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.brd b/paintboard/paintboard.brd
new file mode 100644
index 0000000..11f8d70
--- /dev/null
+++ b/paintboard/paintboard.brd
@@ -0,0 +1,1220 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE eagle SYSTEM "eagle.dtd">
+<eagle version="6.4">
+<drawing>
+<settings>
+<setting alwaysvectorfont="no"/>
+<setting verticaltext="up"/>
+</settings>
+<grid distance="25" unitdist="mil" unit="mil" style="dots" multiple="1" display="yes" altdistance="12.5" altunitdist="mil" altunit="mil"/>
+<layers>
+<layer number="1" name="Top" color="4" fill="1" visible="yes" active="yes"/>
+<layer number="16" name="Bottom" color="1" fill="1" visible="yes" active="yes"/>
+<layer number="17" name="Pads" color="2" fill="1" visible="yes" active="yes"/>
+<layer number="18" name="Vias" color="2" fill="1" visible="yes" active="yes"/>
+<layer number="19" name="Unrouted" color="6" fill="1" visible="yes" active="yes"/>
+<layer number="20" name="Dimension" color="15" fill="1" visible="yes" active="yes"/>
+<layer number="21" name="tPlace" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="22" name="bPlace" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="23" name="tOrigins" color="15" fill="1" visible="yes" active="yes"/>
+<layer number="24" name="bOrigins" color="15" fill="1" visible="yes" active="yes"/>
+<layer number="25" name="tNames" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="26" name="bNames" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="27" name="tValues" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="28" name="bValues" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="29" name="tStop" color="7" fill="3" visible="no" active="yes"/>
+<layer number="30" name="bStop" color="7" fill="6" visible="no" active="yes"/>
+<layer number="31" name="tCream" color="7" fill="4" visible="no" active="yes"/>
+<layer number="32" name="bCream" color="7" fill="5" visible="no" active="yes"/>
+<layer number="33" name="tFinish" color="6" fill="3" visible="no" active="yes"/>
+<layer number="34" name="bFinish" color="6" fill="6" visible="no" active="yes"/>
+<layer number="35" name="tGlue" color="7" fill="4" visible="no" active="yes"/>
+<layer number="36" name="bGlue" color="7" fill="5" visible="no" active="yes"/>
+<layer number="37" name="tTest" color="7" fill="1" visible="no" active="yes"/>
+<layer number="38" name="bTest" color="7" fill="1" visible="no" active="yes"/>
+<layer number="39" name="tKeepout" color="4" fill="11" visible="yes" active="yes"/>
+<layer number="40" name="bKeepout" color="1" fill="11" visible="yes" active="yes"/>
+<layer number="41" name="tRestrict" color="4" fill="10" visible="yes" active="yes"/>
+<layer number="42" name="bRestrict" color="1" fill="10" visible="yes" active="yes"/>
+<layer number="43" name="vRestrict" color="2" fill="10" visible="yes" active="yes"/>
+<layer number="44" name="Drills" color="7" fill="1" visible="no" active="yes"/>
+<layer number="45" name="Holes" color="7" fill="1" visible="no" active="yes"/>
+<layer number="46" name="Milling" color="3" fill="1" visible="no" active="yes"/>
+<layer number="47" name="Measures" color="7" fill="1" visible="no" active="yes"/>
+<layer number="48" name="Document" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="49" name="Reference" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="50" name="dxf" color="7" fill="1" visible="no" active="no"/>
+<layer number="51" name="tDocu" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="52" name="bDocu" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="53" name="tGND_GNDA" color="7" fill="9" visible="no" active="no"/>
+<layer number="54" name="bGND_GNDA" color="1" fill="9" visible="no" active="no"/>
+<layer number="56" name="wert" color="7" fill="1" visible="no" active="no"/>
+<layer number="91" name="Nets" color="2" fill="1" visible="no" active="no"/>
+<layer number="92" name="Busses" color="1" fill="1" visible="no" active="no"/>
+<layer number="93" name="Pins" color="2" fill="1" visible="no" active="no"/>
+<layer number="94" name="Symbols" color="4" fill="1" visible="no" active="no"/>
+<layer number="95" name="Names" color="7" fill="1" visible="no" active="no"/>
+<layer number="96" name="Values" color="7" fill="1" visible="no" active="no"/>
+<layer number="97" name="Info" color="7" fill="1" visible="no" active="no"/>
+<layer number="98" name="Guide" color="6" fill="1" visible="no" active="no"/>
+<layer number="100" name="Muster" color="7" fill="1" visible="no" active="no"/>
+<layer number="101" name="Patch_Top" color="12" fill="4" visible="yes" active="yes"/>
+<layer number="102" name="Vscore" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="103" name="tMap" color="7" fill="1" visible="no" active="yes"/>
