Romi-unified-board-2layer.sch

EESchema Schematic File Version 4
EELAYER 30 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
Text Notes 15850 3600 0    50   ~ 0
MP4423H
Text Notes 15850 3700 0    50   ~ 0
DRV8838
Wire Wire Line
	8900 -1200 8750 -1200
$Comp
L Device:R_Small_US R7
U 1 1 5F46AD02
P 8750 -1000
F 0 "R7" H 8818 -954 50  0000 L CNN
F 1 "100k" H 8818 -1045 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8750 -1000 50  0001 C CNN
F 3 "~" H 8750 -1000 50  0001 C CNN
	1    8750 -1000
	1    0    0    -1  
$EndComp
Wire Wire Line
	8750 -1100 8750 -1200
Connection ~ 8750 -1200
Wire Wire Line
	8750 -1200 8450 -1200
Wire Wire Line
	9100 -900 9100 -750
Wire Wire Line
	9100 -750 8750 -750
Wire Wire Line
	8750 -750 8750 -900
$Comp
L Device:D D3
U 1 1 5F46B984
P 8450 -950
F 0 "D3" V 8404 -871 50  0000 L CNN
F 1 "D" V 8495 -871 50  0000 L CNN
F 2 "Diode_SMD:D_SOD-323F" H 8450 -950 50  0001 C CNN
F 3 "~" H 8450 -950 50  0001 C CNN
	1    8450 -950
	0    1    1    0   
$EndComp
Wire Wire Line
	8450 -1100 8450 -1200
Connection ~ 8450 -1200
Wire Wire Line
	8450 -1200 8400 -1200
Wire Wire Line
	8200 -900 8200 -750
Wire Wire Line
	8200 -750 8450 -750
Wire Wire Line
	8450 -750 8450 -800
Wire Wire Line
	8750 -750 8450 -750
Connection ~ 8750 -750
Connection ~ 8450 -750
Text Notes 8500 -1500 0    50   ~ 0
for fet: SI7415DN-T1-E3\nMOSFET P-CH 60V 3.6A 1212-8\nSI7415DN-T1-E3CT-ND
$Comp
L Driver_Motor:DRV8838 U3
U 1 1 5F46D60C
P 17150 2900
F 0 "U3" H 16900 3350 50  0000 C CNN
F 1 "DRV8838" H 17350 2450 50  0000 C CNN
F 2 "Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm" H 17150 2050 50  0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/drv8837.pdf" H 17150 2900 50  0001 C CNN
	1    17150 2900
	1    0    0    -1  
$EndComp
$Comp
L Driver_Motor:DRV8838 U2
U 1 1 5F46E062
P 15100 2900
F 0 "U2" H 14800 3350 50  0000 C CNN
F 1 "DRV8838" H 15300 2450 50  0000 C CNN
F 2 "Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm" H 15100 2050 50  0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/drv8837.pdf" H 15100 2900 50  0001 C CNN
	1    15100 2900
	1    0    0    -1  
$EndComp
$Comp
L power:+BATT #PWR0101
U 1 1 5F4750B2
P 7850 -1200
F 0 "#PWR0101" H 7850 -1350 50  0001 C CNN
F 1 "+BATT" H 7865 -1027 50  0000 C CNN
F 2 "" H 7850 -1200 50  0001 C CNN
F 3 "" H 7850 -1200 50  0001 C CNN
	1    7850 -1200
	0    -1   -1   0   
$EndComp
$Comp
L Switch:SW_SPST SW1
U 1 1 5F479528
P 7950 -750
F 0 "SW1" H 7950 -515 50  0000 C CNN
F 1 "SW_SPST" H 7950 -606 50  0000 C CNN
F 2 "SS-12D06L5:SS12D06L5" H 7950 -750 50  0001 C CNN
F 3 "~" H 7950 -750 50  0001 C CNN
	1    7950 -750
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0103
U 1 1 5F479F89
P 7650 -550
F 0 "#PWR0103" H 7650 -800 50  0001 C CNN
F 1 "GND" H 7655 -723 50  0000 C CNN
F 2 "" H 7650 -550 50  0001 C CNN
F 3 "" H 7650 -550 50  0001 C CNN
	1    7650 -550
	1    0    0    -1  
$EndComp
Wire Wire Line
	7750 -750 7650 -750
Wire Wire Line
	7650 -750 7650 -550
Wire Wire Line
	8200 -750 8150 -750
Connection ~ 8200 -750
$Comp
L Device:CP C1
U 1 1 5F47E4AF
P 5250 4700
F 0 "C1" H 5368 4746 50  0000 L CNN
F 1 "220u" H 5368 4655 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x3.9" H 5288 4550 50  0001 C CNN
F 3 "~" H 5250 4700 50  0001 C CNN
	1    5250 4700
	1    0    0    -1  
$EndComp
$Comp
L Device:C C3
U 1 1 5F4813F4
P 5850 4700
F 0 "C3" H 5965 4746 50  0000 L CNN
F 1 "10u" H 5965 4655 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 5888 4550 50  0001 C CNN
F 3 "~" H 5850 4700 50  0001 C CNN
	1    5850 4700
	1    0    0    -1  
$EndComp
$Comp
L Device:C C4
U 1 1 5F482875
P 6100 5000
F 0 "C4" H 6215 5046 50  0000 L CNN
F 1 "0.1u" H 6215 4955 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 6138 4850 50  0001 C CNN
F 3 "~" H 6100 5000 50  0001 C CNN
	1    6100 5000
	1    0    0    -1  
$EndComp
$Comp
L Device:C C5
U 1 1 5F48287B
P 6350 4700
F 0 "C5" H 6465 4746 50  0000 L CNN
F 1 "0.1u" H 6465 4655 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 6388 4550 50  0001 C CNN
F 3 "~" H 6350 4700 50  0001 C CNN
	1    6350 4700
	1    0    0    -1  
$EndComp
Wire Wire Line
	6950 4500 6600 4500
Wire Wire Line
	5250 4500 5250 4550
$Comp
L Device:C C6
U 1 1 5F488049
P 6600 5300
F 0 "C6" H 6715 5346 50  0000 L CNN
F 1 "0.1u" H 6715 5255 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 6638 5150 50  0001 C CNN
F 3 "~" H 6600 5300 50  0001 C CNN
	1    6600 5300
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0104
U 1 1 5F488C87
P 5250 5650
F 0 "#PWR0104" H 5250 5400 50  0001 C CNN
F 1 "GND" H 5255 5477 50  0000 C CNN
F 2 "" H 5250 5650 50  0001 C CNN
F 3 "" H 5250 5650 50  0001 C CNN
	1    5250 5650
	1    0    0    -1  
$EndComp
Wire Wire Line
	6950 5300 6900 5300
Wire Wire Line
	6900 5300 6900 5600
Wire Wire Line
	6900 5600 6600 5600
Wire Wire Line
	5250 5600 5250 5650
Wire Wire Line
	5550 5150 5550 5600
Connection ~ 5550 5600
Wire Wire Line
	5550 5600 5250 5600
Wire Wire Line
	6100 5150 6100 5600
Connection ~ 6100 5600
Wire Wire Line
	6100 5600 5850 5600
Wire Wire Line
	6600 5450 6600 5600
Connection ~ 6600 5600
Wire Wire Line
	6600 5600 6350 5600
Wire Wire Line
	6950 5000 6850 5000
Wire Wire Line
	6600 5000 6600 5150
Wire Wire Line
	6350 4850 6350 5600
Connection ~ 6350 5600
Wire Wire Line
	6350 5600 6100 5600
Connection ~ 5850 5600
Wire Wire Line
	5850 5600 5550 5600
Wire Wire Line
	5550 4500 5550 4850
Connection ~ 5550 4500
Wire Wire Line
	5550 4500 5250 4500
Wire Wire Line
	5850 4550 5850 4500
Connection ~ 5850 4500
Wire Wire Line
	5850 4500 5550 4500
Wire Wire Line
	6100 4850 6100 4500
Connection ~ 6100 4500
Wire Wire Line
	6100 4500 5850 4500
Wire Wire Line
	6350 4550 6350 4500
Connection ~ 6350 4500
Wire Wire Line
	6350 4500 6100 4500
$Comp
L Device:R_Small_US R2
U 1 1 5F48EDDE
P 6800 4700
F 0 "R2" V 6750 4600 50  0000 C CNN
F 1 "270k" V 6900 4700 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 6800 4700 50  0001 C CNN
F 3 "~" H 6800 4700 50  0001 C CNN
	1    6800 4700
	0    1    1    0   
$EndComp
Wire Wire Line
	6700 4700 6600 4700
Wire Wire Line
	6600 4700 6600 4500
Connection ~ 6600 4500
Wire Wire Line
	6600 4500 6350 4500
Wire Wire Line
	6950 4700 6900 4700
$Comp
L Device:D D2
U 1 1 5F491CE3
P 7900 4300
F 0 "D2" V 7946 4221 50  0000 R CNN
F 1 "PMEG4005EJ,115" V 7855 4221 50  0000 R CNN
F 2 "Diode_SMD:D_SOD-323F" H 7900 4300 50  0001 C CNN
F 3 "~" H 7900 4300 50  0001 C CNN
	1    7900 4300
	0    -1   -1   0   
$EndComp
Wire Wire Line
	7750 4500 7900 4500
Wire Wire Line
	7900 4500 7900 4450
Text GLabel 7850 4100 0    50   Input ~ 0
REG_VCC
Text GLabel 6800 4900 0    50   Input ~ 0
REG_VCC
Wire Wire Line
	6800 4900 6850 4900
Wire Wire Line
	6850 4900 6850 5000
Connection ~ 6850 5000
Wire Wire Line
	6850 5000 6600 5000
Wire Wire Line
	7850 4100 7900 4100
Wire Wire Line
	7900 4100 7900 4150
$Comp
L Device:R_Small_US R4
U 1 1 5F496E04
P 8100 4500
F 0 "R4" V 8050 4400 50  0000 C CNN
F 1 "22.1" V 8200 4500 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8100 4500 50  0001 C CNN
F 3 "~" H 8100 4500 50  0001 C CNN
	1    8100 4500
	0    1    1    0   
$EndComp
Wire Wire Line
