commit 2dd02b532636507a0dd4cf45e1031c26c24e4fb7
Author: Jess Chernak <jchernak@andrew.cmu.edu>
Date:   Thu Apr 24 12:34:27 2014 -0400

    added motor control schematic to scoutshield

diff --git a/scoutshield/scoutshield_v1.sch b/scoutshield/scoutshield_v1.sch
old mode 100755
new mode 100644
index 387aba3..b8d92b2
--- a/scoutshield/scoutshield_v1.sch
+++ b/scoutshield/scoutshield_v1.sch
@@ -1464,6 +1464,48 @@ chip</description>
 <text x="-0.762" y="1.27" size="0.4064" layer="25">&gt;Name</text>
 <text x="-1.016" y="-1.524" size="0.4064" layer="27">&gt;Value</text>
 </package>
+<package name="TO220-ADJ">
+<wire x1="5.08" y1="-1.905" x2="-5.08" y2="-1.905" width="0.2032" layer="21"/>
+<wire x1="-5.08" y1="-1.905" x2="-5.08" y2="1.905" width="0.2032" layer="21"/>
+<wire x1="-5.08" y1="1.905" x2="-5.08" y2="2.54" width="0.2032" layer="21"/>
+<wire x1="-5.08" y1="2.54" x2="5.08" y2="2.54" width="0.2032" layer="21"/>
+<wire x1="5.08" y1="2.54" x2="5.08" y2="1.905" width="0.2032" layer="21"/>
+<wire x1="5.08" y1="1.905" x2="5.08" y2="-1.905" width="0.2032" layer="21"/>
+<wire x1="5.08" y1="1.905" x2="-5.08" y2="1.905" width="0.2032" layer="21"/>
+<wire x1="5.08" y1="2.54" x2="8.255" y2="2.54" width="0.2032" layer="51"/>
+<wire x1="8.255" y1="2.54" x2="8.255" y2="-5.715" width="0.2032" layer="51"/>
+<wire x1="8.255" y1="-5.715" x2="9.525" y2="-5.715" width="0.2032" layer="51"/>
+<wire x1="9.525" y1="-5.715" x2="9.525" y2="3.81" width="0.2032" layer="51"/>
+<wire x1="9.525" y1="3.81" x2="-9.525" y2="3.81" width="0.2032" layer="51"/>
+<wire x1="-9.525" y1="3.81" x2="-9.525" y2="-5.715" width="0.2032" layer="51"/>
+<wire x1="-9.525" y1="-5.715" x2="-8.255" y2="-5.715" width="0.2032" layer="51"/>
+<wire x1="-8.255" y1="-5.715" x2="-8.255" y2="2.54" width="0.2032" layer="51"/>
+<wire x1="-8.255" y1="2.54" x2="-5.08" y2="2.54" width="0.2032" layer="51"/>
+<pad name="ADJ" x="-2.54" y="0" drill="1" diameter="1.8796" shape="square"/>
+<pad name="OUT" x="0" y="0" drill="1" diameter="1.8796"/>
+<pad name="IN" x="2.54" y="0" drill="1" diameter="1.8796"/>
+</package>
+<package name="SOT223">
+<description>&lt;b&gt;SOT-223&lt;/b&gt;</description>
+<wire x1="3.2766" y1="1.651" x2="3.2766" y2="-1.651" width="0.2032" layer="21"/>
+<wire x1="3.2766" y1="-1.651" x2="-3.2766" y2="-1.651" width="0.2032" layer="21"/>
+<wire x1="-3.2766" y1="-1.651" x2="-3.2766" y2="1.651" width="0.2032" layer="21"/>
+<wire x1="-3.2766" y1="1.651" x2="3.2766" y2="1.651" width="0.2032" layer="21"/>
+<smd name="1" x="-2.3114" y="-3.0988" dx="1.2192" dy="2.2352" layer="1"/>
+<smd name="2" x="0" y="-3.0988" dx="1.2192" dy="2.2352" layer="1"/>
+<smd name="3" x="2.3114" y="-3.0988" dx="1.2192" dy="2.2352" layer="1"/>
+<smd name="4" x="0" y="3.099" dx="3.6" dy="2.2" layer="1"/>
+<text x="-0.8255" y="4.5085" size="0.4064" layer="25">&gt;NAME</text>
+<text x="-1.0795" y="-0.1905" size="0.4064" layer="27">&gt;VALUE</text>
+<rectangle x1="-1.6002" y1="1.8034" x2="1.6002" y2="3.6576" layer="51"/>
+<rectangle x1="-0.4318" y1="-3.6576" x2="0.4318" y2="-1.8034" layer="51"/>
+<rectangle x1="-2.7432" y1="-3.6576" x2="-1.8796" y2="-1.8034" layer="51"/>
+<rectangle x1="1.8796" y1="-3.6576" x2="2.7432" y2="-1.8034" layer="51"/>
+<rectangle x1="-1.6002" y1="1.8034" x2="1.6002" y2="3.6576" layer="51"/>
+<rectangle x1="-0.4318" y1="-3.6576" x2="0.4318" y2="-1.8034" layer="51"/>
+<rectangle x1="-2.7432" y1="-3.6576" x2="-1.8796" y2="-1.8034" layer="51"/>
+<rectangle x1="1.8796" y1="-3.6576" x2="2.7432" y2="-1.8034" layer="51"/>
+</package>
 </packages>
 <symbols>
 <symbol name="M08">
@@ -1577,6 +1619,20 @@ chip</description>
 <pin name="1" x="0" y="5.08" visible="off" length="short" direction="pas" swaplevel="1" rot="R270"/>
 <pin name="2" x="0" y="-2.54" visible="off" length="short" direction="pas" swaplevel="1" rot="R90"/>
 </symbol>
+<symbol name="78ADJ-2">
+<wire x1="-5.08" y1="-5.08" x2="5.08" y2="-5.08" width="0.4064" layer="94"/>
+<wire x1="5.08" y1="-5.08" x2="5.08" y2="2.54" width="0.4064" layer="94"/>
+<wire x1="5.08" y1="2.54" x2="-5.08" y2="2.54" width="0.4064" layer="94"/>
+<wire x1="-5.08" y1="2.54" x2="-5.08" y2="-5.08" width="0.4064" layer="94"/>
+<text x="2.54" y="-7.62" size="1.778" layer="95">&gt;NAME</text>
+<text x="2.54" y="-10.16" size="1.778" layer="96">&gt;VALUE</text>
+<text x="-2.032" y="-4.318" size="1.524" layer="95">ADJ</text>
+<text x="-4.445" y="-0.635" size="1.524" layer="95">IN</text>
+<text x="0.635" y="-0.635" size="1.524" layer="95">OUT</text>
+<pin name="IN" x="-7.62" y="0" visible="off" length="short" direction="in"/>
+<pin name="ADJ" x="0" y="-7.62" visible="off" length="short" direction="in" rot="R90"/>
+<pin name="OUT" x="7.62" y="0" visible="off" length="short" direction="out" rot="R180"/>
+</symbol>
 </symbols>
 <devicesets>
 <deviceset name="GND" prefix="GND">
@@ -2115,6 +2171,35 @@ Standard 0603 ceramic capacitor, and 0.1" leaded capacitor.</description>
 </device>
 </devices>
 </deviceset>
+<deviceset name="V_REG_317">
+<description>&lt;b&gt;Voltage Regulator&lt;/b&gt;
+Standard LM317 adjustable voltage regulator. AOI (Adjust Output Input). Google 'LM317 Calculator' for easy to use app to get the two resistor values needed. 240/720 for 5V output. 240/390 for 3.3V output. Spark Fun Electronics SKU : COM-00527</description>
+<gates>
+<gate name="G$1" symbol="78ADJ-2" x="0" y="0"/>
+</gates>
+<devices>
+<device name="SINK" package="TO220-ADJ">
+<connects>
+<connect gate="G$1" pin="ADJ" pad="ADJ"/>
+<connect gate="G$1" pin="IN" pad="IN"/>
+<connect gate="G$1" pin="OUT" pad="OUT"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="SMD" package="SOT223">
+<connects>
+<connect gate="G$1" pin="ADJ" pad="1"/>
+<connect gate="G$1" pin="IN" pad="3"/>
+<connect gate="G$1" pin="OUT" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
 </devicesets>
 </library>
 <library name="scout">