+<layer number="104" name="Name" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="105" name="tPlate" color="7" fill="1" visible="no" active="yes"/>
+<layer number="106" name="bPlate" color="7" fill="1" visible="no" active="yes"/>
+<layer number="107" name="Crop" color="7" fill="1" visible="no" active="yes"/>
+<layer number="116" name="Patch_BOT" color="9" fill="4" visible="yes" active="yes"/>
+<layer number="121" name="_tsilk" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="122" name="_bsilk" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="125" name="_tNames" color="7" fill="1" visible="no" active="yes"/>
+<layer number="144" name="Drill_legend" color="7" fill="1" visible="no" active="yes"/>
+<layer number="151" name="HeatSink" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="199" name="Contour" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="200" name="200bmp" color="1" fill="10" visible="yes" active="yes"/>
+<layer number="201" name="201bmp" color="2" fill="10" visible="yes" active="yes"/>
+<layer number="202" name="202bmp" color="3" fill="10" visible="yes" active="yes"/>
+<layer number="203" name="203bmp" color="4" fill="10" visible="yes" active="yes"/>
+<layer number="204" name="204bmp" color="5" fill="10" visible="yes" active="yes"/>
+<layer number="205" name="205bmp" color="6" fill="10" visible="yes" active="yes"/>
+<layer number="206" name="206bmp" color="7" fill="10" visible="yes" active="yes"/>
+<layer number="207" name="207bmp" color="8" fill="10" visible="yes" active="yes"/>
+<layer number="208" name="208bmp" color="9" fill="10" visible="yes" active="yes"/>
+<layer number="209" name="209bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="210" name="210bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="211" name="211bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="212" name="212bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="213" name="213bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="214" name="214bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="215" name="215bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="216" name="216bmp" color="7" fill="1" visible="no" active="yes"/>
+<layer number="217" name="217bmp" color="18" fill="1" visible="no" active="no"/>
+<layer number="218" name="218bmp" color="19" fill="1" visible="no" active="no"/>
+<layer number="219" name="219bmp" color="20" fill="1" visible="no" active="no"/>
+<layer number="220" name="220bmp" color="21" fill="1" visible="no" active="no"/>
+<layer number="221" name="221bmp" color="22" fill="1" visible="no" active="no"/>
+<layer number="222" name="222bmp" color="23" fill="1" visible="no" active="no"/>
+<layer number="223" name="223bmp" color="24" fill="1" visible="no" active="no"/>
+<layer number="224" name="224bmp" color="25" fill="1" visible="no" active="no"/>
+<layer number="250" name="Descript" color="3" fill="1" visible="no" active="no"/>
+<layer number="251" name="SMDround" color="12" fill="11" visible="no" active="no"/>
+<layer number="254" name="cooling" color="7" fill="1" visible="yes" active="yes"/>
+</layers>
+<board>
+<plain>
+<wire x1="0" y1="0" x2="100" y2="0" width="0" layer="20"/>
+<wire x1="100" y1="0" x2="100" y2="80" width="0" layer="20"/>
+<wire x1="100" y1="80" x2="0" y2="80" width="0" layer="20"/>
+<wire x1="0" y1="80" x2="0" y2="0" width="0" layer="20"/>
+</plain>
+<libraries>
+<library name="kwoo">
+<description>KWoo Parts Library
+
+Contains various parts from all sorts of manufacturers.</description>
+<packages>
+<package name="24-SSOP">
+<wire x1="7.8" y1="3.8" x2="-0.4" y2="3.8" width="0.127" layer="51"/>
+<wire x1="-0.4" y1="3.8" x2="-0.4" y2="-3.8" width="0.127" layer="51"/>
+<wire x1="-0.4" y1="-3.8" x2="7.8" y2="-3.8" width="0.127" layer="51"/>
+<wire x1="7.8" y1="-3.8" x2="7.8" y2="3.8" width="0.127" layer="51"/>
+<wire x1="-0.65" y1="-3.25" x2="-0.65" y2="3.25" width="0.2032" layer="21"/>
+<wire x1="7.8" y1="3.25" x2="7.8" y2="-3.25" width="0.2032" layer="21"/>
+<circle x="0" y="-2.6" radius="0.1118" width="0.2032" layer="21"/>
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+<smd name="5" x="2.6" y="-3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
+<smd name="6" x="3.25" y="-3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
+<smd name="7" x="3.9" y="-3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
+<smd name="8" x="4.55" y="-3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
+<smd name="9" x="5.2" y="-3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
+<smd name="10" x="5.85" y="-3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
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+<smd name="12" x="7.15" y="-3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
