commit d5edd62ecd329ca77d0ed99a49c13b8b802aa55c
Author: Tom Mullins <tmullins@andrew.cmu.edu>
Date:   Wed Feb 20 13:23:47 2013 -0500

    Even more paintboard progress

diff --git a/paintboard/paintboard.brd b/paintboard/paintboard.brd
index 11f8d70..acec9e9 100644
--- a/paintboard/paintboard.brd
+++ b/paintboard/paintboard.brd
@@ -6,7 +6,7 @@
 <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"/>
+<grid distance="25" unitdist="mil" unit="mil" style="lines" 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"/>
@@ -731,40 +731,47 @@ design rules under a new name.</description>
 </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 name="U$1" library="kwoo" package="24-SSOP" value="TB6612FNG" x="48.26" y="4.445" rot="R90"/>
+<element name="U1" library="SparkFun-DigitalIC" package="TQFP32-08" value="ATMEGA168" x="23.495" y="31.75"/>
+<element name="PROG" library="SparkFun-Connectors" package="2X3" value="AVR_SPI_PRG_6PTH" x="32.385" y="21.59" smashed="yes" rot="R180">
+<attribute name="NAME" x="33.655" y="17.145" size="1.27" layer="25" ratio="10" rot="R180"/>
 </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 name="BATTERY" library="SparkFun-Connectors" package="1X02" value="" x="57.785" y="16.51" rot="R90"/>
+<element name="I2C" library="SparkFun-Connectors" package="1X04" value="" x="19.685" y="47.625"/>
+<element name="GEIGER" library="SparkFun-Connectors" package="1X05" value="" x="15.24" y="37.465" rot="R90"/>
+<element name="SERVO1" library="SparkFun-Connectors" package="1X03" value="" x="8.255" y="19.05" smashed="yes">
+<attribute name="NAME" x="6.9088" y="15.7988" size="1.27" layer="25" ratio="10"/>
+<attribute name="VALUE" x="6.985" y="15.875" size="1.27" layer="27"/>
 </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 name="SERVO2" library="SparkFun-Connectors" package="1X03" value="" x="8.255" y="22.86"/>
+<element name="12V_REG" library="SparkFun-Connectors" package="1X03" value="" x="57.785" y="31.75" rot="R270"/>
+<element name="Q1" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="19.685" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="20.32" y="-1.905" 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 name="Q2" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="26.035" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="20.32" y="-5.715" 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 name="Q3" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="32.385" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="20.32" y="-9.525" size="1.778" layer="27" rot="R270" 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"/>
-<element name="C4" library="SparkFun-Passives" package="0805" value="0.1 uF" x="31.75" y="40.64" rot="R270"/>
-<element name="EXTRA" library="SparkFun-Connectors" package="1X05" value="" x="9.525" y="59.69"/>
-<element name="MOTORS" library="SparkFun-Connectors" package="1X04" value="" x="40.64" y="59.69" rot="R180"/>
-<element name="C5" library="SparkFun-Passives" package="0805" value="0.1 uF" x="41.275" y="42.545" rot="R270"/>
+<element name="Q4" library="SparkFun-DiscreteSemi" package="SO08" value="MOSFET-NCHANNELFDS6630A" x="48.26" y="38.735" rot="R270">
+<attribute name="PROD_ID" value="IC-08089" x="11.43" y="17.145" size="1.778" layer="27" rot="R270" display="off"/>
+</element>
+<element name="S1" library="SparkFun-Electromechanical" package="TACTILE_SWITCH_SMD" value="" x="33.02" y="42.545">
+<attribute name="PROD_ID" value="SWCH-08247" x="60.96" y="6.985" size="1.778" layer="27" display="off"/>
+</element>
+<element name="C1" library="SparkFun-Passives" package="0805" value="0.1 uF" x="30.48" y="31.115" rot="R90"/>
+<element name="C2" library="SparkFun-Passives" package="0805" value="0.1 uF" x="15.875" y="31.75" rot="R90"/>
+<element name="C3" library="SparkFun-Passives" package="0805" value="0.1 uF" x="38.735" y="6.35" rot="R180"/>
+<element name="R1" library="SparkFun-Passives" package="0805" value="10k" x="27.94" y="41.91" rot="R90"/>
+<element name="R2" library="SparkFun-Passives" package="0805" value="10k" x="40.64" y="9.525" rot="R180"/>
+<element name="SOLENOIDS" library="SparkFun-Connectors" package="2X4" value="M04X2" x="56.515" y="43.815" smashed="yes" rot="R90">
+<attribute name="NAME" x="60.96" y="38.735" size="1.27" layer="25" ratio="10" rot="R90"/>
+</element>
+<element name="C4" library="SparkFun-Passives" package="0805" value="0.1 uF" x="38.735" y="12.7" rot="R180"/>
+<element name="EXTRA" library="SparkFun-Connectors" package="1X05" value="" x="22.86" y="3.81"/>
+<element name="MOTORS" library="SparkFun-Connectors" package="1X04" value="" x="57.785" y="3.81" rot="R90"/>
+<element name="C5" library="SparkFun-Passives" package="0805" value="0.1 uF" x="40.64" y="3.175" rot="R180"/>