@@ -2151,6 +2236,30 @@ Standard 0603 ceramic capacitor, and 0.1" leaded capacitor.</description>
 <text x="4.318" y="-3.81" size="0.8128" layer="21" rot="R90">VOUT</text>
 <text x="-3.81" y="3.81" size="1.27" layer="25">D24V6F3</text>
 </package>
+<package name="WSON-12">
+<wire x1="-1.7" y1="-1.2" x2="-1.7" y2="1.2" width="0.127" layer="21"/>
+<wire x1="-1.7" y1="1.2" x2="1.7" y2="1.2" width="0.127" layer="21"/>
+<wire x1="1.7" y1="1.2" x2="1.7" y2="-1.2" width="0.127" layer="21"/>
+<wire x1="1.7" y1="-1.2" x2="-1.7" y2="-1.2" width="0.127" layer="21"/>
+<smd name="P12" x="-1.25" y="0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P11" x="-0.75" y="0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P10" x="-0.25" y="0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P9" x="0.25" y="0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P8" x="0.75" y="0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P7" x="1.25" y="0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P1" x="-1.25" y="-0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P2" x="-0.75" y="-0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P3" x="-0.25" y="-0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P4" x="0.25" y="-0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P5" x="0.75" y="-0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="P6" x="1.25" y="-0.95" dx="0.5" dy="0.25" layer="1" rot="R90"/>
+<smd name="THERM4" x="-1.4" y="0.25" dx="0.6" dy="0.25" layer="1"/>
+<smd name="THERM1" x="-1.4" y="-0.25" dx="0.6" dy="0.25" layer="1"/>
+<smd name="THERM3" x="1.4" y="0.25" dx="0.6" dy="0.25" layer="1"/>
+<smd name="THERM2" x="1.4" y="-0.25" dx="0.6" dy="0.25" layer="1"/>
+<smd name="THERMCENTER" x="0" y="0" dx="1.6" dy="0.7" layer="1"/>
+<circle x="-1.5" y="-0.95" radius="0.06" width="0.04" layer="21"/>
+</package>
 </packages>
 <symbols>
 <symbol name="VOLTAGE-REG">
@@ -2177,6 +2286,24 @@ Standard 0603 ceramic capacitor, and 0.1" leaded capacitor.</description>
 <text x="-10.16" y="6.096" size="1.778" layer="95">&gt;NAME</text>
 <text x="-10.16" y="-7.62" size="1.778" layer="96">&gt;VALUE</text>
 </symbol>
+<symbol name="DRV8835">
+<pin name="AOUT2" x="-20.32" y="2.54" visible="pin" length="middle"/>
+<pin name="AOUT1" x="-20.32" y="7.62" visible="pin" length="middle"/>
+<pin name="VM" x="-20.32" y="12.7" visible="pin" length="middle"/>
+<pin name="BOUT1" x="-20.32" y="-2.54" visible="pin" length="middle"/>
+<pin name="BOUT2" x="-20.32" y="-7.62" visible="pin" length="middle"/>
+<pin name="GND" x="-20.32" y="-12.7" visible="pin" length="middle"/>
+<pin name="VCC" x="20.32" y="12.7" visible="pin" length="middle" rot="R180"/>
+<pin name="MODE" x="20.32" y="7.62" visible="pin" length="middle" rot="R180"/>
+<pin name="AIN1/APHASE" x="20.32" y="2.54" visible="pin" length="middle" rot="R180"/>
+<pin name="AIN2/AENBL" x="20.32" y="-2.54" visible="pin" length="middle" rot="R180"/>
+<pin name="BIN1/BPHASE" x="20.32" y="-7.62" visible="pin" length="middle" rot="R180"/>
+<pin name="BIN2/BENBL" x="20.32" y="-12.7" visible="pin" length="middle" rot="R180"/>
+<wire x1="-15.24" y1="-15.24" x2="-15.24" y2="15.24" width="0.254" layer="94"/>
+<wire x1="15.24" y1="15.24" x2="15.24" y2="-15.24" width="0.254" layer="94"/>
+<wire x1="-15.24" y1="15.24" x2="15.24" y2="15.24" width="0.254" layer="94"/>
+<wire x1="-15.24" y1="-15.24" x2="15.24" y2="-15.24" width="0.254" layer="94"/>
+</symbol>
 </symbols>
 <devicesets>
 <deviceset name="D15V35F5S3">
@@ -2215,6 +2342,32 @@ Standard 0603 ceramic capacitor, and 0.1" leaded capacitor.</description>
 </device>
 </devices>
 </deviceset>
+<deviceset name="DRV8835">
+<gates>
+<gate name="G$1" symbol="DRV8835" x="0" y="0"/>
+</gates>
+<devices>
+<device name="" package="WSON-12">
+<connects>
+<connect gate="G$1" pin="AIN1/APHASE" pad="P10"/>
+<connect gate="G$1" pin="AIN2/AENBL" pad="P9"/>
+<connect gate="G$1" pin="AOUT1" pad="P2"/>
+<connect gate="G$1" pin="AOUT2" pad="P3"/>
+<connect gate="G$1" pin="BIN1/BPHASE" pad="P8"/>
+<connect gate="G$1" pin="BIN2/BENBL" pad="P7"/>
+<connect gate="G$1" pin="BOUT1" pad="P4"/>
+<connect gate="G$1" pin="BOUT2" pad="P5"/>
+<connect gate="G$1" pin="GND" pad="P6 THERM1 THERM2 THERM3 THERM4 THERMCENTER"/>
+<connect gate="G$1" pin="MODE" pad="P11"/>
+<connect gate="G$1" pin="VCC" pad="P12"/>
+<connect gate="G$1" pin="VM" pad="P1"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
 </devicesets>
 </library>
 <library name="supply1">
@@ -2239,6 +2392,12 @@ Standard 0603 ceramic capacitor, and 0.1" leaded capacitor.</description>
 <text x="-2.54" y="-2.54" size="1.778" layer="96">&gt;VALUE</text>
 <pin name="GND" x="0" y="2.54" visible="off" length="short" direction="sup" rot="R270"/>
 </symbol>
+<symbol name="VCC">
+<wire x1="1.27" y1="-1.905" x2="0" y2="0" width="0.254" layer="94"/>
+<wire x1="0" y1="0" x2="-1.27" y2="-1.905" width="0.254" layer="94"/>
+<text x="-2.54" y="-2.54" size="1.778" layer="96" rot="R90">&gt;VALUE</text>
+<pin name="VCC" x="0" y="-2.54" visible="off" length="short" direction="sup" rot="R90"/>
+</symbol>
 </symbols>
 <devicesets>
 <deviceset name="+5V" prefix="P+">
@@ -2267,6 +2426,19 @@ Standard 0603 ceramic capacitor, and 0.1" leaded capacitor.</description>
 </device>
 </devices>
 </deviceset>
+<deviceset name="VCC" prefix="P+">
+<description>&lt;b&gt;SUPPLY SYMBOL&lt;/b&gt;</description>
+<gates>
+<gate name="VCC" symbol="VCC" x="0" y="0"/>
+</gates>
+<devices>
+<device name="">
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
 </devicesets>
 </library>
 <library name="SparkFun-Aesthetics">
@@ -4998,218 +5170,2579 @@ http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf</descriptio
 </deviceset>
 </devicesets>
 </library>
-</libraries>
-<attributes>
-</attributes>
-<variantdefs>
-</variantdefs>
-<classes>
-<class number="0" name="default" width="0" drill="0">
-</class>
-</classes>
-<parts>
-<part name="JP3" library="SparkFun" deviceset="M08" device="LOCK"/>
