net code="5" name="/current sense/V_IN">
+      <node ref="U601" pin="31" pinfunction="OUT1A" pintype="output"/>
+      <node ref="U702" pin="1" pinfunction="IP+" pintype="unspecified"/>
+    </net>
+    <net code="6" name="/current sense/V_OUT">
+      <node ref="M101" pin="4" pintype="passive"/>
+      <node ref="U702" pin="2" pinfunction="IP-" pintype="unspecified"/>
+    </net>
+    <net code="7" name="/current sense/V_SENSE">
+      <node ref="C702" pin="1" pintype="passive"/>
+      <node ref="U301" pin="26" pinfunction="PB13" pintype="bidirectional"/>
+      <node ref="U702" pin="11" pinfunction="VIOUT" pintype="unspecified"/>
+    </net>
+    <net code="8" name="/current sense/W_IN">
+      <node ref="U601" pin="19" pinfunction="OUT2B" pintype="output"/>
+      <node ref="U703" pin="1" pinfunction="IP+" pintype="unspecified"/>
+    </net>
+    <net code="9" name="/current sense/W_OUT">
+      <node ref="M101" pin="2" pinfunction="-" pintype="passive"/>
+      <node ref="U703" pin="2" pinfunction="IP-" pintype="unspecified"/>
+    </net>
+    <net code="10" name="/current sense/W_SENSE">
+      <node ref="C703" pin="1" pintype="passive"/>
+      <node ref="U301" pin="17" pinfunction="PB0" pintype="bidirectional"/>
+      <node ref="U703" pin="11" pinfunction="VIOUT" pintype="unspecified"/>
+    </net>
+    <net code="11" name="/encoder/A">
+      <node ref="U301" pin="41" pinfunction="PB3" pintype="bidirectional"/>
+      <node ref="U401" pin="16" pinfunction="A" pintype="output"/>
+    </net>
+    <net code="12" name="/encoder/B">
+      <node ref="U301" pin="42" pinfunction="PB4" pintype="bidirectional"/>
+      <node ref="U401" pin="15" pinfunction="B" pintype="output"/>
+    </net>
+    <net code="13" name="/encoder/CAL_EN">
+      <node ref="U301" pin="18" pinfunction="PB1" pintype="bidirectional"/>
+      <node ref="U401" pin="4" pinfunction="CAL_EN" pintype="input"/>
+    </net>
+    <net code="14" name="/encoder/CIPO">
+      <node ref="U301" pin="14" pinfunction="PA6" pintype="bidirectional"/>
+      <node ref="U401" pin="5" pinfunction="MISO" pintype="output"/>
+    </net>
+    <net code="15" name="/encoder/COPI">
+      <node ref="U301" pin="15" pinfunction="PA7" pintype="bidirectional"/>
+      <node ref="U401" pin="6" pinfunction="MOSI" pintype="input"/>
+    </net>
+    <net code="16" name="/encoder/CS">
+      <node ref="U301" pin="16" pinfunction="PC4" pintype="bidirectional"/>
+      <node ref="U401" pin="8" pinfunction="CSN" pintype="input"/>
+    </net>
+    <net code="17" name="/encoder/SCK">
+      <node ref="U301" pin="13" pinfunction="PA5" pintype="bidirectional"/>
+      <node ref="U401" pin="7" pinfunction="SCK" pintype="input"/>
+    </net>
+    <net code="18" name="/encoder/Z">
+      <node ref="U301" pin="43" pinfunction="PB5" pintype="bidirectional"/>
+      <node ref="U401" pin="14" pinfunction="Z" pintype="output"/>
+    </net>
+    <net code="19" name="/half bridges/ENA">
+      <node ref="U301" pin="25" pinfunction="PB12" pintype="bidirectional"/>
+      <node ref="U601" pin="16" pinfunction="ENB" pintype="input"/>
+      <node ref="U601" pin="25" pinfunction="ENA" pintype="input"/>
+    </net>
+    <net code="20" name="/half bridges/IN1A">
+      <node ref="U301" pin="31" pinfunction="PA9" pintype="bidirectional"/>
+      <node ref="U601" pin="27" pinfunction="IN1A" pintype="input"/>
+    </net>
+    <net code="21" name="/half bridges/IN1B">
+      <node ref="U301" pin="8" pinfunction="PA0" pintype="bidirectional"/>
+      <node ref="U601" pin="13" pinfunction="IN1B" pintype="input"/>
+    </net>
+    <net code="22" name="/half bridges/IN2A">
+      <node ref="U301" pin="32" pinfunction="PA10" pintype="bidirectional"/>
+      <node ref="U601" pin="28" pinfunction="IN2A" pintype="input"/>
+    </net>
+    <net code="23" name="/half bridges/IN2B">
+      <node ref="U301" pin="9" pinfunction="PA1" pintype="bidirectional"/>
+      <node ref="U601" pin="14" pinfunction="IN2B" pintype="input"/>
+    </net>
+    <net code="24" name="/half bridges/OUT1B">
+      <node ref="M101" pin="3" pintype="passive"/>
+      <node ref="U601" pin="9" pinfunction="OUT1B" pintype="output"/>
+    </net>
+    <net code="25" name="/mcu/CANH">
+      <node ref="J101" pin="4" pinfunction="Pin_4" pintype="passive"/>
+      <node ref="R105" pin="2" pintype="passive"/>
+      <node ref="U302" pin="7" pinfunction="CANH" pintype="bidirectional"/>
+    </net>
+    <net code="26" name="/mcu/CANL">
+      <node ref="J101" pin="3" pinfunction="Pin_3" pintype="passive"/>
+      <node ref="R103" pin="1" pintype="passive"/>
+      <node ref="R104" pin="1" pintype="passive"/>
+      <node ref="U302" pin="6" pinfunction="CANL" pintype="bidirectional"/>
+    </net>
+    <net code="27" name="/mcu/CAN_RX">
+      <node ref="U301" pin="47" pinfunction="PB9" pintype="bidirectional"/>
+      <node ref="U302" pin="4" pinfunction="R" pintype="output"/>
+    </net>
+    <net code="28" name="/mcu/CAN_TX">
+      <node ref="U301" pin="46" pinfunction="PB8" pintype="bidirectional"/>
+      <node ref="U302" pin="1" pinfunction="D" pintype="input"/>
+    </net>
+    <net code="29" name="/mcu/DIR">
+      <node ref="R104" pin="2" pintype="passive"/>
+      <node ref="U301" pin="28" pinfunction="PB15" pintype="bidirectional"/>
+    </net>
+    <net code="30" name="/mcu/MOT_EN_A">
+      <node ref="U301" pin="30" pinfunction="PA8" pintype="bidirectional"/>
+    </net>
+    <net code="31" name="/mcu/MOT_EN_B">
+      <node ref="U301" pin="29" pinfunction="PC6" pintype="bidirectional"/>
+    </net>
+    <net code="32" name="/mcu/RESET">
+      <node ref="C308" pin="1" pintype="passive"/>
+      <node ref="R306" pin="2" pintype="passive"/>
+      <node ref="U301" pin="7" pinfunction="PG10" pintype="bidirectional"/>
+    </net>
+    <net code="33" name="/mcu/STEP">
+      <node ref="R105" pin="1" pintype="passive"/>
+      <node ref="U301" pin="27" pinfunction="PB14" pintype="bidirectional"/>
+    </net>
+    <net code="34" name="/mcu/SWCLK">
+      <node ref="U301" pin="37" pinfunction="PA14" pintype="bidirectional"/>
+    </net>
+    <net code="35" name="/mcu/SWDIO">
+      <node ref="U301" pin="36" pinfunction="PA13" pintype="bidirectional"/>
+    </net>
+    <net code="36" name="/mcu/USBD_N">
+      <node ref="C201" pin="1" pintype="passive"/>
+      <node ref="J201" pin="A7" pinfunction="D-" pintype="bidirectional"/>
+      <node ref="J201" pin="B7" pinfunction="D-" pintype="bidirectional"/>
+      <node ref="U201" pin="3" pinfunction="IO2" pintype="passive"/>
+      <node ref="U201" pin="4" pinfunction="IO3" pintype="passive"/>
+      <node ref="U301" pin="33" pinfunction="PA11" pintype="bidirectional"/>
+    </net>
+    <net code="37" name="/mcu/USBD_P">
+      <node ref="C202" pin="1" pintype="passive"/>
+      <node ref="J201" pin="A6" pinfunction="D+" pintype="bidirectional"/>
+      <node ref="J201" pin="B6" pinfunction="D+" pintype="bidirectional"/>
+      <node ref="U201" pin="1" pinfunction="IO1" pintype="passive"/>
+      <node ref="U201" pin="6" pinfunction="IO4" pintype="passive"/>
+      <node ref="U301" pin="34" pinfunction="PA12" pintype="bidirectional"/>
+    </net>
+    <net code="38" name="/mcu/XIN">
+      <node ref="C305" pin="1" pintype="passive"/>
+      <node ref="U301" pin="5" pinfunction="PF0" pintype="bidirectional"/>
+      <node ref="Y301" pin="1" pinfunction="1" pintype="passive"/>
+    </net>
+    <net code="39" name="/mcu/XOUT">
+      <node ref="C306" pin="1" pintype="passive"/>
+      <node ref="U301" pin="6" pinfunction="PF1" pintype="bidirectional"/>
+      <node ref="Y301" pin="3" pinfunction="3" pintype="passive"/>
+    </net>
+    <net code="40" name="/usb/UCPD_CC1">
+      <node ref="J201" pin="A5" pinfunction="CC1" pintype="bidirectional"/>
+      <node ref="R102" pin="1" pintype="passive"/>
+    </net>
+    <net code="41" name="/usb/UCPD_CC2">
+      <node ref="J201" pin="B5" pinfunction="CC2" pintype="bidirectional"/>
+      <node ref="R101" pin="2" pintype="passive"/>
+    </net>
+    <net code="42" name="/usb/USB_5V">
+      <node ref="D201" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="J201" pin="A4" pinfunction="VBUS" pintype="passive"/>
+      <node ref="J201" pin="A9" pinfunction="VBUS" pintype="passive"/>
+      <node ref="J201" pin="B4" pinfunction="VBUS" pintype="passive"/>
+      <node ref="J201" pin="B9" pinfunction="VBUS" pintype="passive"/>
+      <node ref="U201" pin="5" pinfunction="VP" pintype="passive"/>
+    </net>
+    <net code="43" name="GND">
+      <node ref="C101" pin="1" pintype="passive"/>
+      <node ref="C102" pin="2" pintype="passive"/>
+      <node ref="C103" pin="1" pintype="passive"/>
+      <node ref="C104" pin="2" pintype="passive"/>
+      <node ref="C105" pin="1" pintype="passive"/>
+      <node ref="C106" pin="2" pintype="passive"/>
+      <node ref="C107" pin="1" pintype="passive"/>
+      <node ref="C108" pin="2" pintype="passive"/>
+      <node ref="C201" pin="2" pintype="passive"/>
+      <node ref="C202" pin="2" pintype="passive"/>
+      <node ref="C301" pin="2" pintype="passive"/>
+      <node ref="C302" pin="2" pintype="passive"/>
+      <node ref="C303" pin="2" pintype="passive"/>
+      <node ref="C304" pin="2" pintype="passive"/>
+      <node ref="C305" pin="2" pintype="passive"/>
+      <node ref="C306" pin="2" pintype="passive"/>
+      <node ref="C308" pin="2" pintype="passive"/>
+      <node ref="C401" pin="2" pintype="passive"/>
+      <node ref="C501" pin="2" pintype="passive"/>
+      <node ref="C502" pin="2" pintype="passive"/>
+      <node ref="C503" pin="2" pintype="passive"/>
+      <node ref="C701" pin="2" pintype="passive"/>
+      <node ref="C702" pin="2" pintype="passive"/>
+      <node ref="C703" pin="2" pintype="passive"/>
+      <node ref="D101" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="D301" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="D302" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="J101" pin="2" pinfunction="Pin_2" pintype="passive"/>
+      <node ref="J201" pin="A1" pinfunction="GND" pintype="passive"/>
+      <node ref="J201" pin="A12" pinfunction="GND" pintype="passive"/>
+      <node ref="J201" pin="B1" pinfunction="GND" pintype="passive"/>
+      <node ref="J201" pin="B12" pinfunction="GND" pintype="passive"/>
+      <node ref="J201" pin="S1" pinfunction="SHIELD" pintype="passive"/>
+      <node ref="Q501" pin="2" pinfunction="E" pintype="passive"/>
+      <node ref="R101" pin="1" pintype="passive"/>
+      <node ref="R102" pin="2" pintype="passive"/>
+      <node ref="R503" pin="2" pintype="passive"/>
+      <node ref="U201" pin="2" pinfunction="VN" pintype="passive"/>
+      <node ref="U301" pin="49" pinfunction="VSS" pintype="power_in"/>
+      <node ref="U302" pin="2" pinfunction="GND" pintype="power_in"/>
+      <node ref="U302" pin="8" pinfunction="Rs" pintype="input"/>
+      <node ref="U401" pin="12" pinfunction="VSS" pintype="power_out"/>
+      <node ref="U501" pin="5" pinfunction="MODE" pintype="unspecified"/>
+      <node ref="U501" pin="7" pinfunction="GND" pintype="unspecified"/>
+      <node ref="U601" pin="1" pinfunction="GND" pintype="power_out"/>
+      <node ref="U601" pin="10" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="12" pinfunction="SENSEB" pintype="output"/>
+      <node ref="U601" pin="15" pinfunction="PROGCLB" pintype="input"/>
+      <node ref="U601" pin="18" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="2" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="21" pinfunction="GND" pintype="power_out"/>
+      <node ref="U601" pin="26" pinfunction="PROGCLA" pintype="input"/>
+      <node ref="U601" pin="29" pinfunction="SENSEA" pintype="output"/>
+      <node ref="U601" pin="3" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="32" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="33" pinfunction="EP" pintype="passive"/>
+      <node ref="U601" pin="4" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="5" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="6" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="7" pinfunction="NC" pintype="passive"/>
+      <node ref="U601" pin="8" pinfunction="NC" pintype="passive"/>
+      <node ref="U701" pin="10" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U701" pin="5" pinfunction="GND" pintype="unspecified"/>
+      <node ref="U701" pin="7" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U701" pin="8" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U701" pin="9" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U702" pin="10" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U702" pin="5" pinfunction="GND" pintype="unspecified"/>
+      <node ref="U702" pin="7" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U702" pin="8" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U702" pin="9" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U703" pin="10" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U703" pin="5" pinfunction="GND" pintype="unspecified"/>
+      <node ref="U703" pin="7" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U703" pin="8" pinfunction="NC" pintype="unspecified"/>
+      <node ref="U703" pin="9" pinfunction="NC" pintype="unspecified"/>
+      <node ref="Y301" pin="2" pinfunction="2" pintype="passive"/>
+      <node ref="Y301" pin="4" pinfunction="4" pintype="passive"/>
+    </net>
+    <net code="44" name="Net-(D301-A)">
+      <node ref="D301" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="R301" pin="2" pintype="passive"/>
+    </net>
+    <net code="45" name="Net-(D302-A)">
+      <node ref="D302" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="R302" pin="2" pintype="passive"/>
+    </net>
+    <net code="46" name="Net-(D501-A)">
+      <node ref="D501" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="D502" pin="1" pinfunction="K" pintype="passive"/>
+    </net>
+    <net code="47" name="Net-(D502-A)">
+      <node ref="D502" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="R505" pin="1" pintype="passive"/>
+    </net>
+    <net code="48" name="Net-(D601-A)">
+      <node ref="D601" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="R601" pin="1" pintype="passive"/>
+    </net>
+    <net code="49" name="Net-(D601-K)">
+      <node ref="D601" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="U601" pin="11" pinfunction="OCDB" pintype="output"/>
+      <node ref="U601" pin="30" pinfunction="OCDA" pintype="output"/>
+    </net>
+    <net code="50" name="Net-(D602-K)">
+      <node ref="C601" pin="1" pintype="passive"/>
+      <node ref="D602" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="D603" pin="2" pinfunction="A" pintype="passive"/>
+    </net>
+    <net code="51" name="Net-(D603-K)">
+      <node ref="C602" pin="1" pintype="passive"/>
+      <node ref="D603" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="U601" pin="17" pinfunction="VBOOT" pintype="passive"/>
+    </net>
+    <net code="52" name="Net-(JP101-B)">
+      <node ref="R103" pin="2" pintype="passive"/>
+    </net>
+    <net code="53" name="Net-(Q501-B)">
+      <node ref="Q501" pin="1" pinfunction="B" pintype="input"/>
+      <node ref="R505" pin="2" pintype="passive"/>
+    </net>
+    <net code="54" name="Net-(Q501-C)">
+      <node ref="Q501" pin="3" pinfunction="C" pintype="passive"/>
+      <node ref="R504" pin="2" pintype="passive"/>
+    </net>
+    <net code="55" name="Net-(R502-Pad2)">
+      <node ref="R502" pin="2" pintype="passive"/>
+      <node ref="R503" pin="1" pintype="passive"/>
+    </net>
+    <net code="56" name="Net-(U301-PB10)">
+      <node ref="R301" pin="1" pintype="passive"/>
+      <node ref="U301" pin="22" pinfunction="PB10" pintype="bidirectional"/>
+    </net>
+    <net code="57" name="Net-(U301-PB11)">
+      <node ref="R302" pin="1" pintype="passive"/>
+      <node ref="U301" pin="24" pinfunction="PB11" pintype="bidirectional"/>
+    </net>
+    <net code="58" name="Net-(U501-FB{slash}VOUT)">
+      <node ref="R501" pin="2" pintype="passive"/>
+      <node ref="R502" pin="1" pintype="passive"/>
+      <node ref="U501" pin="4" pinfunction="FB/VOUT" pintype="unspecified"/>
+    </net>
+    <net code="59" name="Net-(U501-LX)">
+      <node ref="L501" pin="1" pintype="passive"/>
+      <node ref="U501" pin="8" pinfunction="LX" pintype="unspecified"/>
+    </net>
+    <net code="60" name="Net-(U501-VCC)">
+      <node ref="C502" pin="1" pintype="passive"/>
+      <node ref="U501" pin="3" pinfunction="VCC" pintype="unspecified"/>
+      <node ref="U501" pin="6" pinfunction="~{RESET}" pintype="unspecified"/>
+    </net>
+    <net code="61" name="Net-(U601-VCP)">
+      <node ref="C601" pin="2" pintype="passive"/>
+      <node ref="U601" pin="24" pinfunction="VCP" pintype="passive"/>
+    </net>
+    <net code="62" name="Vmot">
+      <node ref="C101" pin="2" pintype="passive"/>
+      <node ref="C102" pin="1" pintype="passive"/>
+      <node ref="C103" pin="2" pintype="passive"/>
+      <node ref="C104" pin="1" pintype="passive"/>
+      <node ref="C105" pin="2" pintype="passive"/>
+      <node ref="C106" pin="1" pintype="passive"/>
+      <node ref="C107" pin="2" pintype="passive"/>
+      <node ref="C108" pin="1" pintype="passive"/>
+      <node ref="C501" pin="1" pintype="passive"/>
+      <node ref="C602" pin="2" pintype="passive"/>
+      <node ref="D101" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="D201" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="D501" pin="1" pinfunction="K" pintype="passive"/>
+      <node ref="D602" pin="2" pinfunction="A" pintype="passive"/>
+      <node ref="J101" pin="1" pinfunction="Pin_1" pintype="passive"/>
+      <node ref="R504" pin="1" pintype="passive"/>
+      <node ref="U501" pin="1" pinfunction="VIN" pintype="unspecified"/>
+      <node ref="U501" pin="2" pinfunction="EN/UVLO" pintype="unspecified"/>
+      <node ref="U601" pin="20" pinfunction="VSB" pintype="power_in"/>
+      <node ref="U601" pin="22" pinfunction="VSA" pintype="power_in"/>
+    </net>
+    <net code="63" name="unconnected-(J201-SBU1-PadA8)">
+      <node ref="J201" pin="A8" pinfunction="SBU1" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="64" name="unconnected-(J201-SBU2-PadB8)">
+      <node ref="J201" pin="B8" pinfunction="SBU2" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="66" name="unconnected-(U301-PA2-Pad10)">
+      <node ref="U301" pin="10" pinfunction="PA2" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="67" name="unconnected-(U301-PA4-Pad12)">
+      <node ref="U301" pin="12" pinfunction="PA4" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="68" name="unconnected-(U301-PA15-Pad38)">
+      <node ref="U301" pin="38" pinfunction="PA15" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="69" name="unconnected-(U301-PB2-Pad19)">
+      <node ref="U301" pin="19" pinfunction="PB2" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="70" name="unconnected-(U301-PB6-Pad44)">
+      <node ref="U301" pin="44" pinfunction="PB6" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="71" name="unconnected-(U301-PB7-Pad45)">
+      <node ref="U301" pin="45" pinfunction="PB7" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="72" name="unconnected-(U301-PC10-Pad39)">
+      <node ref="U301" pin="39" pinfunction="PC10" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="73" name="unconnected-(U301-PC11-Pad40)">
+      <node ref="U301" pin="40" pinfunction="PC11" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="74" name="unconnected-(U301-PC13-Pad2)">
+      <node ref="U301" pin="2" pinfunction="PC13" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="75" name="unconnected-(U301-PC14-Pad3)">
+      <node ref="U301" pin="3" pinfunction="PC14" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="76" name="unconnected-(U301-PC15-Pad4)">
+      <node ref="U301" pin="4" pinfunction="PC15" pintype="bidirectional+no_connect"/>
+    </net>
+    <net code="77" name="unconnected-(U301-VBAT-Pad1)">
+      <node ref="U301" pin="1" pinfunction="VBAT" pintype="power_in+no_connect"/>
+    </net>
+    <net code="78" name="unconnected-(U302-Vref-Pad5)">
+      <node ref="U302" pin="5" pinfunction="Vref" pintype="output+no_connect"/>
+    </net>
+    <net code="79" name="unconnected-(U401-PWM_OUT-Pad10)">
+      <node ref="U401" pin="10" pinfunction="PWM_OUT" pintype="output+no_connect"/>
+    </net>
+    <net code="80" name="unconnected-(U401-TEST-Pad11)">
+      <node ref="U401" pin="11" pinfunction="TEST" pintype="no_connect"/>
+    </net>
+    <net code="81" name="unconnected-(U401-TEST_EN-Pad13)">
+      <node ref="U401" pin="13" pinfunction="TEST_EN" pintype="no_connect"/>
+    </net>
+    <net code="82" name="unconnected-(U401-U-Pad1)">
+      <node ref="U401" pin="1" pinfunction="U" pintype="output+no_connect"/>
+    </net>
+    <net code="83" name="unconnected-(U401-V-Pad2)">
+      <node ref="U401" pin="2" pinfunction="V" pintype="output+no_connect"/>
+    </net>
+    <net code="84" name="unconnected-(U401-W-Pad3)">
+      <node ref="U401" pin="3" pinfunction="W" pintype="output+no_connect"/>
+    </net>
+    <net code="85" name="unconnected-(U701-#FAULT-Pad6)">
+      <node ref="U701" pin="6" pinfunction="#FAULT" pintype="unspecified+no_connect"/>
+    </net>
+    <net code="86" name="unconnected-(U702-#FAULT-Pad6)">
+      <node ref="U702" pin="6" pinfunction="#FAULT" pintype="unspecified+no_connect"/>
+    </net>
+    <net code="87" name="unconnected-(U703-#FAULT-Pad6)">
+      <node ref="U703" pin="6" pinfunction="#FAULT" pintype="unspecified+no_connect"/>
+    </net>
+  </nets>
+</export>
diff --git a/hardware/mcu.kicad_sch b/hardware/mcu.kicad_sch
index 012883b..fe24af0 100644
--- a/hardware/mcu.kicad_sch
+++ b/hardware/mcu.kicad_sch
@@ -12,90 +12,61 @@
   )
 
