commit f37db1de127b642f9abb960b4dd9836fb875d54a
Author: Tom Mullins <tmullins@andrew.cmu.edu>
Date:   Tue Feb 19 17:43:02 2013 -0500

    Some progress on the paintboard schematic

diff --git a/paintboard/paintboard.sch b/paintboard/paintboard.sch
index 2d54157..e3329c8 100644
--- a/paintboard/paintboard.sch
+++ b/paintboard/paintboard.sch
@@ -4015,13 +4015,13 @@ Generic symbol for the battery input to a system.</description>
 <parts>
 <part name="U$1" library="kwoo" deviceset="TB6612FNG" device=""/>
 <part name="U1" library="SparkFun-DigitalIC" deviceset="ATMEGA168" device=""/>
-<part name="J1" library="SparkFun-Connectors" deviceset="AVR_SPI_PRG_6" device="PTH"/>
-<part name="JP1" library="SparkFun-Connectors" deviceset="M02" device="PTH"/>
-<part name="JP2" library="SparkFun-Connectors" deviceset="M04" device="PTH"/>
-<part name="JP3" library="SparkFun-Connectors" deviceset="M05" device="PTH"/>
-<part name="JP4" library="SparkFun-Connectors" deviceset="M03" device="PTH"/>
-<part name="JP5" library="SparkFun-Connectors" deviceset="M03" device="PTH"/>
-<part name="JP6" library="SparkFun-Connectors" deviceset="M03" device="PTH"/>
+<part name="PROG" library="SparkFun-Connectors" deviceset="AVR_SPI_PRG_6" device="PTH"/>
+<part name="BATTERY" library="SparkFun-Connectors" deviceset="M02" device="PTH"/>
+<part name="I2C" library="SparkFun-Connectors" deviceset="M04" device="PTH"/>
+<part name="GEIGER" library="SparkFun-Connectors" deviceset="M05" device="PTH"/>
+<part name="SERVO1" library="SparkFun-Connectors" deviceset="M03" device="PTH"/>
+<part name="SERVO2" library="SparkFun-Connectors" deviceset="M03" device="PTH"/>
+<part name="12V_REG" library="SparkFun-Connectors" deviceset="M03" device="PTH"/>
 <part name="Q1" library="SparkFun-DiscreteSemi" deviceset="MOSFET-NCHANNEL" device="FDS6630A"/>
 <part name="Q2" library="SparkFun-DiscreteSemi" deviceset="MOSFET-NCHANNEL" device="FDS6630A"/>
 <part name="Q3" library="SparkFun-DiscreteSemi" deviceset="MOSFET-NCHANNEL" device="FDS6630A"/>
@@ -4032,8 +4032,7 @@ Generic symbol for the battery input to a system.</description>
 <part name="C3" library="SparkFun-Passives" deviceset="CAP" device="0805" value="0.1 uF"/>
 <part name="R1" library="SparkFun-Passives" deviceset="RESISTOR" device="0805-RES" value="10k"/>
 <part name="R2" library="SparkFun-Passives" deviceset="RESISTOR" device="0805-RES" value="10k"/>
-<part name="U$2" library="SparkFun-Connectors" deviceset="M04X2" device=""/>
-<part name="U$3" library="SparkFun-Connectors" deviceset="M04X2" device=""/>
+<part name="SOLENOIDS" library="SparkFun-Connectors" deviceset="M04X2" device=""/>
 <part name="SUPPLY1" library="SparkFun-Aesthetics" deviceset="VCC" device=""/>
 <part name="SUPPLY2" library="SparkFun-Aesthetics" deviceset="VCC" device=""/>
 <part name="SUPPLY3" library="SparkFun-Aesthetics" deviceset="VCC" device=""/>
@@ -4064,7 +4063,9 @@ Generic symbol for the battery input to a system.</description>
 <part name="GND16" library="SparkFun-Aesthetics" deviceset="GND" device=""/>
 <part name="C4" library="SparkFun-Passives" deviceset="CAP" device="0805" value="0.1 uF"/>
 <part name="GND17" library="SparkFun-Aesthetics" deviceset="GND" device=""/>