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+<smd name="14" x="6.5" y="3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
+<smd name="13" x="7.15" y="3.81" dx="0.97" dy="0.35" layer="1" rot="R90"/>
+<text x="-1.3" y="-2.6" size="1.27" layer="25" font="vector" ratio="15" rot="R90">&gt;NAME</text>
+</package>
+</packages>
+</library>
+<library name="SparkFun-DigitalIC">
+<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
+In this library you'll find all manner of digital ICs- microcontrollers, memory chips, logic chips, FPGAs, etc.&lt;br&gt;&lt;br&gt;
+We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
+&lt;br&gt;&lt;br&gt;
+&lt;b&gt;Licensing:&lt;/b&gt; CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
+<packages>
+<package name="TQFP32-08">
+<description>&lt;B&gt;Thin Plasic Quad Flat Package&lt;/B&gt; Grid 0.8 mm</description>
+<wire x1="3.505" y1="3.505" x2="3.505" y2="-3.505" width="0.1524" layer="21"/>
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+<wire x1="-3.505" y1="-3.505" x2="-3.505" y2="3.15" width="0.1524" layer="21"/>
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+<text x="-3.175" y="5.08" size="0.4064" layer="25">&gt;NAME</text>
+<text x="-2.54" y="-6.35" size="0.4064" layer="27">&gt;VALUE</text>
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+<rectangle x1="-3.0286" y1="3.556" x2="-2.5714" y2="4.5466" layer="51"/>
+</package>
+</packages>
+</library>
+<library name="SparkFun-Connectors">
+<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
+In this library you'll find connectors and sockets- basically anything that can be plugged into or onto.&lt;br&gt;&lt;br&gt;
+We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
+&lt;br&gt;&lt;br&gt;
+&lt;b&gt;Licensing:&lt;/b&gt; CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
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+<wire x1="5.08" y1="1.905" x2="5.08" y2="-1.905" width="0.1524" layer="21"/>
+<wire x1="3.175" y1="-2.54" x2="4.445" y2="-2.54" width="0.1524" layer="21"/>
+<wire x1="0.635" y1="-2.54" x2="1.905" y2="-2.54" width="0.1524" layer="21"/>
+<wire x1="-1.905" y1="-2.54" x2="-0.635" y2="-2.54" width="0.1524" layer="21"/>
+<wire x1="-4.445" y1="-2.54" x2="-3.175" y2="-2.54" width="0.1524" layer="21"/>
+<pad name="1" x="-3.81" y="-1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<pad name="2" x="-3.81" y="1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<pad name="3" x="-1.27" y="-1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<pad name="4" x="-1.27" y="1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<pad name="5" x="1.27" y="-1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<pad name="6" x="1.27" y="1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<pad name="7" x="3.81" y="-1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<pad name="8" x="3.81" y="1.27" drill="1.016" diameter="1.8796" shape="octagon"/>
+<text x="-5.08" y="3.175" size="1.27" layer="25" ratio="10">&gt;NAME</text>
+<text x="-5.08" y="-4.445" size="1.27" layer="27">&gt;VALUE</text>
+<rectangle x1="-4.064" y1="-1.524" x2="-3.556" y2="-1.016" layer="51"/>
+<rectangle x1="-4.064" y1="1.016" x2="-3.556" y2="1.524" layer="51"/>
+<rectangle x1="-1.524" y1="1.016" x2="-1.016" y2="1.524" layer="51"/>
+<rectangle x1="-1.524" y1="-1.524" x2="-1.016" y2="-1.016" layer="51"/>
+<rectangle x1="1.016" y1="1.016" x2="1.524" y2="1.524" layer="51"/>
+<rectangle x1="1.016" y1="-1.524" x2="1.524" y2="-1.016" layer="51"/>
+<rectangle x1="3.556" y1="1.016" x2="4.064" y2="1.524" layer="51"/>
+<rectangle x1="3.556" y1="-1.524" x2="4.064" y2="-1.016" layer="51"/>
+</package>
+</packages>
+</library>
+<library name="SparkFun-DiscreteSemi">
+<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
+In this library you'll find discrete semiconductors- transistors, diodes, TRIACs, optoisolators, etc.&lt;br&gt;&lt;br&gt;
+We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
+&lt;br&gt;&lt;br&gt;
+&lt;b&gt;Licensing:&lt;/b&gt; CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
+<packages>
+<package name="SO08">
+<description>&lt;b&gt;Small Outline Package&lt;/b&gt; Fits JEDEC packages (narrow SOIC-8)</description>
+<wire x1="-2.362" y1="-1.803" x2="2.362" y2="-1.803" width="0.1524" layer="51"/>
+<wire x1="2.362" y1="-1.803" x2="2.362" y2="1.803" width="0.1524" layer="21"/>
+<wire x1="2.362" y1="1.803" x2="-2.362" y2="1.803" width="0.1524" layer="51"/>
+<wire x1="-2.362" y1="1.803" x2="-2.362" y2="-1.803" width="0.1524" layer="21"/>
+<circle x="-1.8034" y="-0.9906" radius="0.1436" width="0.2032" layer="21"/>