   (lib_symbols
-    (symbol "Connector:Conn_ST_STDC14" (in_bom yes) (on_board yes)
-      (property "Reference" "J" (at -8.89 16.51 0)
-        (effects (font (size 1.27 1.27)) (justify right))
+    (symbol "Connector:Conn_ARM_SWD_TagConnect_TC2030-NL" (in_bom no) (on_board yes)
+      (property "Reference" "J" (at 2.54 11.43 0)
+        (effects (font (size 1.27 1.27)))
       )
-      (property "Value" "Conn_ST_STDC14" (at 17.78 16.51 0)
-        (effects (font (size 1.27 1.27)) (justify right bottom))
+      (property "Value" "Conn_ARM_SWD_TagConnect_TC2030-NL" (at 2.54 8.89 0)
+        (effects (font (size 1.27 1.27)))
       )
-      (property "Footprint" "" (at 0 0 0)
+      (property "Footprint" "Connector:Tag-Connect_TC2030-IDC-NL_2x03_P1.27mm_Vertical" (at 0 -17.78 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "Datasheet" "https://www.st.com/content/ccc/resource/technical/document/user_manual/group1/99/49/91/b6/b2/3a/46/e5/DM00526767/files/DM00526767.pdf/jcr:content/translations/en.DM00526767.pdf" (at -8.89 -31.75 90)
+      (property "Datasheet" "https://www.tag-connect.com/wp-content/uploads/bsk-pdf-manager/TC2030-CTX_1.pdf" (at 0 -15.24 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "ki_keywords" "ST STM32 Cortex Debug Connector ARM SWD JTAG" (at 0 0 0)
+      (property "ki_keywords" "Cortex Debug Connector ARM SWD JTAG" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "ki_description" "ST Debug Connector, standard ARM Cortex-M SWD and JTAG interface plus UART" (at 0 0 0)
+      (property "ki_description" "Tag-Connect ARM Cortex SWD JTAG connector, 6 pin, no legs" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "ki_fp_filters" "PinHeader?2x07?P1.27mm*" (at 0 0 0)
+      (property "ki_fp_filters" "*TC2030*" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (symbol "Conn_ST_STDC14_0_1"
-        (rectangle (start -10.16 15.24) (end 10.16 -15.24)
-          (stroke (width 0.254) (type default))
-          (fill (type background))
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-      (symbol "Conn_ST_STDC14_1_1"
-        (pin no_connect line (at -10.16 5.08 0) (length 2.54) hide
-          (name "NC" (effects (font (size 1.27 1.27))))
+      (symbol "Conn_ARM_SWD_TagConnect_TC2030-NL_0_0"
+        (pin power_in line (at -2.54 10.16 270) (length 2.54)
+          (name "VCC" (effects (font (size 1.27 1.27))))
           (number "1" (effects (font (size 1.27 1.27))))
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-        (pin output line (at 12.7 0 180) (length 2.54)
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-          (number "10" (effects (font (size 1.27 1.27))))
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-        (pin passive line (at -2.54 -17.78 90) (length 2.54)
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-          (number "11" (effects (font (size 1.27 1.27))))
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-        (pin open_collector line (at 12.7 12.7 180) (length 2.54)
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-          (number "12" (effects (font (size 1.27 1.27))))
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-        (pin output line (at 12.7 -10.16 180) (length 2.54)
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-          (number "13" (effects (font (size 1.27 1.27))))
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-        (pin input line (at 12.7 -12.7 180) (length 2.54)
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-          (number "14" (effects (font (size 1.27 1.27))))
-        )
-        (pin no_connect line (at -10.16 2.54 0) (length 2.54) hide
-          (name "NC" (effects (font (size 1.27 1.27))))
+        (pin bidirectional line (at 7.62 -2.54 180) (length 2.54)
+          (name "SWDIO" (effects (font (size 1.27 1.27))))
           (number "2" (effects (font (size 1.27 1.27))))
+          (alternate "TMS" bidirectional line)
         )
-        (pin power_in line (at 0 17.78 270) (length 2.54)
-          (name "VCC" (effects (font (size 1.27 1.27))))
+        (pin open_collector line (at 7.62 5.08 180) (length 2.54)
+          (name "~{RESET}" (effects (font (size 1.27 1.27))))
           (number "3" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at 12.7 5.08 180) (length 2.54)
-          (name "JTMS/SWDIO" (effects (font (size 1.27 1.27))))
+        (pin output line (at 7.62 0 180) (length 2.54)
+          (name "SWCLK" (effects (font (size 1.27 1.27))))
           (number "4" (effects (font (size 1.27 1.27))))
+          (alternate "TCK" output line)
         )
-        (pin power_in line (at 0 -17.78 90) (length 2.54)
+        (pin power_in line (at -2.54 -10.16 90) (length 2.54)
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           (number "5" (effects (font (size 1.27 1.27))))
         )
-        (pin output line (at 12.7 7.62 180) (length 2.54)
-          (name "JCLK/SWCLK" (effects (font (size 1.27 1.27))))
+        (pin input line (at 7.62 -5.08 180) (length 2.54)
+          (name "SWO" (effects (font (size 1.27 1.27))))
           (number "6" (effects (font (size 1.27 1.27))))
+          (alternate "TDO" input line)
         )
-        (pin passive line (at 0 -17.78 90) (length 2.54) hide
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-          (number "7" (effects (font (size 1.27 1.27))))
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-        (pin input line (at 12.7 2.54 180) (length 2.54)
-          (name "JTDO/SWO" (effects (font (size 1.27 1.27))))
-          (number "8" (effects (font (size 1.27 1.27))))
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-        (pin input line (at 12.7 -5.08 180) (length 2.54)
-          (name "JRCLK/NC" (effects (font (size 1.27 1.27))))
-          (number "9" (effects (font (size 1.27 1.27))))
+      )
+      (symbol "Conn_ARM_SWD_TagConnect_TC2030-NL_0_1"
+        (rectangle (start -5.08 7.62) (end 5.08 -7.62)
+          (stroke (width 0) (type default))
+          (fill (type background))
         )
       )
     )
@@ -1072,79 +1043,6 @@
         )
       )
     )
-    (symbol "Switch:SW_Push_45deg" (pin_numbers hide) (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
-      (property "Reference" "SW" (at 3.048 1.016 0)
-        (effects (font (size 1.27 1.27)) (justify left))
-      )
-      (property "Value" "SW_Push_45deg" (at 0 -3.81 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "~" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "switch normally-open pushbutton push-button" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "Push button switch, normally open, two pins, 45° tilted" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "SW_Push_45deg_0_1"
-        (circle (center -1.1684 1.1684) (radius 0.508)
-          (stroke (width 0) (type default))
-          (fill (type none))
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-        (polyline
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-          (stroke (width 0) (type default))
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-        (circle (center 1.143 -1.1938) (radius 0.508)
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-          (fill (type none))
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-          (number "1" (effects (font (size 1.27 1.27))))
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-        (pin passive line (at 2.54 -2.54 180) (length 0)
-          (name "2" (effects (font (size 1.27 1.27))))
-          (number "2" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "power:+3V3" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
       (property "Reference" "#PWR" (at 0 -3.81 0)
         (effects (font (size 1.27 1.27)) hide)
@@ -1248,24 +1146,15 @@
   (junction (at 97.79 40.64) (diameter 0) (color 0 0 0 0)
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-  (junction (at 248.92 45.72) (diameter 0) (color 0 0 0 0)
-    (uuid 2221407e-f1ff-4979-ba6c-74316ca3e4e0)
-  )
   (junction (at 116.84 40.64) (diameter 0) (color 0 0 0 0)
     (uuid 232a1a84-876f-4234-b1f0-77cb711a7031)
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   (junction (at 184.15 92.71) (diameter 0) (color 0 0 0 0)
     (uuid 2b11ca76-1a01-43a9-a5a4-dbfa60c83ac4)
   )
-  (junction (at 264.16 91.44) (diameter 0) (color 0 0 0 0)
-    (uuid 3a32012e-2e10-4097-906c-81e6fb7a32b5)
-  )
   (junction (at 127 40.64) (diameter 0) (color 0 0 0 0)
     (uuid 3b653147-627e-45a9-af28-70117763eeeb)
   )
-  (junction (at 264.16 53.34) (diameter 0) (color 0 0 0 0)
-    (uuid 41b12b37-5e9a-42de-8a5d-483b05540e93)
-  )
   (junction (at 204.47 104.14) (diameter 0) (color 0 0 0 0)
     (uuid 4ab0ac91-ea11-47a1-b5f7-db8ae7e204b0)
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@@ -1278,27 +1167,18 @@
   (junction (at 147.32 48.26) (diameter 0) (color 0 0 0 0)
     (uuid 605971e1-15a1-48ee-b708-9e547c873d3c)
   )
-  (junction (at 248.92 83.82) (diameter 0) (color 0 0 0 0)
-    (uuid 7d78d145-4513-4ac7-a054-035df0b05a30)
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   (junction (at 147.32 40.64) (diameter 0) (color 0 0 0 0)
     (uuid 808c89ef-a918-4056-b7e6-88b7ef800281)
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-  (junction (at 256.54 154.94) (diameter 0) (color 0 0 0 0)
-    (uuid 80d4b64b-5275-412d-b13f-6eb1b01fe502)
-  )
-  (junction (at 240.03 45.72) (diameter 0) (color 0 0 0 0)
-    (uuid 858fd844-0cb5-40e9-810a-cf0caae113dd)
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   (junction (at 137.16 48.26) (diameter 0) (color 0 0 0 0)
     (uuid 8a17291b-bf1f-4eac-8ee4-244ab29b9a4e)
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-  (junction (at 240.03 83.82) (diameter 0) (color 0 0 0 0)
-    (uuid a382f416-093d-4e53-b891-15e0cb2d2280)
-  )
   (junction (at 102.87 40.64) (diameter 0) (color 0 0 0 0)
     (uuid ae722bed-f18e-4536-ad64-e0fa5401ba88)
   )
+  (junction (at 248.92 83.82) (diameter 0) (color 0 0 0 0)
+    (uuid b52d265b-091a-4680-a477-0f0bd8f2be97)
+  )
   (junction (at 95.25 40.64) (diameter 0) (color 0 0 0 0)
     (uuid d1ae9bc9-b0f7-47e3-a5d7-37102f757ead)
   )
@@ -1309,16 +1189,20 @@
     (uuid f15ed735-877a-430b-8c52-bfcc0fadc2ca)
   )
 