 </elements>
 <signals>
 <signal name="GND">
@@ -801,80 +808,85 @@ design rules under a new name.</description>
 <contactref element="Q4" pad="2"/>
 <contactref element="Q4" pad="3"/>
 <contactref element="C4" pad="2"/>
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-<wire x1="27.1526" y1="16.91" x2="22.46" y2="16.91" width="0.4064" layer="1"/>
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+<wire x1="20.955" y1="50.165" x2="19.685" y2="48.895" width="0.4064" layer="1"/>
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+<wire x1="42.545" y1="34.29" x2="42.545" y2="40.64" width="0.4064" layer="1"/>
+<wire x1="45.6438" y1="34.29" x2="42.545" y2="34.29" width="0.4064" layer="1"/>
+<via x="42.545" y="27.94" extent="1-16" drill="0.6"/>
+<wire x1="42.545" y1="27.94" x2="42.545" y2="21.59" width="0.4064" layer="16"/>
+<via x="42.545" y="21.59" extent="1-16" drill="0.6"/>
+<wire x1="42.545" y1="21.59" x2="45.6438" y2="21.59" width="0.4064" layer="1"/>
+<wire x1="42.545" y1="21.59" x2="42.545" y2="14.605" width="0.4064" layer="16"/>
+<via x="42.545" y="14.605" extent="1-16" drill="0.6"/>
+<wire x1="24.765" y1="16.51" x2="16.51" y2="16.51" width="0.4064" layer="16"/>
+<wire x1="16.51" y1="16.51" x2="15.24" y2="17.78" width="0.4064" layer="16"/>
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+<wire x1="14.605" y1="20.955" x2="10.16" y2="20.955" width="0.4064" layer="16"/>
+<wire x1="10.16" y1="20.955" x2="8.255" y2="22.86" width="0.4064" layer="16"/>
+<wire x1="15.875" y1="32.65" x2="15.24" y2="33.285" width="0.4064" layer="1"/>
+<wire x1="15.24" y1="33.285" x2="15.24" y2="37.465" width="0.4064" layer="1"/>
+<wire x1="15.24" y1="37.465" x2="17.145" y2="37.465" width="0.4064" layer="16"/>
+<wire x1="17.145" y1="37.465" x2="17.78" y2="38.1" width="0.4064" layer="16"/>
+<wire x1="17.78" y1="38.1" x2="17.78" y2="45.72" width="0.4064" layer="16"/>
+<wire x1="17.78" y1="45.72" x2="19.685" y2="47.625" width="0.4064" layer="16"/>
+<wire x1="38.735" y1="40.64" x2="42.545" y2="40.64" width="0.4064" layer="16"/>
+<wire x1="39.74" y1="3.175" x2="39.74" y2="2.17" width="0.4064" layer="1"/>
+<wire x1="39.74" y1="2.17" x2="40.005" y2="1.905" width="0.4064" layer="1"/>
+<wire x1="40.005" y1="1.905" x2="50.165" y2="1.905" width="0.4064" layer="1"/>
+<wire x1="37.835" y1="12.7" x2="37.835" y2="11.165" width="0.4064" layer="1"/>
+<wire x1="37.835" y1="11.165" x2="36.83" y2="10.16" width="0.4064" layer="1"/>
+<wire x1="36.83" y1="10.16" x2="36.83" y2="8.89" width="0.4064" layer="1"/>
+<wire x1="36.83" y1="8.89" x2="37.835" y2="7.885" width="0.4064" layer="1"/>
+<wire x1="37.835" y1="7.885" x2="37.835" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="42.545" y1="27.94" x2="45.6438" y2="27.94" width="0.4064" layer="1"/>
+<wire x1="52.07" y1="9.645" x2="50.92" y2="9.645" width="0.4064" layer="1"/>
+<wire x1="50.92" y1="9.645" x2="50.8" y2="9.525" width="0.4064" layer="1"/>
+<wire x1="50.8" y1="9.525" x2="50.8" y2="8.255" width="0.4064" layer="1"/>
+<wire x1="44.45" y1="8.345" x2="50.71" y2="8.345" width="0.4064" layer="1"/>
+<wire x1="50.71" y1="8.345" x2="50.8" y2="8.255" width="0.4064" layer="1"/>
+<wire x1="50.165" y1="1.905" x2="50.8" y2="2.54" width="0.4064" layer="1"/>
+<wire x1="50.8" y1="2.54" x2="50.8" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="50.8" y1="6.35" x2="50.8" y2="8.255" width="0.4064" layer="1"/>
+<wire x1="52.07" y1="6.395" x2="50.845" y2="6.395" width="0.4064" layer="1"/>
+<wire x1="50.845" y1="6.395" x2="50.8" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="45.6438" y1="27.94" x2="57.785" y2="29.21" width="0" layer="19" extent="1-1"/>
+<wire x1="35.56" y1="44.45" x2="38.735" y2="40.64" width="0" layer="19" extent="1-16"/>
+<wire x1="30.48" y1="44.45" x2="35.56" y2="44.45" width="0" layer="19" extent="1-1"/>
+<wire x1="27.94" y1="50.165" x2="30.48" y2="44.45" width="0" layer="19" extent="1-1"/>
+<wire x1="57.785" y1="16.51" x2="52.07" y2="10.295" width="0" layer="19" extent="1-1"/>
+<wire x1="14.605" y1="20.955" x2="19.2024" y2="31.35" width="0" layer="19" extent="1-16"/>
 </signal>
 <signal name="VCC">
 <contactref element="U1" pad="4"/>
@@ -892,50 +904,53 @@ design rules under a new name.</description>
 <contactref element="R1" pad="2"/>
 <contactref element="R2" pad="2"/>
 <contactref element="GEIGER" pad="5"/>
-<wire x1="27.305" y1="31.38" x2="23.76" y2="34.925" width="0.4064" layer="1"/>
-<wire x1="23.76" y1="34.925" x2="19.685" y2="34.925" width="0.4064" layer="1"/>
-<wire x1="27.305" y1="31.38" x2="37.835" y2="31.38" width="0.4064" layer="1"/>
-<wire x1="37.835" y1="31.38" x2="39.37" y2="29.845" width="0.4064" layer="1"/>
-<wire x1="10.16" y1="3.81" x2="10.16" y2="7.62" width="0.4064" layer="1"/>