	8000 4500 7900 4500
Connection ~ 7900 4500
$Comp
L Device:C C7
U 1 1 5F4981A9
P 8300 4700
F 0 "C7" H 8415 4746 50  0000 L CNN
F 1 "0.1u" H 8415 4655 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 8338 4550 50  0001 C CNN
F 3 "~" H 8300 4700 50  0001 C CNN
	1    8300 4700
	1    0    0    -1  
$EndComp
Wire Wire Line
	8200 4500 8300 4500
Wire Wire Line
	8300 4500 8300 4550
Wire Wire Line
	7750 4950 8300 4950
Wire Wire Line
	8300 4850 8300 4950
Connection ~ 8300 4950
$Comp
L Device:L L1
U 1 1 5F49B53E
P 8700 4950
F 0 "L1" V 8800 5050 50  0000 C CNN
F 1 "5.1u" V 8650 4900 50  0000 C CNN
F 2 "Inductor_SMD:L_6.3x6.3_H3" H 8700 4950 50  0001 C CNN
F 3 "~" H 8700 4950 50  0001 C CNN
	1    8700 4950
	0    -1   -1   0   
$EndComp
Wire Wire Line
	8300 4950 8550 4950
$Comp
L Device:R_Small_US R3
U 1 1 5F49CDE0
P 8050 5300
F 0 "R3" V 8000 5200 50  0000 C CNN
F 1 "51.1k" V 8150 5300 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8050 5300 50  0001 C CNN
F 3 "~" H 8050 5300 50  0001 C CNN
	1    8050 5300
	0    1    1    0   
$EndComp
$Comp
L Device:R_Small_US R6
U 1 1 5F49E0FF
P 8650 5300
F 0 "R6" V 8600 5200 50  0000 C CNN
F 1 "41.2k" V 8750 5300 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8650 5300 50  0001 C CNN
F 3 "~" H 8650 5300 50  0001 C CNN
	1    8650 5300
	0    1    1    0   
$EndComp
Wire Wire Line
	8850 4950 8950 4950
Wire Wire Line
	8950 4950 8950 5300
Wire Wire Line
	8950 5300 8750 5300
Wire Wire Line
	7950 5300 7750 5300
Wire Wire Line
	8550 5300 8350 5300
Wire Wire Line
	6900 5600 8350 5600
Wire Wire Line
	8350 5600 8350 5550
Connection ~ 6900 5600
Wire Wire Line
	8350 5350 8350 5300
Connection ~ 8350 5300
Wire Wire Line
	8350 5300 8150 5300
$Comp
L Device:C C8
U 1 1 5F4A5C16
P 9200 5150
F 0 "C8" H 9100 5250 50  0000 L CNN
F 1 "0.1u" V 9250 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9238 5000 50  0001 C CNN
F 3 "~" H 9200 5150 50  0001 C CNN
	1    9200 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C9
U 1 1 5F4A7C03
P 9450 5150
F 0 "C9" H 9350 5250 50  0000 L CNN
F 1 "1u" V 9500 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9488 5000 50  0001 C CNN
F 3 "~" H 9450 5150 50  0001 C CNN
	1    9450 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C10
U 1 1 5F4A81F5
P 9700 5150
F 0 "C10" H 9600 5250 50  0000 L CNN
F 1 "10u" V 9750 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9738 5000 50  0001 C CNN
F 3 "~" H 9700 5150 50  0001 C CNN
	1    9700 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C11
U 1 1 5F4A86EF
P 9950 5150
F 0 "C11" H 9850 5250 50  0000 L CNN
F 1 "10u" V 10000 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9988 5000 50  0001 C CNN
F 3 "~" H 9950 5150 50  0001 C CNN
	1    9950 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C12
U 1 1 5F4A89D5
P 10200 5150
F 0 "C12" H 10100 5250 50  0000 L CNN
F 1 "10u" V 10250 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 10238 5000 50  0001 C CNN
F 3 "~" H 10200 5150 50  0001 C CNN
	1    10200 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C13
U 1 1 5F4A8D30
P 10450 5150
F 0 "C13" H 10350 5250 50  0000 L CNN
F 1 "4.7" V 10500 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 10488 5000 50  0001 C CNN
F 3 "~" H 10450 5150 50  0001 C CNN
	1    10450 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C14
U 1 1 5F4A9262
P 10700 5150
F 0 "C14" H 10600 5250 50  0000 L CNN
F 1 "4.7" V 10750 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 10738 5000 50  0001 C CNN
F 3 "~" H 10700 5150 50  0001 C CNN
	1    10700 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:CP C15
U 1 1 5F4A96BD
P 10950 5150
F 0 "C15" H 11068 5196 50  0000 L CNN
F 1 "220u" H 11068 5105 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x3.9" H 10988 5000 50  0001 C CNN
F 3 "~" H 10950 5150 50  0001 C CNN
	1    10950 5150
	1    0    0    -1  
$EndComp
Wire Wire Line
	8950 4950 9200 4950
Wire Wire Line
	10950 4950 10950 5000
Connection ~ 8950 4950
Wire Wire Line
	10700 4950 10700 5000
Connection ~ 10700 4950
Wire Wire Line
	10700 4950 10950 4950
Wire Wire Line
	10450 4950 10450 5000
Connection ~ 10450 4950
Wire Wire Line
	10450 4950 10700 4950
Wire Wire Line
	10200 4950 10200 5000
Connection ~ 10200 4950
Wire Wire Line
	10200 4950 10450 4950
Wire Wire Line
	9950 4950 9950 5000
Connection ~ 9950 4950
Wire Wire Line
	9950 4950 10200 4950
Wire Wire Line
	9700 4950 9700 5000
Connection ~ 9700 4950
Wire Wire Line
	9700 4950 9950 4950
Wire Wire Line
	9450 4950 9450 5000
Connection ~ 9450 4950
Wire Wire Line
	9450 4950 9700 4950
Wire Wire Line
	9200 4950 9200 5000
Connection ~ 9200 4950
Wire Wire Line
	9200 4950 9450 4950
Wire Wire Line
	10950 5600 10950 5300
Connection ~ 8350 5600
Wire Wire Line
	10700 5300 10700 5600
Wire Wire Line
	8350 5600 9200 5600
Connection ~ 10700 5600
Wire Wire Line
	10700 5600 10950 5600
Wire Wire Line
	10450 5300 10450 5600
Connection ~ 10450 5600
Wire Wire Line
	10450 5600 10700 5600
Wire Wire Line
	10200 5300 10200 5600
Connection ~ 10200 5600
Wire Wire Line
	10200 5600 10450 5600
Wire Wire Line
	9950 5300 9950 5600
Connection ~ 9950 5600
Wire Wire Line
	9950 5600 10200 5600
Wire Wire Line
	9700 5300 9700 5600
Connection ~ 9700 5600
Wire Wire Line
	9700 5600 9950 5600
Wire Wire Line
	9450 5300 9450 5600
Connection ~ 9450 5600
Wire Wire Line
	9450 5600 9700 5600
Wire Wire Line
	9200 5300 9200 5600
Connection ~ 9200 5600
Wire Wire Line
	9200 5600 9450 5600
$Comp
L power:+5V #PWR0105
U 1 1 5F4C7006
P 10950 4800
F 0 "#PWR0105" H 10950 4650 50  0001 C CNN
F 1 "+5V" H 10965 4973 50  0000 C CNN
F 2 "" H 10950 4800 50  0001 C CNN
F 3 "" H 10950 4800 50  0001 C CNN
	1    10950 4800
	1    0    0    -1  
$EndComp
Wire Wire Line
	10950 4950 10950 4800
Connection ~ 10950 4950
$Comp
L Device:R_Small_US R5
U 1 1 5F4A1A22
P 8350 5450
F 0 "R5" H 8250 5550 50  0000 C CNN
F 1 "7.68k" V 8450 5450 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8350 5450 50  0001 C CNN
F 3 "~" H 8350 5450 50  0001 C CNN
	1    8350 5450
	-1   0    0    1   
$EndComp
Text Notes 8050 5200 0    50   ~ 0
0.25% or better
$Comp
L power:VBUS #PWR0106
U 1 1 5F4CAEEE
P 17150 2400
F 0 "#PWR0106" H 17150 2250 50  0001 C CNN
F 1 "VBUS" V 17150 2650 50  0000 C CNN
F 2 "" H 17150 2400 50  0001 C CNN
F 3 "" H 17150 2400 50  0001 C CNN
	1    17150 2400
	1    0    0    -1  
$EndComp
$Comp
L Device:R_Small_US R8
U 1 1 5F4DB109
P 14400 2400
F 0 "R8" H 14468 2446 50  0000 L CNN
F 1 "100k" H 14468 2355 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 14400 2400 50  0001 C CNN
F 3 "~" H 14400 2400 50  0001 C CNN
	1    14400 2400
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0108
U 1 1 5F4ED0A2
P 15100 3500
F 0 "#PWR0108" H 15100 3250 50  0001 C CNN
F 1 "GND" H 15105 3327 50  0000 C CNN
F 2 "" H 15100 3500 50  0001 C CNN
F 3 "" H 15100 3500 50  0001 C CNN
	1    15100 3500
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0109
U 1 1 5F4ED5D1
P 17150 3500
F 0 "#PWR0109" H 17150 3250 50  0001 C CNN
F 1 "GND" H 17155 3327 50  0000 C CNN
F 2 "" H 17150 3500 50  0001 C CNN
F 3 "" H 17150 3500 50  0001 C CNN
	1    17150 3500
	1    0    0    -1  
$EndComp
Wire Wire Line