-<part name="JP7" library="SparkFun-Connectors" deviceset="M05" device="PTH"/>
+<part name="EXTRA" library="SparkFun-Connectors" deviceset="M05" device="PTH"/>
+<part name="MOTORS" library="SparkFun-Connectors" deviceset="M04" device="PTH"/>
+<part name="C5" library="SparkFun-Passives" deviceset="CAP" device="0805" value="0.1 uF"/>
 </parts>
 <sheets>
 <sheet>
@@ -4075,13 +4076,13 @@ Generic symbol for the battery input to a system.</description>
 <instances>
 <instance part="U$1" gate="G$1" x="358.14" y="25.4" rot="R270"/>
 <instance part="U1" gate="G$1" x="119.38" y="68.58"/>
-<instance part="J1" gate="G$1" x="210.82" y="35.56"/>
-<instance part="JP1" gate="G$1" x="111.76" y="142.24"/>
-<instance part="JP2" gate="G$1" x="213.36" y="88.9" rot="MR0"/>
-<instance part="JP3" gate="G$1" x="215.9" y="68.58" rot="MR0"/>
-<instance part="JP4" gate="G$1" x="170.18" y="152.4"/>
-<instance part="JP5" gate="G$1" x="170.18" y="134.62"/>
-<instance part="JP6" gate="G$1" x="325.12" y="170.18"/>
+<instance part="PROG" gate="G$1" x="210.82" y="35.56"/>
+<instance part="BATTERY" gate="G$1" x="111.76" y="142.24"/>
+<instance part="I2C" gate="G$1" x="213.36" y="88.9" rot="MR0"/>
+<instance part="GEIGER" gate="G$1" x="215.9" y="68.58" rot="MR0"/>
+<instance part="SERVO1" gate="G$1" x="170.18" y="152.4"/>
+<instance part="SERVO2" gate="G$1" x="170.18" y="134.62"/>
+<instance part="12V_REG" gate="G$1" x="325.12" y="170.18"/>
 <instance part="Q1" gate="G$1" x="406.4" y="167.64"/>
 <instance part="Q2" gate="G$1" x="406.4" y="142.24"/>
 <instance part="Q3" gate="G$1" x="406.4" y="116.84"/>
@@ -4092,8 +4093,7 @@ Generic symbol for the battery input to a system.</description>
 <instance part="C3" gate="G$1" x="381" y="12.7"/>
 <instance part="R1" gate="G$1" x="83.82" y="109.22" rot="R90"/>
 <instance part="R2" gate="G$1" x="345.44" y="50.8" rot="R90"/>
-<instance part="U$2" gate="G$1" x="345.44" y="137.16"/>
-<instance part="U$3" gate="G$1" x="355.6" y="-30.48"/>
+<instance part="SOLENOIDS" gate="G$1" x="345.44" y="137.16"/>
 <instance part="SUPPLY1" gate="1" x="236.22" y="38.1"/>
 <instance part="SUPPLY2" gate="1" x="381" y="17.78"/>
 <instance part="SUPPLY3" gate="1" x="208.28" y="73.66"/>
@@ -4124,14 +4124,16 @@ Generic symbol for the battery input to a system.</description>
 <instance part="GND16" gate="1" x="406.4" y="160.02"/>
 <instance part="C4" gate="G$1" x="396.24" y="22.86"/>
 <instance part="GND17" gate="1" x="396.24" y="17.78"/>
-<instance part="JP7" gate="G$1" x="170.18" y="175.26"/>
+<instance part="EXTRA" gate="G$1" x="170.18" y="175.26"/>
+<instance part="MOTORS" gate="G$1" x="330.2" y="-22.86"/>
+<instance part="C5" gate="G$1" x="408.94" y="22.86"/>
 </instances>
 <busses>
 </busses>
 <nets>
 <net name="GND" class="0">
 <segment>
-<pinref part="JP6" gate="G$1" pin="2"/>
+<pinref part="12V_REG" gate="G$1" pin="2"/>
 <wire x1="332.74" y1="170.18" x2="342.9" y2="170.18" width="0.1524" layer="91"/>
 <pinref part="GND13" gate="1" pin="GND"/>
 </segment>
@@ -4153,7 +4155,7 @@ Generic symbol for the battery input to a system.</description>
 <junction x="96.52" y="38.1"/>
 </segment>
 <segment>
-<pinref part="J1" gate="G$1" pin="6"/>
+<pinref part="PROG" gate="G$1" pin="6"/>
 <wire x1="220.98" y1="33.02" x2="236.22" y2="33.02" width="0.1524" layer="91"/>