-<part name="JP4" library="SparkFun" deviceset="M08" device="LOCK"/>
-<part name="JP5" library="SparkFun" deviceset="M08" device="LOCK"/>
-<part name="JP6" library="SparkFun" deviceset="M08" device="LOCK"/>
-<part name="JP7" library="SparkFun" deviceset="M08" device="LOCK"/>
-<part name="JP8" library="SparkFun" deviceset="M16" device="LOCK"/>
-<part name="JP9" library="SparkFun" deviceset="M16" device="LOCK"/>
-<part name="JP10" library="SparkFun" deviceset="M06" device="LOCK"/>
-<part name="JP11" library="SparkFun" deviceset="M02" device="LOCK"/>
-<part name="JP12" library="SparkFun" deviceset="M02" device="LOCK"/>
-<part name="GND2" library="SparkFun" deviceset="GND" device=""/>
-<part name="U$1" library="scout" deviceset="D15V35F5S3" device=""/>
-<part name="U$2" library="scout" deviceset="D24V6F3" device=""/>
-<part name="P+1" library="supply1" deviceset="+5V" device=""/>
-<part name="SUPPLY1" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
-<part name="GND1" library="SparkFun" deviceset="GND" device=""/>
-<part name="GND3" library="SparkFun" deviceset="GND" device=""/>
-<part name="U$3" library="microbuilder" deviceset="VIN" device=""/>
-<part name="U$4" library="microbuilder" deviceset="VIN" device=""/>
-<part name="C1" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
-<part name="C2" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
-<part name="C3" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
-<part name="C4" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
-<part name="U14" library="SparkFun-Sensors" deviceset="L3G4200D" device=""/>
-<part name="C7" library="SparkFun" deviceset="CAP" device="0603-CAP" value="470nF"/>
-<part name="C21" library="SparkFun" deviceset="CAP" device="0603-CAP" value="10nF"/>
-<part name="R2" library="resistor" deviceset="R-US_" device="R0603" value="10k"/>
-<part name="GND6" library="supply1" deviceset="GND" device=""/>
-<part name="GND17" library="supply1" deviceset="GND" device=""/>
-<part name="U15" library="SparkFun-Sensors" deviceset="MAG3110" device=""/>
-<part name="GND29" library="supply1" deviceset="GND" device=""/>
-<part name="C24" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
-<part name="C25" library="SparkFun" deviceset="CAP" device="0603-CAP" value="1uF"/>
-<part name="C26" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
-<part name="GND44" library="supply1" deviceset="GND" device=""/>
-<part name="GND72" library="supply1" deviceset="GND" device=""/>
-<part name="GND85" library="supply1" deviceset="GND" device=""/>
-<part name="C27" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
-<part name="C28" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
-<part name="GND86" library="supply1" deviceset="GND" device=""/>
-<part name="GND89" library="supply1" deviceset="GND" device=""/>
-<part name="U16" library="SparkFun-Sensors" deviceset="MMA8452Q" device=""/>
-<part name="C45" library="SparkFun" deviceset="CAP" device="0603-CAP" value="4.7uF"/>
-<part name="C46" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
-<part name="C49" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
-<part name="GND90" library="supply1" deviceset="GND" device=""/>
-<part name="GND91" library="supply1" deviceset="GND" device=""/>
-<part name="GND92" library="supply1" deviceset="GND" device=""/>
-<part name="C50" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
-<part name="GND93" library="supply1" deviceset="GND" device=""/>
-<part name="GND94" library="supply1" deviceset="GND" device=""/>
-<part name="SUPPLY2" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
-<part name="SUPPLY3" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
-<part name="SUPPLY4" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
-</parts>
-<sheets>
-<sheet>
-<plain>
-<wire x1="-147.32" y1="185.42" x2="10.16" y2="185.42" width="0.1524" layer="97"/>
-<wire x1="10.16" y1="185.42" x2="10.16" y2="83.82" width="0.1524" layer="97"/>
-<wire x1="10.16" y1="83.82" x2="-147.32" y2="83.82" width="0.1524" layer="97"/>
-<wire x1="-147.32" y1="83.82" x2="-147.32" y2="185.42" width="0.1524" layer="97"/>
-<text x="-99.06" y="137.16" size="2.54" layer="97">Connectors</text>
-<wire x1="-147.32" y1="83.82" x2="-147.32" y2="38.1" width="0.1524" layer="97"/>
-<wire x1="-147.32" y1="38.1" x2="10.16" y2="38.1" width="0.1524" layer="97"/>
-<wire x1="10.16" y1="38.1" x2="10.16" y2="83.82" width="0.1524" layer="97"/>
-<text x="-88.9" y="43.18" size="2.54" layer="97">Voltage Regulators</text>
-<text x="101.6" y="43.18" size="3.81" layer="97">9DOF IMU</text>
-</plain>
-<instances>
-<instance part="JP3" gate="G$1" x="-116.84" y="170.18" rot="R90"/>
-<instance part="JP4" gate="G$1" x="-86.36" y="170.18" rot="R90"/>
-<instance part="JP5" gate="G$1" x="-58.42" y="170.18" rot="R90"/>
-<instance part="JP6" gate="G$1" x="-58.42" y="101.6" rot="R270"/>
-<instance part="JP7" gate="G$1" x="-86.36" y="101.6" rot="R270"/>
-<instance part="JP8" gate="G$1" x="-20.32" y="137.16"/>
-<instance part="JP9" gate="G$1" x="-20.32" y="134.62" rot="R180"/>
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-<pinref part="GND17" gate="1" pin="GND"/>
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-<segment>
-<pinref part="U15" gate="G$1" pin="GND@5"/>
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+Source: VISHAY .. vta56.pdf</description>
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+Source: VISHAY .. vta56.pdf</description>
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+Source: VISHAY .. vta56.pdf</description>
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+Source: VISHAY .. vta56.pdf</description>