	17150 3400 17150 3500
Wire Wire Line
	15100 3400 15100 3500
Text GLabel 17550 2600 2    50   Input ~ 0
ML+
Text GLabel 17550 3200 2    50   Input ~ 0
ML-
Wire Wire Line
	4100 2850 4150 2850
Wire Wire Line
	4100 3450 4150 3450
Text GLabel 15500 2600 2    50   Input ~ 0
MR-
Text GLabel 15500 3200 2    50   Input ~ 0
MR+
$Comp
L Connector:Conn_01x03_Male J4
U 1 1 5EE96798
P 2800 1450
F 0 "J4" H 2908 1731 50  0000 C CNN
F 1 "LineSensor" H 2908 1640 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 2800 1450 50  0001 C CNN
F 3 "~" H 2800 1450 50  0001 C CNN
	1    2800 1450
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x03_Male J3
U 1 1 5EE97251
P 2800 1000
F 0 "J3" H 2908 1281 50  0000 C CNN
F 1 "LineSensor" H 2908 1190 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 2800 1000 50  0001 C CNN
F 3 "~" H 2800 1000 50  0001 C CNN
	1    2800 1000
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x04_Male J7
U 1 1 5EE97506
P 5100 -250
F 0 "J7" H 5208 31  50  0000 C CNN
F 1 "Ultrasonic." H 5208 -60 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical" H 5100 -250 50  0001 C CNN
F 3 "~" H 5100 -250 50  0001 C CNN
	1    5100 -250
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x12_Female J5
U 1 1 5EEA014D
P 2850 2550
F 0 "J5" H 2878 2526 50  0000 L CNN
F 1 "THING" H 2878 2435 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x12_P2.54mm_Vertical" H 2850 2550 50  0001 C CNN
F 3 "~" H 2850 2550 50  0001 C CNN
	1    2850 2550
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x06_Male J12
U 1 1 5EEA248E
P 12450 3150
F 0 "J12" H 12558 3531 50  0000 C CNN
F 1 "ROMI-Encoder" H 12558 3440 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical" H 12450 3150 50  0001 C CNN
F 3 "~" H 12450 3150 50  0001 C CNN
	1    12450 3150
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x06_Male J13
U 1 1 5EEA38A0
P 12450 5000
F 0 "J13" H 12558 5381 50  0000 C CNN
F 1 "ROMI-Encoder" H 12558 5290 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical" H 12450 5000 50  0001 C CNN
F 3 "~" H 12450 5000 50  0001 C CNN
	1    12450 5000
	1    0    0    -1  
$EndComp
Text Notes 12250 3000 0    50   ~ 0
GND
Text Notes 12250 3100 0    50   ~ 0
ELB
Text Notes 12250 3200 0    50   ~ 0
ELA\n
Text Notes 12100 3300 0    50   ~ 0
VCCENC
Text Notes 12250 3400 0    50   ~ 0
ML+
Text Notes 12250 3500 0    50   ~ 0
ML-
Text Notes 12250 4850 0    50   ~ 0
GND
Text Notes 12250 4950 0    50   ~ 0
ELB
Text Notes 12250 5050 0    50   ~ 0
ELA
Text Notes 12100 5150 0    50   ~ 0
VCCENC
Text Notes 12250 5250 0    50   ~ 0
ML+
Text Notes 12250 5350 0    50   ~ 0
ML-
Text GLabel 4650 2350 2    50   Input ~ 0
GPIO21
Text GLabel 4650 2450 2    50   Input ~ 0
GPIO17
Text GLabel 4650 2550 2    50   Input ~ 0
GPIO16
Text GLabel 4650 2650 2    50   Input ~ 0
GPIO19
Text GLabel 4650 2750 2    50   Input ~ 0
GPIO18
Text GLabel 4650 2850 2    50   Input ~ 0
GPIO5
Text GLabel 4650 2950 2    50   Input ~ 0
GPIO4
Text GLabel 4650 3050 2    50   Input ~ 0
GPIO36
Text GLabel 4650 3150 2    50   Input ~ 0
GPIO39
Text GLabel 4650 3250 2    50   Input ~ 0
GPIO34
Text GLabel 4650 3350 2    50   Input ~ 0
GPIO25
Text GLabel 4650 3450 2    50   Input ~ 0
GPIO26
$Comp
L power:GND #PWR0110
U 1 1 5EEB6068
P 4950 3550
F 0 "#PWR0110" H 4950 3300 50  0001 C CNN
F 1 "GND" V 4955 3422 50  0000 R CNN
F 2 "" H 4950 3550 50  0001 C CNN
F 3 "" H 4950 3550 50  0001 C CNN
	1    4950 3550
	0    -1   -1   0   
$EndComp
$Comp
L power:+3.3V #PWR0111
U 1 1 5EEB70F6
P 4950 3750
F 0 "#PWR0111" H 4950 3600 50  0001 C CNN
F 1 "+3.3V" V 4965 3878 50  0000 L CNN
F 2 "" H 4950 3750 50  0001 C CNN
F 3 "" H 4950 3750 50  0001 C CNN
	1    4950 3750
	0    1    1    0   
$EndComp
Text GLabel 2550 2050 0    50   Input ~ 0
GPIO23
Text GLabel 2550 2150 0    50   Input ~ 0
GPIO22
Text GLabel 2550 2250 0    50   Input ~ 0
GPIO14
Text GLabel 2550 2350 0    50   Input ~ 0
GPIO32
Text GLabel 2550 2450 0    50   Input ~ 0
GPIO15
Text GLabel 2550 2550 0    50   Input ~ 0
GPIO33
Text GLabel 2550 2650 0    50   Input ~ 0
GPIO27
Text GLabel 2550 2750 0    50   Input ~ 0
GPIO12
Text GLabel 2550 2850 0    50   Input ~ 0
GPIO13
$Comp
L power:+5V #PWR0112
U 1 1 5EEBA0E4
P 2400 4150
F 0 "#PWR0112" H 2400 4000 50  0001 C CNN
F 1 "+5V" V 2415 4278 50  0000 L CNN
F 2 "" H 2400 4150 50  0001 C CNN
F 3 "" H 2400 4150 50  0001 C CNN
	1    2400 4150
	-1   0    0    1   
$EndComp
Wire Wire Line
	2650 2050 2550 2050
Wire Wire Line
	2650 2150 2550 2150
Wire Wire Line
	2650 2250 2550 2250
Wire Wire Line
	2650 2350 2550 2350
Wire Wire Line
	2650 2450 2550 2450
Wire Wire Line
	2650 2550 2550 2550
Wire Wire Line
	2650 2650 2550 2650
Wire Wire Line
	2650 2750 2550 2750
Wire Wire Line
	2650 2850 2550 2850
Wire Wire Line
	4550 2350 4650 2350
Wire Wire Line
	4550 2450 4650 2450
Wire Wire Line
	4550 2550 4650 2550
Wire Wire Line
	4550 2650 4650 2650
Wire Wire Line
	4550 2750 4650 2750
Wire Wire Line
	4550 2850 4650 2850
Wire Wire Line
	4550 2950 4650 2950
Wire Wire Line
	4550 3050 4650 3050
Wire Wire Line
	4550 3150 4650 3150
Wire Wire Line
	4550 3250 4650 3250
Wire Wire Line
	4550 3350 4650 3350
Wire Wire Line
	4550 3450 4650 3450
Wire Wire Line
	4950 3550 4550 3550
Wire Wire Line
	4550 3750 4950 3750
$Comp
L power:GND #PWR0113
U 1 1 5EF5EACD
P 13150 4800
F 0 "#PWR0113" H 13150 4550 50  0001 C CNN
F 1 "GND" V 13155 4672 50  0000 R CNN
F 2 "" H 13150 4800 50  0001 C CNN
F 3 "" H 13150 4800 50  0001 C CNN
	1    13150 4800
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR0114
U 1 1 5EF66105
P 13200 2950
F 0 "#PWR0114" H 13200 2700 50  0001 C CNN
F 1 "GND" V 13205 2822 50  0000 R CNN
F 2 "" H 13200 2950 50  0001 C CNN
F 3 "" H 13200 2950 50  0001 C CNN
	1    13200 2950
	0    -1   -1   0   
$EndComp
Text GLabel 13200 3150 2    50   Input ~ 0
GPIO27
Text GLabel 13200 3050 2    50   Input ~ 0
GPIO26
Text GLabel 6300 -150 2    50   Input ~ 0
GPIO17
Text GLabel 5600 -300 2    50   Input ~ 0
GPIO16
Wire Wire Line
	13200 2950 12650 2950
Wire Wire Line
	13150 4800 12650 4800
Text GLabel 14700 3000 0    50   Input ~ 0
GPIO12
Text GLabel 14700 2900 0    50   Input ~ 0
GPIO25
Text GLabel 16750 2900 0    50   Input ~ 0
GPIO4
Text GLabel 16750 3000 0    50   Input ~ 0
GPIO13
$Comp
L Connector:Conn_01x04_Male J1
U 1 1 5F02C6DF
P 1750 1100
F 0 "J1" H 1858 1381 50  0000 C CNN
F 1 "ServoAnalog" H 1858 1290 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical" H 1750 1100 50  0001 C CNN
F 3 "~" H 1750 1100 50  0001 C CNN
	1    1750 1100
	1    0    0    -1  
$EndComp
Text GLabel 2050 1200 2    50   Input ~ 0
GPIO33
Text GLabel 2050 1300 2    50   Input ~ 0
GPIO34
$Comp
L power:+5V #PWR0115
U 1 1 5F02EA50
P 2050 1100
F 0 "#PWR0115" H 2050 950 50  0001 C CNN
F 1 "+5V" V 2065 1228 50  0000 L CNN
F 2 "" H 2050 1100 50  0001 C CNN
F 3 "" H 2050 1100 50  0001 C CNN
	1    2050 1100
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0116
U 1 1 5F02F2FA
P 2050 1000
F 0 "#PWR0116" H 2050 750 50  0001 C CNN
F 1 "GND" V 2055 872 50  0000 R CNN
F 2 "" H 2050 1000 50  0001 C CNN
F 3 "" H 2050 1000 50  0001 C CNN
	1    2050 1000
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2050 1000 1950 1000