+<smd name="1" x="-1.905" y="-2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<smd name="2" x="-0.635" y="-2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<smd name="3" x="0.635" y="-2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<smd name="4" x="1.905" y="-2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<smd name="5" x="1.905" y="2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<smd name="6" x="0.635" y="2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<smd name="7" x="-0.635" y="2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<smd name="8" x="-1.905" y="2.6162" dx="0.6096" dy="2.2098" layer="1"/>
+<text x="-1.27" y="-0.635" size="0.4064" layer="27">&gt;VALUE</text>
+<text x="-1.27" y="0" size="0.4064" layer="25">&gt;NAME</text>
+<rectangle x1="-2.0828" y1="-2.8702" x2="-1.7272" y2="-1.8542" layer="51"/>
+<rectangle x1="-0.8128" y1="-2.8702" x2="-0.4572" y2="-1.8542" layer="51"/>
+<rectangle x1="0.4572" y1="-2.8702" x2="0.8128" y2="-1.8542" layer="51"/>
+<rectangle x1="1.7272" y1="-2.8702" x2="2.0828" y2="-1.8542" layer="51"/>
+<rectangle x1="-2.0828" y1="1.8542" x2="-1.7272" y2="2.8702" layer="51"/>
+<rectangle x1="-0.8128" y1="1.8542" x2="-0.4572" y2="2.8702" layer="51"/>
+<rectangle x1="0.4572" y1="1.8542" x2="0.8128" y2="2.8702" layer="51"/>
+<rectangle x1="1.7272" y1="1.8542" x2="2.0828" y2="2.8702" layer="51"/>
+</package>
+</packages>
+</library>
+<library name="SparkFun-Electromechanical">
+<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
+In this library you'll find anything that moves- switches, relays, buttons, potentiometers. Also, anything that goes on a board but isn't electrical in nature- screws, standoffs, etc.&lt;br&gt;&lt;br&gt;
+We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
+&lt;br&gt;&lt;br&gt;
+&lt;b&gt;Licensing:&lt;/b&gt; CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
+<packages>
+<package name="TACTILE_SWITCH_SMD">
+<wire x1="-1.54" y1="-2.54" x2="-2.54" y2="-1.54" width="0.2032" layer="51"/>
+<wire x1="-2.54" y1="-1.24" x2="-2.54" y2="1.27" width="0.2032" layer="21"/>
+<wire x1="-2.54" y1="1.54" x2="-1.54" y2="2.54" width="0.2032" layer="51"/>
+<wire x1="-1.54" y1="2.54" x2="1.54" y2="2.54" width="0.2032" layer="21"/>
+<wire x1="1.54" y1="2.54" x2="2.54" y2="1.54" width="0.2032" layer="51"/>
+<wire x1="2.54" y1="1.24" x2="2.54" y2="-1.24" width="0.2032" layer="21"/>
+<wire x1="2.54" y1="-1.54" x2="1.54" y2="-2.54" width="0.2032" layer="51"/>
+<wire x1="1.54" y1="-2.54" x2="-1.54" y2="-2.54" width="0.2032" layer="21"/>
+<wire x1="1.905" y1="1.27" x2="1.905" y2="0.445" width="0.127" layer="51"/>
+<wire x1="1.905" y1="0.445" x2="2.16" y2="-0.01" width="0.127" layer="51"/>
+<wire x1="1.905" y1="-0.23" x2="1.905" y2="-1.115" width="0.127" layer="51"/>
+<circle x="0" y="0" radius="1.27" width="0.2032" layer="21"/>
+<smd name="1" x="-2.54" y="1.905" dx="0.762" dy="1.524" layer="1" rot="R90"/>
+<smd name="2" x="2.54" y="1.905" dx="0.762" dy="1.524" layer="1" rot="R90"/>
+<smd name="3" x="-2.54" y="-1.905" dx="0.762" dy="1.524" layer="1" rot="R90"/>
+<smd name="4" x="2.54" y="-1.905" dx="0.762" dy="1.524" layer="1" rot="R90"/>
+<text x="-0.889" y="1.778" size="0.4064" layer="25">&gt;NAME</text>
+<text x="-0.889" y="-2.032" size="0.4064" layer="27">&gt;Value</text>
+</package>
+</packages>
+</library>
+<library name="SparkFun-Passives">
+<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
+In this library you'll find resistors, capacitors, inductors, test points, jumper pads, etc.&lt;br&gt;&lt;br&gt;
+We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
+&lt;br&gt;&lt;br&gt;
+&lt;b&gt;Licensing:&lt;/b&gt; CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
+<packages>
+<package name="0805">
+<wire x1="-0.3" y1="0.6" x2="0.3" y2="0.6" width="0.1524" layer="21"/>
+<wire x1="-0.3" y1="-0.6" x2="0.3" y2="-0.6" width="0.1524" layer="21"/>
+<smd name="1" x="-0.9" y="0" dx="0.8" dy="1.2" layer="1"/>
+<smd name="2" x="0.9" y="0" dx="0.8" dy="1.2" layer="1"/>
+<text x="-0.762" y="0.8255" size="0.4064" layer="25">&gt;NAME</text>
+<text x="-1.016" y="-1.397" size="0.4064" layer="27">&gt;VALUE</text>
+</package>
+</packages>
+</library>
+</libraries>
+<attributes>
+</attributes>
+<variantdefs>
+</variantdefs>
+<classes>
+<class number="0" name="default" width="0" drill="0">
+</class>
+</classes>
+<designrules name="default *">
+<description language="de">&lt;b&gt;EAGLE Design Rules&lt;/b&gt;
+&lt;p&gt;
+Die Standard-Design-Rules sind so gewählt, dass sie für 
+die meisten Anwendungen passen. Sollte ihre Platine 
+besondere Anforderungen haben, treffen Sie die erforderlichen
+Einstellungen hier und speichern die Design Rules unter 
+einem neuen Namen ab.</description>
+<description language="en">&lt;b&gt;EAGLE Design Rules&lt;/b&gt;
+&lt;p&gt;
+The default Design Rules have been set to cover
+a wide range of applications. Your particular design
+may have different requirements, so please make the