-<wire x1="10.16" y1="7.62" x2="10.16" y2="12.065" width="0.4064" layer="1"/>
-<wire x1="18.5674" y1="15.31" x2="17.145" y2="15.31" width="0.4064" layer="1"/>
-<wire x1="17.145" y1="15.31" x2="15.54" y2="15.31" width="0.4064" layer="1"/>
-<wire x1="15.54" y1="15.31" x2="15.24" y2="15.61" width="0.4064" layer="1"/>
-<wire x1="18.5674" y1="16.91" x2="17.545" y2="16.91" width="0.4064" layer="1"/>
-<wire x1="17.545" y1="16.91" x2="17.145" y2="16.51" width="0.4064" layer="1"/>
-<wire x1="17.145" y1="16.51" x2="17.145" y2="15.31" width="0.4064" layer="1"/>
-<wire x1="27.1526" y1="14.51" x2="28.575" y2="14.51" width="0.4064" layer="1"/>
-<wire x1="28.575" y1="14.51" x2="29.38" y2="14.51" width="0.4064" layer="1"/>
-<wire x1="29.38" y1="14.51" x2="29.845" y2="14.975" width="0.4064" layer="1"/>
-<wire x1="27.1526" y1="16.11" x2="28.34" y2="16.11" width="0.4064" layer="1"/>
-<wire x1="28.34" y1="16.11" x2="28.575" y2="15.875" width="0.4064" layer="1"/>
-<wire x1="28.575" y1="15.875" x2="28.575" y2="14.51" width="0.4064" layer="1"/>
-<wire x1="39.37" y1="29.845" x2="39.37" y2="22.225" width="0.4064" layer="1"/>
-<wire x1="39.37" y1="22.225" x2="31.75" y2="14.605" width="0.4064" layer="1"/>
-<wire x1="31.75" y1="14.605" x2="30.215" y2="14.605" width="0.4064" layer="1"/>
-<wire x1="30.215" y1="14.605" x2="29.845" y2="14.975" width="0.4064" layer="1"/>
-<wire x1="10.16" y1="12.065" x2="13.335" y2="15.24" width="0.4064" layer="1"/>
-<wire x1="13.335" y1="15.24" x2="14.87" y2="15.24" width="0.4064" layer="1"/>
-<wire x1="14.87" y1="15.24" x2="15.24" y2="15.61" width="0.4064" layer="1"/>
-<wire x1="34.925" y1="41.645" x2="35.03" y2="41.54" width="0.4064" layer="1"/>
-<wire x1="35.03" y1="41.54" x2="38.1" y2="41.54" width="0.4064" layer="1"/>
-<wire x1="38.1" y1="41.54" x2="38.1" y2="43.18" width="0.4064" layer="1"/>
-<wire x1="38.1" y1="43.18" x2="37.405" y2="43.875" width="0.4064" layer="1"/>
-<wire x1="37.405" y1="43.875" x2="37.405" y2="46.355" width="0.4064" layer="1"/>
-<wire x1="31.75" y1="3.81" x2="33.655" y2="3.81" width="0.4064" layer="1"/>
-<wire x1="33.655" y1="3.81" x2="34.29" y2="4.445" width="0.4064" layer="1"/>
-<wire x1="34.29" y1="4.445" x2="34.29" y2="12.065" width="0.4064" layer="1"/>
-<wire x1="34.29" y1="12.065" x2="31.75" y2="14.605" width="0.4064" layer="1"/>
-<wire x1="37.835" y1="31.38" x2="38.1" y2="41.54" width="0" layer="19" extent="1-1"/>
-<wire x1="18.5674" y1="16.91" x2="27.1526" y2="16.11" width="0" layer="19" extent="1-1"/>
-<wire x1="6.35" y1="30.48" x2="19.685" y2="34.925" width="0" layer="19" extent="1-1"/>
+<wire x1="10.795" y1="19.05" x2="10.795" y2="22.86" width="0.4064" layer="1"/>
+<wire x1="10.795" y1="22.86" x2="10.795" y2="27.305" width="0.4064" layer="1"/>
+<wire x1="19.2024" y1="30.55" x2="17.78" y2="30.55" width="0.4064" layer="1"/>
+<wire x1="17.78" y1="30.55" x2="16.175" y2="30.55" width="0.4064" layer="1"/>
+<wire x1="16.175" y1="30.55" x2="15.875" y2="30.85" width="0.4064" layer="1"/>
+<wire x1="19.2024" y1="32.15" x2="18.18" y2="32.15" width="0.4064" layer="1"/>
+<wire x1="18.18" y1="32.15" x2="17.78" y2="31.75" width="0.4064" layer="1"/>
+<wire x1="17.78" y1="31.75" x2="17.78" y2="30.55" width="0.4064" layer="1"/>
+<wire x1="27.7876" y1="29.75" x2="29.21" y2="29.75" width="0.4064" layer="1"/>
+<wire x1="29.21" y1="29.75" x2="30.015" y2="29.75" width="0.4064" layer="1"/>
+<wire x1="30.015" y1="29.75" x2="30.48" y2="30.215" width="0.4064" layer="1"/>
+<wire x1="27.7876" y1="31.35" x2="28.975" y2="31.35" width="0.4064" layer="1"/>
+<wire x1="28.975" y1="31.35" x2="29.21" y2="31.115" width="0.4064" layer="1"/>
+<wire x1="29.21" y1="31.115" x2="29.21" y2="29.75" width="0.4064" layer="1"/>
+<wire x1="32.385" y1="29.845" x2="30.85" y2="29.845" width="0.4064" layer="1"/>
+<wire x1="30.85" y1="29.845" x2="30.48" y2="30.215" width="0.4064" layer="1"/>
+<wire x1="10.795" y1="27.305" x2="13.97" y2="30.48" width="0.4064" layer="1"/>
+<wire x1="13.97" y1="30.48" x2="15.505" y2="30.48" width="0.4064" layer="1"/>
+<wire x1="15.505" y1="30.48" x2="15.875" y2="30.85" width="0.4064" layer="1"/>
+<wire x1="39.74" y1="9.525" x2="39.635" y2="9.42" width="0.4064" layer="1"/>
+<wire x1="39.635" y1="9.42" x2="39.635" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="39.635" y1="6.35" x2="40.005" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="40.005" y1="6.35" x2="40.7" y2="7.045" width="0.4064" layer="1"/>
+<wire x1="40.7" y1="7.045" x2="44.45" y2="7.045" width="0.4064" layer="1"/>
+<wire x1="32.385" y1="19.05" x2="33.655" y2="19.05" width="0.4064" layer="1"/>
+<wire x1="33.655" y1="19.05" x2="34.29" y2="19.685" width="0.4064" layer="1"/>
+<wire x1="34.29" y1="19.685" x2="34.29" y2="27.94" width="0.4064" layer="1"/>
+<wire x1="34.29" y1="27.94" x2="32.385" y2="29.845" width="0.4064" layer="1"/>