Wire Wire Line
	2050 1100 1950 1100
Wire Wire Line
	1950 1200 2050 1200
Wire Wire Line
	1950 1300 2050 1300
$Comp
L power:GND #PWR0117
U 1 1 5F0659A1
P 3100 900
F 0 "#PWR0117" H 3100 650 50  0001 C CNN
F 1 "GND" V 3105 772 50  0000 R CNN
F 2 "" H 3100 900 50  0001 C CNN
F 3 "" H 3100 900 50  0001 C CNN
	1    3100 900 
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR0118
U 1 1 5F065D2D
P 3000 1350
F 0 "#PWR0118" H 3000 1100 50  0001 C CNN
F 1 "GND" V 3005 1222 50  0000 R CNN
F 2 "" H 3000 1350 50  0001 C CNN
F 3 "" H 3000 1350 50  0001 C CNN
	1    3000 1350
	0    -1   -1   0   
$EndComp
$Comp
L power:+3.3V #PWR0119
U 1 1 5F066072
P 3100 1100
F 0 "#PWR0119" H 3100 950 50  0001 C CNN
F 1 "+3.3V" V 3115 1228 50  0000 L CNN
F 2 "" H 3100 1100 50  0001 C CNN
F 3 "" H 3100 1100 50  0001 C CNN
	1    3100 1100
	0    1    1    0   
$EndComp
$Comp
L power:+3.3V #PWR0120
U 1 1 5F06675F
P 3000 1550
F 0 "#PWR0120" H 3000 1400 50  0001 C CNN
F 1 "+3.3V" V 3015 1678 50  0000 L CNN
F 2 "" H 3000 1550 50  0001 C CNN
F 3 "" H 3000 1550 50  0001 C CNN
	1    3000 1550
	0    1    1    0   
$EndComp
Text GLabel 3100 1000 2    50   Input ~ 0
GPIO36
Text GLabel 3000 1450 2    50   Input ~ 0
GPIO39
Wire Wire Line
	3100 900  3000 900 
Wire Wire Line
	3100 1000 3000 1000
Wire Wire Line
	3100 1100 3000 1100
$Comp
L power:GND #PWR0121
U 1 1 5F0BDC9A
P 5300 -50
F 0 "#PWR0121" H 5300 -300 50  0001 C CNN
F 1 "GND" V 5300 -250 50  0000 R CNN
F 2 "" H 5300 -50 50  0001 C CNN
F 3 "" H 5300 -50 50  0001 C CNN
	1    5300 -50 
	0    -1   -1   0   
$EndComp
Text GLabel 13150 4900 2    50   Input ~ 0
GPIO32
Text GLabel 13150 5000 2    50   Input ~ 0
GPIO14
$Comp
L power:+3.3V #PWR0122
U 1 1 5EEAE8DA
P 6350 900
F 0 "#PWR0122" H 6350 750 50  0001 C CNN
F 1 "+3.3V" V 6365 1028 50  0000 L CNN
F 2 "" H 6350 900 50  0001 C CNN
F 3 "" H 6350 900 50  0001 C CNN
	1    6350 900 
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0123
U 1 1 5EEAECD4
P 6350 1400
F 0 "#PWR0123" H 6350 1150 50  0001 C CNN
F 1 "GND" V 6355 1272 50  0000 R CNN
F 2 "" H 6350 1400 50  0001 C CNN
F 3 "" H 6350 1400 50  0001 C CNN
	1    6350 1400
	0    -1   -1   0   
$EndComp
Text GLabel 14250 2600 0    50   Input ~ 0
MOTOR_DISABLE
Text GLabel 6350 1100 2    50   Input ~ 0
GPIO19
Text GLabel 6350 1200 2    50   Input ~ 0
GPIO18
Text GLabel 6350 1300 2    50   Input ~ 0
GPIO5
Wire Wire Line
	6350 900  6300 900 
Wire Wire Line
	6350 1000 6300 1000
Wire Wire Line
	6300 1100 6350 1100
Wire Wire Line
	6350 1200 6300 1200
Wire Wire Line
	6300 1300 6350 1300
Text Notes 8650 -1150 0    50   ~ 0
trig
Text Notes 8650 -1050 0    50   ~ 0
rcho
$Comp
L Connector:Conn_01x19_Female J2
U 1 1 5F01D059
P 1950 2950
F 0 "J2" H 1978 2930 50  0000 L CNN
F 1 "Conn_01x19_Female" H 1978 2885 50  0001 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x19_P2.54mm_Vertical" H 1950 2950 50  0001 C CNN
F 3 "~" H 1950 2950 50  0001 C CNN
	1    1950 2950
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0124
U 1 1 5F044560
P 1550 2050
F 0 "#PWR0124" H 1550 1900 50  0001 C CNN
F 1 "+3.3V" V 1565 2178 50  0000 L CNN
F 2 "" H 1550 2050 50  0001 C CNN
F 3 "" H 1550 2050 50  0001 C CNN
	1    1550 2050
	0    -1   -1   0   
$EndComp
Text GLabel 1700 2250 0    50   Input ~ 0
GPIO36
Text GLabel 1700 2350 0    50   Input ~ 0
GPIO39
Text GLabel 1700 2450 0    50   Input ~ 0
GPIO34
Text GLabel 1700 2550 0    50   Input ~ 0
GPIO35
Text GLabel 1700 2650 0    50   Input ~ 0
GPIO32
Text GLabel 1700 2750 0    50   Input ~ 0
GPIO33
Text GLabel 1700 2850 0    50   Input ~ 0
GPIO25
Text GLabel 1700 2950 0    50   Input ~ 0
GPIO26
Text GLabel 1700 3050 0    50   Input ~ 0
GPIO27
Text GLabel 1700 3150 0    50   Input ~ 0
GPIO14
Text GLabel 1700 3250 0    50   Input ~ 0
GPIO12
$Comp
L power:GND #PWR0125
U 1 1 5F04AAFB
P 1300 3350
F 0 "#PWR0125" H 1300 3100 50  0001 C CNN
F 1 "GND" V 1305 3222 50  0000 R CNN
F 2 "" H 1300 3350 50  0001 C CNN
F 3 "" H 1300 3350 50  0001 C CNN
	1    1300 3350
	0    1    1    0   
$EndComp
Text GLabel 1700 3450 0    50   Input ~ 0
GPIO13
Wire Wire Line
	1750 3850 1350 3850
Wire Wire Line
	1300 3350 1750 3350
$Comp
L power:GND #PWR0127
U 1 1 5F0613E4
P 3750 2050
F 0 "#PWR0127" H 3750 1800 50  0001 C CNN
F 1 "GND" V 3755 1922 50  0000 R CNN
F 2 "" H 3750 2050 50  0001 C CNN
F 3 "" H 3750 2050 50  0001 C CNN
	1    3750 2050
	0    1    -1   0   
$EndComp
Text GLabel 3950 2150 0    50   Input ~ 0
GPIO23
Text GLabel 3950 2250 0    50   Input ~ 0
GPIO22
Text GLabel 3950 2350 0    50   Input ~ 0
GPIO1
Text GLabel 3950 2450 0    50   Input ~ 0
GPIO3
Text GLabel 3950 2550 0    50   Input ~ 0
GPIO21
Text GLabel 3950 2750 0    50   Input ~ 0
GPIO19
Text GLabel 3950 2850 0    50   Input ~ 0
GPIO18
Text GLabel 3950 2950 0    50   Input ~ 0
GPIO5
Text GLabel 3950 3050 0    50   Input ~ 0
GPIO17
Text GLabel 3950 3150 0    50   Input ~ 0
GPIO16
Text GLabel 3950 3250 0    50   Input ~ 0
GPIO4
Text GLabel 3950 3350 0    50   Input ~ 0
GPIO0
Text GLabel 3950 3450 0    50   Input ~ 0
GPIO2
Text GLabel 3950 3550 0    50   Input ~ 0
GPIO15
$Comp
L power:GND #PWR0128
U 1 1 5F072993
P 3750 2650
F 0 "#PWR0128" H 3750 2400 50  0001 C CNN
F 1 "GND" V 3755 2522 50  0000 R CNN
F 2 "" H 3750 2650 50  0001 C CNN
F 3 "" H 3750 2650 50  0001 C CNN
	1    3750 2650
	0    1    -1   0   
$EndComp
Wire Wire Line
	4050 2050 3750 2050
Wire Wire Line
	4050 2650 3750 2650
Wire Wire Line
	4050 2150 3950 2150
Wire Wire Line
	4050 2250 3950 2250
Wire Wire Line
	4050 2350 3950 2350
Wire Wire Line
	3950 2450 4050 2450
Wire Wire Line
	4050 2550 3950 2550
Wire Wire Line
	3950 2750 4050 2750
Wire Wire Line
	4050 2850 3950 2850
Wire Wire Line
	3950 2950 4050 2950
Wire Wire Line
	3950 3050 4050 3050
Wire Wire Line
	3950 3150 4050 3150
Wire Wire Line
	3950 3250 4050 3250
Wire Wire Line
	3950 3350 4050 3350
Wire Wire Line
	3950 3450 4050 3450
Wire Wire Line
	3950 3550 4050 3550
Wire Wire Line
	3950 3650 4050 3650
Wire Wire Line
	3950 3750 4050 3750
Wire Wire Line
	3950 3850 4050 3850
Wire Wire Line
	1750 2050 1550 2050
Wire Wire Line
	1750 2250 1700 2250
Wire Wire Line
	1750 2350 1700 2350
Wire Wire Line
	1750 2450 1700 2450
Wire Wire Line
	1750 2550 1700 2550
Wire Wire Line
	1750 2650 1700 2650
Wire Wire Line
	1750 2750 1700 2750
Wire Wire Line
	1750 2850 1700 2850
Wire Wire Line
	1750 2950 1700 2950
Wire Wire Line
	1750 3450 1700 3450
Wire Wire Line
	1750 3550 1700 3550
Wire Wire Line
	1700 3650 1750 3650
Wire Wire Line
	1750 3750 1700 3750
Text GLabel 1700 2150 0    50   Input ~ 0
EN
Wire Wire Line
	1750 2150 1700 2150
Text Notes 11900 2950 0    50   ~ 0
Left
Text Notes 12050 4950 2    50   ~ 0
Right
$Comp
L Connector:Conn_01x04_Male J9
U 1 1 5F351CBA
P 7700 1200
F 0 "J9" H 7808 1481 50  0000 C CNN
F 1 "i2c" H 7808 1390 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical" H 7700 1200 50  0001 C CNN
F 3 "~" H 7700 1200 50  0001 C CNN
	1    7700 1200
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0129
U 1 1 5F351CC0
P 7950 1100
F 0 "#PWR0129" H 7950 950 50  0001 C CNN
F 1 "+3.3V" V 7965 1228 50  0000 L CNN
F 2 "" H 7950 1100 50  0001 C CNN
F 3 "" H 7950 1100 50  0001 C CNN