-  (no_connect (at 80.01 102.87) (uuid 4f502c39-6aff-4783-aef1-073727b10863))
-  (no_connect (at 241.3 133.35) (uuid 5b75cf75-f42f-4ca7-9e07-cbffc61cb20b))
-  (no_connect (at 80.01 100.33) (uuid 5d8a12b4-69e9-4a7b-b454-0adba86b4fbf))
+  (no_connect (at 80.01 77.47) (uuid 14dec185-64ef-4e39-8fd4-54f10c516fb0))
+  (no_connect (at 245.11 143.51) (uuid 23ff3ecd-9cc7-4311-8516-19a2f14b2a0f))
+  (no_connect (at 80.01 74.93) (uuid 4097a7f5-307f-426d-8b10-93c7363082bb))
+  (no_connect (at 113.03 90.17) (uuid 4aaf6370-e30d-4f53-a93f-809003565bc0))
+  (no_connect (at 113.03 57.15) (uuid 54e7272b-9df3-4bb0-8f21-ec5b918bf196))
+  (no_connect (at 80.01 82.55) (uuid 560db69f-37be-4fd4-92e3-370ff316d6a8))
+  (no_connect (at 80.01 107.95) (uuid 6f78a344-296e-4bc0-9b4d-f0d8818bd611))
   (no_connect (at 113.03 62.23) (uuid 6fd2b903-4497-4136-8963-64fd518f846a))
   (no_connect (at 186.69 50.8) (uuid 723bc003-4440-4fde-8075-7cc16a53689e))
-  (no_connect (at 80.01 72.39) (uuid 7cdc3639-ed5d-40b2-b979-b2ffdad6c93f))
   (no_connect (at 92.71 46.99) (uuid 978c225f-ee58-48c6-9f3f-273d7f0dff63))
-  (no_connect (at 241.3 140.97) (uuid aa82db08-751b-4258-b91d-eb6f54ae8293))
+  (no_connect (at 80.01 105.41) (uuid 97f585dd-d2ce-4ec6-9945-899b6cf15c81))
+  (no_connect (at 80.01 80.01) (uuid be6c71ad-b273-4b5a-a960-d02ff9e3835b))
   (no_connect (at 80.01 85.09) (uuid bfdf1340-de3a-433b-a21d-f95bd418abd3))
-  (no_connect (at 241.3 135.89) (uuid c5a989be-9875-4f76-8bab-ea22fd33d47b))
+  (no_connect (at 80.01 95.25) (uuid f6d5df03-82a0-4daf-9e5e-c01c3e1a5a0b))
 
   (wire (pts (xy 116.84 40.64) (xy 116.84 41.91))
     (stroke (width 0) (type default))
@@ -1344,39 +1228,27 @@
     (stroke (width 0) (type default))
     (uuid 06b9d7d7-c57f-4c9d-83e7-dea40308414c)
   )
-  (wire (pts (xy 254 153.67) (xy 254 154.94))
-    (stroke (width 0) (type default))
-    (uuid 072a6384-e867-4dfd-b5ce-d009a0f107b2)
-  )
   (wire (pts (xy 184.15 101.6) (xy 184.15 104.14))
     (stroke (width 0) (type default))
     (uuid 07d463d1-e48d-47cf-aace-6ce945412e99)
   )
-  (wire (pts (xy 240.03 52.07) (xy 240.03 53.34))
+  (wire (pts (xy 69.85 72.39) (xy 80.01 72.39))
     (stroke (width 0) (type default))
-    (uuid 082b1f1e-64f9-4df5-b4ce-ef350027ae8b)
+    (uuid 13d564f0-b9c9-49c8-af6b-7993abcb686d)
   )
-  (wire (pts (xy 69.85 97.79) (xy 80.01 97.79))
+  (wire (pts (xy 113.03 72.39) (xy 124.46 72.39))
     (stroke (width 0) (type default))
-    (uuid 0ea22566-d109-48b6-a2a5-e6a26364b89a)
-  )
-  (wire (pts (xy 69.85 128.27) (xy 80.01 128.27))
-    (stroke (width 0) (type default))
-    (uuid 0f64945f-0030-4bea-93bd-4006cac5e817)
+    (uuid 13f8ed3c-202d-4bae-afa9-668fae09a196)
   )
   (wire (pts (xy 97.79 40.64) (xy 97.79 46.99))
     (stroke (width 0) (type default))
     (uuid 16277490-d7d7-465a-85f5-ae26c2ce3037)
   )
-  (wire (pts (xy 254 115.57) (xy 254 118.11))
+  (wire (pts (xy 255.27 125.73) (xy 255.27 128.27))
     (stroke (width 0) (type default))
     (uuid 198aa051-3261-4def-9963-15b64a773105)
   )
-  (wire (pts (xy 140.97 82.55) (xy 143.51 82.55))
-    (stroke (width 0) (type default))
-    (uuid 206496e3-52c2-4cd3-80f0-60e7f1a10b0e)
-  )
-  (wire (pts (xy 69.85 80.01) (xy 80.01 80.01))
+  (wire (pts (xy 69.85 125.73) (xy 80.01 125.73))
     (stroke (width 0) (type default))
     (uuid 22b036d5-af9f-43e1-aa4d-9c330d5ac2ce)
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@@ -1388,23 +1260,15 @@
     (stroke (width 0) (type default))
     (uuid 255820c6-7e8d-4d9b-86a2-b2495acc47d6)
   )
-  (wire (pts (xy 248.92 44.45) (xy 248.92 45.72))
+  (wire (pts (xy 113.03 82.55) (xy 143.51 82.55))
     (stroke (width 0) (type default))
-    (uuid 2613a400-9d48-49d1-a124-6f9f06a3679b)
+    (uuid 2809df70-bfab-49ce-b878-c09ebac5b891)
   )
-  (wire (pts (xy 68.58 74.93) (xy 80.01 74.93))
-    (stroke (width 0) (type default))
-    (uuid 2ad2c1ae-807b-48e6-a8da-a5cf749c91a6)
-  )
-  (wire (pts (xy 69.85 95.25) (xy 80.01 95.25))
+  (wire (pts (xy 69.85 92.71) (xy 80.01 92.71))
     (stroke (width 0) (type default))
     (uuid 2e4e16c5-c06f-4d47-a8c6-2599215147f4)
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-  (wire (pts (xy 69.85 125.73) (xy 80.01 125.73))
-    (stroke (width 0) (type default))
-    (uuid 2e979aeb-d227-413b-9677-ddf29d9acae8)
-  )
-  (wire (pts (xy 229.87 123.19) (xy 241.3 123.19))
+  (wire (pts (xy 233.68 133.35) (xy 245.11 133.35))
     (stroke (width 0) (type default))
     (uuid 2ea3fcc7-8e31-4922-9532-bfe235d984c0)
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@@ -1432,7 +1296,7 @@
     (stroke (width 0) (type default))
     (uuid 354149e4-9e44-49ca-8ef8-405ed5db2916)
   )
-  (wire (pts (xy 113.03 59.69) (xy 116.84 59.69))
+  (wire (pts (xy 113.03 59.69) (xy 124.46 59.69))
     (stroke (width 0) (type default))
     (uuid 36d31b94-c785-4dd6-abab-30e7ecbecaed)
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@@ -1448,49 +1312,25 @@
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-  (wire (pts (xy 69.85 92.71) (xy 80.01 92.71))
-    (stroke (width 0) (type default))
-    (uuid 4361addc-3bbc-4b10-9026-569fe9fd11e0)
-  )
-  (wire (pts (xy 229.87 130.81) (xy 241.3 130.81))
+  (wire (pts (xy 233.68 140.97) (xy 245.11 140.97))
     (stroke (width 0) (type default))
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-  )
-  (wire (pts (xy 113.03 67.31) (xy 116.84 67.31))
+  (wire (pts (xy 113.03 67.31) (xy 124.46 67.31))
     (stroke (width 0) (type default))
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-    (stroke (width 0) (type default))
-    (uuid 51868bb9-4667-4779-9bef-ae2c78866c75)
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     (stroke (width 0) (type default))
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-    (uuid 524b2e80-84e4-46f9-a912-504359a86419)
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     (stroke (width 0) (type default))
     (uuid 5255bf53-337b-41f9-9c84-13908fc39d4a)
   )
-  (wire (pts (xy 257.81 78.74) (xy 264.16 78.74))
+  (wire (pts (xy 113.03 77.47) (xy 124.46 77.47))
     (stroke (width 0) (type default))
-    (uuid 5641a823-b02d-41ac-bbe0-12d5852a11ba)
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-    (stroke (width 0) (type default))
-    (uuid 5bda3523-4158-48ea-a011-965a395950b7)
+    (uuid 5be75ef5-8fab-420f-9cfa-2e4866621920)
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@@ -1504,46 +1344,18 @@
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-    (uuid 6053d2b2-a195-416e-b79c-59731542c333)
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   (text "MCU" (at 26.67 26.67 0)
@@ -1846,11 +5572,7 @@
     (uuid 1570ec38-e506-4295-98ef-2b89ae4c5da0)
   )
 