+<wire x1="27.94" y1="42.81" x2="27.305" y2="43.445" width="0.4064" layer="1"/>
+<wire x1="27.305" y1="43.445" x2="27.305" y2="47.625" width="0.4064" layer="1"/>
+<wire x1="27.305" y1="47.625" x2="27.305" y2="48.26" width="0.4064" layer="16"/>
+<wire x1="27.305" y1="48.26" x2="25.4" y2="50.165" width="0.4064" layer="16"/>
+<wire x1="25.4" y1="50.165" x2="17.78" y2="50.165" width="0.4064" layer="16"/>
+<wire x1="17.78" y1="50.165" x2="15.24" y2="47.625" width="0.4064" layer="16"/>
+<wire x1="39.74" y1="9.525" x2="38.1" y2="9.525" width="0.4064" layer="1"/>
+<via x="38.1" y="9.525" extent="1-16" drill="0.6"/>
+<wire x1="38.1" y1="9.525" x2="33.655" y2="9.525" width="0.4064" layer="16"/>
+<wire x1="33.655" y1="9.525" x2="32.385" y2="10.795" width="0.4064" layer="16"/>
+<wire x1="32.385" y1="10.795" x2="32.385" y2="19.05" width="0.4064" layer="16"/>
+<wire x1="27.7876" y1="31.35" x2="27.94" y2="42.81" width="0" layer="19" extent="1-1"/>
+<wire x1="19.2024" y1="32.15" x2="27.7876" y2="31.35" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="SCL">
 <contactref element="I2C" pad="2"/>
 <contactref element="U1" pad="28"/>
-<wire x1="23.26" y1="20.8026" x2="23.26" y2="25" width="0.4064" layer="1"/>
-<wire x1="23.26" y1="25" x2="14.605" y2="33.655" width="0.4064" layer="1"/>
-<wire x1="14.605" y1="33.655" x2="14.605" y2="34.925" width="0.4064" layer="1"/>
+<wire x1="23.895" y1="36.0426" x2="23.895" y2="45.955" width="0.4064" layer="1"/>
+<wire x1="23.895" y1="45.955" x2="22.225" y2="47.625" width="0.4064" layer="1"/>
 </signal>
 <signal name="12V">
 <contactref element="12V_REG" pad="1"/>
@@ -943,35 +958,43 @@ design rules under a new name.</description>
 <contactref element="SOLENOIDS" pad="1"/>
 <contactref element="SOLENOIDS" pad="3"/>
 <contactref element="SOLENOIDS" pad="5"/>
-<wire x1="57.15" y1="27.305" x2="57.15" y2="18.415" width="0.4064" layer="1"/>
-<wire x1="57.15" y1="18.415" x2="57.15" y2="15.875" width="0.4064" layer="1"/>
-<wire x1="57.15" y1="15.875" x2="57.15" y2="13.335" width="0.4064" layer="1"/>
-<wire x1="57.15" y1="13.335" x2="57.15" y2="10.795" width="0.4064" layer="1"/>
+<wire x1="57.785" y1="47.625" x2="57.785" y2="45.085" width="0.4064" layer="1"/>
+<wire x1="57.785" y1="45.085" x2="57.785" y2="42.545" width="0.4064" layer="1"/>
+<wire x1="57.785" y1="42.545" x2="57.785" y2="40.005" width="0.4064" layer="1"/>
+<wire x1="57.785" y1="31.75" x2="57.785" y2="40.005" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="MOTOR_PWMA/MOSI">
 <contactref element="U1" pad="15"/>
 <contactref element="PROG" pad="4"/>
 <contactref element="U$1" pad="23"/>
-<wire x1="29.21" y1="3.81" x2="29.21" y2="1.905" width="0.4064" layer="1"/>
-<wire x1="29.21" y1="1.905" x2="27.94" y2="0.635" width="0.4064" layer="1"/>
-<wire x1="27.94" y1="0.635" x2="26.035" y2="0.635" width="0.4064" layer="1"/>
-<wire x1="24.86" y1="1.81" x2="24.86" y2="12.2174" width="0.4064" layer="1"/>
-<wire x1="26.035" y1="0.635" x2="24.86" y2="1.81" width="0.4064" layer="1"/>
-<wire x1="24.86" y1="12.2174" x2="39.355" y2="46.355" width="0" layer="19" extent="1-1"/>
+<wire x1="29.845" y1="19.05" x2="29.845" y2="17.78" width="0.4064" layer="1"/>
+<wire x1="29.845" y1="17.78" x2="28.575" y2="16.51" width="0.4064" layer="1"/>
+<wire x1="28.575" y1="16.51" x2="26.67" y2="16.51" width="0.4064" layer="1"/>
+<wire x1="25.495" y1="17.685" x2="25.495" y2="27.4574" width="0.4064" layer="1"/>
+<wire x1="26.67" y1="16.51" x2="25.495" y2="17.685" width="0.4064" layer="1"/>
+<wire x1="29.845" y1="19.05" x2="29.845" y2="12.065" width="0.4064" layer="16"/>
+<wire x1="29.845" y1="12.065" x2="36.83" y2="5.08" width="0.4064" layer="16"/>
+<wire x1="36.83" y1="5.08" x2="41.275" y2="5.08" width="0.4064" layer="16"/>
+<via x="41.275" y="5.08" extent="1-16" drill="0.6"/>
+<wire x1="41.275" y1="5.08" x2="44.435" y2="5.08" width="0.4064" layer="1"/>
+<wire x1="44.435" y1="5.08" x2="44.45" y2="5.095" width="0.4064" layer="1"/>
 </signal>
 <signal name="MISO">
 <contactref element="U1" pad="16"/>
 <contactref element="PROG" pad="1"/>
-<wire x1="31.75" y1="6.35" x2="31.75" y2="10.795" width="0.4064" layer="1"/>
-<wire x1="31.75" y1="10.795" x2="30.48" y2="12.065" width="0.4064" layer="1"/>
-<wire x1="30.48" y1="12.065" x2="25.66" y2="12.2174" width="0" layer="19" extent="1-1"/>
+<wire x1="26.295" y1="27.4574" x2="26.295" y2="26.41" width="0.4064" layer="1"/>
+<wire x1="26.295" y1="26.41" x2="27.305" y2="25.4" width="0.4064" layer="1"/>
+<wire x1="27.305" y1="25.4" x2="31.75" y2="25.4" width="0.4064" layer="1"/>
+<wire x1="31.75" y1="25.4" x2="32.385" y2="24.765" width="0.4064" layer="1"/>
+<wire x1="32.385" y1="24.765" x2="32.385" y2="21.59" width="0.4064" layer="1"/>
 </signal>
 <signal name="SCK">