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+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="MELF0204R" package="MINI_MELF-0204R">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="MELF0204W" package="MINI_MELF-0204W">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="MELF0207R" package="MINI_MELF-0207R">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="MELF0207W" package="MINI_MELF-0207W">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="RDH/15" package="RDH/15">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="0204/2V" package="0204V">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="0309/V" package="0309V">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="R0201" package="R0201">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="VMTA55" package="VMTA55">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="VMTB60" package="VMTB60">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="VTA52" package="VTA52">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="VTA53" package="VTA53">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="VTA54" package="VTA54">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="VTA55" package="VTA55">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="VTA56" package="VTA56">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="R4527" package="R4527">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="WSC0001" package="WSC0001">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="WSC0002" package="WSC0002">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="WSC01/2" package="WSC01/2">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="WSC2515" package="WSC2515">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="WSC4527" package="WSC4527">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="WSC6927" package="WSC6927">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="R1218" package="R1218">
+<connects>
+<connect gate="G$1" pin="1" pad="1"/>
+<connect gate="G$1" pin="2" pad="2"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
+</devicesets>
+</library>
+</libraries>
+<attributes>
+</attributes>
+<variantdefs>
+</variantdefs>
+<classes>
+<class number="0" name="default" width="0" drill="0">
+</class>
+</classes>
+<parts>
+<part name="JP3" library="SparkFun" deviceset="M08" device="LOCK"/>
+<part name="JP4" library="SparkFun" deviceset="M08" device="LOCK"/>
+<part name="JP5" library="SparkFun" deviceset="M08" device="LOCK"/>
+<part name="JP6" library="SparkFun" deviceset="M08" device="LOCK"/>
+<part name="JP7" library="SparkFun" deviceset="M08" device="LOCK"/>
+<part name="JP8" library="SparkFun" deviceset="M16" device="LOCK"/>
+<part name="JP9" library="SparkFun" deviceset="M16" device="LOCK"/>
+<part name="JP10" library="SparkFun" deviceset="M06" device="LOCK"/>
+<part name="JP11" library="SparkFun" deviceset="M02" device="LOCK"/>
+<part name="JP12" library="SparkFun" deviceset="M02" device="LOCK"/>
+<part name="GND2" library="SparkFun" deviceset="GND" device=""/>
+<part name="U$1" library="scout" deviceset="D15V35F5S3" device=""/>
+<part name="U$2" library="scout" deviceset="D24V6F3" device=""/>
+<part name="P+1" library="supply1" deviceset="+5V" device=""/>
+<part name="SUPPLY1" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
+<part name="GND1" library="SparkFun" deviceset="GND" device=""/>
+<part name="GND3" library="SparkFun" deviceset="GND" device=""/>
+<part name="U$3" library="microbuilder" deviceset="VIN" device=""/>
+<part name="U$4" library="microbuilder" deviceset="VIN" device=""/>
+<part name="C1" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
+<part name="C2" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
+<part name="C3" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
+<part name="C4" library="SparkFun-Capacitors" deviceset="CAP" device="1206" value="10uF"/>
+<part name="U14" library="SparkFun-Sensors" deviceset="L3G4200D" device=""/>
+<part name="C7" library="SparkFun" deviceset="CAP" device="0603-CAP" value="470nF"/>
+<part name="C21" library="SparkFun" deviceset="CAP" device="0603-CAP" value="10nF"/>
+<part name="R2" library="resistor" deviceset="R-US_" device="R0603" value="10k"/>
+<part name="GND6" library="supply1" deviceset="GND" device=""/>
+<part name="GND17" library="supply1" deviceset="GND" device=""/>
+<part name="U15" library="SparkFun-Sensors" deviceset="MAG3110" device=""/>
+<part name="GND29" library="supply1" deviceset="GND" device=""/>
+<part name="C24" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="C25" library="SparkFun" deviceset="CAP" device="0603-CAP" value="1uF"/>
+<part name="C26" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="GND44" library="supply1" deviceset="GND" device=""/>
+<part name="GND72" library="supply1" deviceset="GND" device=""/>
+<part name="GND85" library="supply1" deviceset="GND" device=""/>
+<part name="C27" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="C28" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="GND86" library="supply1" deviceset="GND" device=""/>
+<part name="GND89" library="supply1" deviceset="GND" device=""/>
+<part name="U16" library="SparkFun-Sensors" deviceset="MMA8452Q" device=""/>
+<part name="C45" library="SparkFun" deviceset="CAP" device="0603-CAP" value="4.7uF"/>
+<part name="C46" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="C49" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="GND90" library="supply1" deviceset="GND" device=""/>
+<part name="GND91" library="supply1" deviceset="GND" device=""/>
+<part name="GND92" library="supply1" deviceset="GND" device=""/>
+<part name="C50" library="SparkFun" deviceset="CAP" device="0603-CAP" value="100nF"/>
+<part name="GND93" library="supply1" deviceset="GND" device=""/>
+<part name="GND94" library="supply1" deviceset="GND" device=""/>
+<part name="SUPPLY2" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
+<part name="SUPPLY3" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
+<part name="SUPPLY4" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
+<part name="U$6" library="scout" deviceset="DRV8835" device=""/>