-  (label "UART3_RX" (at 68.58 77.47 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid 1b897bcb-24e2-4a07-8aaf-ad5d7aa55c89)
-  )
-  (label "SWCLK" (at 229.87 128.27 0) (fields_autoplaced)
+  (label "SWCLK" (at 233.68 138.43 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 2393391a-675b-43b4-a563-9063de98fb65)
   )
@@ -1862,10 +5584,6 @@
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 3c66a117-81c1-4556-98bf-527e9d6870f9)
   )
-  (label "USR_BTN" (at 127 90.17 180) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify right bottom))
-    (uuid 3d418bd8-c622-4ab1-aee8-012447f6a1a7)
-  )
   (label "RESET" (at 69.85 57.15 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 4098f04d-ecf3-4b35-8e09-f11ab17591ee)
@@ -1874,10 +5592,6 @@
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 484f0e2e-d438-4b3a-9ac9-c6c7ad1571ae)
   )
-  (label "UART3_TX" (at 229.87 148.59 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid 527f4a63-777b-491a-8f60-6fe069299a46)
-  )
   (label "CAN_RX" (at 172.72 48.26 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 59b3896e-54c6-43ac-8a22-8078a28798e1)
@@ -1886,11 +5600,11 @@
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 6b874212-a3e2-4a2b-adb4-4637a5639a5f)
   )
-  (label "USBD_N" (at 128.27 80.01 0) (fields_autoplaced)
+  (label "USBD_N" (at 115.57 80.01 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 8d8f1e98-5e14-4d63-a797-22fc527cfe3b)
   )
-  (label "SWDIO" (at 229.87 130.81 0) (fields_autoplaced)
+  (label "SWDIO" (at 233.68 140.97 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid a7478161-abb3-4f00-a61d-4d023ec99ecb)
   )
@@ -1898,23 +5612,19 @@
     (effects (font (size 1.27 1.27)) (justify right bottom))
     (uuid a9bd2970-8303-470f-b6c1-442bd1d41f36)
   )
-  (label "SDIO" (at 127 85.09 180) (fields_autoplaced)
+  (label "SWDIO" (at 123.19 85.09 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right bottom))
     (uuid ae00e4a6-4cf6-4cf3-a5ad-b18c6c3f108a)
   )
-  (label "USR_BTN" (at 231.14 45.72 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid b69814fb-4b0f-4795-919f-25585e2f9255)
-  )
-  (label "RESET" (at 229.87 123.19 0) (fields_autoplaced)
+  (label "RESET" (at 233.68 133.35 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid b82f1534-ad4a-4464-9b5d-e0c614e11f1a)
   )
-  (label "SWCLK" (at 127 87.63 180) (fields_autoplaced)
+  (label "SWCLK" (at 123.19 87.63 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right bottom))
     (uuid c762eec7-b06f-4689-9db2-ed107b54ac01)
   )
-  (label "USBD_N" (at 128.27 82.55 0) (fields_autoplaced)
+  (label "USBD_P" (at 115.57 82.55 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid cb6121f5-f8c5-44c2-b47f-e7bcbb310efd)
   )
@@ -1926,40 +5636,24 @@
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid e8284938-adc0-4f79-aefc-5adb4b370d16)
   )
-  (label "UART3_RX" (at 229.87 146.05 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid e9ae5182-1ecf-4ff4-b2f0-2efe9fb9ce7c)
-  )
-  (label "UART3_TX" (at 68.58 74.93 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid f23c18fc-1652-45b3-b2cb-ffb20f2827be)
-  )
   (label "XIN" (at 177.8 92.71 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid fd11af84-7eab-418f-9dc2-c6e2372a01d0)
   )
 
-  (hierarchical_label "SPI1_COPI" (shape output) (at 116.84 69.85 0) (fields_autoplaced)
+  (hierarchical_label "SPI1_COPI" (shape output) (at 124.46 69.85 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 09f08582-9b3b-4e4b-8cb5-12d161af3831)
   )
-  (hierarchical_label "ADC1_IN3" (shape input) (at 116.84 57.15 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left))
-    (uuid 194f23b7-a15e-4d32-9ce5-6006848d7914)
-  )
-  (hierarchical_label "OPAMP3_VINP" (shape input) (at 116.84 54.61 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left))
+  (hierarchical_label "OPAMP3_VINP" (shape input) (at 69.85 123.19 180) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify right))
     (uuid 2b365083-09f9-48c3-8922-1a942109d184)
   )
-  (hierarchical_label "TIM4_CH1" (shape input) (at 69.85 105.41 180) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify right))
-    (uuid 3979300b-994e-4bf8-9f75-ab25fb934576)
-  )
-  (hierarchical_label "SPI1_CIPO" (shape input) (at 116.84 67.31 0) (fields_autoplaced)
+  (hierarchical_label "SPI1_CIPO" (shape input) (at 124.46 67.31 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 3c96dedd-31c2-4e0e-9fc6-5a0790dceb21)
   )
-  (hierarchical_label "OPAMP1_VINP" (shape input) (at 116.84 59.69 0) (fields_autoplaced)
+  (hierarchical_label "OPAMP1_VINP" (shape input) (at 124.46 59.69 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 3ec80914-db34-463e-8cd0-4c9fd667f72b)
   )
@@ -1967,7 +5661,11 @@
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 411dfb60-e936-441b-b5dc-118a732ffd1c)
   )
-  (hierarchical_label "STEP" (shape input) (at 69.85 80.01 180) (fields_autoplaced)
+  (hierarchical_label "TIM2_CH1" (shape output) (at 124.46 52.07 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 416e0fbc-0a3d-405b-a736-ec35476b5893)
+  )
+  (hierarchical_label "STEP" (shape input) (at 69.85 125.73 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 44979d36-1215-4566-9c8e-03a01c0b587d)
   )
@@ -1979,71 +5677,63 @@
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 4be1bafa-7306-4d94-8fe7-6018f0f6e4d2)
   )
-  (hierarchical_label "TIM1_CH1" (shape output) (at 116.84 72.39 0) (fields_autoplaced)
+  (hierarchical_label "TIM2_CH4" (shape output) (at 124.46 77.47 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
-    (uuid 5c274ee4-1702-4efd-a8de-2b930d3d9e70)
-  )
-  (hierarchical_label "TIM4_CH2" (shape input) (at 69.85 107.95 180) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify right))
-    (uuid 62524ffd-921b-4a40-bc54-eab483f135c0)
-  )
-  (hierarchical_label "ADC1_IN1" (shape input) (at 116.84 52.07 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left))
-    (uuid 7a648082-a08b-44d3-9906-fac76f03917c)
+    (uuid 73404649-b518-4e8c-9cee-4e928d7a7e06)
   )
   (hierarchical_label "~{ENC_CS}" (shape output) (at 69.85 69.85 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 82a14679-61c1-4da8-bc3c-8c252f3e2551)
   )
-  (hierarchical_label "ENC_CAL" (shape output) (at 69.85 95.25 180) (fields_autoplaced)
+  (hierarchical_label "ENC_CAL" (shape output) (at 69.85 92.71 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 8796c5b6-5c37-408a-b24b-6b4972032774)
   )
+  (hierarchical_label "MOT_EN_B" (shape output) (at 69.85 72.39 180) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify right))
+    (uuid 894d13f1-3c40-4736-b73e-02a2c6d763f5)
+  )
+  (hierarchical_label "TIM2_CH2" (shape output) (at 124.46 54.61 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 8c9ad854-f4a8-44f5-815e-cf78df03cc66)
+  )
   (hierarchical_label "USB_P" (shape bidirectional) (at 143.51 82.55 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 913f33c4-a9eb-4454-ba44-308b90fcfff8)
   )
-  (hierarchical_label "TIM1_CH3" (shape output) (at 116.84 77.47 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left))
-    (uuid 97c49b5d-48e9-435f-83b1-dbc5129e8dc1)
-  )
-  (hierarchical_label "TIM1_CH2N" (shape output) (at 69.85 125.73 180) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify right))
-    (uuid 9a6ae910-09c4-4f44-9ff4-44ea709285b5)
-  )
-  (hierarchical_label "SPI1_SCK" (shape output) (at 116.84 64.77 0) (fields_autoplaced)
+  (hierarchical_label "SPI1_SCK" (shape output) (at 124.46 64.77 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid a19c3557-9fdf-4507-a59d-8b25daa91599)
   )
-  (hierarchical_label "~{ENC_SHDN}" (shape output) (at 69.85 92.71 180) (fields_autoplaced)
+  (hierarchical_label "TIM3_CH1" (shape input) (at 69.85 97.79 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
-    (uuid b1f16e41-04cd-432c-9be9-dbef6f1d3cc7)
+    (uuid abba505e-e6e4-43c1-976d-628b1593ec96)
+  )
+  (hierarchical_label "TIM2_CH3" (shape output) (at 124.46 74.93 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid ac21129c-2759-4fd7-b620-7088ebf412a4)
   )
   (hierarchical_label "~{MOT_SHDN}" (shape output) (at 69.85 120.65 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid b2e2e711-bf4e-4c2c-8542-d341b63162b1)
   )
-  (hierarchical_label "TIM1_CH3N" (shape output) (at 69.85 128.27 180) (fields_autoplaced)
+  (hierarchical_label "TIM3_ETR" (shape input) (at 69.85 102.87 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
-    (uuid c7673292-6841-4bd4-8195-578787b0ef5c)
+    (uuid b431fb32-a08c-4eb8-89f2-23b466b1f8bd)
   )
-  (hierarchical_label "TIM1_CH2" (shape output) (at 116.84 74.93 0) (fields_autoplaced)
+  (hierarchical_label "MOT_EN_A" (shape output) (at 124.46 72.39 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
-    (uuid d2068b5a-bf0c-4446-b435-733986a72880)
+    (uuid cabf158c-1393-4821-973b-380760327da4)
   )
-  (hierarchical_label "TIM4_ETR" (shape input) (at 69.85 97.79 180) (fields_autoplaced)
+  (hierarchical_label "TIM3_CH2" (shape input) (at 69.85 100.33 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
-    (uuid d3a45db3-3ec2-4a63-b07c-af3764d93d64)
-  )
-  (hierarchical_label "TIM1_CH1N" (shape output) (at 69.85 123.19 180) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify right))
-    (uuid dd66c1fa-be81-4b65-b2c5-df82193f90a1)
+    (uuid d358859b-ec8e-4c3a-bf01-3644c8c83381)
   )
   (hierarchical_label "OPAMP2_VINP" (shape input) (at 69.85 90.17 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid f75268da-ac5b-49c4-973b-54d7afbaa945)
   )
-  (hierarchical_label "DIR" (shape input) (at 69.85 82.55 180) (fields_autoplaced)
+  (hierarchical_label "DIR" (shape input) (at 69.85 128.27 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid f7b629f6-08f3-41ef-8c7d-8ac6dab2ecbf)
   )
@@ -2119,7 +5809,7 @@
   (symbol (lib_id "Device:C_Small") (at 184.15 99.06 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 142bb1df-93a0-4996-98cb-f8bc864c5d8e)
-    (property "Reference" "C306" (at 186.69 97.7963 0)
+    (property "Reference" "C305" (at 186.69 97.7963 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Value" "20p" (at 186.69 100.3363 0)
@@ -2139,7 +5829,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "C306") (unit 1)
+          (reference "C305") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -2150,40 +5840,6 @@
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 240.03 49.53 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid 16ccc106-b3e7-4cc8-9c5f-8d61dc8d1657)
-    (property "Reference" "C308" (at 237.49 48.2663 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-    )
-    (property "Value" "100n" (at 237.49 50.8063 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-    )
-    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 240.03 49.53 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 240.03 49.53 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C307331" (at 240.03 49.53 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid ba8863d9-b894-49a5-bcef-b65f48ed46e8))
-    (pin "2" (uuid f8bb52d5-b6eb-43bf-ab48-cf2466049661))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "C308") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "C208") (unit 1)
-        )
-      )
-    )
-  )
-
   (symbol (lib_id "Device:R_Small_US") (at 29.21 124.46 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 258b80d6-f1ad-4909-b10f-e52cdadedaf5)
@@ -2322,7 +5978,7 @@
   (symbol (lib_id "power:GND") (at 196.85 60.96 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 38b6544c-3929-423b-9c61-42da687f3745)
-    (property "Reference" "#PWR0315" (at 196.85 67.31 0)
+    (property "Reference" "#PWR0307" (at 196.85 67.31 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Value" "GND" (at 196.85 66.04 0)
@@ -2338,7 +5994,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0315") (unit 1)
+          (reference "#PWR0307") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -2352,43 +6008,6 @@
     )
   )
 