+necessary adjustments and save your customized
+design rules under a new name.</description>
+<param name="layerSetup" value="(1*16)"/>
+<param name="mtCopper" value="0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm"/>
+<param name="mtIsolate" value="1.5mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm"/>
+<param name="mdWireWire" value="8mil"/>
+<param name="mdWirePad" value="8mil"/>
+<param name="mdWireVia" value="8mil"/>
+<param name="mdPadPad" value="8mil"/>
+<param name="mdPadVia" value="8mil"/>
+<param name="mdViaVia" value="8mil"/>
+<param name="mdSmdPad" value="8mil"/>
+<param name="mdSmdVia" value="8mil"/>
+<param name="mdSmdSmd" value="8mil"/>
+<param name="mdViaViaSameLayer" value="8mil"/>
+<param name="mnLayersViaInSmd" value="2"/>
+<param name="mdCopperDimension" value="40mil"/>
+<param name="mdDrill" value="8mil"/>
+<param name="mdSmdStop" value="0mil"/>
+<param name="msWidth" value="10mil"/>
+<param name="msDrill" value="24mil"/>
+<param name="msMicroVia" value="9.99mm"/>
+<param name="msBlindViaRatio" value="0.5"/>
+<param name="rvPadTop" value="0.25"/>
+<param name="rvPadInner" value="0.25"/>
+<param name="rvPadBottom" value="0.25"/>
+<param name="rvViaOuter" value="0.25"/>
+<param name="rvViaInner" value="0.25"/>
+<param name="rvMicroViaOuter" value="0.25"/>
+<param name="rvMicroViaInner" value="0.25"/>
+<param name="rlMinPadTop" value="10mil"/>
+<param name="rlMaxPadTop" value="20mil"/>
+<param name="rlMinPadInner" value="10mil"/>
+<param name="rlMaxPadInner" value="20mil"/>
+<param name="rlMinPadBottom" value="10mil"/>
+<param name="rlMaxPadBottom" value="20mil"/>
+<param name="rlMinViaOuter" value="8mil"/>
+<param name="rlMaxViaOuter" value="20mil"/>
+<param name="rlMinViaInner" value="8mil"/>
+<param name="rlMaxViaInner" value="20mil"/>
+<param name="rlMinMicroViaOuter" value="4mil"/>
+<param name="rlMaxMicroViaOuter" value="20mil"/>
+<param name="rlMinMicroViaInner" value="4mil"/>
+<param name="rlMaxMicroViaInner" value="20mil"/>
+<param name="psTop" value="-1"/>
+<param name="psBottom" value="-1"/>
+<param name="psFirst" value="-1"/>
+<param name="psElongationLong" value="100"/>
+<param name="psElongationOffset" value="100"/>
+<param name="mvStopFrame" value="1"/>
+<param name="mvCreamFrame" value="0"/>
+<param name="mlMinStopFrame" value="4mil"/>
+<param name="mlMaxStopFrame" value="4mil"/>
+<param name="mlMinCreamFrame" value="0mil"/>
+<param name="mlMaxCreamFrame" value="0mil"/>
+<param name="mlViaStopLimit" value="0mil"/>
+<param name="srRoundness" value="0"/>
+<param name="srMinRoundness" value="0mil"/>
+<param name="srMaxRoundness" value="0mil"/>
+<param name="slThermalIsolate" value="10mil"/>
+<param name="slThermalsForVias" value="0"/>
+<param name="dpMaxLengthDifference" value="10mm"/>
+<param name="dpGapFactor" value="2.5"/>
+<param name="checkGrid" value="0"/>
+<param name="checkAngle" value="1"/>
+<param name="checkFont" value="1"/>
+<param name="checkRestrict" value="1"/>
+<param name="useDiameter" value="13"/>
+<param name="maxErrors" value="50"/>
+</designrules>
+<autorouter>
+<pass name="Default">
+<param name="RoutingGrid" value="50mil"/>
+<param name="tpViaShape" value="round"/>
+<param name="PrefDir.1" value="|"/>
+<param name="PrefDir.2" value="0"/>
+<param name="PrefDir.3" value="0"/>
+<param name="PrefDir.4" value="0"/>
+<param name="PrefDir.5" value="0"/>
+<param name="PrefDir.6" value="0"/>
+<param name="PrefDir.7" value="0"/>
+<param name="PrefDir.8" value="0"/>
+<param name="PrefDir.9" value="0"/>
+<param name="PrefDir.10" value="0"/>
+<param name="PrefDir.11" value="0"/>
+<param name="PrefDir.12" value="0"/>
+<param name="PrefDir.13" value="0"/>
+<param name="PrefDir.14" value="0"/>
+<param name="PrefDir.15" value="0"/>
+<param name="PrefDir.16" value="-"/>
+<param name="cfVia" value="8"/>
+<param name="cfNonPref" value="5"/>
+<param name="cfChangeDir" value="2"/>
+<param name="cfOrthStep" value="2"/>
+<param name="cfDiagStep" value="3"/>
+<param name="cfExtdStep" value="0"/>
+<param name="cfBonusStep" value="1"/>
+<param name="cfMalusStep" value="1"/>
+<param name="cfPadImpact" value="4"/>
+<param name="cfSmdImpact" value="4"/>
+<param name="cfBusImpact" value="0"/>
+<param name="cfHugging" value="3"/>
+<param name="cfAvoid" value="4"/>
+<param name="cfPolygon" value="10"/>
+<param name="cfBase.1" value="0"/>
+<param name="cfBase.2" value="1"/>
+<param name="cfBase.3" value="1"/>
+<param name="cfBase.4" value="1"/>
+<param name="cfBase.5" value="1"/>
+<param name="cfBase.6" value="1"/>
+<param name="cfBase.7" value="1"/>
+<param name="cfBase.8" value="1"/>
+<param name="cfBase.9" value="1"/>
+<param name="cfBase.10" value="1"/>
+<param name="cfBase.11" value="1"/>
+<param name="cfBase.12" value="1"/>
+<param name="cfBase.13" value="1"/>