+<part name="GND4" library="supply1" deviceset="GND" device=""/>
+<part name="SUPPLY6" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
+<part name="U$7" library="SparkFun" deviceset="V_REG_317" device="SMD"/>
+<part name="P+3" library="supply1" deviceset="VCC" device=""/>
+<part name="R1" library="rcl" deviceset="R-US_" device="R2512" value="0.8, &gt; 1W"/>
+<part name="C5" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="GND7" library="supply1" deviceset="GND" device=""/>
+<part name="U$5" library="scout" deviceset="DRV8835" device=""/>
+<part name="GND5" library="supply1" deviceset="GND" device=""/>
+<part name="SUPPLY5" library="SparkFun-Aesthetics" deviceset="3.3V" device=""/>
+<part name="U$8" library="SparkFun" deviceset="V_REG_317" device="SMD"/>
+<part name="P+2" library="supply1" deviceset="VCC" device=""/>
+<part name="R3" library="rcl" deviceset="R-US_" device="R2512" value="0.8, &gt; 1W"/>
+<part name="C6" library="SparkFun" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="GND8" library="supply1" deviceset="GND" device=""/>
+</parts>
+<sheets>
+<sheet>
+<plain>
+<wire x1="-147.32" y1="205.74" x2="10.16" y2="205.74" width="0.1524" layer="97"/>
+<wire x1="10.16" y1="205.74" x2="10.16" y2="83.82" width="0.1524" layer="97"/>
+<wire x1="10.16" y1="83.82" x2="-147.32" y2="83.82" width="0.1524" layer="97"/>
+<wire x1="-147.32" y1="83.82" x2="-147.32" y2="205.74" width="0.1524" layer="97"/>
+<text x="-99.06" y="137.16" size="2.54" layer="97">Connectors</text>
+<wire x1="-147.32" y1="83.82" x2="-147.32" y2="38.1" width="0.1524" layer="97"/>
+<wire x1="-147.32" y1="38.1" x2="10.16" y2="38.1" width="0.1524" layer="97"/>
+<wire x1="10.16" y1="38.1" x2="10.16" y2="83.82" width="0.1524" layer="97"/>
+<text x="-88.9" y="43.18" size="2.54" layer="97">Voltage Regulators</text>
+<text x="101.6" y="43.18" size="3.81" layer="97">9DOF IMU</text>
+<text x="-73.66" y="-35.56" size="1.778" layer="97" rot="R180">Decoupling cap combined with other motor driver</text>
+<text x="-134.62" y="-43.18" size="1.778" layer="97">Current limit each pair of motors to 1.4A</text>
+<text x="-50.8" y="-48.26" size="3.81" layer="97">Motor Controllers</text>
+</plain>
+<instances>
+<instance part="JP3" gate="G$1" x="-116.84" y="170.18" rot="R90"/>
+<instance part="JP4" gate="G$1" x="-86.36" y="170.18" rot="R90"/>
+<instance part="JP5" gate="G$1" x="-58.42" y="170.18" rot="R90"/>
+<instance part="JP6" gate="G$1" x="-58.42" y="101.6" rot="R270"/>
+<instance part="JP7" gate="G$1" x="-86.36" y="101.6" rot="R270"/>
+<instance part="JP8" gate="G$1" x="-20.32" y="137.16"/>
+<instance part="JP9" gate="G$1" x="-20.32" y="134.62" rot="R180"/>
+<instance part="JP10" gate="G$1" x="-111.76" y="101.6" rot="R270"/>
+<instance part="JP11" gate="G$1" x="-20.32" y="106.68" rot="R270"/>
+<instance part="JP12" gate="G$1" x="-20.32" y="165.1" rot="R90"/>
+<instance part="GND2" gate="1" x="-20.32" y="91.44"/>
+<instance part="U$1" gate="G$1" x="-96.52" y="68.58"/>
+<instance part="U$2" gate="G$1" x="-43.18" y="68.58"/>
+<instance part="P+1" gate="1" x="-71.12" y="73.66"/>
+<instance part="SUPPLY1" gate="G$1" x="-17.78" y="71.12"/>
+<instance part="GND1" gate="1" x="-96.52" y="50.8"/>
+<instance part="GND3" gate="1" x="-40.64" y="50.8"/>
+<instance part="U$3" gate="G$1" x="-119.38" y="73.66"/>
+<instance part="U$4" gate="G$1" x="-63.5" y="73.66"/>
+<instance part="C1" gate="G$1" x="-119.38" y="60.96"/>
+<instance part="C2" gate="G$1" x="-81.28" y="60.96"/>
+<instance part="C3" gate="G$1" x="-63.5" y="60.96"/>
+<instance part="C4" gate="G$1" x="-25.4" y="60.96"/>
+<instance part="U14" gate="G$1" x="73.66" y="111.76"/>
+<instance part="C7" gate="G$1" x="104.14" y="104.14" rot="R90"/>
+<instance part="C21" gate="G$1" x="96.52" y="99.06" rot="R180"/>
+<instance part="R2" gate="G$1" x="114.3" y="99.06" rot="R90"/>
+<instance part="GND6" gate="1" x="124.46" y="91.44" rot="R90"/>
+<instance part="GND17" gate="1" x="116.84" y="119.38" rot="R90"/>
+<instance part="U15" gate="G$1" x="71.12" y="154.94"/>
+<instance part="GND29" gate="1" x="53.34" y="142.24"/>
+<instance part="C24" gate="G$1" x="114.3" y="154.94" rot="R180"/>
+<instance part="C25" gate="G$1" x="91.44" y="167.64" rot="R180"/>
+<instance part="C26" gate="G$1" x="106.68" y="167.64" rot="R180"/>
+<instance part="GND44" gate="1" x="114.3" y="144.78"/>
+<instance part="GND72" gate="1" x="106.68" y="177.8" rot="R180"/>
+<instance part="GND85" gate="1" x="91.44" y="177.8" rot="R180"/>
+<instance part="C27" gate="G$1" x="48.26" y="170.18" rot="R180"/>
+<instance part="C28" gate="G$1" x="43.18" y="157.48" rot="R270"/>
+<instance part="GND86" gate="1" x="35.56" y="157.48" rot="R270"/>
+<instance part="GND89" gate="1" x="48.26" y="177.8" rot="R180"/>
+<instance part="U16" gate="G$1" x="68.58" y="66.04"/>
+<instance part="C45" gate="G$1" x="50.8" y="78.74" rot="R180"/>
+<instance part="C46" gate="G$1" x="40.64" y="78.74" rot="R180"/>
+<instance part="C49" gate="G$1" x="30.48" y="78.74" rot="R180"/>
+<instance part="GND90" gate="1" x="40.64" y="88.9" rot="R180"/>
+<instance part="GND91" gate="1" x="45.72" y="50.8"/>
+<instance part="GND92" gate="1" x="93.98" y="53.34"/>
+<instance part="C50" gate="G$1" x="43.18" y="121.92" rot="R90"/>
+<instance part="GND93" gate="1" x="35.56" y="114.3"/>
+<instance part="GND94" gate="1" x="50.8" y="96.52"/>
+<instance part="SUPPLY2" gate="G$1" x="55.88" y="83.82"/>
+<instance part="SUPPLY3" gate="G$1" x="53.34" y="127"/>
+<instance part="SUPPLY4" gate="G$1" x="119.38" y="162.56" rot="R270"/>
+<instance part="U$6" gate="G$1" x="-43.18" y="15.24"/>
+<instance part="GND4" gate="1" x="-66.04" y="-2.54"/>
+<instance part="SUPPLY6" gate="G$1" x="-20.32" y="30.48"/>
+<instance part="U$7" gate="G$1" x="-111.76" y="27.94"/>
+<instance part="P+3" gate="VCC" x="-121.92" y="33.02"/>
+<instance part="R1" gate="G$1" x="-93.98" y="27.94" rot="R180"/>
+<instance part="C5" gate="G$1" x="-121.92" y="22.86" rot="MR0"/>