-  (symbol (lib_id "Device:R_Small_US") (at 248.92 41.91 0) (mirror y) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid 392ec31e-90f7-4902-843e-5021667aa8f7)
-    (property "Reference" "R305" (at 246.38 40.64 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Value" "10k" (at 246.38 43.18 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 248.92 41.91 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 248.92 41.91 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C25744" (at 248.92 41.91 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 980a4134-2829-4570-83d8-b768e4828f68))
-    (pin "2" (uuid f5b6cb26-9142-452e-a72a-6a696aac9d1e))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "R305") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307"
-          (reference "R?") (unit 1)
-        )
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "R203") (unit 1)
-        )
-      )
-    )
-  )
-
   (symbol (lib_id "Device:C_Small") (at 127 44.45 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 3c2191cb-9685-4460-965f-4dcdbf4285d9)
@@ -2457,26 +6076,26 @@
     )
   )
 
-  (symbol (lib_id "power:+3V3") (at 254 115.57 0) (unit 1)
+  (symbol (lib_id "power:+3V3") (at 255.27 125.73 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 4700dfdc-9fb8-4ac5-b178-636ac2565b93)
-    (property "Reference" "#PWR0307" (at 254 119.38 0)
+    (property "Reference" "#PWR0312" (at 255.27 129.54 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+3V3" (at 254 111.125 0)
+    (property "Value" "+3V3" (at 255.27 121.285 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 254 115.57 0)
+    (property "Footprint" "" (at 255.27 125.73 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 254 115.57 0)
+    (property "Datasheet" "" (at 255.27 125.73 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 60ddf753-58f3-4cc2-967c-2bcfb24b9d24))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0307") (unit 1)
+          (reference "#PWR0312") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -2493,7 +6112,7 @@
   (symbol (lib_id "power:+3V3") (at 196.85 38.1 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 52ba150b-a57c-4982-8592-90e1935f4b0e)
-    (property "Reference" "#PWR0314" (at 196.85 41.91 0)
+    (property "Reference" "#PWR0306" (at 196.85 41.91 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Value" "+3V3" (at 196.85 33.655 0)
@@ -2509,7 +6128,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0314") (unit 1)
+          (reference "#PWR0306") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -2677,7 +6296,7 @@
   (symbol (lib_id "power:+3V3") (at 248.92 74.93 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 6f76e8f8-25d7-4420-9ed5-9ed006476918)
-    (property "Reference" "#PWR0309" (at 248.92 78.74 0)
+    (property "Reference" "#PWR0311" (at 248.92 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Value" "+3V3" (at 248.92 70.485 0)
@@ -2693,7 +6312,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0309") (unit 1)
+          (reference "#PWR0311") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -2707,75 +6326,64 @@
     )
   )
 
-  (symbol (lib_id "Device:R_Small_US") (at 138.43 80.01 90) (unit 1)
+  (symbol (lib_id "power:GND") (at 255.27 151.13 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 892ecd03-4f02-4078-8157-5ecd4eeeb205)
-    (property "Reference" "R303" (at 138.43 73.66 90)
+    (uuid 71985652-3d1a-41ca-84f2-94a79465d378)
+    (property "Reference" "#PWR0316" (at 255.27 157.48 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (at 255.27 156.21 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "22R" (at 138.43 76.2 90)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 138.43 80.01 0)
+    (property "Footprint" "" (at 255.27 151.13 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 138.43 80.01 0)
+    (property "Datasheet" "" (at 255.27 151.13 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C25092" (at 138.43 80.01 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 589d4d7b-e6d9-4478-a63e-dd46569073f7))
-    (pin "2" (uuid b7bb4a50-5624-41a1-97a1-7fe8dd9f267b))
+    (pin "1" (uuid a30d8bd9-757b-4263-8304-d752794c1eca))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "R303") (unit 1)
+          (reference "#PWR0316") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/9a7f39aa-afb0-48e5-a983-57776588e1e5"
-          (reference "R602") (unit 1)
+        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307"
+          (reference "#PWR0106") (unit 1)
         )
         (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "R206") (unit 1)
+          (reference "#PWR0204") (unit 1)
         )
       )
     )
   )
 
-  (symbol (lib_id "Device:R_Small_US") (at 138.43 82.55 270) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid 9e6cb8f3-2831-447a-a7f0-c9c838b080ee)
-    (property "Reference" "R304" (at 138.43 86.36 90)
-      (effects (font (size 1.27 1.27)))
+  (symbol (lib_id "Connector:Conn_ARM_SWD_TagConnect_TC2030-NL") (at 252.73 138.43 0) (mirror y) (unit 1)
+    (in_bom no) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 9ea21040-8dee-4573-b6da-da91fcd85780)
+    (property "Reference" "J301" (at 259.08 137.16 0)
+      (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "22R" (at 138.43 88.9 90)
-      (effects (font (size 1.27 1.27)))
+    (property "Value" "TagConnect" (at 259.08 139.7 0)
+      (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 138.43 82.55 0)
+    (property "Footprint" "Connector:Tag-Connect_TC2030-IDC-NL_2x03_P1.27mm_Vertical" (at 252.73 156.21 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 138.43 82.55 0)
+    (property "Datasheet" "https://www.tag-connect.com/wp-content/uploads/bsk-pdf-manager/TC2030-CTX_1.pdf" (at 252.73 153.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C25092" (at 138.43 82.55 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid a2bea353-7a86-4557-a4a6-aab5c94a7aff))
-    (pin "2" (uuid 1802bd08-e0c6-4195-8c5f-fedac959f40d))
+    (pin "1" (uuid f34ceecd-3bda-4436-835b-0442ee407738))
+    (pin "2" (uuid e7c2950d-69e3-48f7-9beb-e3961a4f7531))
+    (pin "3" (uuid 94e38c02-93ea-4017-8fb6-ea6174e0055a))
+    (pin "4" (uuid bb6a0073-103d-4b5c-96a6-b048a8872a93))
+    (pin "5" (uuid d0502fb3-c7bf-481a-8bc4-9373adfb3db6))
+    (pin "6" (uuid b0727574-44fe-45ed-917e-0bfa3ea1aea2))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "R304") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/9a7f39aa-afb0-48e5-a983-57776588e1e5"
-          (reference "R603") (unit 1)
-        )
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "R207") (unit 1)
+          (reference "J301") (unit 1)
         )
       )
     )
@@ -2784,7 +6392,7 @@
   (symbol (lib_id "power:GND") (at 204.47 106.68 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid a5afaaee-b6d3-4d69-a0a5-908243278283)
-    (property "Reference" "#PWR0313" (at 204.47 113.03 0)
+    (property "Reference" "#PWR0309" (at 204.47 113.03 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Value" "GND" (at 204.47 111.76 0)
@@ -2800,40 +6408,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0313") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307"
-          (reference "#PWR0106") (unit 1)
-        )
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "#PWR0204") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "power:GND") (at 256.54 156.21 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid a910ac20-19ac-4461-bf90-7e0429c0472d)
-    (property "Reference" "#PWR0306" (at 256.54 162.56 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "GND" (at 256.54 161.29 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "" (at 256.54 156.21 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (at 256.54 156.21 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 4991d9d9-a991-4019-ad16-fa51394a7077))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0306") (unit 1)
+          (reference "#PWR0309") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -2883,7 +6458,7 @@
   (symbol (lib_id "power:GND") (at 204.47 82.55 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid b545c119-d7c9-47c2-a03e-5040039322ce)
-    (property "Reference" "#PWR0312" (at 204.47 88.9 0)
+    (property "Reference" "#PWR0308" (at 204.47 88.9 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Value" "GND" (at 204.47 87.63 0)
@@ -2899,7 +6474,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0312") (unit 1)
+          (reference "#PWR0308") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -2913,39 +6488,6 @@
     )
   )
 
-  (symbol (lib_id "power:+3V3") (at 248.92 36.83 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid b9d4a5cc-ea51-4fa3-b113-de21d0d2ae4e)
-    (property "Reference" "#PWR0308" (at 248.92 40.64 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "+3V3" (at 248.92 32.385 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "" (at 248.92 36.83 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (at 248.92 36.83 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 948276f9-8605-488d-9e12-3c93593f6fcb))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0308") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307"
-          (reference "#PWR0123") (unit 1)
-        )
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "#PWR0210") (unit 1)
-        )
-      )
-    )
-  )
-
   (symbol (lib_id "Device:R_Small_US") (at 41.91 124.46 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid bcdfe6bb-8b97-405d-8a31-211d6374565f)
@@ -3082,26 +6624,26 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 264.16 92.71 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 248.92 92.71 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid deb84418-15fc-4d75-b9b5-cfe2d67d00be)
-    (property "Reference" "#PWR0311" (at 264.16 99.06 0)
+    (property "Reference" "#PWR0315" (at 248.92 99.06 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 264.16 97.79 0)
+    (property "Value" "GND" (at 248.92 97.79 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 264.16 92.71 0)
+    (property "Footprint" "" (at 248.92 92.71 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 264.16 92.71 0)
+    (property "Datasheet" "" (at 248.92 92.71 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid af0ae41a-75f9-4c88-a5a9-467d91621a5f))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "#PWR0311") (unit 1)
+          (reference "#PWR0315") (unit 1)
         )
       )
       (project "stm32g431-mt6701-stspin233"
@@ -3115,167 +6657,22 @@
     )
   )
 
-  (symbol (lib_id "Switch:SW_Push_45deg") (at 255.27 43.18 90) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid df3ad6bb-a832-4f3a-b450-20b83592fd00)
-    (property "Reference" "SW302" (at 255.27 46.99 90)
-      (effects (font (size 1.27 1.27)) (justify right))
-    )
-    (property "Value" "USER" (at 255.27 49.53 90)
-      (effects (font (size 1.27 1.27)) (justify right))
-    )
-    (property "Footprint" "matei:TS-1187A-B-A-B" (at 255.27 43.18 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 255.27 43.18 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C318884" (at 255.27 43.18 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 10d2e9c6-4bc8-4889-93da-6cc2401e0b86))
-    (pin "2" (uuid 3a39f530-57e2-4a97-933d-880b53c2b6dd))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "SW302") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307"
-          (reference "SW?") (unit 1)
-        )
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "SW202") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Connector:Conn_ST_STDC14") (at 254 135.89 0) (mirror y) (unit 1)
-    (in_bom no) (on_board yes) (dnp no)
-    (uuid e51acd24-4d85-40a1-b251-31c95e56d23a)
-    (property "Reference" "J301" (at 262.89 134.62 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Value" "DEBUG" (at 262.89 137.16 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Footprint" "Connector_PinHeader_1.27mm:PinHeader_2x07_P1.27mm_Vertical" (at 254 135.89 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "https://www.st.com/content/ccc/resource/technical/document/user_manual/group1/99/49/91/b6/b2/3a/46/e5/DM00526767/files/DM00526767.pdf/jcr:content/translations/en.DM00526767.pdf" (at 262.89 167.64 90)
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-    (pin "1" (uuid 0ccf7744-d6be-4a10-b734-13341afd29aa))
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-    (pin "9" (uuid 3a6453bf-ec6d-4198-aa0b-f8e94647747e))
-    (instances
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-  (symbol (lib_id "power:GND") (at 264.16 54.61 0) (unit 1)
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-    (property "Value" "GND" (at 264.16 59.69 0)
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-  (symbol (lib_id "Switch:SW_Push_45deg") (at 255.27 81.28 90) (unit 1)
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-      (effects (font (size 1.27 1.27)) (justify right))
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-    (property "Footprint" "matei:TS-1187A-B-A-B" (at 255.27 81.28 0)
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-    (property "Datasheet" "~" (at 255.27 81.28 0)
-      (effects (font (size 1.27 1.27)) hide)
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-    (property "LCSC Part" "C318884" (at 255.27 81.28 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid c608943f-92e4-458a-b300-3d9fbe870ed9))
-    (pin "2" (uuid 74fe1abe-a4a3-4bc5-8b85-574565ce3b72))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "SW301") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307"
-          (reference "SW?") (unit 1)
-        )
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/ed84ebbf-b2e5-4959-b495-bf58cd9b4c8c"
-          (reference "SW202") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Device:C_Small") (at 240.03 87.63 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 248.92 87.63 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f03bdecc-5bf2-4d7f-8598-6540a8577403)
-    (property "Reference" "C305" (at 237.49 86.3663 0)
+    (property "Reference" "C308" (at 246.38 86.3663 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "100n" (at 237.49 88.9063 0)
+    (property "Value" "100n" (at 246.38 88.9063 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 240.03 87.63 0)
+    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 248.92 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 240.03 87.63 0)
+    (property "Datasheet" "~" (at 248.92 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C307331" (at 240.03 87.63 0)
+    (property "LCSC Part" "C307331" (at 248.92 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid ea3c072b-0f67-45d4-918e-fb5b1dab7a84))
@@ -3283,7 +6680,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "C305") (unit 1)
+          (reference "C308") (unit 1)
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       (project "stm32g431-mt6701-stspin233"
@@ -3297,7 +6694,7 @@
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     (in_bom yes) (on_board yes) (dnp no)
     (uuid f4fd6cee-a64c-4c59-b5e4-778c1c3ed0e7)
-    (property "Reference" "C307" (at 201.93 97.7963 0)
+    (property "Reference" "C306" (at 201.93 97.7963 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Value" "20p" (at 201.93 100.3363 0)
@@ -3317,7 +6714,7 @@
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/7f2d245a-6dca-4eb9-9839-7fdf255edd98"
-          (reference "C307") (unit 1)
+          (reference "C306") (unit 1)
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       (project "stm32g431-mt6701-stspin233"
diff --git a/hardware/psu.kicad_sch b/hardware/psu.kicad_sch
index c0f9487..cc4ea82 100644
--- a/hardware/psu.kicad_sch
+++ b/hardware/psu.kicad_sch
@@ -12,41 +12,6 @@
   )
 