+<param name="cfBase.14" value="1"/>
+<param name="cfBase.15" value="1"/>
+<param name="cfBase.16" value="0"/>
+<param name="mnVias" value="20"/>
+<param name="mnSegments" value="9999"/>
+<param name="mnExtdSteps" value="9999"/>
+<param name="mnRipupLevel" value="10"/>
+<param name="mnRipupSteps" value="100"/>
+<param name="mnRipupTotal" value="100"/>
+</pass>
+<pass name="Follow-me" refer="Default" active="yes">
+</pass>
+<pass name="Busses" refer="Default" active="yes">
+<param name="cfNonPref" value="4"/>
+<param name="cfBusImpact" value="4"/>
+<param name="cfHugging" value="0"/>
+<param name="mnVias" value="0"/>
+</pass>
+<pass name="Route" refer="Default" active="yes">
+</pass>
+<pass name="Optimize1" refer="Default" active="yes">
+<param name="cfVia" value="99"/>
+<param name="cfExtdStep" value="10"/>
+<param name="cfHugging" value="1"/>
+<param name="mnExtdSteps" value="1"/>
+<param name="mnRipupLevel" value="0"/>
+</pass>
+<pass name="Optimize2" refer="Optimize1" active="yes">
+<param name="cfNonPref" value="0"/>
+<param name="cfChangeDir" value="6"/>
+<param name="cfExtdStep" value="0"/>
+<param name="cfBonusStep" value="2"/>
+<param name="cfMalusStep" value="2"/>
+<param name="cfPadImpact" value="2"/>
+<param name="cfSmdImpact" value="2"/>
+<param name="cfHugging" value="0"/>
+</pass>
+<pass name="Optimize3" refer="Optimize2" active="yes">
+<param name="cfChangeDir" value="8"/>
+<param name="cfPadImpact" value="0"/>
+<param name="cfSmdImpact" value="0"/>
+</pass>
+<pass name="Optimize4" refer="Optimize3" active="yes">
+<param name="cfChangeDir" value="25"/>
+</pass>
+</autorouter>
+<elements>
+<element name="U$1" library="kwoo" package="24-SSOP" value="TB6612FNG" x="40.005" y="50.165" rot="R180"/>
+<element name="U1" library="SparkFun-DigitalIC" package="TQFP32-08" value="ATMEGA168" x="22.86" y="16.51"/>
+<element name="PROG" library="SparkFun-Connectors" package="2X3" value="AVR_SPI_PRG_6PTH" x="31.75" y="6.35" rot="R180"/>
+<element name="BATTERY" library="SparkFun-Connectors" package="1X02" value="" x="57.15" y="40.005" rot="R270"/>
+<element name="I2C" library="SparkFun-Connectors" package="1X04" value="" x="12.065" y="34.925"/>
+<element name="GEIGER" library="SparkFun-Connectors" package="1X05" value="" x="6.35" y="20.32" rot="R90"/>
+<element name="SERVO1" library="SparkFun-Connectors" package="1X03" value="" x="7.62" y="3.81"/>
+<element name="SERVO2" library="SparkFun-Connectors" package="1X03" value="" x="7.62" y="7.62"/>
+<element name="12V_REG" library="SparkFun-Connectors" package="1X03" value="" x="57.15" y="27.305" rot="R90"/>
+<element name="Q1" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="4.445" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="20.32" y="-17.145" size="1.778" layer="27" rot="R270" display="off"/>
+</element>
+<element name="Q2" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="10.795" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="20.32" y="-20.955" size="1.778" layer="27" rot="R270" display="off"/>
+</element>
+<element name="Q3" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="17.145" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="20.32" y="-24.765" size="1.778" layer="27" rot="R270" display="off"/>
+</element>
+<element name="Q4" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="23.495" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="11.43" y="1.905" size="1.778" layer="27" rot="R270" display="off"/>
+</element>
+<element name="S1" library="SparkFun-Electromechanical" package="TACTILE_SWITCH_SMD" value="" x="33.655" y="31.75">
+<attribute name="PROD_ID" value="SWCH-08247" x="61.595" y="-3.81" size="1.778" layer="27" display="off"/>
+</element>
+<element name="C1" library="SparkFun-Passives" package="0805" value="0.1 uF" x="29.845" y="15.875" rot="R90"/>
+<element name="C2" library="SparkFun-Passives" package="0805" value="0.1 uF" x="15.24" y="16.51" rot="R90"/>
+<element name="C3" library="SparkFun-Passives" package="0805" value="0.1 uF" x="38.1" y="40.64" rot="R270"/>
+<element name="R1" library="SparkFun-Passives" package="0805" value="10k" x="27.305" y="30.48" rot="R90"/>
+<element name="R2" library="SparkFun-Passives" package="0805" value="10k" x="34.925" y="42.545" rot="R270"/>
+<element name="SOLENOIDS" library="SparkFun-Connectors" package="2X4" value="M04X2" x="55.88" y="14.605" rot="R90"/>
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+<contactref element="Q1" pad="8"/>
+<wire x1="50.8762" y1="2.54" x2="50.8762" y2="3.81" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="3.81" x2="50.8762" y2="5.08" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="5.08" x2="50.8762" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="6.35" x2="53.34" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="53.34" y1="6.35" x2="54.61" y2="7.62" width="0.4064" layer="1"/>