+<instance part="GND7" gate="1" x="-121.92" y="17.78"/>
+<instance part="U$5" gate="G$1" x="-43.18" y="-22.86"/>
+<instance part="GND5" gate="1" x="-66.04" y="-40.64"/>
+<instance part="SUPPLY5" gate="G$1" x="-20.32" y="-7.62"/>
+<instance part="U$8" gate="G$1" x="-111.76" y="-10.16"/>
+<instance part="P+2" gate="VCC" x="-121.92" y="-5.08"/>
+<instance part="R3" gate="G$1" x="-93.98" y="-10.16" rot="R180"/>
+<instance part="C6" gate="G$1" x="-121.92" y="-15.24" rot="MR0"/>
+<instance part="GND8" gate="1" x="-121.92" y="-20.32"/>
+</instances>
+<busses>
+</busses>
+<nets>
+<net name="RES" class="0">
+<segment>
+<wire x1="-116.84" y1="93.98" x2="-116.84" y2="96.52" width="0.1524" layer="91"/>
+<label x="-116.84" y="92.71" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP10" gate="G$1" pin="1"/>
+</segment>
+</net>
+<net name="GND" class="0">
+<segment>
+<wire x1="-109.22" y1="93.98" x2="-109.22" y2="96.52" width="0.1524" layer="91"/>
+<label x="-109.22" y="92.71" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP10" gate="G$1" pin="4"/>
+</segment>
+<segment>
+<wire x1="-106.68" y1="93.98" x2="-106.68" y2="96.52" width="0.1524" layer="91"/>
+<label x="-106.68" y="92.71" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP10" gate="G$1" pin="5"/>
+</segment>
+<segment>
+<wire x1="-124.46" y1="175.26" x2="-124.46" y2="177.8" width="0.1524" layer="91"/>
+<label x="-123.698" y="177.8" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP3" gate="G$1" pin="7"/>
+</segment>
+<segment>
+<wire x1="-17.78" y1="96.52" x2="-17.78" y2="99.06" width="0.1524" layer="91"/>
+<wire x1="-20.32" y1="96.52" x2="-20.32" y2="99.06" width="0.1524" layer="91"/>
+<wire x1="-17.78" y1="96.52" x2="-20.32" y2="96.52" width="0.1524" layer="91"/>
+<wire x1="-20.32" y1="96.52" x2="-20.32" y2="93.98" width="0.1524" layer="91"/>
+<junction x="-20.32" y="96.52"/>
+<pinref part="JP11" gate="G$1" pin="2"/>
+<pinref part="JP11" gate="G$1" pin="1"/>
+<pinref part="GND2" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="U$1" gate="G$1" pin="GND"/>
+<pinref part="GND1" gate="1" pin="GND"/>
+<wire x1="-96.52" y1="55.88" x2="-96.52" y2="53.34" width="0.1524" layer="91"/>
+<pinref part="C1" gate="G$1" pin="2"/>
+<wire x1="-119.38" y1="58.42" x2="-119.38" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="-119.38" y1="53.34" x2="-96.52" y2="53.34" width="0.1524" layer="91"/>
+<junction x="-96.52" y="53.34"/>
+<pinref part="C2" gate="G$1" pin="2"/>
+<wire x1="-81.28" y1="58.42" x2="-81.28" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="-81.28" y1="53.34" x2="-96.52" y2="53.34" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="U$2" gate="G$1" pin="GND"/>
+<pinref part="GND3" gate="1" pin="GND"/>
+<wire x1="-40.64" y1="58.42" x2="-40.64" y2="53.34" width="0.1524" layer="91"/>
+<pinref part="C3" gate="G$1" pin="2"/>
+<wire x1="-63.5" y1="58.42" x2="-63.5" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="-63.5" y1="53.34" x2="-40.64" y2="53.34" width="0.1524" layer="91"/>
+<junction x="-40.64" y="53.34"/>
+<pinref part="C4" gate="G$1" pin="2"/>
+<wire x1="-25.4" y1="58.42" x2="-25.4" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="-25.4" y1="53.34" x2="-40.64" y2="53.34" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="C21" gate="G$1" pin="1"/>
+<wire x1="96.52" y1="93.98" x2="96.52" y2="91.44" width="0.1524" layer="91"/>
+<wire x1="96.52" y1="91.44" x2="114.3" y2="91.44" width="0.1524" layer="91"/>
+<pinref part="R2" gate="G$1" pin="1"/>
+<wire x1="114.3" y1="91.44" x2="114.3" y2="93.98" width="0.1524" layer="91"/>
+<wire x1="114.3" y1="91.44" x2="121.92" y2="91.44" width="0.1524" layer="91"/>
+<junction x="114.3" y="91.44"/>
+<pinref part="GND6" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="U14" gate="G$1" pin="SDO"/>
+<wire x1="86.36" y1="119.38" x2="114.3" y2="119.38" width="0.1524" layer="91"/>
+<pinref part="GND17" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="U15" gate="G$1" pin="GND@5"/>
 <wire x1="55.88" y1="152.4" x2="53.34" y2="152.4" width="0.1524" layer="91"/>
 <wire x1="53.34" y1="152.4" x2="53.34" y2="149.86" width="0.1524" layer="91"/>
 <pinref part="U15" gate="G$1" pin="GND@10"/>
@@ -5308,6 +7841,26 @@ http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf</descriptio
 <junction x="50.8" y="111.76"/>
 <pinref part="GND94" gate="1" pin="GND"/>
 </segment>
+<segment>
+<pinref part="U$6" gate="G$1" pin="GND"/>
+<pinref part="GND4" gate="1" pin="GND"/>
+<wire x1="-63.5" y1="2.54" x2="-66.04" y2="2.54" width="0.1524" layer="91"/>
+<wire x1="-66.04" y1="2.54" x2="-66.04" y2="0" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="C5" gate="G$1" pin="2"/>
+<pinref part="GND7" gate="1" pin="GND"/>
+</segment>
+<segment>
+<pinref part="U$5" gate="G$1" pin="GND"/>
+<pinref part="GND5" gate="1" pin="GND"/>
+<wire x1="-63.5" y1="-35.56" x2="-66.04" y2="-35.56" width="0.1524" layer="91"/>
+<wire x1="-66.04" y1="-35.56" x2="-66.04" y2="-38.1" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="C6" gate="G$1" pin="2"/>
+<pinref part="GND8" gate="1" pin="GND"/>
+</segment>
 </net>
 <net name="A0" class="0">
 <segment>
@@ -5435,69 +7988,6 @@ http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf</descriptio
 <pinref part="JP4" gate="G$1" pin="2"/>
 </segment>
 </net>
-<net name="D2" class="0">
-<segment>
-<wire x1="-83.82" y1="177.8" x2="-83.82" y2="175.26" width="0.1524" layer="91"/>
-<label x="-83.058" y="178.054" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP4" gate="G$1" pin="3"/>
-</segment>
-</net>
-<net name="D3" class="0">
-<segment>
-<wire x1="-86.36" y1="177.8" x2="-86.36" y2="175.26" width="0.1524" layer="91"/>
-<label x="-85.344" y="178.054" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP4" gate="G$1" pin="4"/>
-</segment>
-</net>
-<net name="D4" class="0">
-<segment>
-<wire x1="-88.9" y1="177.8" x2="-88.9" y2="175.26" width="0.1524" layer="91"/>