	1    7950 1100
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0130
U 1 1 5F351CC6
P 7950 1400
F 0 "#PWR0130" H 7950 1150 50  0001 C CNN
F 1 "GND" V 7955 1272 50  0000 R CNN
F 2 "" H 7950 1400 50  0001 C CNN
F 3 "" H 7950 1400 50  0001 C CNN
	1    7950 1400
	0    -1   -1   0   
$EndComp
Wire Wire Line
	7950 1100 7900 1100
Wire Wire Line
	7950 1400 7900 1400
Text GLabel 8000 1200 2    50   Input ~ 0
GPIO22
Wire Wire Line
	8000 1200 7900 1200
Wire Wire Line
	8000 1300 7900 1300
NoConn ~ 1250 2750
NoConn ~ 1250 2450
NoConn ~ 2150 2550
NoConn ~ 5050 3250
NoConn ~ 1250 2250
NoConn ~ 1250 2300
NoConn ~ 5050 3050
NoConn ~ 5050 3150
NoConn ~ 2150 2250
NoConn ~ 2150 2350
NoConn ~ 1250 2650
NoConn ~ 1250 3150
NoConn ~ 3550 3050
NoConn ~ 3550 3150
NoConn ~ 5050 2450
NoConn ~ 5050 2550
NoConn ~ 1250 3050
NoConn ~ 1250 2950
NoConn ~ 2150 2650
NoConn ~ 5050 3450
NoConn ~ 5050 2950
NoConn ~ 2150 2850
NoConn ~ 3550 3250
NoConn ~ 5050 3350
NoConn ~ 2150 2750
NoConn ~ 3550 3550
NoConn ~ 2150 2450
Text Notes 8650 2900 0    50   ~ 0
Free: 23 22 21 19 18 5
Text GLabel 3650 7050 2    50   Input ~ 0
GPIO23
Text GLabel 3650 7250 2    50   Input ~ 0
GPIO21
$Comp
L Device:R_Small R1
U 1 1 5F1ADAC2
P 6000 -150
F 0 "R1" V 5804 -150 50  0000 C CNN
F 1 "10k" V 5895 -150 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 6000 -150 50  0001 C CNN
F 3 "~" H 6000 -150 50  0001 C CNN
	1    6000 -150
	0    1    1    0   
$EndComp
$Comp
L Device:D_Zener D1
U 1 1 5F1ECB50
P 6200 -500
F 0 "D1" V 6200 -421 50  0000 L CNN
F 1 "D_Zener" V 6245 -421 50  0001 L CNN
F 2 "Diode_SMD:D_SOD-323F" H 6200 -500 50  0001 C CNN
F 3 "~" H 6200 -500 50  0001 C CNN
	1    6200 -500
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR0132
U 1 1 5F1EDCD3
P 6200 -700
F 0 "#PWR0132" H 6200 -950 50  0001 C CNN
F 1 "GND" V 6205 -828 50  0000 R CNN
F 2 "" H 6200 -700 50  0001 C CNN
F 3 "" H 6200 -700 50  0001 C CNN
	1    6200 -700
	-1   0    0    1   
$EndComp
Wire Wire Line
	6100 -150 6200 -150
Wire Wire Line
	6200 -350 6200 -150
Connection ~ 6200 -150
Wire Wire Line
	6200 -150 6300 -150
Wire Wire Line
	6200 -700 6200 -650
Text GLabel 6350 1000 2    50   Input ~ 0
GPIO23
Text GLabel 8000 1300 2    50   Input ~ 0
SDA
Text GLabel 3250 7150 0    50   Input ~ 0
SDA
$Comp
L Device:C C2
U 1 1 5F480A06
P 5550 5000
F 0 "C2" H 5665 5046 50  0000 L CNN
F 1 "10u" H 5665 4955 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 5588 4850 50  0001 C CNN
F 3 "~" H 5550 5000 50  0001 C CNN
	1    5550 5000
	1    0    0    -1  
$EndComp
Wire Wire Line
	8000 -1200 7850 -1200
Wire Wire Line
	5250 4850 5250 5600
Connection ~ 5250 5600
Wire Wire Line
	5600 -300 5600 -250
Wire Wire Line
	5600 -250 5300 -250
Wire Wire Line
	12650 5000 13000 5000
Wire Wire Line
	12650 4900 12900 4900
Wire Wire Line
	12650 3150 13050 3150
Wire Wire Line
	12650 3050 12950 3050
Text GLabel 12750 5200 2    50   Input ~ 0
MR+
Text GLabel 12750 5300 2    50   Input ~ 0
MR-
Text GLabel 12750 3350 2    50   Input ~ 0
ML+
Text GLabel 12750 3450 2    50   Input ~ 0
ML-
$Comp
L power:+3.3V #PWR0133
U 1 1 5F67EF4B
P 12750 5100
F 0 "#PWR0133" H 12750 4950 50  0001 C CNN
F 1 "+3.3V" V 12765 5228 50  0000 L CNN
F 2 "" H 12750 5100 50  0001 C CNN
F 3 "" H 12750 5100 50  0001 C CNN
	1    12750 5100
	0    1    1    0   
$EndComp
$Comp
L power:+3.3V #PWR0134
U 1 1 5F68079A
P 12750 3250
F 0 "#PWR0134" H 12750 3100 50  0001 C CNN
F 1 "+3.3V" V 12765 3378 50  0000 L CNN
F 2 "" H 12750 3250 50  0001 C CNN
F 3 "" H 12750 3250 50  0001 C CNN
	1    12750 3250
	0    1    1    0   
$EndComp
Wire Wire Line
	12650 3250 12750 3250
Wire Wire Line
	12750 3350 12650 3350
Wire Wire Line
	12650 3450 12750 3450
Wire Wire Line
	12750 5100 12650 5100
Wire Wire Line
	12650 5200 12750 5200
Wire Wire Line
	12750 5300 12650 5300
$Comp
L power:+3.3V #PWR0137
U 1 1 5F70F933
P 14400 2200
F 0 "#PWR0137" H 14400 2050 50  0001 C CNN
F 1 "+3.3V" V 14415 2328 50  0000 L CNN
F 2 "" H 14400 2200 50  0001 C CNN
F 3 "" H 14400 2200 50  0001 C CNN
	1    14400 2200
	1    0    0    -1  
$EndComp
Wire Wire Line
	14400 2200 14400 2300
Wire Wire Line
	14700 2800 14400 2800
Wire Wire Line
	14400 2800 14400 2600
Wire Wire Line
	14400 2600 14250 2600
Wire Wire Line
	14400 2500 14400 2600
Connection ~ 14400 2600
Wire Wire Line
	6350 1500 6300 1500
Wire Wire Line
	6350 1400 6300 1400
$Comp
L Connector_Generic:Conn_02x19_Odd_Even J6
U 1 1 5F64EE4F
P 4350 2950
F 0 "J6" H 4400 4067 50  0000 C CNN
F 1 "Conn_02x19_Odd_Even" H 4400 3976 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_2x19_P2.54mm_Vertical" H 4350 2950 50  0001 C CNN
F 3 "~" H 4350 2950 50  0001 C CNN
	1    4350 2950
	-1   0    0    -1  
$EndComp
$Comp
L Transistor_FET:SiS415DNT Q2
U 1 1 5F6E7345
P 9100 -1100
F 0 "Q2" V 9443 -1100 50  0000 C CNN
F 1 "SiS415DNT" V 9352 -1100 50  0000 C CNN
F 2 "Package_SO:Vishay_PowerPAK_1212-8_Single" H 9300 -1175 50  0001 L CIN
F 3 "https://www.vishay.com/docs/63684/sis415dnt.pdf" V 9100 -1100 50  0001 L CNN
	1    9100 -1100
	0    1    -1   0   
$EndComp
$Comp
L Transistor_FET:SiS415DNT Q1
U 1 1 5F6E9CE6
P 8200 -1100
F 0 "Q1" V 8543 -1100 50  0000 C CNN
F 1 "SiS415DNT" V 8452 -1100 50  0000 C CNN
F 2 "Package_SO:Vishay_PowerPAK_1212-8_Single" H 8400 -1175 50  0001 L CIN
F 3 "https://www.vishay.com/docs/63684/sis415dnt.pdf" V 8200 -1100 50  0001 L CNN
	1    8200 -1100
	0    -1   -1   0   
$EndComp
$Comp
L Connector:TestPoint TP1
U 1 1 5F73093E
P 3450 4650
F 0 "TP1" V 3404 4838 50  0000 L CNN
F 1 "TestPoint" V 3495 4838 50  0000 L CNN
F 2 "unified:batterylug" H 3650 4650 50  0001 C CNN
F 3 "~" H 3650 4650 50  0001 C CNN
	1    3450 4650
	0    1    1    0   
$EndComp
$Comp
L Connector:TestPoint TP2
U 1 1 5F731413
P 3450 4850
F 0 "TP2" V 3404 5038 50  0000 L CNN
F 1 "TestPoint" V 3495 5038 50  0000 L CNN
F 2 "unified:batterylug" H 3650 4850 50  0001 C CNN
F 3 "~" H 3650 4850 50  0001 C CNN
	1    3450 4850
	0    1    1    0   
$EndComp
$Comp
L Connector:TestPoint TP3
U 1 1 5F731630
P 3450 5050
F 0 "TP3" V 3404 5238 50  0000 L CNN
F 1 "TestPoint" V 3495 5238 50  0000 L CNN
F 2 "unified:batterylug" H 3650 5050 50  0001 C CNN
F 3 "~" H 3650 5050 50  0001 C CNN
	1    3450 5050
	0    1    1    0   
$EndComp
$Comp
L Connector:TestPoint TP4
U 1 1 5F7319FF
P 3450 5250
F 0 "TP4" V 3404 5438 50  0000 L CNN
F 1 "TestPoint" V 3495 5438 50  0000 L CNN
F 2 "unified:batterylug" H 3650 5250 50  0001 C CNN
F 3 "~" H 3650 5250 50  0001 C CNN
	1    3450 5250
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0141
U 1 1 5F731C08
P 3400 5600
F 0 "#PWR0141" H 3400 5350 50  0001 C CNN
F 1 "GND" H 3405 5427 50  0000 C CNN
F 2 "" H 3400 5600 50  0001 C CNN
F 3 "" H 3400 5600 50  0001 C CNN
	1    3400 5600
	1    0    0    -1  
$EndComp
Wire Wire Line
	3450 5250 3400 5250
Wire Wire Line
	3400 5250 3400 5600
Wire Wire Line
	3450 5050 3400 5050
Wire Wire Line
	3400 5050 3400 4850
Wire Wire Line
	3400 4850 3450 4850
Wire Wire Line
	3450 4650 3400 4650
Wire Wire Line
	3400 4650 3400 4500
$Comp
L Connector:Conn_01x12_Female J14
U 1 1 5F784A6F
P 1700 5400
F 0 "J14" H 1728 5376 50  0000 L CNN