 <pinref part="GND3" gate="1" pin="GND"/>
 </segment>
@@ -4181,22 +4183,22 @@ Generic symbol for the battery input to a system.</description>
 <junction x="335.28" y="17.78"/>
 </segment>
 <segment>
-<pinref part="JP5" gate="G$1" pin="1"/>
+<pinref part="SERVO2" gate="G$1" pin="1"/>
 <wire x1="177.8" y1="132.08" x2="190.5" y2="132.08" width="0.1524" layer="91"/>
 <pinref part="GND11" gate="1" pin="GND"/>
 </segment>
 <segment>
-<pinref part="JP4" gate="G$1" pin="1"/>
+<pinref part="SERVO1" gate="G$1" pin="1"/>
 <wire x1="177.8" y1="149.86" x2="190.5" y2="149.86" width="0.1524" layer="91"/>
 <pinref part="GND10" gate="1" pin="GND"/>
 </segment>
 <segment>
-<pinref part="JP1" gate="G$1" pin="1"/>
+<pinref part="BATTERY" gate="G$1" pin="1"/>
 <wire x1="119.38" y1="142.24" x2="129.54" y2="142.24" width="0.1524" layer="91"/>
 <pinref part="GND12" gate="1" pin="GND"/>
 </segment>
 <segment>
-<pinref part="JP2" gate="G$1" pin="1"/>
+<pinref part="I2C" gate="G$1" pin="1"/>
 <pinref part="GND5" gate="1" pin="GND"/>
 </segment>
 <segment>
@@ -4204,7 +4206,7 @@ Generic symbol for the battery input to a system.</description>
 <pinref part="GND1" gate="1" pin="GND"/>
 </segment>
 <segment>
-<pinref part="JP3" gate="G$1" pin="1"/>
+<pinref part="GEIGER" gate="G$1" pin="1"/>
 <pinref part="GND6" gate="1" pin="GND"/>
 </segment>
 <segment>
@@ -4226,6 +4228,9 @@ Generic symbol for the battery input to a system.</description>
 <segment>
 <pinref part="C4" gate="G$1" pin="2"/>
 <pinref part="GND17" gate="1" pin="GND"/>
+<pinref part="C5" gate="G$1" pin="2"/>
+<wire x1="408.94" y1="20.32" x2="396.24" y2="20.32" width="0.1524" layer="91"/>
+<junction x="396.24" y="20.32"/>
 </segment>
 </net>
 <net name="VCC" class="0">
@@ -4248,17 +4253,17 @@ Generic symbol for the battery input to a system.</description>
 <wire x1="96.52" y1="78.74" x2="96.52" y2="83.82" width="0.1524" layer="91"/>
 </segment>
 <segment>
-<pinref part="JP5" gate="G$1" pin="2"/>
+<pinref part="SERVO2" gate="G$1" pin="2"/>
 <wire x1="177.8" y1="134.62" x2="190.5" y2="134.62" width="0.1524" layer="91"/>
 <pinref part="SUPPLY6" gate="1" pin="VCC"/>
 </segment>
 <segment>
-<pinref part="JP4" gate="G$1" pin="2"/>
+<pinref part="SERVO1" gate="G$1" pin="2"/>
 <wire x1="177.8" y1="152.4" x2="190.5" y2="152.4" width="0.1524" layer="91"/>
 <pinref part="SUPPLY7" gate="1" pin="VCC"/>
 </segment>
 <segment>
-<pinref part="J1" gate="G$1" pin="2"/>
+<pinref part="PROG" gate="G$1" pin="2"/>
 <wire x1="220.98" y1="38.1" x2="236.22" y2="38.1" width="0.1524" layer="91"/>
 <pinref part="SUPPLY1" gate="1" pin="VCC"/>
 </segment>
@@ -4270,7 +4275,7 @@ Generic symbol for the battery input to a system.</description>
 <junction x="381" y="17.78"/>
 </segment>
 <segment>
-<pinref part="JP2" gate="G$1" pin="4"/>
+<pinref part="I2C" gate="G$1" pin="4"/>
 <pinref part="SUPPLY5" gate="1" pin="VCC"/>
 </segment>
 <segment>
@@ -4282,13 +4287,13 @@ Generic symbol for the battery input to a system.</description>
 <pinref part="SUPPLY10" gate="1" pin="VCC"/>
 </segment>
 <segment>
-<pinref part="JP3" gate="G$1" pin="5"/>
+<pinref part="GEIGER" gate="G$1" pin="5"/>
 <pinref part="SUPPLY3" gate="1" pin="VCC"/>
 </segment>
 </net>
 <net name="SCL" class="0">