-<label x="-87.884" y="178.054" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP4" gate="G$1" pin="5"/>
-</segment>
-</net>
-<net name="D5" class="0">
-<segment>
-<wire x1="-91.44" y1="177.8" x2="-91.44" y2="175.26" width="0.1524" layer="91"/>
-<label x="-90.678" y="178.054" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP4" gate="G$1" pin="6"/>
-</segment>
-</net>
-<net name="D6" class="0">
-<segment>
-<wire x1="-93.98" y1="177.8" x2="-93.98" y2="175.26" width="0.1524" layer="91"/>
-<label x="-93.218" y="178.054" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP4" gate="G$1" pin="7"/>
-</segment>
-</net>
-<net name="D7" class="0">
-<segment>
-<wire x1="-96.52" y1="175.26" x2="-96.52" y2="177.8" width="0.1524" layer="91"/>
-<label x="-96.012" y="178.054" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP4" gate="G$1" pin="8"/>
-</segment>
-</net>
-<net name="D8" class="0">
-<segment>
-<wire x1="-109.22" y1="175.26" x2="-109.22" y2="177.8" width="0.1524" layer="91"/>
-<label x="-108.458" y="177.8" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP3" gate="G$1" pin="1"/>
-</segment>
-</net>
-<net name="D9" class="0">
-<segment>
-<wire x1="-111.76" y1="175.26" x2="-111.76" y2="177.8" width="0.1524" layer="91"/>
-<label x="-111.252" y="177.8" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP3" gate="G$1" pin="2"/>
-</segment>
-</net>
-<net name="D10" class="0">
-<segment>
-<wire x1="-114.3" y1="175.26" x2="-114.3" y2="177.8" width="0.1524" layer="91"/>
-<label x="-113.792" y="177.8" size="1.778" layer="95" rot="R90"/>
-<pinref part="JP3" gate="G$1" pin="3"/>
-</segment>
-</net>
 <net name="D11" class="0">
 <segment>
 <wire x1="-116.84" y1="175.26" x2="-116.84" y2="177.8" width="0.1524" layer="91"/>
@@ -5874,6 +8364,18 @@ http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf</descriptio
 <junction x="114.3" y="157.48"/>
 <pinref part="SUPPLY4" gate="G$1" pin="3.3V"/>
 </segment>
+<segment>
+<pinref part="U$6" gate="G$1" pin="VCC"/>
+<pinref part="SUPPLY6" gate="G$1" pin="3.3V"/>
+<wire x1="-22.86" y1="27.94" x2="-20.32" y2="27.94" width="0.1524" layer="91"/>
+<wire x1="-20.32" y1="27.94" x2="-20.32" y2="30.48" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="U$5" gate="G$1" pin="VCC"/>
+<pinref part="SUPPLY5" gate="G$1" pin="3.3V"/>
+<wire x1="-22.86" y1="-10.16" x2="-20.32" y2="-10.16" width="0.1524" layer="91"/>
+<wire x1="-20.32" y1="-10.16" x2="-20.32" y2="-7.62" width="0.1524" layer="91"/>
+</segment>
 </net>
 <net name="VIN" class="0">
 <segment>
@@ -6004,6 +8506,245 @@ http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf</descriptio
 <pinref part="JP8" gate="G$1" pin="15"/>
 </segment>
 </net>
+<net name="VCC" class="0">
+<segment>
+<wire x1="-121.92" y1="30.48" x2="-121.92" y2="27.94" width="0.1524" layer="91"/>
+<wire x1="-121.92" y1="27.94" x2="-119.38" y2="27.94" width="0.1524" layer="91"/>
+<junction x="-121.92" y="27.94"/>
+<pinref part="P+3" gate="VCC" pin="VCC"/>
+<pinref part="U$7" gate="G$1" pin="IN"/>
+<pinref part="C5" gate="G$1" pin="1"/>
+</segment>
+<segment>
+<wire x1="-121.92" y1="-7.62" x2="-121.92" y2="-10.16" width="0.1524" layer="91"/>
+<wire x1="-121.92" y1="-10.16" x2="-119.38" y2="-10.16" width="0.1524" layer="91"/>
+<junction x="-121.92" y="-10.16"/>
+<pinref part="P+2" gate="VCC" pin="VCC"/>
+<pinref part="U$8" gate="G$1" pin="IN"/>
+<pinref part="C6" gate="G$1" pin="1"/>
+</segment>
+</net>
+<net name="N$1" class="0">
+<segment>
+<wire x1="-111.76" y1="20.32" x2="-111.76" y2="17.78" width="0.1524" layer="91"/>
+<wire x1="-111.76" y1="17.78" x2="-86.36" y2="17.78" width="0.1524" layer="91"/>
+<wire x1="-86.36" y1="17.78" x2="-86.36" y2="27.94" width="0.1524" layer="91"/>
+<wire x1="-86.36" y1="27.94" x2="-88.9" y2="27.94" width="0.1524" layer="91"/>
+<pinref part="U$7" gate="G$1" pin="ADJ"/>
+<pinref part="R1" gate="G$1" pin="1"/>
+<wire x1="-86.36" y1="27.94" x2="-63.5" y2="27.94" width="0.1524" layer="91"/>
+<junction x="-86.36" y="27.94"/>
+<pinref part="U$6" gate="G$1" pin="VM"/>
+</segment>
+</net>
+<net name="N$2" class="0">
+<segment>
+<wire x1="-99.06" y1="27.94" x2="-104.14" y2="27.94" width="0.1524" layer="91"/>
+<pinref part="U$7" gate="G$1" pin="OUT"/>
+<pinref part="R1" gate="G$1" pin="2"/>
+</segment>
+</net>
+<net name="MOTOR1+" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="AOUT1"/>
+<wire x1="-63.5" y1="22.86" x2="-78.74" y2="22.86" width="0.1524" layer="91"/>
+<label x="-78.74" y="22.86" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="MOTOR1-" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="AOUT2"/>
+<wire x1="-63.5" y1="17.78" x2="-78.74" y2="17.78" width="0.1524" layer="91"/>
+<label x="-78.74" y="17.78" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="MOTOR2+" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="BOUT1"/>
+<wire x1="-63.5" y1="12.7" x2="-73.66" y2="12.7" width="0.1524" layer="91"/>
+<label x="-78.74" y="12.7" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="MOTOR2-" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="BOUT2"/>
+<wire x1="-63.5" y1="7.62" x2="-78.74" y2="7.62" width="0.1524" layer="91"/>
+<label x="-78.74" y="7.62" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="N$3" class="0">
+<segment>
+<wire x1="-76.2" y1="12.7" x2="-78.74" y2="12.7" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="MODE" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="MODE"/>
+<label x="-20.32" y="22.86" size="1.778" layer="95"/>
+<wire x1="-22.86" y1="22.86" x2="-15.24" y2="22.86" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="U$5" gate="G$1" pin="MODE"/>
+<label x="-20.32" y="-15.24" size="1.778" layer="95"/>
+<wire x1="-22.86" y1="-15.24" x2="-15.24" y2="-15.24" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<wire x1="-114.3" y1="175.26" x2="-114.3" y2="177.8" width="0.1524" layer="91"/>