+<wire x1="54.61" y1="7.62" x2="54.61" y2="10.795" width="0.4064" layer="1"/>
+</signal>
+<signal name="SOL2_12V">
+<contactref element="SOLENOIDS" pad="4"/>
+<contactref element="Q2" pad="5"/>
+<contactref element="Q2" pad="6"/>
+<contactref element="Q2" pad="7"/>
+<contactref element="Q2" pad="8"/>
+<wire x1="50.8762" y1="8.89" x2="50.8762" y2="10.16" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="10.16" x2="50.8762" y2="11.43" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="12.7" x2="50.8762" y2="11.43" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="12.7" x2="53.975" y2="12.7" width="0.4064" layer="1"/>
+<wire x1="53.975" y1="12.7" x2="54.61" y2="13.335" width="0.4064" layer="1"/>
+</signal>
+<signal name="SOL3_12V">
+<contactref element="SOLENOIDS" pad="6"/>
+<contactref element="Q3" pad="5"/>
+<contactref element="Q3" pad="6"/>
+<contactref element="Q3" pad="7"/>
+<contactref element="Q3" pad="8"/>
+<wire x1="50.8762" y1="19.05" x2="50.8762" y2="17.78" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="17.78" x2="50.8762" y2="16.51" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="16.51" x2="50.8762" y2="15.24" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="15.24" x2="53.975" y2="15.24" width="0.4064" layer="1"/>
+<wire x1="53.975" y1="15.24" x2="54.61" y2="15.875" width="0.4064" layer="1"/>
+</signal>
+<signal name="SOL4_12V">
+<contactref element="SOLENOIDS" pad="8"/>
+<contactref element="Q4" pad="5"/>
+<contactref element="Q4" pad="6"/>
+<contactref element="Q4" pad="7"/>
+<contactref element="Q4" pad="8"/>
+<wire x1="50.8762" y1="25.4" x2="50.8762" y2="24.13" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="24.13" x2="50.8762" y2="22.86" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="22.86" x2="50.8762" y2="21.59" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="21.59" x2="53.34" y2="21.59" width="0.4064" layer="1"/>
+<wire x1="53.34" y1="21.59" x2="54.61" y2="20.32" width="0.4064" layer="1"/>
+<wire x1="54.61" y1="20.32" x2="54.61" y2="18.415" width="0.4064" layer="1"/>
+</signal>
+<signal name="SOL1">
+<contactref element="Q1" pad="4"/>
+<contactref element="U1" pad="11"/>
+<wire x1="21.66" y1="12.2174" x2="45.6438" y2="2.54" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="AIN1">
+<contactref element="U1" pad="23"/>
+<contactref element="U$1" pad="21"/>
+<wire x1="27.1526" y1="18.51" x2="38.055" y2="46.355" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="AIN2">
+<contactref element="U1" pad="24"/>
+<contactref element="U$1" pad="22"/>
+<wire x1="27.1526" y1="19.31" x2="38.705" y2="46.355" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="BIN1">
+<contactref element="U1" pad="25"/>
+<contactref element="U$1" pad="17"/>
+<wire x1="25.66" y1="20.8026" x2="35.455" y2="46.355" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="BIN2">
+<contactref element="U1" pad="26"/>
+<contactref element="U$1" pad="16"/>
+<wire x1="24.86" y1="20.8026" x2="34.805" y2="46.355" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="MOTOR_PWMB">
+<contactref element="U$1" pad="15"/>
+<contactref element="U1" pad="1"/>
+<wire x1="18.5674" y1="19.31" x2="34.155" y2="46.355" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="V_BATT">
+<contactref element="BATTERY" pad="2"/>
+<contactref element="12V_REG" pad="3"/>
+<contactref element="C4" pad="1"/>
+<contactref element="U$1" pad="14"/>
+<contactref element="U$1" pad="24"/>
+<contactref element="U$1" pad="13"/>
+<wire x1="57.15" y1="32.385" x2="57.15" y2="37.465" width="0.4064" layer="1"/>
+<wire x1="32.855" y1="46.355" x2="33.505" y2="46.355" width="0.4064" layer="1"/>
+<contactref element="C5" pad="1"/>
+<wire x1="31.75" y1="41.54" x2="32.855" y2="42.645" width="0.4064" layer="1"/>
+<wire x1="32.855" y1="42.645" x2="32.855" y2="46.355" width="0.4064" layer="1"/>
+<wire x1="41.275" y1="43.445" x2="40.005" y2="44.715" width="0.4064" layer="1"/>
+<wire x1="40.005" y1="44.715" x2="40.005" y2="46.355" width="0.4064" layer="1"/>
+<wire x1="41.275" y1="43.445" x2="57.15" y2="37.465" width="0" layer="19" extent="1-1"/>
+<wire x1="33.505" y1="46.355" x2="40.005" y2="46.355" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="RX">
+<contactref element="U1" pad="30"/>
+<contactref element="GEIGER" pad="4"/>
+<wire x1="21.66" y1="20.8026" x2="21.66" y2="22.155" width="0.4064" layer="1"/>
+<wire x1="21.66" y1="22.155" x2="15.875" y2="27.94" width="0.4064" layer="1"/>
+<wire x1="15.875" y1="27.94" x2="6.35" y2="27.94" width="0.4064" layer="1"/>
+</signal>
+<signal name="TX">
+<contactref element="GEIGER" pad="3"/>
+<contactref element="U1" pad="31"/>
+<wire x1="6.35" y1="25.4" x2="17.145" y2="25.4" width="0.4064" layer="1"/>