   (lib_symbols
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-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Value" "TestPoint" (at 0 5.08 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (at 5.08 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "~" (at 5.08 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "test point tp" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "test point" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_fp_filters" "Pin* Test*" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "TestPoint_0_1"
-        (circle (center 0 3.302) (radius 0.762)
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-      )
-      (symbol "TestPoint_1_1"
-        (pin passive line (at 0 0 90) (length 2.54)
-          (name "1" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "Device:C_Small" (pin_numbers hide) (pin_names (offset 0.254) hide) (in_bom yes) (on_board yes)
       (property "Reference" "C" (at 0.254 1.778 0)
         (effects (font (size 1.27 1.27)) (justify left))
@@ -98,11 +63,11 @@
         )
       )
     )
-    (symbol "Device:L" (pin_numbers hide) (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
-      (property "Reference" "L" (at -1.27 0 90)
+    (symbol "Device:D_Zener" (pin_numbers hide) (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
+      (property "Reference" "D" (at 0 2.54 0)
         (effects (font (size 1.27 1.27)))
       )
-      (property "Value" "L" (at 1.905 0 90)
+      (property "Value" "D_Zener" (at 0 -2.54 0)
         (effects (font (size 1.27 1.27)))
       )
       (property "Footprint" "" (at 0 0 0)
@@ -111,83 +76,102 @@
       (property "Datasheet" "~" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
+      (property "ki_keywords" "diode" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "Zener diode" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "TO-???* *_Diode_* *SingleDiode* D_*" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "D_Zener_0_1"
+        (polyline
+          (pts
+            (xy 1.27 0)
+            (xy -1.27 0)
+          )
+          (stroke (width 0) (type default))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy -1.27 -1.27)
+            (xy -1.27 1.27)
+            (xy -0.762 1.27)
+          )
+          (stroke (width 0.254) (type default))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy 1.27 -1.27)
+            (xy 1.27 1.27)
+            (xy -1.27 0)
+            (xy 1.27 -1.27)
+          )
+          (stroke (width 0.254) (type default))
+          (fill (type none))
+        )
+      )
+      (symbol "D_Zener_1_1"
+        (pin passive line (at -3.81 0 0) (length 2.54)
+          (name "K" (effects (font (size 1.27 1.27))))
+          (number "1" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 3.81 0 180) (length 2.54)
+          (name "A" (effects (font (size 1.27 1.27))))
+          (number "2" (effects (font (size 1.27 1.27))))
+        )
+      )
+    )
+    (symbol "Device:L_Small" (pin_numbers hide) (pin_names (offset 0.254) hide) (in_bom yes) (on_board yes)
+      (property "Reference" "L" (at 0.762 1.016 0)
+        (effects (font (size 1.27 1.27)) (justify left))
+      )
+      (property "Value" "L_Small" (at 0.762 -1.016 0)
+        (effects (font (size 1.27 1.27)) (justify left))
+      )
+      (property "Footprint" "" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Datasheet" "~" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
       (property "ki_keywords" "inductor choke coil reactor magnetic" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "ki_description" "Inductor" (at 0 0 0)
+      (property "ki_description" "Inductor, small symbol" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
       (property "ki_fp_filters" "Choke_* *Coil* Inductor_* L_*" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (symbol "L_0_1"
-        (arc (start 0 -2.54) (mid 0.6323 -1.905) (end 0 -1.27)
+      (symbol "L_Small_0_1"
+        (arc (start 0 -2.032) (mid 0.5058 -1.524) (end 0 -1.016)
           (stroke (width 0) (type default))
           (fill (type none))
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-        (arc (start 0 -1.27) (mid 0.6323 -0.635) (end 0 0)
+        (arc (start 0 -1.016) (mid 0.5058 -0.508) (end 0 0)
           (stroke (width 0) (type default))
           (fill (type none))
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-        (arc (start 0 0) (mid 0.6323 0.635) (end 0 1.27)
+        (arc (start 0 0) (mid 0.5058 0.508) (end 0 1.016)
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           (fill (type none))
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-        (arc (start 0 1.27) (mid 0.6323 1.905) (end 0 2.54)
+        (arc (start 0 1.016) (mid 0.5058 1.524) (end 0 2.032)
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       )
-      (symbol "L_1_1"
-        (pin passive line (at 0 3.81 270) (length 1.27)
-          (name "1" (effects (font (size 1.27 1.27))))
+      (symbol "L_Small_1_1"
+        (pin passive line (at 0 2.54 270) (length 0.508)
+          (name "~" (effects (font (size 1.27 1.27))))
           (number "1" (effects (font (size 1.27 1.27))))
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-        (effects (font (size 1.27 1.27)))
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-      (property "Value" "NetTie_2" (at 0 -1.27 0)
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-      (property "Footprint" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
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-        (effects (font (size 1.27 1.27)) hide)
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-        (effects (font (size 1.27 1.27)) hide)
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-      (property "ki_description" "Net tie, 2 pins" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
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-        (effects (font (size 1.27 1.27)) hide)
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-      (symbol "NetTie_2_0_1"
-        (polyline
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-            (xy 1.27 0)
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-          (stroke (width 0.254) (type default))
-          (fill (type none))
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-      (symbol "NetTie_2_1_1"
-        (pin passive line (at -2.54 0 0) (length 2.54)
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-          (number "1" (effects (font (size 1.27 1.27))))
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-        (pin passive line (at 2.54 0 180) (length 2.54)
-          (name "2" (effects (font (size 1.27 1.27))))
+        (pin passive line (at 0 -2.54 90) (length 0.508)
+          (name "~" (effects (font (size 1.27 1.27))))
           (number "2" (effects (font (size 1.27 1.27))))
         )
       )
@@ -247,115 +231,139 @@
         )
       )
     )
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-      (property "Reference" "U?" (at -10.16 22.86 0)
-        (effects (font (size 1.27 1.27)))
+    (symbol "Transistor_BJT:MMBT5551L" (pin_names (offset 0) hide) (in_bom yes) (on_board yes)
+      (property "Reference" "Q" (at 5.08 1.905 0)
+        (effects (font (size 1.27 1.27)) (justify left))
       )
-      (property "Value" "MAX17504ATP+T" (at -10.16 20.32 0)
-        (effects (font (size 1.27 1.27)))
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+        (effects (font (size 1.27 1.27)) (justify left))
       )
-      (property "Footprint" "easyeda2kicad:QFN-20_L5.0-W5.0-P0.65-BL-EP" (at 0 -19.05 0)
+      (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 5.08 -1.905 0)
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+        (effects (font (size 1.27 1.27)) (justify left) hide)
+      )
+      (property "ki_keywords" "NPN Transistor" (at 0 0 0)
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       )
-      (property "Datasheet" "https://lcsc.com/product-detail/DC-DC-Converters_Maxim-Integrated-MAX17504ATP-T_C516781.html" (at 0 -21.59 0)
+      (property "ki_description" "0.6A Ic, 160V Vce, NPN Transistor, SOT-23" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
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-      (property "LCSC Part" "C516781" (at 0 -24.13 0)
+      (property "ki_fp_filters" "SOT?23*" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
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-          (fill (type background))
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+      (symbol "MMBT5551L_0_1"
+        (polyline
+          (pts
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+            (xy 2.54 2.54)
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+    (property "Reference" "C503" (at 171.45 78.7463 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "22uF" (at 241.3 60.9663 0)
+    (property "Value" "10u" (at 171.45 81.2863 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 238.76 59.69 0)
+    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 173.99 80.01 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 238.76 59.69 0)
+    (property "Datasheet" "~" (at 173.99 80.01 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C45783" (at 238.76 59.69 0)
+    (property "LCSC Part" "C440198" (at 173.99 80.01 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid de3066b4-5206-4eed-906c-02d77715d1f7))
-    (pin "2" (uuid 4b21b3b8-7eeb-4740-9c72-aeccd04b5d1f))
+    (pin "1" (uuid 2f82b80f-f17e-43d7-9964-6390c787016b))
+    (pin "2" (uuid 1375934a-8ada-4061-8303-e4ea5ee58cc8))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/1237e3d8-f89f-4b6e-a633-6dbf7c464e03"
-          (reference "C609") (unit 1)
+          (reference "C503") (unit 1)
         )
       )
     )
   )
 
-  (symbol (lib_id "Device:L") (at 208.28 54.61 90) (unit 1)
+  (symbol (lib_id "Device:R_Small_US") (at 181.61 80.01 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid d7413ad6-9efb-4e09-9756-03e99e016c73)
-    (property "Reference" "L601" (at 208.28 49.53 90)
-      (effects (font (size 1.27 1.27)))
+    (uuid ff364c04-b7c8-4b05-8ce2-409b718ee78d)
+    (property "Reference" "R501" (at 184.15 78.74 0)
+      (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "4u7" (at 208.28 52.07 90)
-      (effects (font (size 1.27 1.27)))
+    (property "Value" "200k" (at 184.15 81.28 0)
+      (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Inductor_SMD:L_Vishay_IHLP-4040" (at 208.28 54.61 0)
+    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 181.61 80.01 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 208.28 54.61 0)
+    (property "Datasheet" "~" (at 181.61 80.01 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C2921168" (at 208.28 54.61 0)
+    (property "LCSC Part" "C25764" (at 181.61 80.01 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid 1cfff260-cce3-4f57-843b-a62c98e61f2c))
-    (pin "2" (uuid 521851c7-6ecb-479c-a8b1-a8f773259779))
+    (pin "1" (uuid 81287585-2307-4658-9920-801a3eab24b4))
+    (pin "2" (uuid 75eb3cb7-45cd-4296-9acc-43f15dcdac83))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/1237e3d8-f89f-4b6e-a633-6dbf7c464e03"
-          (reference "L601") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Device:C_Small") (at 157.48 127 0) (mirror y) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid dcd3ba30-864d-4070-a3c4-71518b21442c)
-    (property "Reference" "C603" (at 160.02 125.7363 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-    )
-    (property "Value" "10u" (at 160.02 128.2763 0)
-      (effects (font (size 1.27 1.27)) (justify right))
-    )
-    (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 157.48 127 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 157.48 127 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C440198" (at 157.48 127 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid cac32c68-262f-4ecd-86b2-155eac408c64))
-    (pin "2" (uuid 3b12d82d-eb19-45f6-9625-1554ac9a0c2d))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/1237e3d8-f89f-4b6e-a633-6dbf7c464e03"
-          (reference "C603") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "matei:XC6206") (at 173.99 120.65 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid deb41a0f-19ed-4d25-b8b4-2096c89926b5)
-    (property "Reference" "U602" (at 173.99 110.49 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Value" "XC6206" (at 173.99 113.03 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 175.26 133.35 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "https://datasheet.lcsc.com/lcsc/1809201513_Torex-Semicon-XC6206P332MR_C5446.pdf" (at 173.99 135.89 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C5446" (at 173.99 120.65 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 0a5e2361-b898-4374-a424-5c93db3c8bb4))
-    (pin "2" (uuid a29c3de8-3cdb-4e6e-b492-3b699c4f4049))
-    (pin "3" (uuid b5e74d00-fac2-49da-b154-85c204e74361))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/1237e3d8-f89f-4b6e-a633-6dbf7c464e03"
-          (reference "U602") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Device:NetTie_2") (at 185.42 85.09 0) (unit 1)
-    (in_bom no) (on_board yes) (dnp no)
-    (uuid ea2d7865-94d7-43d0-919a-d465164415d6)
-    (property "Reference" "NT601" (at 185.42 87.63 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Value" "NET TIE" (at 185.42 90.17 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "NetTie:NetTie-2_SMD_Pad2.0mm" (at 185.42 85.09 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 185.42 85.09 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 63d044cd-4538-4277-b1d0-ea5bb5c5612e))
-    (pin "2" (uuid 896cc7d4-8add-472e-8aac-2b43c4bed59f))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/1237e3d8-f89f-4b6e-a633-6dbf7c464e03"
-          (reference "NT601") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "power:GNDPWR") (at 139.7 86.36 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid f0876fb3-ba5c-48a1-8653-dfaa8b01a12f)
-    (property "Reference" "#PWR0607" (at 139.7 91.44 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "GNDPWR" (at 139.573 90.17 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "" (at 139.7 87.63 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (at 139.7 87.63 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 883bdee2-1601-4d6f-92d9-07c38e059721))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/1237e3d8-f89f-4b6e-a633-6dbf7c464e03"
-          (reference "#PWR0607") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Device:R_Small_US") (at 151.13 74.93 270) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid f1a80925-264b-4ee1-9384-e627a412627a)
-    (property "Reference" "R601" (at 148.59 72.39 90)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Value" "20k" (at 154.94 72.39 90)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 151.13 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 151.13 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C25765" (at 151.13 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 4c8e74cd-1e31-45f3-830a-d55be4aedb6a))
-    (pin "2" (uuid 1e936a98-f46e-4ea8-970a-87efa0f844ea))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/1237e3d8-f89f-4b6e-a633-6dbf7c464e03"
-          (reference "R601") (unit 1)
+          (reference "R501") (unit 1)
         )
       )
     )
diff --git a/hardware/usb.kicad_sch b/hardware/usb.kicad_sch
index f19bef5..228bcbf 100644
--- a/hardware/usb.kicad_sch
+++ b/hardware/usb.kicad_sch
@@ -12,41 +12,6 @@
   )
 