 <segment>
-<pinref part="JP2" gate="G$1" pin="2"/>
+<pinref part="I2C" gate="G$1" pin="2"/>
 <label x="198.12" y="88.9" size="1.778" layer="95"/>
 <pinref part="U1" gate="G$1" pin="PC5(ADC5/SCL)"/>
 <wire x1="144.78" y1="81.28" x2="190.5" y2="81.28" width="0.1524" layer="91"/>
@@ -4298,17 +4303,17 @@ Generic symbol for the battery input to a system.</description>
 </net>
 <net name="12V" class="0">
 <segment>
-<pinref part="JP6" gate="G$1" pin="1"/>
+<pinref part="12V_REG" gate="G$1" pin="1"/>
 <wire x1="332.74" y1="167.64" x2="337.82" y2="167.64" width="0.1524" layer="91"/>
-<pinref part="U$2" gate="G$1" pin="7"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="7"/>
 <wire x1="337.82" y1="134.62" x2="337.82" y2="137.16" width="0.1524" layer="91"/>
-<pinref part="U$2" gate="G$1" pin="1"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="1"/>
 <wire x1="337.82" y1="137.16" x2="337.82" y2="139.7" width="0.1524" layer="91"/>
 <wire x1="337.82" y1="139.7" x2="337.82" y2="142.24" width="0.1524" layer="91"/>
 <junction x="337.82" y="142.24"/>
-<pinref part="U$2" gate="G$1" pin="3"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="3"/>
 <junction x="337.82" y="139.7"/>
-<pinref part="U$2" gate="G$1" pin="5"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="5"/>
 <junction x="337.82" y="137.16"/>
 <label x="340.36" y="157.48" size="1.778" layer="95"/>
 <wire x1="337.82" y1="167.64" x2="337.82" y2="142.24" width="0.1524" layer="91"/>
@@ -4321,7 +4326,7 @@ Generic symbol for the battery input to a system.</description>
 <wire x1="193.04" y1="40.64" x2="193.04" y2="48.26" width="0.1524" layer="91"/>
 <wire x1="193.04" y1="48.26" x2="246.38" y2="48.26" width="0.1524" layer="91"/>
 <wire x1="246.38" y1="48.26" x2="246.38" y2="35.56" width="0.1524" layer="91"/>
-<pinref part="J1" gate="G$1" pin="4"/>
+<pinref part="PROG" gate="G$1" pin="4"/>
 <wire x1="246.38" y1="35.56" x2="220.98" y2="35.56" width="0.1524" layer="91"/>
 <label x="147.32" y="40.64" size="1.778" layer="95"/>
 </segment>
@@ -4336,7 +4341,7 @@ Generic symbol for the battery input to a system.</description>
 <segment>
 <pinref part="U1" gate="G$1" pin="PB4(MISO)"/>
 <wire x1="144.78" y1="38.1" x2="203.2" y2="38.1" width="0.1524" layer="91"/>
-<pinref part="J1" gate="G$1" pin="1"/>
+<pinref part="PROG" gate="G$1" pin="1"/>
 <label x="147.32" y="38.1" size="1.778" layer="95"/>
 </segment>
 </net>
@@ -4344,7 +4349,7 @@ Generic symbol for the battery input to a system.</description>
 <segment>
 <pinref part="U1" gate="G$1" pin="PB5(SCK)"/>
 <wire x1="144.78" y1="35.56" x2="203.2" y2="35.56" width="0.1524" layer="91"/>
-<pinref part="J1" gate="G$1" pin="3"/>
+<pinref part="PROG" gate="G$1" pin="3"/>
 <label x="147.32" y="35.56" size="1.778" layer="95"/>
 </segment>
 </net>
@@ -4363,14 +4368,14 @@ Generic symbol for the battery input to a system.</description>
 <wire x1="83.82" y1="96.52" x2="83.82" y2="104.14" width="0.1524" layer="91"/>
 </segment>
 <segment>
-<pinref part="J1" gate="G$1" pin="5"/>
+<pinref part="PROG" gate="G$1" pin="5"/>
 <wire x1="203.2" y1="33.02" x2="187.96" y2="33.02" width="0.1524" layer="91"/>
 <label x="187.96" y="33.02" size="1.778" layer="95"/>
 </segment>
 </net>
 <net name="SDA" class="0">