+<wire x1="17.145" y1="25.4" x2="20.86" y2="21.685" width="0.4064" layer="1"/>
+<wire x1="20.86" y1="21.685" x2="20.86" y2="20.8026" width="0.4064" layer="1"/>
+</signal>
+<signal name="GC_OUT">
+<contactref element="U1" pad="32"/>
+<contactref element="GEIGER" pad="2"/>
+<wire x1="20.06" y1="20.8026" x2="18.0026" y2="22.86" width="0.4064" layer="1"/>
+<wire x1="18.0026" y1="22.86" x2="6.35" y2="22.86" width="0.4064" layer="1"/>
+</signal>
+<signal name="SOL4">
+<contactref element="Q4" pad="4"/>
+<contactref element="U1" pad="8"/>
+<wire x1="18.5674" y1="13.71" x2="45.6438" y2="21.59" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="SOL3">
+<contactref element="Q3" pad="4"/>
+<contactref element="U1" pad="7"/>
+<wire x1="18.5674" y1="14.51" x2="45.6438" y2="15.24" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="SOL2">
+<contactref element="Q2" pad="4"/>
+<contactref element="U1" pad="12"/>
+<wire x1="22.46" y1="12.2174" x2="45.6438" y2="8.89" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="SERVO_PWM2">
+<contactref element="U1" pad="9"/>
+<contactref element="SERVO2" pad="3"/>
+<wire x1="20.06" y1="10.535" x2="17.145" y2="7.62" width="0.4064" layer="1"/>
+<wire x1="17.145" y1="7.62" x2="12.7" y2="7.62" width="0.4064" layer="1"/>
+<wire x1="20.06" y1="10.535" x2="20.06" y2="12.2174" width="0.4064" layer="1"/>
+</signal>
+<signal name="SERVO_PWM1">
+<contactref element="U1" pad="10"/>
+<contactref element="SERVO1" pad="3"/>
+<wire x1="20.86" y1="8.16" x2="16.51" y2="3.81" width="0.4064" layer="1"/>
+<wire x1="16.51" y1="3.81" x2="12.7" y2="3.81" width="0.4064" layer="1"/>
+<wire x1="20.86" y1="8.16" x2="20.86" y2="12.2174" width="0.4064" layer="1"/>
+</signal>
+<signal name="EXTRA_PWM1">
+<contactref element="U1" pad="13"/>
+<contactref element="EXTRA" pad="3"/>
+<wire x1="14.605" y1="59.69" x2="23.26" y2="12.2174" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="EXTRA_PWM2">
+<contactref element="U1" pad="14"/>
+<contactref element="EXTRA" pad="2"/>
+<wire x1="12.065" y1="59.69" x2="24.06" y2="12.2174" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="EXTRA_ADC6">
+<contactref element="U1" pad="19"/>
+<contactref element="EXTRA" pad="5"/>
+<wire x1="19.685" y1="59.69" x2="27.1526" y2="15.31" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="EXTRA_ADC7">
+<contactref element="U1" pad="22"/>
+<contactref element="EXTRA" pad="4"/>
+<wire x1="17.145" y1="59.69" x2="27.1526" y2="17.71" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="EXTRA_PD4">
+<contactref element="U1" pad="2"/>
+<contactref element="EXTRA" pad="1"/>
+<wire x1="9.525" y1="59.69" x2="18.5674" y2="18.51" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="AO1">
+<contactref element="U$1" pad="1"/>
+<contactref element="U$1" pad="2"/>
+<contactref element="MOTORS" pad="1"/>
+<wire x1="39.355" y1="53.975" x2="40.005" y2="53.975" width="0.4064" layer="1"/>
+<wire x1="40.64" y1="59.69" x2="40.005" y2="59.055" width="0.4064" layer="1"/>
+<wire x1="40.005" y1="59.055" x2="40.005" y2="53.975" width="0.4064" layer="1"/>
+</signal>
+<signal name="AO2">
+<contactref element="U$1" pad="5"/>
+<contactref element="MOTORS" pad="2"/>
+<contactref element="U$1" pad="6"/>
+<wire x1="37.405" y1="53.975" x2="37.405" y2="58.995" width="0.4064" layer="1"/>
+<wire x1="37.405" y1="58.995" x2="38.1" y2="59.69" width="0.4064" layer="1"/>
+<wire x1="37.405" y1="53.975" x2="36.755" y2="53.975" width="0.4064" layer="1"/>
+</signal>
+<signal name="BO2">
+<contactref element="MOTORS" pad="3"/>
+<contactref element="U$1" pad="11"/>
+<contactref element="U$1" pad="12"/>
+<wire x1="33.505" y1="53.975" x2="32.855" y2="53.975" width="0.4064" layer="1"/>
+<wire x1="35.56" y1="59.69" x2="35.56" y2="60.96" width="0.4064" layer="1"/>
+<wire x1="35.56" y1="60.96" x2="34.29" y2="62.23" width="0.4064" layer="1"/>
+<wire x1="34.29" y1="62.23" x2="31.75" y2="62.23" width="0.4064" layer="1"/>
+<wire x1="31.75" y1="62.23" x2="30.48" y2="60.96" width="0.4064" layer="1"/>
+<wire x1="30.48" y1="60.96" x2="30.48" y2="58.42" width="0.4064" layer="1"/>
+<wire x1="30.48" y1="58.42" x2="32.855" y2="56.045" width="0.4064" layer="1"/>
+<wire x1="32.855" y1="56.045" x2="32.855" y2="53.975" width="0.4064" layer="1"/>
+</signal>
+<signal name="BO1">
+<contactref element="MOTORS" pad="4"/>
+<contactref element="U$1" pad="7"/>
+<contactref element="U$1" pad="8"/>
+<wire x1="35.455" y1="53.975" x2="36.105" y2="53.975" width="0.4064" layer="1"/>
+<wire x1="35.455" y1="53.975" x2="35.455" y2="57.255" width="0.4064" layer="1"/>
+<wire x1="35.455" y1="57.255" x2="33.02" y2="59.69" width="0.4064" layer="1"/>
+</signal>
+</signals>
+</board>
+</drawing>
+</eagle>
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>