   (lib_symbols
-    (symbol "Connector:TestPoint" (pin_numbers hide) (pin_names (offset 0.762) hide) (in_bom yes) (on_board yes)
-      (property "Reference" "TP" (at 0 6.858 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Value" "TestPoint" (at 0 5.08 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (at 5.08 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "~" (at 5.08 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "test point tp" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "test point" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_fp_filters" "Pin* Test*" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "TestPoint_0_1"
-        (circle (center 0 3.302) (radius 0.762)
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-      )
-      (symbol "TestPoint_1_1"
-        (pin passive line (at 0 0 90) (length 2.54)
-          (name "1" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "Connector:USB_C_Receptacle_USB2.0" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
       (property "Reference" "J" (at -10.16 19.05 0)
         (effects (font (size 1.27 1.27)) (justify left))
@@ -718,11 +683,11 @@
         )
       )
     )
-    (symbol "power:+5V" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
-      (property "Reference" "#PWR" (at 0 -3.81 0)
+    (symbol "matei:Vmot" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
+      (property "Reference" "#PWR" (at -5.08 -3.81 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "Value" "+5V" (at 0 3.556 0)
+      (property "Value" "Vmot" (at 0 3.81 0)
         (effects (font (size 1.27 1.27)))
       )
       (property "Footprint" "" (at 0 0 0)
@@ -734,10 +699,10 @@
       (property "ki_keywords" "global power" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "ki_description" "Power symbol creates a global label with name \"+5V\"" (at 0 0 0)
+      (property "ki_description" "Power symbol creates a global label with name \"Vmot\"" (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (symbol "+5V_0_1"
+      (symbol "Vmot_0_1"
         (polyline
           (pts
             (xy -0.762 1.27)
@@ -763,9 +728,9 @@
           (fill (type none))
         )
       )
-      (symbol "+5V_1_1"
+      (symbol "Vmot_1_1"
         (pin power_in line (at 0 0 90) (length 0) hide
-          (name "+5V" (effects (font (size 1.27 1.27))))
+          (name "Vmot" (effects (font (size 1.27 1.27))))
           (number "1" (effects (font (size 1.27 1.27))))
         )
       )
@@ -812,23 +777,14 @@
     )
   )
 
-  (junction (at 182.88 74.93) (diameter 0) (color 0 0 0 0)
-    (uuid 5228eee5-3397-4f5d-815b-e9591856e09a)
-  )
-  (junction (at 149.86 88.9) (diameter 0) (color 0 0 0 0)
-    (uuid 62e3117d-a8ca-4ccc-b5b0-8499382841ac)
-  )
-  (junction (at 160.02 93.98) (diameter 0) (color 0 0 0 0)
-    (uuid 74ea3314-0683-43ab-898c-2aef2bab7ec5)
-  )
   (junction (at 133.35 88.9) (diameter 0) (color 0 0 0 0)
     (uuid 7c604f13-3b03-46dd-9286-ee0e45b9ba6a)
   )
   (junction (at 182.88 115.57) (diameter 0) (color 0 0 0 0)
     (uuid 7f829efe-2549-4b4f-90e8-0852a4a099b6)
   )
-  (junction (at 137.16 74.93) (diameter 0) (color 0 0 0 0)
-    (uuid 9a7a0ab2-75f8-4e86-a224-d01b83b24774)
+  (junction (at 182.88 74.93) (diameter 0) (color 0 0 0 0)
+    (uuid 88593d01-2247-428d-90be-d1303e2afca7)
   )
   (junction (at 133.35 87.63) (diameter 0) (color 0 0 0 0)
     (uuid 9aafd402-ac62-47f2-ae12-2053d8ddf9fb)
@@ -836,11 +792,14 @@
   (junction (at 133.35 95.25) (diameter 0) (color 0 0 0 0)
     (uuid b807bfe9-412b-4bc5-9e34-05d0ff01c5a7)
   )
+  (junction (at 160.02 93.98) (diameter 0) (color 0 0 0 0)
+    (uuid bbe0a585-45e4-4ccf-b6ea-dac90daa8f86)
+  )
   (junction (at 160.02 105.41) (diameter 0) (color 0 0 0 0)
     (uuid c7fce748-016a-4e72-858c-a4d8832feaab)
   )
-  (junction (at 137.16 115.57) (diameter 0) (color 0 0 0 0)
-    (uuid cc84db0e-6208-460c-8aef-a744d9c17233)
+  (junction (at 149.86 88.9) (diameter 0) (color 0 0 0 0)
+    (uuid f074449f-3ed1-462a-890c-e42cf46ad64f)
   )
   (junction (at 114.3 115.57) (diameter 0) (color 0 0 0 0)
     (uuid f3e8c57c-ea4e-4b8f-927b-a6caf2c43503)
@@ -852,6 +811,10 @@
   (no_connect (at 129.54 105.41) (uuid 65a9d62e-f1d1-4996-bc08-c4e60d9ef1cc))
   (no_connect (at 129.54 102.87) (uuid b14bcc83-dfd3-49cd-bd75-4f12182d9bdd))
 
+  (wire (pts (xy 182.88 74.93) (xy 182.88 78.74))
+    (stroke (width 0) (type default))
+    (uuid 091720e7-6d14-45b2-821f-760fc267f872)
+  )
   (wire (pts (xy 182.88 115.57) (xy 182.88 104.14))
     (stroke (width 0) (type default))
     (uuid 0a14d4da-021c-4d9e-9679-6c4310bab1e5)
@@ -868,6 +831,10 @@
     (stroke (width 0) (type default))
     (uuid 22e1e9aa-3d29-4eff-946b-49822b1f9716)
   )
+  (wire (pts (xy 149.86 88.9) (xy 170.18 88.9))
+    (stroke (width 0) (type default))
+    (uuid 25b5303f-c10e-4e8f-8ecf-4934f2cc3bf8)
+  )
   (wire (pts (xy 135.89 96.52) (xy 133.35 96.52))
     (stroke (width 0) (type default))
     (uuid 27844c04-3d11-4309-84f5-54db6ebdb4f4)
@@ -876,7 +843,7 @@
     (stroke (width 0) (type default))
     (uuid 2f8faf9e-0eca-4d3b-b618-2d2541be2cb8)
   )
-  (wire (pts (xy 129.54 74.93) (xy 137.16 74.93))
+  (wire (pts (xy 129.54 74.93) (xy 182.88 74.93))
     (stroke (width 0) (type default))
     (uuid 3fd4558c-cbe2-4669-ae49-148bdeaec5dd)
   )
@@ -888,30 +855,26 @@
     (stroke (width 0) (type default))
     (uuid 4d8f276a-efec-4db6-8b70-d4f0099fabf6)
   )
-  (wire (pts (xy 182.88 74.93) (xy 182.88 78.74))
-    (stroke (width 0) (type default))
-    (uuid 5676b722-52cb-4a03-94b9-7e144f518db3)
-  )
   (wire (pts (xy 182.88 115.57) (xy 182.88 118.11))
     (stroke (width 0) (type default))
     (uuid 59201258-5b63-4975-806f-78179f2d3c85)
   )
-  (wire (pts (xy 195.58 93.98) (xy 205.74 93.98))
-    (stroke (width 0) (type default))
-    (uuid 5c54241c-bb20-48f7-bf4f-8794e807d9de)
-  )
   (wire (pts (xy 149.86 102.87) (xy 149.86 105.41))
     (stroke (width 0) (type default))
     (uuid 5ce767fc-dbe5-40e4-9e44-c72b35d2bd48)
   )
-  (wire (pts (xy 137.16 115.57) (xy 182.88 115.57))
+  (wire (pts (xy 182.88 74.93) (xy 193.04 74.93))
     (stroke (width 0) (type default))
-    (uuid 67d31150-1014-4778-93d0-5610960fba98)
+    (uuid 7b0a80c6-a7c8-4760-8461-97ec7cd2522b)
   )
   (wire (pts (xy 129.54 80.01) (xy 135.89 80.01))
     (stroke (width 0) (type default))
     (uuid 7e89535e-57a8-4efc-8386-a47a38a5c010)
   )
+  (wire (pts (xy 200.66 74.93) (xy 204.47 74.93))
+    (stroke (width 0) (type default))
+    (uuid 7eaa406d-3ca7-4d29-9f00-240038370acb)
+  )
   (wire (pts (xy 160.02 102.87) (xy 160.02 105.41))
     (stroke (width 0) (type default))
     (uuid 8b4a695f-7d13-4eb2-9dcc-16c2356aaeaa)
@@ -932,6 +895,14 @@
     (stroke (width 0) (type default))
     (uuid 924ac973-8620-473f-a942-9d5f8ba6a69e)
   )
+  (wire (pts (xy 160.02 93.98) (xy 170.18 93.98))
+    (stroke (width 0) (type default))
+    (uuid 940e3e0b-4c9a-42fb-8b5c-a42c8008ec1c)
+  )
+  (wire (pts (xy 204.47 74.93) (xy 204.47 71.12))
+    (stroke (width 0) (type default))
+    (uuid 95a2635d-92c4-4fc9-8f40-af48ec2bb2e5)
+  )
   (wire (pts (xy 160.02 93.98) (xy 160.02 97.79))
     (stroke (width 0) (type default))
     (uuid 9f0edadd-0571-4b2e-b4a0-84447677e15c)
@@ -940,19 +911,14 @@
     (stroke (width 0) (type default))
     (uuid a0e38fb9-43f8-4ec2-8acc-4f66a59ba0a5)
   )
+  (wire (pts (xy 195.58 93.98) (xy 199.39 93.98))
+    (stroke (width 0) (type default))
+    (uuid a82a251f-240f-4cc3-b216-74b907bbca51)
+  )
   (wire (pts (xy 133.35 93.98) (xy 160.02 93.98))
     (stroke (width 0) (type default))
     (uuid aa31d6c9-886e-4ce9-8545-576a4bb290b8)
   )
-  (wire (pts (xy 182.88 74.93) (xy 182.88 72.39))
-    (stroke (width 0) (type default))
-    (uuid aec2d3bb-d924-43e6-ae22-ce2b17c91b04)
-  )
-  (polyline (pts (xy 160.02 78.74) (xy 173.99 78.74))
-    (stroke (width 0) (type dash))
-    (uuid b92e8092-8984-4ba6-b839-fcd2dd02eafd)
-  )
-
   (wire (pts (xy 129.54 92.71) (xy 133.35 92.71))
     (stroke (width 0) (type default))
     (uuid bb3655f1-fe5f-4be3-9b1d-c2cb39354727)
@@ -961,57 +927,26 @@
     (stroke (width 0) (type default))
     (uuid bdc95b9b-cec6-4f4f-a442-91b4b1fcb098)
   )
-  (wire (pts (xy 137.16 74.93) (xy 163.83 74.93))
-    (stroke (width 0) (type default))
-    (uuid c3e89ce2-fb67-4828-8f79-e40d4072d524)
-  )
-  (polyline (pts (xy 160.02 49.53) (xy 160.02 78.74))
-    (stroke (width 0) (type dash))
-    (uuid c76ddcfb-4058-4bc9-a300-a77580828eee)
-  )
-
-  (wire (pts (xy 195.58 88.9) (xy 205.74 88.9))
-    (stroke (width 0) (type default))
-    (uuid c82f53c3-bf9b-4238-890d-539acb970278)
-  )
-  (wire (pts (xy 160.02 93.98) (xy 170.18 93.98))
-    (stroke (width 0) (type default))
-    (uuid c9993d4c-e6c9-4f60-91a7-4a70d531f5e5)
-  )
   (wire (pts (xy 129.54 82.55) (xy 135.89 82.55))
     (stroke (width 0) (type default))
     (uuid d5ebe916-192c-4adf-9cd5-109115062f48)
   )
-  (polyline (pts (xy 160.02 49.53) (xy 173.99 49.53))
-    (stroke (width 0) (type dash))
-    (uuid d7022e59-87d3-49b3-8323-20a0da19f19e)
-  )
-
   (wire (pts (xy 133.35 95.25) (xy 129.54 95.25))
     (stroke (width 0) (type default))
     (uuid d9c14cb0-4255-4b22-b44d-a4a30c067f7b)
   )
-  (polyline (pts (xy 173.99 78.74) (xy 173.99 49.53))
-    (stroke (width 0) (type dash))
-    (uuid dbe2f227-7f09-4302-8854-17e4a62af09a)
-  )
-
   (wire (pts (xy 135.89 86.36) (xy 133.35 86.36))
     (stroke (width 0) (type default))
     (uuid ddd82f17-83f1-42c1-b925-4703228a72f8)
   )
-  (wire (pts (xy 114.3 115.57) (xy 137.16 115.57))
+  (wire (pts (xy 195.58 88.9) (xy 199.39 88.9))
+    (stroke (width 0) (type default))
+    (uuid de2c28c8-2a1f-4e24-85cd-75ce6631a877)
+  )
+  (wire (pts (xy 114.3 115.57) (xy 182.88 115.57))
     (stroke (width 0) (type default))
     (uuid e7299ce8-309b-47a5-ad9b-4266f3e54643)
   )
-  (wire (pts (xy 171.45 74.93) (xy 182.88 74.93))
-    (stroke (width 0) (type default))
-    (uuid ec68bda6-6059-4fe4-82e5-00fd8f7df2c5)
-  )
-  (wire (pts (xy 149.86 88.9) (xy 170.18 88.9))
-    (stroke (width 0) (type default))
-    (uuid f18f939a-1b1f-4ca3-9d1d-c6bb8579730b)
-  )
   (wire (pts (xy 133.35 87.63) (xy 133.35 88.9))
     (stroke (width 0) (type default))
     (uuid f7badd15-da4d-469c-8d64-2097a6af68da)
@@ -1025,19 +960,14 @@
     (uuid f955368a-83b4-45d0-b05e-385531054e24)
   )
 