 <contactref element="U1" pad="17"/>
 <contactref element="PROG" pad="3"/>
-<wire x1="29.21" y1="12.7" x2="28.2" y2="13.71" width="0.4064" layer="1"/>
-<wire x1="28.2" y1="13.71" x2="27.1526" y2="13.71" width="0.4064" layer="1"/>
-<wire x1="29.21" y1="6.35" x2="29.21" y2="12.7" width="0" layer="19" extent="1-1"/>
+<wire x1="29.845" y1="27.94" x2="28.835" y2="28.95" width="0.4064" layer="1"/>
+<wire x1="28.835" y1="28.95" x2="27.7876" y2="28.95" width="0.4064" layer="1"/>
+<via x="29.845" y="27.94" extent="1-16" drill="0.6"/>
+<wire x1="29.845" y1="27.94" x2="29.845" y2="21.59" width="0.4064" layer="16"/>
 </signal>
 <signal name="RESET">
 <contactref element="S1" pad="3"/>
@@ -979,32 +1002,29 @@ design rules under a new name.</description>
 <contactref element="U1" pad="29"/>
 <contactref element="R1" pad="1"/>
 <contactref element="PROG" pad="5"/>
-<wire x1="22.46" y1="20.8026" x2="22.46" y2="23.26" width="0.4064" layer="1"/>
-<wire x1="22.46" y1="23.26" x2="21.59" y2="24.13" width="0.4064" layer="1"/>
-<via x="21.59" y="24.13" extent="1-16" drill="0.6"/>
-<wire x1="21.59" y1="24.13" x2="27.305" y2="24.13" width="0.4064" layer="16"/>
-<via x="27.305" y="24.13" extent="1-16" drill="0.6"/>
-<wire x1="27.305" y1="24.13" x2="27.305" y2="29.58" width="0.4064" layer="1"/>
-<wire x1="27.305" y1="29.58" x2="29.58" y2="29.58" width="0.4064" layer="1"/>
-<wire x1="29.58" y1="29.58" x2="29.845" y2="29.845" width="0.4064" layer="1"/>
-<wire x1="29.845" y1="29.845" x2="31.115" y2="29.845" width="0.4064" layer="1"/>
-<wire x1="31.115" y1="29.845" x2="36.195" y2="29.845" width="0.4064" layer="1"/>
-<wire x1="26.67" y1="6.35" x2="26.67" y2="23.495" width="0.4064" layer="16"/>
-<wire x1="26.67" y1="23.495" x2="27.305" y2="24.13" width="0.4064" layer="16"/>
+<wire x1="23.095" y1="36.0426" x2="23.095" y2="38.5" width="0.4064" layer="1"/>
+<wire x1="23.095" y1="38.5" x2="22.225" y2="39.37" width="0.4064" layer="1"/>
+<via x="22.225" y="39.37" extent="1-16" drill="0.6"/>
+<wire x1="22.225" y1="39.37" x2="27.94" y2="39.37" width="0.4064" layer="16"/>
+<via x="27.94" y="39.37" extent="1-16" drill="0.6"/>
+<wire x1="27.94" y1="39.37" x2="27.94" y2="41.01" width="0.4064" layer="1"/>
+<wire x1="22.225" y1="39.37" x2="22.225" y2="26.67" width="0.4064" layer="16"/>
+<wire x1="22.225" y1="26.67" x2="27.305" y2="21.59" width="0.4064" layer="16"/>
+<wire x1="30.48" y1="40.64" x2="35.56" y2="40.64" width="0" layer="19" extent="1-1"/>
+<wire x1="27.94" y1="41.01" x2="30.48" y2="40.64" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="SDA">
 <contactref element="I2C" pad="3"/>
 <contactref element="U1" pad="27"/>
-<wire x1="24.06" y1="20.8026" x2="24.06" y2="25.47" width="0.4064" layer="1"/>
-<wire x1="24.06" y1="25.47" x2="17.145" y2="32.385" width="0.4064" layer="1"/>
-<wire x1="17.145" y1="32.385" x2="17.145" y2="34.925" width="0.4064" layer="1"/>
+<wire x1="24.695" y1="36.0426" x2="24.695" y2="47.555" width="0.4064" layer="1"/>
+<wire x1="24.695" y1="47.555" x2="24.765" y2="47.625" width="0.4064" layer="1"/>
 </signal>
 <signal name="N$4">
 <contactref element="U$1" pad="19"/>
 <contactref element="R2" pad="1"/>
-<wire x1="36.755" y1="44.375" x2="36.755" y2="46.355" width="0.4064" layer="1"/>
-<wire x1="36.755" y1="44.375" x2="35.825" y2="43.445" width="0.4064" layer="1"/>
-<wire x1="35.825" y1="43.445" x2="34.925" y2="43.445" width="0.4064" layer="1"/>
+<wire x1="42.47" y1="7.695" x2="44.45" y2="7.695" width="0.4064" layer="1"/>
+<wire x1="42.47" y1="7.695" x2="41.54" y2="8.625" width="0.4064" layer="1"/>
+<wire x1="41.54" y1="8.625" x2="41.54" y2="9.525" width="0.4064" layer="1"/>
 </signal>
 <signal name="SOL1_12V">
 <contactref element="SOLENOIDS" pad="2"/>
@@ -1012,12 +1032,13 @@ design rules under a new name.</description>
 <contactref element="Q1" pad="6"/>
 <contactref element="Q1" pad="7"/>
 <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"/>
+<wire x1="50.8762" y1="17.78" x2="50.8762" y2="19.05" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="19.05" x2="50.8762" y2="20.32" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="20.32" 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="53.975" y2="22.225" width="0.4064" layer="1"/>
+<wire x1="53.975" y1="22.225" x2="53.975" y2="38.735" width="0.4064" layer="1"/>
+<wire x1="53.975" y1="38.735" x2="55.245" y2="40.005" width="0.4064" layer="1"/>
 </signal>
 <signal name="SOL2_12V">
 <contactref element="SOLENOIDS" pad="4"/>
@@ -1025,11 +1046,13 @@ design rules under a new name.</description>
 <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"/>
+<wire x1="50.8762" y1="24.13" x2="50.8762" y2="25.4" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="25.4" x2="50.8762" y2="26.67" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="27.94" x2="50.8762" y2="26.67" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="27.94" x2="52.705" y2="27.94" width="0.4064" layer="1"/>