 <segment>
-<pinref part="JP2" gate="G$1" pin="3"/>
+<pinref part="I2C" gate="G$1" pin="3"/>
 <label x="198.12" y="91.44" size="1.778" layer="95"/>
 <pinref part="U1" gate="G$1" pin="PC4(ADC4/SDA)"/>
 <wire x1="144.78" y1="83.82" x2="187.96" y2="83.82" width="0.1524" layer="91"/>
@@ -4386,7 +4391,7 @@ Generic symbol for the battery input to a system.</description>
 </net>
 <net name="SOL1_12V" class="0">
 <segment>
-<pinref part="U$2" gate="G$1" pin="2"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="2"/>
 <wire x1="353.06" y1="142.24" x2="363.22" y2="142.24" width="0.1524" layer="91"/>
 <wire x1="363.22" y1="142.24" x2="363.22" y2="177.8" width="0.1524" layer="91"/>
 <pinref part="Q1" gate="G$1" pin="D"/>
@@ -4397,7 +4402,7 @@ Generic symbol for the battery input to a system.</description>
 </net>
 <net name="SOL2_12V" class="0">
 <segment>
-<pinref part="U$2" gate="G$1" pin="4"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="4"/>
 <wire x1="353.06" y1="139.7" x2="365.76" y2="139.7" width="0.1524" layer="91"/>
 <pinref part="Q2" gate="G$1" pin="D"/>
 <wire x1="365.76" y1="139.7" x2="365.76" y2="152.4" width="0.1524" layer="91"/>
@@ -4408,7 +4413,7 @@ Generic symbol for the battery input to a system.</description>
 </net>
 <net name="SOL3_12V" class="0">
 <segment>
-<pinref part="U$2" gate="G$1" pin="6"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="6"/>
 <pinref part="Q3" gate="G$1" pin="D"/>
 <wire x1="353.06" y1="137.16" x2="365.76" y2="137.16" width="0.1524" layer="91"/>
 <wire x1="365.76" y1="137.16" x2="365.76" y2="127" width="0.1524" layer="91"/>
@@ -4419,7 +4424,7 @@ Generic symbol for the battery input to a system.</description>
 </net>
 <net name="SOL4_12V" class="0">
 <segment>
-<pinref part="U$2" gate="G$1" pin="8"/>
+<pinref part="SOLENOIDS" gate="G$1" pin="8"/>
 <wire x1="363.22" y1="101.6" x2="363.22" y2="134.62" width="0.1524" layer="91"/>
 <wire x1="363.22" y1="134.62" x2="353.06" y2="134.62" width="0.1524" layer="91"/>
 <pinref part="Q4" gate="G$1" pin="D"/>
@@ -4505,102 +4510,14 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="63.5" size="1.778" layer="95"/>
 </segment>
 </net>
-<net name="AO1_1" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="AO1_1"/>
-<wire x1="365.76" y1="0" x2="365.76" y2="-10.16" width="0.1524" layer="91"/>
-<wire x1="365.76" y1="-10.16" x2="335.28" y2="-10.16" width="0.1524" layer="91"/>
-<pinref part="U$3" gate="G$1" pin="1"/>
-<wire x1="335.28" y1="-10.16" x2="335.28" y2="-25.4" width="0.1524" layer="91"/>
-<wire x1="335.28" y1="-25.4" x2="347.98" y2="-25.4" width="0.1524" layer="91"/>
-<label x="337.82" y="-25.4" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="AO1_2" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="AO1_2"/>
-<pinref part="U$3" gate="G$1" pin="2"/>
-<wire x1="363.22" y1="0" x2="363.22" y2="-20.32" width="0.1524" layer="91"/>
-<wire x1="363.22" y1="-20.32" x2="375.92" y2="-20.32" width="0.1524" layer="91"/>
-<wire x1="375.92" y1="-20.32" x2="375.92" y2="-25.4" width="0.1524" layer="91"/>
-<wire x1="375.92" y1="-25.4" x2="363.22" y2="-25.4" width="0.1524" layer="91"/>
-<label x="365.76" y="-25.4" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="AO2_1" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="AO2_1"/>