+<label x="-113.792" y="177.8" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP3" gate="G$1" pin="3"/>
+</segment>
+</net>
+<net name="MOTOR1_IN1/PHASE" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="AIN1/APHASE"/>
+<wire x1="-22.86" y1="17.78" x2="5.08" y2="17.78" width="0.1524" layer="91"/>
+<label x="-20.32" y="17.78" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-83.82" y1="177.8" x2="-83.82" y2="175.26" width="0.1524" layer="91"/>
+<label x="-83.058" y="178.054" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP4" gate="G$1" pin="3"/>
+</segment>
+</net>
+<net name="MOTOR1_IN2/ENBL" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="AIN2/AENBL"/>
+<wire x1="-22.86" y1="12.7" x2="5.08" y2="12.7" width="0.1524" layer="91"/>
+<label x="-20.32" y="12.7" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-86.36" y1="177.8" x2="-86.36" y2="175.26" width="0.1524" layer="91"/>
+<label x="-85.344" y="178.054" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP4" gate="G$1" pin="4"/>
+</segment>
+</net>
+<net name="MOTOR2_IN1/PHASE" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="BIN1/BPHASE"/>
+<wire x1="-22.86" y1="7.62" x2="5.08" y2="7.62" width="0.1524" layer="91"/>
+<label x="-20.32" y="7.62" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-88.9" y1="177.8" x2="-88.9" y2="175.26" width="0.1524" layer="91"/>
+<label x="-87.884" y="178.054" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP4" gate="G$1" pin="5"/>
+</segment>
+</net>
+<net name="MOTOR2_IN2/ENBL" class="0">
+<segment>
+<pinref part="U$6" gate="G$1" pin="BIN2/BENBL"/>
+<wire x1="-22.86" y1="2.54" x2="5.08" y2="2.54" width="0.1524" layer="91"/>
+<label x="-20.32" y="2.54" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-91.44" y1="177.8" x2="-91.44" y2="175.26" width="0.1524" layer="91"/>
+<label x="-90.678" y="178.054" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP4" gate="G$1" pin="6"/>
+</segment>
+</net>
+<net name="N$4" class="0">
+<segment>
+<wire x1="-111.76" y1="-17.78" x2="-111.76" y2="-20.32" width="0.1524" layer="91"/>
+<wire x1="-111.76" y1="-20.32" x2="-86.36" y2="-20.32" width="0.1524" layer="91"/>
+<wire x1="-86.36" y1="-20.32" x2="-86.36" y2="-10.16" width="0.1524" layer="91"/>
+<wire x1="-86.36" y1="-10.16" x2="-88.9" y2="-10.16" width="0.1524" layer="91"/>
+<pinref part="U$8" gate="G$1" pin="ADJ"/>
+<pinref part="R3" gate="G$1" pin="1"/>
+<wire x1="-86.36" y1="-10.16" x2="-63.5" y2="-10.16" width="0.1524" layer="91"/>
+<junction x="-86.36" y="-10.16"/>
+<pinref part="U$5" gate="G$1" pin="VM"/>
+</segment>
+</net>
+<net name="N$5" class="0">
+<segment>
+<wire x1="-99.06" y1="-10.16" x2="-104.14" y2="-10.16" width="0.1524" layer="91"/>
+<pinref part="U$8" gate="G$1" pin="OUT"/>
+<pinref part="R3" gate="G$1" pin="2"/>
+</segment>
+</net>
+<net name="MOTOR3+" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="AOUT1"/>
+<wire x1="-63.5" y1="-15.24" x2="-78.74" y2="-15.24" width="0.1524" layer="91"/>
+<label x="-78.74" y="-15.24" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="MOTOR3-" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="AOUT2"/>
+<wire x1="-63.5" y1="-20.32" x2="-78.74" y2="-20.32" width="0.1524" layer="91"/>
+<label x="-78.74" y="-20.32" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="MOTOR4+" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="BOUT1"/>
+<wire x1="-63.5" y1="-25.4" x2="-78.74" y2="-25.4" width="0.1524" layer="91"/>
+<label x="-78.74" y="-25.4" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="MOTOR4-" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="BOUT2"/>
+<wire x1="-63.5" y1="-30.48" x2="-78.74" y2="-30.48" width="0.1524" layer="91"/>
+<label x="-78.74" y="-30.48" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="MOTOR3_IN1/PHASE" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="AIN1/APHASE"/>
+<wire x1="-22.86" y1="-20.32" x2="5.08" y2="-20.32" width="0.1524" layer="91"/>
+<label x="-20.32" y="-20.32" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-93.98" y1="177.8" x2="-93.98" y2="175.26" width="0.1524" layer="91"/>
+<label x="-93.218" y="178.054" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP4" gate="G$1" pin="7"/>
+</segment>
+</net>
+<net name="MOTOR3_IN2/ENBL" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="AIN2/AENBL"/>
+<wire x1="-22.86" y1="-25.4" x2="5.08" y2="-25.4" width="0.1524" layer="91"/>
+<label x="-20.32" y="-25.4" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-96.52" y1="175.26" x2="-96.52" y2="177.8" width="0.1524" layer="91"/>
+<label x="-96.012" y="178.054" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP4" gate="G$1" pin="8"/>
+</segment>
+</net>
+<net name="MOTOR4_IN1/PHASE" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="BIN1/BPHASE"/>
+<wire x1="-22.86" y1="-30.48" x2="5.08" y2="-30.48" width="0.1524" layer="91"/>
+<label x="-20.32" y="-30.48" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-109.22" y1="175.26" x2="-109.22" y2="177.8" width="0.1524" layer="91"/>
+<label x="-108.458" y="177.8" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP3" gate="G$1" pin="1"/>
+</segment>
+</net>
+<net name="MOTOR4_IN2/ENBL" class="0">
+<segment>
+<pinref part="U$5" gate="G$1" pin="BIN2/BENBL"/>
+<wire x1="-22.86" y1="-35.56" x2="5.08" y2="-35.56" width="0.1524" layer="91"/>
+<label x="-20.32" y="-35.56" size="1.778" layer="95"/>
+</segment>
+<segment>
+<wire x1="-111.76" y1="175.26" x2="-111.76" y2="177.8" width="0.1524" layer="91"/>
+<label x="-111.252" y="177.8" size="1.778" layer="95" rot="R90"/>
+<pinref part="JP3" gate="G$1" pin="2"/>
+</segment>
+</net>
+<net name="N$6" class="0">
+<segment>
+<wire x1="-147.32" y1="38.1" x2="-147.32" y2="-50.8" width="0.1524" layer="91"/>
+<wire x1="-147.32" y1="-50.8" x2="10.16" y2="-50.8" width="0.1524" layer="91"/>
+<wire x1="10.16" y1="-50.8" x2="10.16" y2="38.1" width="0.1524" layer="91"/>
+</segment>
+</net>
 </nets>
 </sheet>
 </sheets>