+<wire x1="52.705" y1="27.94" x2="53.34" y2="28.575" width="0.4064" layer="1"/>
+<wire x1="53.34" y1="28.575" x2="53.34" y2="40.64" width="0.4064" layer="1"/>
+<wire x1="53.34" y1="40.64" x2="55.245" y2="42.545" width="0.4064" layer="1"/>
 </signal>
 <signal name="SOL3_12V">
 <contactref element="SOLENOIDS" pad="6"/>
@@ -1037,11 +1060,13 @@ design rules under a new name.</description>
 <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"/>
+<wire x1="50.8762" y1="34.29" x2="50.8762" y2="33.02" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="33.02" x2="50.8762" y2="31.75" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="31.75" x2="50.8762" y2="30.48" width="0.4064" layer="1"/>
+<wire x1="55.245" y1="45.085" x2="52.705" y2="42.545" width="0.4064" layer="1"/>
+<wire x1="52.705" y1="42.545" x2="52.705" y2="34.925" width="0.4064" layer="1"/>
+<wire x1="52.705" y1="34.925" x2="52.07" y2="34.29" width="0.4064" layer="1"/>
+<wire x1="52.07" y1="34.29" x2="50.8762" y2="34.29" width="0.4064" layer="1"/>
 </signal>
 <signal name="SOL4_12V">
 <contactref element="SOLENOIDS" pad="8"/>
@@ -1049,42 +1074,99 @@ design rules under a new name.</description>
 <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"/>
+<wire x1="50.8762" y1="40.64" x2="50.8762" y2="39.37" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="39.37" x2="50.8762" y2="38.1" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="38.1" x2="50.8762" y2="36.83" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="40.64" x2="50.8762" y2="43.2562" width="0.4064" layer="1"/>
+<wire x1="50.8762" y1="43.2562" x2="55.245" y2="47.625" 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"/>
+<wire x1="22.295" y1="27.4574" x2="22.295" y2="17.075" width="0.4064" layer="1"/>
+<wire x1="22.295" y1="17.075" x2="24.13" y2="15.24" width="0.4064" layer="1"/>
+<wire x1="24.13" y1="15.24" x2="33.655" y2="15.24" width="0.4064" layer="1"/>
+<wire x1="33.655" y1="15.24" x2="36.195" y2="17.78" width="0.4064" layer="1"/>
+<wire x1="36.195" y1="17.78" x2="45.6438" y2="17.78" width="0.4064" layer="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"/>
+<wire x1="27.7876" y1="33.75" x2="31.02" y2="33.75" width="0.4064" layer="1"/>
+<wire x1="31.02" y1="33.75" x2="35.56" y2="29.21" width="0.4064" layer="1"/>
+<wire x1="35.56" y1="29.21" x2="35.56" y2="24.765" width="0.4064" layer="1"/>
+<via x="35.56" y="24.765" extent="1-16" drill="0.6"/>
+<wire x1="35.56" y1="24.765" x2="35.56" y2="14.605" width="0.4064" layer="16"/>
+<wire x1="35.56" y1="14.605" x2="45.085" y2="5.08" width="0.4064" layer="16"/>
+<wire x1="45.085" y1="5.08" x2="48.895" y2="5.08" width="0.4064" layer="16"/>
+<via x="48.895" y="5.08" extent="1-16" drill="0.6"/>
+<wire x1="48.895" y1="5.08" x2="48.895" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="48.895" y1="6.35" x2="47.625" y2="7.62" width="0.4064" layer="1"/>
+<wire x1="47.625" y1="7.62" x2="46.355" y2="7.62" width="0.4064" layer="1"/>
+<wire x1="46.355" y1="7.62" x2="45.13" y2="6.395" width="0.4064" layer="1"/>
+<wire x1="45.13" y1="6.395" x2="44.45" y2="6.395" width="0.4064" layer="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"/>
+<wire x1="27.7876" y1="34.55" x2="31.49" y2="34.55" width="0.4064" layer="1"/>
+<wire x1="31.49" y1="34.55" x2="36.83" y2="29.21" width="0.4064" layer="1"/>
+<wire x1="36.83" y1="29.21" x2="36.83" y2="26.035" width="0.4064" layer="1"/>
+<via x="36.83" y="26.035" extent="1-16" drill="0.6"/>
+<wire x1="36.83" y1="26.035" x2="36.83" y2="14.605" width="0.4064" layer="16"/>
+<wire x1="36.83" y1="14.605" x2="45.085" y2="6.35" width="0.4064" layer="16"/>
+<wire x1="45.085" y1="6.35" x2="46.99" y2="6.35" width="0.4064" layer="16"/>
+<via x="46.99" y="6.35" extent="1-16" drill="0.6"/>
+<wire x1="46.99" y1="6.35" x2="46.385" y2="5.745" width="0.4064" layer="1"/>
+<wire x1="46.385" y1="5.745" x2="44.45" y2="5.745" width="0.4064" layer="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"/>
+<wire x1="26.295" y1="36.0426" x2="26.295" y2="37.09" width="0.4064" layer="1"/>
+<wire x1="26.295" y1="37.09" x2="26.67" y2="37.465" width="0.4064" layer="1"/>
+<wire x1="26.67" y1="37.465" x2="29.845" y2="37.465" width="0.4064" layer="1"/>
+<wire x1="29.845" y1="37.465" x2="39.37" y2="27.94" width="0.4064" layer="1"/>
+<wire x1="39.37" y1="27.94" x2="39.37" y2="26.035" width="0.4064" layer="1"/>
+<via x="39.37" y="26.035" extent="1-16" drill="0.6"/>
+<wire x1="39.37" y1="26.035" x2="39.37" y2="14.605" width="0.4064" layer="16"/>
+<wire x1="39.37" y1="14.605" x2="41.91" y2="12.065" width="0.4064" layer="16"/>