-<wire x1="360.68" y1="0" x2="360.68" y2="-7.62" width="0.1524" layer="91"/>
-<wire x1="360.68" y1="-7.62" x2="332.74" y2="-7.62" width="0.1524" layer="91"/>
-<pinref part="U$3" gate="G$1" pin="3"/>
-<wire x1="332.74" y1="-7.62" x2="332.74" y2="-27.94" width="0.1524" layer="91"/>
-<wire x1="332.74" y1="-27.94" x2="347.98" y2="-27.94" width="0.1524" layer="91"/>
-<label x="337.82" y="-27.94" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="AO2_2" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="AO2_2"/>
-<wire x1="358.14" y1="0" x2="358.14" y2="-17.78" width="0.1524" layer="91"/>
-<wire x1="358.14" y1="-17.78" x2="378.46" y2="-17.78" width="0.1524" layer="91"/>
-<pinref part="U$3" gate="G$1" pin="4"/>
-<wire x1="378.46" y1="-17.78" x2="378.46" y2="-27.94" width="0.1524" layer="91"/>
-<wire x1="378.46" y1="-27.94" x2="363.22" y2="-27.94" width="0.1524" layer="91"/>
-<label x="365.76" y="-27.94" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="BO1_1" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="BO1_1"/>
-<wire x1="353.06" y1="0" x2="353.06" y2="-5.08" width="0.1524" layer="91"/>
-<wire x1="353.06" y1="-5.08" x2="330.2" y2="-5.08" width="0.1524" layer="91"/>
-<pinref part="U$3" gate="G$1" pin="5"/>
-<wire x1="330.2" y1="-5.08" x2="330.2" y2="-30.48" width="0.1524" layer="91"/>
-<wire x1="330.2" y1="-30.48" x2="347.98" y2="-30.48" width="0.1524" layer="91"/>
-<label x="337.82" y="-30.48" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="BO1_2" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="BO1_2"/>
-<wire x1="350.52" y1="0" x2="350.52" y2="-15.24" width="0.1524" layer="91"/>
-<wire x1="350.52" y1="-15.24" x2="381" y2="-15.24" width="0.1524" layer="91"/>
-<pinref part="U$3" gate="G$1" pin="6"/>
-<wire x1="381" y1="-15.24" x2="381" y2="-30.48" width="0.1524" layer="91"/>
-<wire x1="381" y1="-30.48" x2="363.22" y2="-30.48" width="0.1524" layer="91"/>
-<label x="365.76" y="-30.48" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="BO2_1" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="BO2_1"/>
-<wire x1="347.98" y1="0" x2="347.98" y2="-2.54" width="0.1524" layer="91"/>
-<wire x1="347.98" y1="-2.54" x2="327.66" y2="-2.54" width="0.1524" layer="91"/>
-<pinref part="U$3" gate="G$1" pin="7"/>
-<wire x1="327.66" y1="-2.54" x2="327.66" y2="-33.02" width="0.1524" layer="91"/>
-<wire x1="327.66" y1="-33.02" x2="347.98" y2="-33.02" width="0.1524" layer="91"/>
-<label x="337.82" y="-33.02" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="BO2_2" class="0">
-<segment>
-<pinref part="U$1" gate="G$1" pin="BO2_2"/>
-<wire x1="345.44" y1="0" x2="345.44" y2="-12.7" width="0.1524" layer="91"/>
-<wire x1="345.44" y1="-12.7" x2="383.54" y2="-12.7" width="0.1524" layer="91"/>
-<pinref part="U$3" gate="G$1" pin="8"/>
-<wire x1="383.54" y1="-12.7" x2="383.54" y2="-33.02" width="0.1524" layer="91"/>
-<wire x1="383.54" y1="-33.02" x2="363.22" y2="-33.02" width="0.1524" layer="91"/>
-<label x="365.76" y="-33.02" size="1.778" layer="95"/>
-</segment>
-</net>
 <net name="V_BATT" class="0">
 <segment>
-<pinref part="JP1" gate="G$1" pin="2"/>
+<pinref part="BATTERY" gate="G$1" pin="2"/>