F 1 "THING" H 1728 5285 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x12_P2.54mm_Vertical" H 1700 5400 50  0001 C CNN
F 3 "~" H 1700 5400 50  0001 C CNN
	1    1700 5400
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x12_Female J15
U 1 1 5F7855EB
P 1700 6750
F 0 "J15" H 1728 6726 50  0000 L CNN
F 1 "THING" H 1728 6635 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x12_P2.54mm_Vertical" H 1700 6750 50  0001 C CNN
F 3 "~" H 1700 6750 50  0001 C CNN
	1    1700 6750
	1    0    0    -1  
$EndComp
Wire Wire Line
	5850 4850 5850 5600
$Comp
L romi-unified-board:MP4423H U1
U 1 1 5F47BCD7
P 7350 4900
F 0 "U1" H 7350 5565 50  0000 C CNN
F 1 "MP4423H" H 7350 5474 50  0000 C CNN
F 2 "unified:MP4423H" H 7050 4250 50  0001 C CNN
F 3 "" H 7050 4250 50  0001 C CNN
	1    7350 4900
	1    0    0    -1  
$EndComp
$Comp
L power:VBUS #PWR0107
U 1 1 5F696F92
P 5250 4500
F 0 "#PWR0107" H 5250 4350 50  0001 C CNN
F 1 "VBUS" H 5265 4673 50  0000 C CNN
F 2 "" H 5250 4500 50  0001 C CNN
F 3 "" H 5250 4500 50  0001 C CNN
	1    5250 4500
	1    0    0    -1  
$EndComp
Wire Wire Line
	3400 4500 3900 4500
$Comp
L power:+BATT #PWR0142
U 1 1 5F76753B
P 3900 4500
F 0 "#PWR0142" H 3900 4350 50  0001 C CNN
F 1 "+BATT" H 3915 4673 50  0000 C CNN
F 2 "" H 3900 4500 50  0001 C CNN
F 3 "" H 3900 4500 50  0001 C CNN
	1    3900 4500
	1    0    0    -1  
$EndComp
Connection ~ 5250 4500
$Comp
L power:VBUS #PWR0145
U 1 1 5F8011EF
P 15100 2400
F 0 "#PWR0145" H 15100 2250 50  0001 C CNN
F 1 "VBUS" V 15100 2650 50  0000 C CNN
F 2 "" H 15100 2400 50  0001 C CNN
F 3 "" H 15100 2400 50  0001 C CNN
	1    15100 2400
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0146
U 1 1 5F8011F5
P 15000 2400
F 0 "#PWR0146" H 15000 2250 50  0001 C CNN
F 1 "+3.3V" V 15015 2528 50  0000 L CNN
F 2 "" H 15000 2400 50  0001 C CNN
F 3 "" H 15000 2400 50  0001 C CNN
	1    15000 2400
	1    0    0    -1  
$EndComp
$Comp
L Device:R_Small_US R17
U 1 1 5FA79790
P 13050 2700
F 0 "R17" H 13118 2746 50  0000 L CNN
F 1 "100k" H 13100 2600 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 13050 2700 50  0001 C CNN
F 3 "~" H 13050 2700 50  0001 C CNN
	1    13050 2700
	1    0    0    -1  
$EndComp
$Comp
L Device:R_Small_US R15
U 1 1 5FA7AC8D
P 12950 2700
F 0 "R15" H 12800 2750 50  0000 L CNN
F 1 "100k" H 12750 2600 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 12950 2700 50  0001 C CNN
F 3 "~" H 12950 2700 50  0001 C CNN
	1    12950 2700
	1    0    0    -1  
$EndComp
$Comp
L Device:R_Small_US R16
U 1 1 5FA7B6FA
P 13000 4500
F 0 "R16" H 13068 4546 50  0000 L CNN
F 1 "100k" H 13050 4400 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 13000 4500 50  0001 C CNN
F 3 "~" H 13000 4500 50  0001 C CNN
	1    13000 4500
	1    0    0    -1  
$EndComp
$Comp
L Device:R_Small_US R14
U 1 1 5FA7B700
P 12900 4500
F 0 "R14" H 12750 4550 50  0000 L CNN
F 1 "100k" H 12700 4400 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 12900 4500 50  0001 C CNN
F 3 "~" H 12900 4500 50  0001 C CNN
	1    12900 4500
	1    0    0    -1  
$EndComp
Wire Wire Line
	12950 2800 12950 3050
Connection ~ 12950 3050
Wire Wire Line
	12950 3050 13200 3050
Wire Wire Line
	13050 2800 13050 3150
Connection ~ 13050 3150
Wire Wire Line
	13050 3150 13200 3150
Wire Wire Line
	12900 4600 12900 4900
Connection ~ 12900 4900
Wire Wire Line
	12900 4900 13150 4900
Wire Wire Line
	13000 4600 13000 5000
Connection ~ 13000 5000
Wire Wire Line
	13000 5000 13150 5000
$Comp
L power:+3.3V #PWR0152
U 1 1 5FB07102
P 12900 4300
F 0 "#PWR0152" H 12900 4150 50  0001 C CNN
F 1 "+3.3V" V 12915 4428 50  0000 L CNN
F 2 "" H 12900 4300 50  0001 C CNN
F 3 "" H 12900 4300 50  0001 C CNN
	1    12900 4300
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0153
U 1 1 5FB65040
P 12950 2500
F 0 "#PWR0153" H 12950 2350 50  0001 C CNN
F 1 "+3.3V" V 12965 2628 50  0000 L CNN
F 2 "" H 12950 2500 50  0001 C CNN
F 3 "" H 12950 2500 50  0001 C CNN
	1    12950 2500
	1    0    0    -1  
$EndComp
Wire Wire Line
	12900 4350 13000 4350
Wire Wire Line
	13000 4350 13000 4400
Wire Wire Line
	12900 4300 12900 4350
Wire Wire Line
	12900 4350 12900 4400
Connection ~ 12900 4350
Wire Wire Line
	12950 2500 12950 2550
Wire Wire Line
	12950 2550 13050 2550
Wire Wire Line
	13050 2550 13050 2600
Connection ~ 12950 2550
Wire Wire Line
	12950 2550 12950 2600
$Comp
L Device:D D4
U 1 1 5FFBB146
P 2400 3600
F 0 "D4" V 2446 3521 50  0000 R CNN
F 1 "PMEG4005EJ,115" V 2355 3521 50  0000 R CNN
F 2 "Diode_SMD:D_SOD-323F" H 2400 3600 50  0001 C CNN
F 3 "~" H 2400 3600 50  0001 C CNN
	1    2400 3600
	0    1    1    0   
$EndComp
$Comp
L Device:D D5
U 1 1 5FFBB3BD
P 2400 3950
F 0 "D5" V 2446 3871 50  0000 R CNN
F 1 "PMEG4005EJ,115" V 2355 3871 50  0000 R CNN
F 2 "Diode_SMD:D_SOD-323F" H 2400 3950 50  0001 C CNN
F 3 "~" H 2400 3950 50  0001 C CNN
	1    2400 3950
	0    1    1    0   
$EndComp
Wire Wire Line
	2400 4100 2400 4150
Wire Wire Line
	2400 3750 2400 3800
Wire Wire Line
	2650 3150 2400 3150
Wire Wire Line
	2400 3150 2400 3450
Text Notes 2500 4300 0    50   ~ 0
VUSB connects right to the plug.\nWe can't hook it up to 5v.\nWe drop the 5v by about a \nvolt and feed it into the BAT pin.
NoConn ~ 2600 2950
$Comp
L power:VBUS #PWR0160
U 1 1 60098A03
P 9750 -1200
F 0 "#PWR0160" H 9750 -1350 50  0001 C CNN
F 1 "VBUS" V 9750 -950 50  0000 C CNN
F 2 "" H 9750 -1200 50  0001 C CNN
F 3 "" H 9750 -1200 50  0001 C CNN
	1    9750 -1200
	0    1    1    0   
$EndComp
Wire Wire Line
	9300 -1200 9750 -1200
Text Notes 17100 150  0    50   ~ 0
DNP U5,U6,U7,U4
$Comp
L Device:LED D8
U 1 1 5F68EAD9
P 19100 2300
F 0 "D8" V 19139 2182 50  0000 R CNN
F 1 "LED" V 19048 2182 50  0000 R CNN
F 2 "LED_SMD:LED_0603_1608Metric" H 19100 2300 50  0001 C CNN
F 3 "~" H 19100 2300 50  0001 C CNN
	1    19100 2300
	0    -1   -1   0   
$EndComp
$Comp
L Device:R_Small_US R25
U 1 1 5F68F99B
P 19100 2000
F 0 "R25" H 19168 2046 50  0000 L CNN
F 1 "330" H 19168 1955 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 19100 2000 50  0001 C CNN
F 3 "~" H 19100 2000 50  0001 C CNN
	1    19100 2000
	1    0    0    -1  
$EndComp
Wire Wire Line
	19100 2100 19100 2150
$Comp
L power:+3.3V #PWR0164
U 1 1 5F6B1CD6
P 19100 1800
F 0 "#PWR0164" H 19100 1650 50  0001 C CNN
F 1 "+3.3V" V 19115 1928 50  0000 L CNN
F 2 "" H 19100 1800 50  0001 C CNN
F 3 "" H 19100 1800 50  0001 C CNN
	1    19100 1800
	1    0    0    -1  
$EndComp
Wire Wire Line
	19100 1800 19100 1900
Wire Wire Line
	19100 2450 19100 2500
Wire Wire Line
	19100 2500 18900 2500
Text Notes 19350 2600 0    50   ~ 0
Motor Disable LED
Text GLabel 1500 5000 0    50   Input ~ 0
GPIO32
Text GLabel 1500 4900 0    50   Input ~ 0
GPIO35
Text GLabel 1500 5700 0    50   Input ~ 0
GPIO18
Text GLabel 1500 5600 0    50   Input ~ 0
GPIO19
Text GLabel 1500 5500 0    50   Input ~ 0
GPIO21
Text GLabel 1500 5400 0    50   Input ~ 0
GPIO23
Text GLabel 1500 5100 0    50   Input ~ 0
GPIO27
Text GLabel 1500 5200 0    50   Input ~ 0
GPIO26
Text GLabel 1500 5300 0    50   Input ~ 0
GPIO25
Text GLabel 1500 5800 0    50   Input ~ 0
GPIO15
Text GLabel 1500 6350 0    50   Input ~ 0
GPIO4
Text GLabel 1500 6250 0    50   Input ~ 0
GPIO5
Text GLabel 1500 6450 0    50   Input ~ 0
GPIO3