+<wire x1="41.91" y1="12.065" x2="45.72" y2="12.065" width="0.4064" layer="16"/>
+<wire x1="45.72" y1="12.065" x2="48.26" y2="9.525" width="0.4064" layer="16"/>
+<via x="48.26" y="9.525" extent="1-16" drill="0.6"/>
+<wire x1="48.26" y1="9.525" x2="47.73" y2="8.995" width="0.4064" layer="1"/>
+<wire x1="47.73" y1="8.995" x2="44.45" y2="8.995" width="0.4064" layer="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"/>
+<wire x1="25.495" y1="36.0426" x2="25.495" y2="37.56" width="0.4064" layer="1"/>
+<wire x1="25.495" y1="37.56" x2="26.035" y2="38.1" width="0.4064" layer="1"/>
+<wire x1="26.035" y1="38.1" x2="30.48" y2="38.1" width="0.4064" layer="1"/>
+<wire x1="30.48" y1="38.1" x2="40.64" y2="27.94" width="0.4064" layer="1"/>
+<via x="40.64" y="27.94" extent="1-16" drill="0.6"/>
+<wire x1="40.64" y1="27.94" x2="40.64" y2="14.605" width="0.4064" layer="16"/>
+<wire x1="40.64" y1="14.605" x2="42.545" y2="12.7" width="0.4064" layer="16"/>
+<wire x1="42.545" y1="12.7" x2="46.99" y2="12.7" width="0.4064" layer="16"/>
+<wire x1="46.99" y1="12.7" x2="48.26" y2="11.43" width="0.4064" layer="16"/>
+<via x="48.26" y="11.43" extent="1-16" drill="0.6"/>
+<wire x1="48.26" y1="11.43" x2="46.475" y2="9.645" width="0.4064" layer="1"/>
+<wire x1="46.475" y1="9.645" x2="44.45" y2="9.645" width="0.4064" layer="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"/>
+<wire x1="19.2024" y1="34.55" x2="24.505" y2="34.55" width="0.4064" layer="1"/>
+<wire x1="24.505" y1="34.55" x2="25.4" y2="33.655" width="0.4064" layer="1"/>
+<via x="25.4" y="33.655" extent="1-16" drill="0.6"/>
+<wire x1="25.4" y1="33.655" x2="31.115" y2="33.655" width="0.4064" layer="16"/>
+<wire x1="31.115" y1="33.655" x2="38.1" y2="26.67" width="0.4064" layer="16"/>
+<wire x1="38.1" y1="26.67" x2="38.1" y2="14.605" width="0.4064" layer="16"/>
+<wire x1="38.1" y1="14.605" x2="42.545" y2="10.16" width="0.4064" layer="16"/>
+<wire x1="42.545" y1="10.16" x2="43.18" y2="10.16" width="0.4064" layer="16"/>
+<via x="43.18" y="10.16" extent="1-16" drill="0.6"/>
+<wire x1="43.18" y1="10.16" x2="43.315" y2="10.295" width="0.4064" layer="1"/>
+<wire x1="43.315" y1="10.295" x2="44.45" y2="10.295" width="0.4064" layer="1"/>
 </signal>
 <signal name="V_BATT">
 <contactref element="BATTERY" pad="2"/>
@@ -1093,126 +1175,161 @@ design rules under a new name.</description>
 <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"/>
+<wire x1="44.45" y1="11.595" x2="44.45" y2="10.945" 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"/>
+<wire x1="39.635" y1="12.7" x2="40.74" y2="11.595" width="0.4064" layer="1"/>
+<wire x1="40.74" y1="11.595" x2="44.45" y2="11.595" width="0.4064" layer="1"/>
+<wire x1="41.54" y1="3.175" x2="42.81" y2="4.445" width="0.4064" layer="1"/>
+<wire x1="42.81" y1="4.445" x2="44.45" y2="4.445" width="0.4064" layer="1"/>
+<wire x1="44.45" y1="11.595" x2="44.45" y2="13.335" width="0.4064" layer="1"/>
+<wire x1="44.45" y1="13.335" x2="45.72" y2="14.605" width="0.4064" layer="1"/>
+<wire x1="45.72" y1="14.605" x2="51.435" y2="14.605" width="0.4064" layer="1"/>
+<wire x1="57.785" y1="19.05" x2="57.785" y2="26.67" width="0" layer="19" extent="1-1"/>
+<wire x1="51.435" y1="14.605" x2="57.785" y2="19.05" width="0" layer="19" extent="1-1"/>
+<wire x1="44.45" y1="4.445" x2="44.45" y2="10.945" 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"/>
+<wire x1="22.295" y1="36.0426" x2="22.295" y2="37.395" width="0.4064" layer="1"/>
+<wire x1="22.295" y1="37.395" x2="17.145" y2="42.545" width="0.4064" layer="1"/>
+<wire x1="17.145" y1="42.545" x2="17.145" y2="43.18" width="0.4064" layer="1"/>
+<wire x1="17.145" y1="43.18" x2="15.24" y2="45.085" 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"/>
+<wire x1="21.495" y1="36.0426" x2="21.495" y2="36.925" width="0.4064" layer="1"/>
+<wire x1="21.495" y1="36.925" x2="17.145" y2="41.275" width="0.4064" layer="1"/>
+<wire x1="17.145" y1="41.275" x2="16.51" y2="41.275" width="0.4064" layer="1"/>
+<wire x1="16.51" y1="41.275" x2="15.24" y2="42.545" 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"/>
+<wire x1="20.695" y1="36.0426" x2="20.695" y2="36.455" width="0.4064" layer="1"/>
+<wire x1="20.695" y1="36.455" x2="17.145" y2="40.005" width="0.4064" layer="1"/>
+<wire x1="17.145" y1="40.005" x2="15.24" y2="40.005" 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"/>
+<wire x1="45.6438" y1="36.83" x2="43.815" y2="36.83" width="0.4064" layer="1"/>
+<via x="43.815" y="36.83" extent="1-16" drill="0.6"/>
+<wire x1="43.815" y1="36.83" x2="34.29" y2="36.83" width="0.4064" layer="16"/>
+<wire x1="34.29" y1="36.83" x2="29.845" y2="41.275" width="0.4064" layer="16"/>
+<via x="15.875" y="26.67" extent="1-16" drill="0.6"/>
+<wire x1="15.875" y1="26.67" x2="18.155" y2="28.95" width="0.4064" layer="1"/>