 <wire x1="119.38" y1="144.78" x2="129.54" y2="144.78" width="0.1524" layer="91"/>
 <pinref part="SUPPLY11" gate="G$1" pin="V_BATT"/>
 </segment>
 <segment>
-<pinref part="JP6" gate="G$1" pin="3"/>
+<pinref part="12V_REG" gate="G$1" pin="3"/>
 <wire x1="332.74" y1="172.72" x2="342.9" y2="172.72" width="0.1524" layer="91"/>
 <pinref part="SUPPLY12" gate="G$1" pin="V_BATT"/>
 </segment>
@@ -4616,19 +4533,21 @@ Generic symbol for the battery input to a system.</description>
 <pinref part="U$1" gate="G$1" pin="VM2"/>
 <junction x="375.92" y="25.4"/>
 <junction x="375.92" y="27.94"/>
+<pinref part="C5" gate="G$1" pin="1"/>
+<wire x1="396.24" y1="27.94" x2="408.94" y2="27.94" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="RX" class="0">
 <segment>
 <pinref part="U1" gate="G$1" pin="PD0(RXD)"/>
-<pinref part="JP3" gate="G$1" pin="4"/>
+<pinref part="GEIGER" gate="G$1" pin="4"/>
 <wire x1="144.78" y1="71.12" x2="208.28" y2="71.12" width="0.1524" layer="91"/>
 <label x="198.12" y="71.12" size="1.778" layer="95"/>
 </segment>
 </net>
 <net name="TX" class="0">
 <segment>
-<pinref part="JP3" gate="G$1" pin="3"/>
+<pinref part="GEIGER" gate="G$1" pin="3"/>
 <pinref part="U1" gate="G$1" pin="PD1(TXD)"/>
 <wire x1="208.28" y1="68.58" x2="144.78" y2="68.58" width="0.1524" layer="91"/>
 <label x="198.12" y="68.58" size="1.778" layer="95"/>
@@ -4637,7 +4556,7 @@ Generic symbol for the battery input to a system.</description>
 <net name="GC_OUT" class="0">
 <segment>
 <pinref part="U1" gate="G$1" pin="PD2(INT0)"/>
-<pinref part="JP3" gate="G$1" pin="2"/>
+<pinref part="GEIGER" gate="G$1" pin="2"/>
 <wire x1="144.78" y1="66.04" x2="208.28" y2="66.04" width="0.1524" layer="91"/>
 <label x="198.12" y="66.04" size="1.778" layer="95"/>
 </segment>
@@ -4685,7 +4604,7 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="58.42" size="1.778" layer="95"/>
 </segment>
 <segment>
-<pinref part="JP5" gate="G$1" pin="3"/>
+<pinref part="SERVO2" gate="G$1" pin="3"/>
 <wire x1="177.8" y1="137.16" x2="182.88" y2="137.16" width="0.1524" layer="91"/>
 <label x="180.34" y="137.16" size="1.778" layer="95"/>
 </segment>
@@ -4697,7 +4616,7 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="55.88" size="1.778" layer="95"/>
 </segment>
 <segment>
-<pinref part="JP4" gate="G$1" pin="3"/>
+<pinref part="SERVO1" gate="G$1" pin="3"/>
 <wire x1="177.8" y1="154.94" x2="182.88" y2="154.94" width="0.1524" layer="91"/>
 <label x="180.34" y="154.94" size="1.778" layer="95"/>
 </segment>
@@ -4709,7 +4628,7 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="45.72" size="1.778" layer="95"/>
 </segment>
 <segment>
-<pinref part="JP7" gate="G$1" pin="3"/>
+<pinref part="EXTRA" gate="G$1" pin="3"/>
 <wire x1="177.8" y1="175.26" x2="182.88" y2="175.26" width="0.1524" layer="91"/>
 <label x="180.34" y="175.26" size="1.778" layer="95"/>
 </segment>
@@ -4721,7 +4640,7 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="43.18" size="1.778" layer="95"/>
 </segment>
 <segment>
-<pinref part="JP7" gate="G$1" pin="2"/>
+<pinref part="EXTRA" gate="G$1" pin="2"/>
 <wire x1="177.8" y1="172.72" x2="182.88" y2="172.72" width="0.1524" layer="91"/>
 <label x="180.34" y="172.72" size="1.778" layer="95"/>
 </segment>
@@ -4733,7 +4652,7 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="78.74" size="1.778" layer="95"/>