Text GLabel 1500 6550 0    50   Input ~ 0
GPIO1
Text GLabel 1500 6000 0    50   Input ~ 0
GPIO13
Text GLabel 1500 6850 0    50   Input ~ 0
GPIO12
Text GLabel 1500 5900 0    50   Input ~ 0
GPIO14
$Comp
L power:GND #PWR0167
U 1 1 5F9A5B7A
P 1400 7350
F 0 "#PWR0167" H 1400 7100 50  0001 C CNN
F 1 "GND" H 1405 7177 50  0000 C CNN
F 2 "" H 1400 7350 50  0001 C CNN
F 3 "" H 1400 7350 50  0001 C CNN
	1    1400 7350
	0    1    1    0   
$EndComp
$Comp
L power:+5V #PWR0168
U 1 1 5F9A630C
P 950 7250
F 0 "#PWR0168" H 950 7100 50  0001 C CNN
F 1 "+5V" H 965 7423 50  0000 C CNN
F 2 "" H 950 7250 50  0001 C CNN
F 3 "" H 950 7250 50  0001 C CNN
	1    950  7250
	0    -1   -1   0   
$EndComp
$Comp
L power:VBUS #PWR0169
U 1 1 5F9A7DF6
P 1150 7150
F 0 "#PWR0169" H 1150 7000 50  0001 C CNN
F 1 "VBUS" H 1165 7323 50  0000 C CNN
F 2 "" H 1150 7150 50  0001 C CNN
F 3 "" H 1150 7150 50  0001 C CNN
	1    1150 7150
	0    -1   -1   0   
$EndComp
$Comp
L power:+3.3V #PWR0170
U 1 1 5F9A9277
P 1350 7050
F 0 "#PWR0170" H 1350 6900 50  0001 C CNN
F 1 "+3.3V" V 1365 7178 50  0000 L CNN
F 2 "" H 1350 7050 50  0001 C CNN
F 3 "" H 1350 7050 50  0001 C CNN
	1    1350 7050
	0    -1   -1   0   
$EndComp
Wire Wire Line
	1500 7350 1400 7350
Wire Wire Line
	1500 7250 950  7250
Wire Wire Line
	1500 7150 1150 7150
Wire Wire Line
	1500 7050 1350 7050
Text GLabel 1500 6750 0    50   Input ~ 0
GPIO22
Text GLabel 1500 6650 0    50   Input ~ 0
SDA
$Comp
L power:+3.3V #PWR0102
U 1 1 5FE209CF
P 17050 2400
F 0 "#PWR0102" H 17050 2250 50  0001 C CNN
F 1 "+3.3V" V 17065 2528 50  0000 L CNN
F 2 "" H 17050 2400 50  0001 C CNN
F 3 "" H 17050 2400 50  0001 C CNN
	1    17050 2400
	1    0    0    -1  
$EndComp
$Comp
L power:+BATT #PWR0135
U 1 1 5FE53B3C
P 1050 6950
F 0 "#PWR0135" H 1050 6800 50  0001 C CNN
F 1 "+BATT" H 1065 7123 50  0000 C CNN
F 2 "" H 1050 6950 50  0001 C CNN
F 3 "" H 1050 6950 50  0001 C CNN
	1    1050 6950
	0    -1   -1   0   
$EndComp
Wire Wire Line
	1050 6950 1500 6950
$Comp
L Device:R_Small R9
U 1 1 5FE740B1
P 6400 2450
F 0 "R9" V 6204 2450 50  0000 C CNN
F 1 "10k" V 6295 2450 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 6400 2450 50  0001 C CNN
F 3 "~" H 6400 2450 50  0001 C CNN
	1    6400 2450
	-1   0    0    1   
$EndComp
$Comp
L Device:R_Small R10
U 1 1 5FE75252
P 6700 2450
F 0 "R10" V 6504 2450 50  0000 C CNN
F 1 "10k" V 6595 2450 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 6700 2450 50  0001 C CNN
F 3 "~" H 6700 2450 50  0001 C CNN
	1    6700 2450
	-1   0    0    1   
$EndComp
$Comp
L power:+3.3V #PWR0136
U 1 1 5FE75558
P 6400 2300
F 0 "#PWR0136" H 6400 2150 50  0001 C CNN
F 1 "+3.3V" V 6415 2428 50  0000 L CNN
F 2 "" H 6400 2300 50  0001 C CNN
F 3 "" H 6400 2300 50  0001 C CNN
	1    6400 2300
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0143
U 1 1 5FE761D8
P 6700 2300
F 0 "#PWR0143" H 6700 2150 50  0001 C CNN
F 1 "+3.3V" V 6715 2428 50  0000 L CNN
F 2 "" H 6700 2300 50  0001 C CNN
F 3 "" H 6700 2300 50  0001 C CNN
	1    6700 2300
	1    0    0    -1  
$EndComp
Text GLabel 6300 2650 0    50   Input ~ 0
SDA
Text GLabel 6750 2650 2    50   Input ~ 0
GPIO22
Wire Wire Line
	6700 2300 6700 2350
Wire Wire Line
	6400 2300 6400 2350
Wire Wire Line
	6700 2550 6700 2650
Wire Wire Line
	6700 2650 6750 2650
Wire Wire Line
	6400 2550 6400 2650
Wire Wire Line
	6400 2650 6300 2650
$Comp
L Switch:SW_SPDT SW2
U 1 1 5F890447
P 3450 7150
F 0 "SW2" H 3450 7435 50  0000 C CNN
F 1 "SW_SPDT" H 3450 7344 50  0000 C CNN
F 2 "SS-12D06L5:SS12D06L5" H 3450 7150 50  0001 C CNN
F 3 "~" H 3450 7150 50  0001 C CNN
	1    3450 7150
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x06_Male J8
U 1 1 5F879B4D
P 6100 1100
F 0 "J8" H 6208 1481 50  0000 C CNN
F 1 "SPI" H 6208 1390 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical" H 6100 1100 50  0001 C CNN
F 3 "~" H 6100 1100 50  0001 C CNN
	1    6100 1100
	1    0    0    -1  
$EndComp
Text GLabel 16750 2800 0    50   Input ~ 0
MOTOR_DISABLE
$Comp
L Switch:SW_SPST SW3
U 1 1 5F9B53FD
P 13550 1600
F 0 "SW3" H 13550 1835 50  0000 C CNN
F 1 "SW_SPST" H 13550 1744 50  0000 C CNN
F 2 "SS-12D06L5:SS12D06L5" H 13550 1600 50  0001 C CNN
F 3 "~" H 13550 1600 50  0001 C CNN
	1    13550 1600
	1    0    0    -1  
$EndComp
Text GLabel 13750 1600 2    50   Input ~ 0
MOTOR_DISABLE
$Comp
L power:GND #PWR0144
U 1 1 5F9B5F0A
P 13300 1600
F 0 "#PWR0144" H 13300 1350 50  0001 C CNN
F 1 "GND" H 13305 1427 50  0000 C CNN
F 2 "" H 13300 1600 50  0001 C CNN
F 3 "" H 13300 1600 50  0001 C CNN
	1    13300 1600
	0    1    1    0   
$EndComp
Wire Wire Line
	13350 1600 13300 1600
Text GLabel 18900 2500 0    50   Input ~ 0
MOTOR_DISABLE
$Comp
L Connector:Conn_01x03_Male J16
U 1 1 5F9C6157
P 13550 450
F 0 "J16" H 13658 731 50  0000 C CNN
F 1 "Conn_01x03_Male" H 13658 640 50  0000 C CNN
F 2 "Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical" H 13550 450 50  0001 C CNN
F 3 "~" H 13550 450 50  0001 C CNN
	1    13550 450 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0147
U 1 1 5F9C7080
P 13750 350
F 0 "#PWR0147" H 13750 100 50  0001 C CNN
F 1 "GND" H 13755 177 50  0000 C CNN
F 2 "" H 13750 350 50  0001 C CNN
F 3 "" H 13750 350 50  0001 C CNN
	1    13750 350 
	0    -1   -1   0   
$EndComp
Text GLabel 13750 550  2    50   Input ~ 0
GPIO33
$Comp
L power:VBUS #PWR0148
U 1 1 5F9C76D4
P 13750 450
F 0 "#PWR0148" H 13750 300 50  0001 C CNN
F 1 "VBUS" V 13750 700 50  0000 C CNN
F 2 "" H 13750 450 50  0001 C CNN
F 3 "" H 13750 450 50  0001 C CNN
	1    13750 450 
	0    1    1    0   
$EndComp
$Comp
L Connector:Conn_01x03_Male J17
U 1 1 5F9C9712
P 14400 450
F 0 "J17" H 14508 731 50  0000 C CNN
F 1 "Conn_01x03_Male" H 14508 640 50  0000 C CNN
F 2 "Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical" H 14400 450 50  0001 C CNN
F 3 "~" H 14400 450 50  0001 C CNN
	1    14400 450 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0149
U 1 1 5F9C9718
P 14600 350
F 0 "#PWR0149" H 14600 100 50  0001 C CNN
F 1 "GND" H 14605 177 50  0000 C CNN
F 2 "" H 14600 350 50  0001 C CNN
F 3 "" H 14600 350 50  0001 C CNN
	1    14600 350 
	0    -1   -1   0   
$EndComp
Text GLabel 14600 550  2    50   Input ~ 0
GPIO33
$Comp
L power:VBUS #PWR0150
U 1 1 5F9C971F
P 14600 450
F 0 "#PWR0150" H 14600 300 50  0001 C CNN
F 1 "VBUS" V 14600 700 50  0000 C CNN
F 2 "" H 14600 450 50  0001 C CNN
F 3 "" H 14600 450 50  0001 C CNN
	1    14600 450 
	0    1    1    0   
$EndComp
$Comp
L Connector:Conn_01x03_Male J18
U 1 1 5F9E0D75
P 15200 450
F 0 "J18" H 15308 731 50  0000 C CNN
F 1 "Conn_01x03_Male" H 15308 640 50  0000 C CNN
F 2 "Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical" H 15200 450 50  0001 C CNN
F 3 "~" H 15200 450 50  0001 C CNN
	1    15200 450 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0151
U 1 1 5F9E0D7B
P 15400 350
F 0 "#PWR0151" H 15400 100 50  0001 C CNN
F 1 "GND" H 15405 177 50  0000 C CNN
F 2 "" H 15400 350 50  0001 C CNN
F 3 "" H 15400 350 50  0001 C CNN
	1    15400 350 
	0    -1   -1   0   
$EndComp
Text GLabel 15400 550  2    50   Input ~ 0
GPIO33
$Comp
L power:VBUS #PWR0154
U 1 1 5F9E0D82
P 15400 450
F 0 "#PWR0154" H 15400 300 50  0001 C CNN
F 1 "VBUS" V 15400 700 50  0000 C CNN