+<wire x1="18.155" y1="28.95" x2="19.2024" y2="28.95" width="0.4064" layer="1"/>
+<wire x1="29.845" y1="41.275" x2="20.32" y2="41.275" width="0.4064" layer="16"/>
+<wire x1="20.32" y1="41.275" x2="19.05" y2="40.005" width="0.4064" layer="16"/>
+<wire x1="19.05" y1="40.005" x2="19.05" y2="31.75" width="0.4064" layer="16"/>
+<wire x1="19.05" y1="31.75" x2="17.145" y2="29.845" width="0.4064" layer="16"/>
+<wire x1="17.145" y1="29.845" x2="15.24" y2="29.845" width="0.4064" layer="16"/>
+<wire x1="15.24" y1="29.845" x2="14.605" y2="29.21" width="0.4064" layer="16"/>
+<wire x1="14.605" y1="29.21" x2="14.605" y2="27.94" width="0.4064" layer="16"/>
+<wire x1="14.605" y1="27.94" x2="15.875" y2="26.67" width="0.4064" layer="16"/>
 </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"/>
+<wire x1="45.6438" y1="30.48" x2="43.815" y2="30.48" width="0.4064" layer="1"/>
+<via x="43.815" y="30.48" extent="1-16" drill="0.6"/>
+<wire x1="43.815" y1="30.48" x2="39.37" y2="30.48" width="0.4064" layer="16"/>
+<wire x1="39.37" y1="30.48" x2="29.21" y2="40.64" width="0.4064" layer="16"/>
+<wire x1="29.21" y1="40.64" x2="20.955" y2="40.64" width="0.4064" layer="16"/>
+<via x="15.875" y="28.575" extent="1-16" drill="0.6"/>
+<wire x1="15.875" y1="28.575" x2="17.05" y2="29.75" width="0.4064" layer="1"/>
+<wire x1="17.05" y1="29.75" x2="19.2024" y2="29.75" width="0.4064" layer="1"/>
+<wire x1="20.955" y1="40.64" x2="19.685" y2="39.37" width="0.4064" layer="16"/>
+<wire x1="19.685" y1="39.37" x2="19.685" y2="31.115" width="0.4064" layer="16"/>
+<wire x1="19.685" y1="31.115" x2="17.145" y2="28.575" width="0.4064" layer="16"/>
+<wire x1="17.145" y1="28.575" x2="15.875" y2="28.575" width="0.4064" layer="16"/>
 </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"/>
+<wire x1="23.095" y1="27.4574" x2="23.095" y2="17.545" width="0.4064" layer="1"/>
+<wire x1="23.095" y1="17.545" x2="24.765" y2="15.875" width="0.4064" layer="1"/>
+<wire x1="24.765" y1="15.875" x2="33.02" y2="15.875" width="0.4064" layer="1"/>
+<wire x1="33.02" y1="15.875" x2="41.275" y2="24.13" width="0.4064" layer="1"/>
+<wire x1="41.275" y1="24.13" x2="45.6438" y2="24.13" width="0.4064" layer="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"/>
+<wire x1="20.695" y1="25.775" x2="17.78" y2="22.86" width="0.4064" layer="1"/>
+<wire x1="17.78" y1="22.86" x2="13.335" y2="22.86" width="0.4064" layer="1"/>
+<wire x1="20.695" y1="25.775" x2="20.695" y2="27.4574" 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"/>
+<wire x1="21.495" y1="23.4" x2="17.145" y2="19.05" width="0.4064" layer="1"/>
+<wire x1="17.145" y1="19.05" x2="13.335" y2="19.05" width="0.4064" layer="1"/>
+<wire x1="21.495" y1="23.4" x2="21.495" y2="27.4574" 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"/>
+<wire x1="27.94" y1="3.81" x2="23.895" y2="27.4574" 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"/>
+<wire x1="25.4" y1="3.81" x2="24.695" y2="27.4574" 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"/>
+<wire x1="33.02" y1="3.81" x2="27.7876" y2="30.55" 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"/>
+<wire x1="30.48" y1="3.81" x2="27.7876" y2="32.95" 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"/>
+<wire x1="22.86" y1="3.81" x2="19.2024" y2="33.75" 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"/>
+<wire x1="52.07" y1="5.095" x2="52.07" y2="4.445" width="0.4064" layer="1"/>
+<wire x1="57.785" y1="3.81" x2="57.15" y2="4.445" width="0.4064" layer="1"/>
+<wire x1="57.15" y1="4.445" x2="52.07" y2="4.445" 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"/>
+<wire x1="52.07" y1="7.045" x2="57.09" y2="7.045" width="0.4064" layer="1"/>
+<wire x1="57.09" y1="7.045" x2="57.785" y2="6.35" width="0.4064" layer="1"/>
+<wire x1="52.07" y1="7.045" x2="52.07" y2="7.695" 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"/>
+<wire x1="52.07" y1="10.945" x2="52.07" y2="11.595" width="0.4064" layer="1"/>
+<wire x1="57.785" y1="8.89" x2="59.055" y2="8.89" width="0.4064" layer="1"/>
+<wire x1="59.055" y1="8.89" x2="60.325" y2="10.16" width="0.4064" layer="1"/>
+<wire x1="60.325" y1="10.16" x2="60.325" y2="12.7" width="0.4064" layer="1"/>
+<wire x1="60.325" y1="12.7" x2="59.055" y2="13.97" width="0.4064" layer="1"/>
+<wire x1="59.055" y1="13.97" x2="56.515" y2="13.97" width="0.4064" layer="1"/>
+<wire x1="56.515" y1="13.97" x2="54.14" y2="11.595" width="0.4064" layer="1"/>
+<wire x1="54.14" y1="11.595" x2="52.07" y2="11.595" 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"/>
+<wire x1="52.07" y1="8.995" x2="52.07" y2="8.345" width="0.4064" layer="1"/>
+<wire x1="52.07" y1="8.995" x2="55.35" y2="8.995" width="0.4064" layer="1"/>
+<wire x1="55.35" y1="8.995" x2="57.785" y2="11.43" width="0.4064" layer="1"/>
 </signal>
 </signals>
 </board>