-  (text "not sure \nif this\nis a good\nidea" (at 161.29 59.69 0)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid 916b6a94-e5b5-46e7-b63f-726595269a09)
-  )
-
   (label "USB_5V" (at 151.13 74.93 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid 3309461f-9ec9-4f09-8ce5-3188505d8775)
   )
 
-  (hierarchical_label "USB_N" (shape bidirectional) (at 205.74 88.9 0) (fields_autoplaced)
+  (hierarchical_label "USB_P" (shape bidirectional) (at 199.39 88.9 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
-    (uuid 02ba470e-c24a-4e9b-a3fc-76e25b590004)
+    (uuid 14ac3d8a-2aa9-4962-b933-410974fe1579)
   )
   (hierarchical_label "USB_N" (shape bidirectional) (at 135.89 86.36 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
@@ -1047,14 +977,14 @@
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 2f0b02ba-95ad-491b-935d-34e1ba51eb53)
   )
-  (hierarchical_label "USB_P" (shape bidirectional) (at 205.74 93.98 0) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left))
-    (uuid 773c2955-f5b5-4da0-b8ea-f5bd56bbdc5b)
-  )
   (hierarchical_label "USB_P" (shape bidirectional) (at 135.89 96.52 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 7ad9da69-8e95-4231-8344-13e4d12fc830)
   )
+  (hierarchical_label "USB_N" (shape bidirectional) (at 199.39 93.98 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid a5368c03-3c6a-472d-8317-e0dadd4fb67f)
+  )
   (hierarchical_label "UCPD_CC1" (shape bidirectional) (at 135.89 80.01 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid cefd5399-58fd-4aac-88bd-577ef99bbeb0)
@@ -1068,41 +998,16 @@
     )
   )
 
-  (symbol (lib_id "Connector:TestPoint") (at 137.16 115.57 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid 398ab1ff-223b-4b1c-84f5-fe1531ef075d)
-    (property "Reference" "TP202" (at 134.62 106.68 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Value" "USB GND" (at 134.62 109.22 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Footprint" "TestPoint:TestPoint_Pad_D1.0mm" (at 142.24 115.57 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 142.24 115.57 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid aab3bf50-00ff-43c3-a2ea-6e0865a18612))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
-          (reference "TP202") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Power_Protection:SRV05-4") (at 182.88 91.44 0) (unit 1)
+  (symbol (lib_id "Power_Protection:SRV05-4") (at 182.88 91.44 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 5d601d28-8bc0-4fbd-88a9-cb24b48aaca5)
-    (property "Reference" "U201" (at 186.0297 76.2 0)
+    (property "Reference" "U201" (at 179.7303 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "SRV05-4" (at 186.0297 78.74 0)
+    (property "Value" "SRV05-4" (at 179.7303 78.74 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Package_TO_SOT_SMD:SOT-23-6" (at 200.66 102.87 0)
+    (property "Footprint" "Package_TO_SOT_SMD:SOT-23-6" (at 165.1 102.87 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Datasheet" "http://www.onsemi.com/pub/Collateral/SRV05-4-D.PDF" (at 182.88 91.44 0)
@@ -1131,26 +1036,36 @@
     )
   )
 
-  (symbol (lib_id "Connector:TestPoint") (at 137.16 74.93 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no)
-    (uuid 7a24488a-69e8-4f05-9908-5bad7d13e145)
-    (property "Reference" "TP201" (at 134.62 66.04 0)
-      (effects (font (size 1.27 1.27)) (justify left))
+  (symbol (lib_id "Device:D") (at 196.85 74.93 180) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 68b1a8c4-1258-4055-9cf5-0723ea413e16)
+    (property "Reference" "D201" (at 196.85 68.58 0)
+      (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "USB VBUS" (at 134.62 68.58 0)
-      (effects (font (size 1.27 1.27)) (justify left))
+    (property "Value" "1N4148WS" (at 196.85 71.12 0)
+      (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "TestPoint:TestPoint_Pad_D1.0mm" (at 142.24 74.93 0)
+    (property "Footprint" "Diode_SMD:D_SOD-323" (at 196.85 74.93 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 142.24 74.93 0)
+    (property "Datasheet" "~" (at 196.85 74.93 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid 20b2ad40-c75a-4ef0-8d90-d3fb79cbce54))
+    (property "Sim.Device" "D" (at 196.85 74.93 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Sim.Pins" "1=K 2=A" (at 196.85 74.93 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "LCSC Part" "C2128" (at 196.85 74.93 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid e555ab3b-eb30-4349-9c23-402619def6cc))
+    (pin "2" (uuid 1efac732-ac4b-4e69-b1bc-4ad87a05b9a8))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
-          (reference "TP201") (unit 1)
+          (reference "D201") (unit 1)
         )
       )
     )
@@ -1205,71 +1120,6 @@
     )
   )
 
-  (symbol (lib_id "power:+5V") (at 182.88 72.39 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 8d0062a1-5452-40c0-83c0-28052f05f31b)
-    (property "Reference" "#PWR0202" (at 182.88 76.2 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "+5V" (at 182.88 67.31 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "" (at 182.88 72.39 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (at 182.88 72.39 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid c686f69c-cbbe-4e17-a49f-88f4da5973e9))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
-          (reference "#PWR0202") (unit 1)
-        )
-      )
-      (project "stm32g431-mt6701-stspin233"
-        (path "/bcb2c98d-7159-437a-9ffb-b81c5fcc4307/9a7f39aa-afb0-48e5-a983-57776588e1e5"
-          (reference "#PWR0603") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Device:D") (at 167.64 74.93 180) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 8ddd9590-78f6-43b7-ba08-81f7a5cadd3b)
-    (property "Reference" "D201" (at 167.64 68.58 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Value" "SS210" (at 167.64 71.12 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "Diode_SMD:D_SMA" (at 167.64 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "~" (at 167.64 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Sim.Device" "D" (at 167.64 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Sim.Pins" "1=K 2=A" (at 167.64 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "LCSC Part" "C14996" (at 167.64 74.93 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid 2d6e43b7-26c3-4686-ad4b-a20eca59dac5))
-    (pin "2" (uuid b4ac73e1-eec0-49f0-a97e-e144cf09a682))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
-          (reference "D201") (unit 1)
-        )
-      )
-    )
-  )
-
   (symbol (lib_id "Device:C_Small") (at 160.02 100.33 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 8f38dda2-81f2-49ba-949e-98b121097ad0)
@@ -1343,6 +1193,31 @@
     )
   )
 
+  (symbol (lib_id "matei:Vmot") (at 204.47 71.12 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid b9dba828-f517-41cc-8de1-0faef402be40)
+    (property "Reference" "#PWR0202" (at 199.39 74.93 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "Vmot" (at 204.47 66.04 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 204.47 71.12 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 204.47 71.12 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid f1d6e431-3a02-4643-9c81-2852037ee064))
+    (instances
+      (project "lemon-pepper"
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/3af4e77c-61b4-4c93-bd22-ce60f55b568c"
+          (reference "#PWR0202") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "Device:C_Small") (at 149.86 100.33 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid cb323398-3b6f-4a42-a847-71234d3d92ba)
diff --git a/lemon-pepper.pdf b/lemon-pepper.pdf
index ebf92c7..cff3764 100644
Binary files a/lemon-pepper.pdf and b/lemon-pepper.pdf differ
diff --git a/mechanical/NEMA14.kicad_mod b/mechanical/NEMA14.kicad_mod
index 8e73583..ecbec06 100644
--- a/mechanical/NEMA14.kicad_mod
+++ b/mechanical/NEMA14.kicad_mod
@@ -1,35 +1,44 @@
-(module Unnamed (layer F.Cu) (tedit 61218795)
+(footprint "NEMA14" (version 20221018) (generator pcbnew)
+  (layer "F.Cu")
   (descr "Unnamed StepUp generated footprint")
-  (fp_text reference "FC_" (at 0.0 1.0) (layer F.SilkS)
-  (effects (font (size 1.0 1.0) (thickness 0.15)))
+  (attr through_hole)
+  (fp_text reference "FC_" (at 0 1) (layer "F.SilkS")
+      (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 70f06377-7f08-44d2-bdc4-abaf8f2a5d41)
   )
-  (fp_text value "Val_" (at 0.0 -1.0) (layer F.SilkS)
-    (effects (font (size 1.0 1.0) (thickness 0.15)))
+  (fp_text value "Val_" (at 0 -1) (layer "F.SilkS")
+      (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 26a07125-1ac4-4bc6-984c-c1c40c22998a)
   )
-  (fp_text user %R (at 0.0 1.0) (layer F.Fab)
-    (effects (font (size 1.0 1.0) (thickness 0.15)))
+  (fp_text user "${REFERENCE}" (at 0 1) (layer "F.Fab")
+      (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 2a0e0d82-c2e9-443e-b283-99899dda68d8)
   )
-  (fp_text user "EDIT PAD NUMBERS" (at 0.0 -2.0) (layer Cmts.User)
-    (effects (font (size 1 1) (thickness 0.2) italic))
-  )
-  (fp_line (start -13.000000 -17.500000) (end 13.000000 -17.500000) (layer Edge.Cuts) (width 0.15))
-  (fp_line (start 17.500000 -13.000000) (end 17.500000 13.000000) (layer Edge.Cuts) (width 0.15))
-  (fp_line (start 13.000000 17.500000) (end -13.000000 17.500000) (layer Edge.Cuts) (width 0.15))
-  (fp_line (start -17.500000 13.000000) (end -17.500000 -13.000000) (layer Edge.Cuts) (width 0.15))
-  (fp_arc (start -13.000000 -13.000000) (end -13.000000 -17.500000) (angle -90.000000) (layer Edge.Cuts) (width 0.15))
-  (fp_arc (start 13.000000 -13.000000) (end 17.500000 -13.000000) (angle -90.000000) (layer Edge.Cuts) (width 0.15))
-  (fp_arc (start 13.000000 13.000000) (end 13.000000 17.500000) (angle -90.000000) (layer Edge.Cuts) (width 0.15))
-  (fp_arc (start -13.000000 13.000000) (end -17.500000 13.000000) (angle -90.000000) (layer Edge.Cuts) (width 0.15))
-  (fp_circle (center 0.000000 0.000000) (end -2.500000 0.000000) (layer F.Fab) (width 0.1))
-  (pad "#" thru_hole circle (at -13.000 -13.000) (size 5.800 5.800) (drill 3.100) (layers *.Cu *.Mask))
-  (pad "#" thru_hole circle (at 13.000 13.000) (size 5.800 5.800) (drill 3.100) (layers *.Cu *.Mask))
-  (pad "#" thru_hole circle (at -13.000 13.000) (size 5.800 5.800) (drill 3.100) (layers *.Cu *.Mask))
-  (pad "#" thru_hole circle (at 13.000 -13.000) (size 5.800 5.800) (drill 3.100) (layers *.Cu *.Mask))
-
-   (model "/Users/mateijordache/Documents/electronics_projects/lemon-pepper-stepper/mechanical/Unnamed.wrl"
-    (at (xyz 0 0 0))
+  (fp_line (start -17.5 13) (end -17.5 -13)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp aa6fd337-6cf8-4db4-b1fb-85e518c61dc9))
+  (fp_line (start -13 -17.5) (end 13 -17.5)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp 9e0dcf78-a912-4ba1-a605-d89b89c14059))
+  (fp_line (start 13 17.5) (end -13 17.5)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp 7ba9296e-a22f-4dbd-ac0b-3b1c33a02ea8))
+  (fp_line (start 17.5 -13) (end 17.5 13)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp 9114b86b-ccea-4ff1-9ee2-71f83463de55))
+  (fp_arc (start -17.5 -13) (mid -16.181981 -16.181981) (end -13 -17.5)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp f8236d5a-25d4-4d0f-aae4-6268f9eb3c41))
+  (fp_arc (start -13 17.5) (mid -16.181981 16.181981) (end -17.5 13)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp 876f9827-c5dd-4812-9689-6034eb29514f))
+  (fp_arc (start 13 -17.5) (mid 16.181981 -16.181981) (end 17.5 -13)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp 017431fe-0519-4f39-a328-8260bcde4bb8))
+  (fp_arc (start 17.5 13) (mid 16.181981 16.181981) (end 13 17.5)
+    (stroke (width 0.15) (type solid)) (layer "Edge.Cuts") (tstamp 380a48a5-14e1-4b6b-9dea-452acc180657))
+  (fp_circle (center 0 0) (end -2.5 0)
+    (stroke (width 0.1) (type solid)) (fill none) (layer "F.Fab") (tstamp 249bb00a-cbc2-4911-bbf0-af2da2a2e0d0))
+  (pad "1" thru_hole circle (at -13 -13) (size 5.8 5.8) (drill 3.1) (layers "*.Cu" "*.Mask") (tstamp dca7bc77-b5ae-4cdd-8bd2-2d2a4dc30bfb))
+  (pad "1" thru_hole circle (at -13 13) (size 5.8 5.8) (drill 3.1) (layers "*.Cu" "*.Mask") (tstamp 84f65f2d-1e57-4337-9ef0-857a127cb8a6))
+  (pad "1" thru_hole circle (at 13 -13) (size 5.8 5.8) (drill 3.1) (layers "*.Cu" "*.Mask") (tstamp 60c60df9-8125-432a-b921-b118e1c20297))
+  (pad "1" thru_hole circle (at 13 13) (size 5.8 5.8) (drill 3.1) (layers "*.Cu" "*.Mask") (tstamp 27971454-c6d8-4a02-b4ad-1435accc00b2))
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\ No newline at end of file
diff --git a/pinout.png b/pinout.png
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Binary files a/pinout.png and b/pinout.png differ