F 2 "" H 15400 450 50  0001 C CNN
F 3 "" H 15400 450 50  0001 C CNN
	1    15400 450 
	0    1    1    0   
$EndComp
$Comp
L Device:CP C17
U 1 1 5F9C77ED
P 12400 400
F 0 "C17" H 12518 446 50  0000 L CNN
F 1 "220u" H 12518 355 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x3.9" H 12438 250 50  0001 C CNN
F 3 "~" H 12400 400 50  0001 C CNN
	1    12400 400 
	1    0    0    -1  
$EndComp
$Comp
L Device:CP C16
U 1 1 5F9C873E
P 12050 400
F 0 "C16" H 12168 446 50  0000 L CNN
F 1 "220u" H 12168 355 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x3.9" H 12088 250 50  0001 C CNN
F 3 "~" H 12050 400 50  0001 C CNN
	1    12050 400 
	1    0    0    -1  
$EndComp
$Comp
L power:VBUS #PWR0155
U 1 1 5F9C8DC0
P 12050 250
F 0 "#PWR0155" H 12050 100 50  0001 C CNN
F 1 "VBUS" V 12050 500 50  0000 C CNN
F 2 "" H 12050 250 50  0001 C CNN
F 3 "" H 12050 250 50  0001 C CNN
	1    12050 250 
	1    0    0    -1  
$EndComp
$Comp
L power:VBUS #PWR0156
U 1 1 5F9C973B
P 12400 250
F 0 "#PWR0156" H 12400 100 50  0001 C CNN
F 1 "VBUS" V 12400 500 50  0000 C CNN
F 2 "" H 12400 250 50  0001 C CNN
F 3 "" H 12400 250 50  0001 C CNN
	1    12400 250 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0157
U 1 1 5F9C9CDB
P 12050 550
F 0 "#PWR0157" H 12050 300 50  0001 C CNN
F 1 "GND" H 12055 377 50  0000 C CNN
F 2 "" H 12050 550 50  0001 C CNN
F 3 "" H 12050 550 50  0001 C CNN
	1    12050 550 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0158
U 1 1 5F9CA263
P 12400 550
F 0 "#PWR0158" H 12400 300 50  0001 C CNN
F 1 "GND" H 12405 377 50  0000 C CNN
F 2 "" H 12400 550 50  0001 C CNN
F 3 "" H 12400 550 50  0001 C CNN
	1    12400 550 
	1    0    0    -1  
$EndComp
$Comp
L Sensor_Proximity:TSSP58038 U4
U 1 1 5FA17FA5
P 2200 -650
F 0 "U4" H 2188 -225 50  0000 C CNN
F 1 "TSSP58038" H 2188 -316 50  0000 C CNN
F 2 "OptoDevice:Vishay_MINICAST-3Pin" H 2150 -1025 50  0001 C CNN
F 3 "http://www.vishay.com/docs/82476/tssp58p38.pdf" H 2850 -350 50  0001 C CNN
	1    2200 -650
	1    0    0    -1  
$EndComp
Text GLabel 2750 -650 2    50   Input ~ 0
GPIO15
$Comp
L power:+3.3V #PWR0159
U 1 1 5FA1A71A
P 2750 -900
F 0 "#PWR0159" H 2750 -1050 50  0001 C CNN
F 1 "+3.3V" V 2765 -772 50  0000 L CNN
F 2 "" H 2750 -900 50  0001 C CNN
F 3 "" H 2750 -900 50  0001 C CNN
	1    2750 -900
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0161
U 1 1 5FA1B4BD
P 2750 -450
F 0 "#PWR0161" H 2750 -700 50  0001 C CNN
F 1 "GND" V 2750 -650 50  0000 R CNN
F 2 "" H 2750 -450 50  0001 C CNN
F 3 "" H 2750 -450 50  0001 C CNN
	1    2750 -450
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2600 -850 2750 -850
Wire Wire Line
	2750 -850 2750 -900
Wire Wire Line
	2750 -650 2600 -650
Wire Wire Line
	2750 -450 2600 -450
$Comp
L Mechanical:Fiducial FID1
U 1 1 5F9E5F74
P 4200 1050
F 0 "FID1" H 4285 1096 50  0000 L CNN
F 1 "Fiducial" H 4285 1005 50  0000 L CNN
F 2 "Fiducial:Fiducial_1mm_Mask2mm" H 4200 1050 50  0001 C CNN
F 3 "~" H 4200 1050 50  0001 C CNN
	1    4200 1050
	1    0    0    -1  
$EndComp
$Comp
L Mechanical:Fiducial FID2
U 1 1 5F9E62BB
P 5000 1100
F 0 "FID2" H 5085 1146 50  0000 L CNN
F 1 "Fiducial" H 5085 1055 50  0000 L CNN
F 2 "Fiducial:Fiducial_1mm_Mask2mm" H 5000 1100 50  0001 C CNN
F 3 "~" H 5000 1100 50  0001 C CNN
	1    5000 1100
	1    0    0    -1  
$EndComp
Wire Wire Line
	1750 3050 1700 3050
Wire Wire Line
	1750 3150 1700 3150
Wire Wire Line
	1750 3250 1700 3250
Wire Wire Line
	5300 -150 5900 -150
$Comp
L power:+5VL #PWR0126
U 1 1 5F9F68D9
P 5300 -350
F 0 "#PWR0126" H 5300 -500 50  0001 C CNN
F 1 "+5VL" V 5315 -222 50  0000 L CNN
F 2 "" H 5300 -350 50  0001 C CNN
F 3 "" H 5300 -350 50  0001 C CNN
	1    5300 -350
	0    1    1    0   
$EndComp
$Comp
L power:+5VL #PWR0131
U 1 1 5F9F7789
P 1350 3850
F 0 "#PWR0131" H 1350 3700 50  0001 C CNN
F 1 "+5VL" V 1365 3977 50  0000 L CNN
F 2 "" H 1350 3850 50  0001 C CNN
F 3 "" H 1350 3850 50  0001 C CNN
	1    1350 3850
	0    -1   -1   0   
$EndComp
$Comp
L power:+5VL #PWR0162
U 1 1 5F9F99D1
P 2400 3800
F 0 "#PWR0162" H 2400 3650 50  0001 C CNN
F 1 "+5VL" V 2415 3928 50  0000 L CNN
F 2 "" H 2400 3800 50  0001 C CNN
F 3 "" H 2400 3800 50  0001 C CNN
	1    2400 3800
	0    1    1    0   
$EndComp
Connection ~ 2400 3800
Text Notes 16500 5200 0    50   ~ 0
MP4423H
Text Notes 16500 5300 0    50   ~ 0
DRV8838
$Comp
L Driver_Motor:DRV8838 U5
U 1 1 605BC9C0
P 17800 4500
F 0 "U5" H 17550 4950 50  0000 C CNN
F 1 "DRV8838" H 18000 4050 50  0000 C CNN
F 2 "Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm" H 17800 3650 50  0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/drv8837.pdf" H 17800 4500 50  0001 C CNN
	1    17800 4500
	1    0    0    -1  
$EndComp
$Comp
L power:VBUS #PWR0138
U 1 1 605BC9C6
P 17800 4000
F 0 "#PWR0138" H 17800 3850 50  0001 C CNN
F 1 "VBUS" V 17800 4250 50  0000 C CNN
F 2 "" H 17800 4000 50  0001 C CNN
F 3 "" H 17800 4000 50  0001 C CNN
	1    17800 4000
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0139
U 1 1 605BC9CC
P 17800 5100
F 0 "#PWR0139" H 17800 4850 50  0001 C CNN
F 1 "GND" H 17805 4927 50  0000 C CNN
F 2 "" H 17800 5100 50  0001 C CNN
F 3 "" H 17800 5100 50  0001 C CNN
	1    17800 5100
	1    0    0    -1  
$EndComp
Wire Wire Line
	17800 5000 17800 5100
Text GLabel 18200 4200 2    50   Input ~ 0
MX+
Text GLabel 18200 4800 2    50   Input ~ 0
MX-
$Comp
L power:+3.3V #PWR0140
U 1 1 605BC9D7
P 17700 4000
F 0 "#PWR0140" H 17700 3850 50  0001 C CNN
F 1 "+3.3V" V 17715 4128 50  0000 L CNN
F 2 "" H 17700 4000 50  0001 C CNN
F 3 "" H 17700 4000 50  0001 C CNN
	1    17700 4000
	1    0    0    -1  
$EndComp
Text GLabel 17400 4400 0    50   Input ~ 0
MOTOR_DISABLE
Text Notes 18300 4500 0    50   ~ 0
Extra H-Bridge
$Comp
L Connector:Conn_01x03_Male J10
U 1 1 605D2EAF
P 16100 4550
F 0 "J10" H 16208 4831 50  0000 C CNN
F 1 "Conn_01x03_Male" H 16208 4740 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 16100 4550 50  0001 C CNN
F 3 "~" H 16100 4550 50  0001 C CNN
	1    16100 4550
	1    0    0    -1  
$EndComp
Wire Wire Line
	17400 4600 16600 4600
Wire Wire Line
	16600 4600 16600 4650
Wire Wire Line
	16600 4650 16300 4650
$Comp
L Connector:Conn_01x03_Male J11
U 1 1 60606086
P 19450 4500
F 0 "J11" H 19558 4781 50  0000 C CNN
F 1 "Conn_01x03_Male" H 19558 4690 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 19450 4500 50  0001 C CNN
F 3 "~" H 19450 4500 50  0001 C CNN
	1    19450 4500
	-1   0    0    1   
$EndComp
Text GLabel 19250 4400 0    50   Input ~ 0
MX+
Text GLabel 19250 4600 0    50   Input ~ 0
MX-
Wire Wire Line
	16350 4500 16350 4450
Wire Wire Line
	16350 4450 16300 4450
Wire Wire Line
	16350 4500 17400 4500
$Comp
L power:GND #PWR?
U 1 1 606DC773
P 16300 4550
F 0 "#PWR?" H 16300 4300 50  0001 C CNN
F 1 "GND" H 16305 4377 50  0000 C CNN
F 2 "" H 16300 4550 50  0001 C CNN
F 3 "" H 16300 4550 50  0001 C CNN
	1    16300 4550
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR?
U 1 1 606DCF6D
P 19250 4500
F 0 "#PWR?" H 19250 4250 50  0001 C CNN
F 1 "GND" H 19255 4327 50  0000 C CNN
F 2 "" H 19250 4500 50  0001 C CNN
F 3 "" H 19250 4500 50  0001 C CNN
	1    19250 4500
	0    1    1    0   
$EndComp
$EndSCHEMATC