 </segment>
 <segment>
-<pinref part="JP7" gate="G$1" pin="5"/>
+<pinref part="EXTRA" gate="G$1" pin="5"/>
 <wire x1="177.8" y1="180.34" x2="182.88" y2="180.34" width="0.1524" layer="91"/>
 <label x="180.34" y="180.34" size="1.778" layer="95"/>
 </segment>
@@ -4745,7 +4664,7 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="76.2" size="1.778" layer="95"/>
 </segment>
 <segment>
-<pinref part="JP7" gate="G$1" pin="4"/>
+<pinref part="EXTRA" gate="G$1" pin="4"/>
 <wire x1="177.8" y1="177.8" x2="182.88" y2="177.8" width="0.1524" layer="91"/>
 <label x="180.34" y="177.8" size="1.778" layer="95"/>
 </segment>
@@ -4757,11 +4676,62 @@ Generic symbol for the battery input to a system.</description>
 <label x="147.32" y="60.96" size="1.778" layer="95"/>
 </segment>
 <segment>
-<pinref part="JP7" gate="G$1" pin="1"/>
+<pinref part="EXTRA" gate="G$1" pin="1"/>
 <wire x1="177.8" y1="170.18" x2="182.88" y2="170.18" width="0.1524" layer="91"/>
 <label x="180.34" y="170.18" size="1.778" layer="95"/>
 </segment>
 </net>
+<net name="AO1" class="0">
+<segment>
+<pinref part="U$1" gate="G$1" pin="AO1_1"/>
+<pinref part="U$1" gate="G$1" pin="AO1_2"/>
+<wire x1="365.76" y1="0" x2="363.22" y2="0" width="0.1524" layer="91"/>
+<pinref part="MOTORS" gate="G$1" pin="1"/>
+<wire x1="335.28" y1="-25.4" x2="363.22" y2="-25.4" width="0.1524" layer="91"/>
+<wire x1="363.22" y1="-25.4" x2="363.22" y2="0" width="0.1524" layer="91"/>
+<label x="337.82" y="-25.4" size="1.778" layer="95"/>
+<junction x="363.22" y="0"/>
+</segment>
+</net>
+<net name="AO2" class="0">
+<segment>
+<pinref part="U$1" gate="G$1" pin="AO2_1"/>
+<wire x1="360.68" y1="0" x2="358.14" y2="0" width="0.1524" layer="91"/>
+<pinref part="MOTORS" gate="G$1" pin="2"/>
+<wire x1="335.28" y1="-22.86" x2="358.14" y2="-22.86" width="0.1524" layer="91"/>
+<wire x1="358.14" y1="-22.86" x2="358.14" y2="0" width="0.1524" layer="91"/>
+<label x="337.82" y="-22.86" size="1.778" layer="95"/>
+<pinref part="U$1" gate="G$1" pin="AO2_2"/>
+<junction x="358.14" y="0"/>
+</segment>
+</net>
+<net name="BO2" class="0">
+<segment>
+<pinref part="MOTORS" gate="G$1" pin="3"/>
+<label x="337.82" y="-20.32" size="1.778" layer="95"/>
+<wire x1="345.44" y1="-20.32" x2="335.28" y2="-20.32" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="U$1" gate="G$1" pin="BO1_2"/>
+<pinref part="U$1" gate="G$1" pin="BO1_1"/>
+<wire x1="353.06" y1="0" x2="350.52" y2="0" width="0.1524" layer="91"/>
+<wire x1="350.52" y1="0" x2="350.52" y2="-20.32" width="0.1524" layer="91"/>
+<wire x1="350.52" y1="-20.32" x2="345.44" y2="-20.32" width="0.1524" layer="91"/>
+<junction x="350.52" y="0"/>
+</segment>
+</net>
+<net name="BO1" class="0">
+<segment>
+<pinref part="MOTORS" gate="G$1" pin="4"/>
+<wire x1="335.28" y1="-17.78" x2="345.44" y2="-17.78" width="0.1524" layer="91"/>
+<label x="337.82" y="-17.78" size="1.778" layer="95"/>
+<pinref part="U$1" gate="G$1" pin="BO2_2"/>
+<pinref part="U$1" gate="G$1" pin="BO2_1"/>
+<wire x1="347.98" y1="0" x2="345.44" y2="0" width="0.1524" layer="91"/>
+<wire x1="345.44" y1="-17.78" x2="345.44" y2="0" width="0.1524" layer="91"/>
+<junction x="345.44" y="0"/>
+</segment>
+</net>
 </nets>
 </sheet>
 </sheets>
