EmpatycznyRobot_v2/kicad_workspace/bottom/bottom.kicad_sch

(kicad_sch (version 20230121) (generator eeschema)

  (uuid 8949e4cc-98fb-401d-bf78-7a26c685fd98)

  (paper "A4")

  (lib_symbols
    (symbol "Device:C" (pin_numbers hide) (pin_names (offset 0.254)) (in_bom yes) (on_board yes)
      (property "Reference" "C" (at 0.635 2.54 0)
        (effects (font (size 1.27 1.27)) (justify left))
      )
      (property "Value" "C" (at 0.635 -2.54 0)
        (effects (font (size 1.27 1.27)) (justify left))
      )
      (property "Footprint" "" (at 0.9652 -3.81 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Datasheet" "~" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_keywords" "cap capacitor" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_description" "Unpolarized capacitor" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_fp_filters" "C_*" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (symbol "C_0_1"
        (polyline
          (pts
            (xy -2.032 -0.762)
            (xy 2.032 -0.762)
          )
          (stroke (width 0.508) (type default))
          (fill (type none))
        )
        (polyline
          (pts
            (xy -2.032 0.762)
            (xy 2.032 0.762)
          )
          (stroke (width 0.508) (type default))
          (fill (type none))
        )
      )
      (symbol "C_1_1"
        (pin passive line (at 0 3.81 270) (length 2.794)
          (name "~" (effects (font (size 1.27 1.27))))
          (number "1" (effects (font (size 1.27 1.27))))
        )
        (pin passive line (at 0 -3.81 90) (length 2.794)
          (name "~" (effects (font (size 1.27 1.27))))
          (number "2" (effects (font (size 1.27 1.27))))
        )
      )
    )
    (symbol "Device:R" (pin_numbers hide) (pin_names (offset 0)) (in_bom yes) (on_board yes)
      (property "Reference" "R" (at 2.032 0 90)
        (effects (font (size 1.27 1.27)))
      )
      (property "Value" "R" (at 0 0 90)
        (effects (font (size 1.27 1.27)))
      )
      (property "Footprint" "" (at -1.778 0 90)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Datasheet" "~" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_keywords" "R res resistor" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_description" "Resistor" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_fp_filters" "R_*" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (symbol "R_0_1"
        (rectangle (start -1.016 -2.54) (end 1.016 2.54)
          (stroke (width 0.254) (type default))
          (fill (type none))
        )
      )
      (symbol "R_1_1"
        (pin passive line (at 0 3.81 270) (length 1.27)
          (name "~" (effects (font (size 1.27 1.27))))
          (number "1" (effects (font (size 1.27 1.27))))
        )
        (pin passive line (at 0 -3.81 90) (length 1.27)
          (name "~" (effects (font (size 1.27 1.27))))
          (number "2" (effects (font (size 1.27 1.27))))
        )
      )
    )
    (symbol "Driver_Motor:DRV8833PWP" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
      (property "Reference" "U" (at -3.81 16.51 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Value" "DRV8833PWP" (at -3.81 13.97 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Footprint" "Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias" (at 11.43 11.43 0)
        (effects (font (size 1.27 1.27)) (justify left) hide)
      )
      (property "Datasheet" "http://www.ti.com/lit/ds/symlink/drv8833.pdf" (at -3.81 13.97 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_keywords" "H-bridge motor driver" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_description" "Dual H-Bridge Motor Driver, HTSSOP-16" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_fp_filters" "HTSSOP-16-1EP*4.4x5mm*P0.65mm*" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (symbol "DRV8833PWP_0_1"
        (rectangle (start -10.16 12.7) (end 10.16 -12.7)
          (stroke (width 0.254) (type default))
          (fill (type background))
        )
      )
      (symbol "DRV8833PWP_1_1"
        (pin input line (at -15.24 10.16 0) (length 5.08)
          (name "nSLEEP" (effects (font (size 1.27 1.27))))
          (number "1" (effects (font (size 1.27 1.27))))
        )
        (pin input line (at -15.24 -10.16 0) (length 5.08)
          (name "BIN2" (effects (font (size 1.27 1.27))))
          (number "10" (effects (font (size 1.27 1.27))))
        )
        (pin bidirectional line (at -15.24 7.62 0) (length 5.08)
          (name "VCP" (effects (font (size 1.27 1.27))))
          (number "11" (effects (font (size 1.27 1.27))))
        )
        (pin power_in line (at 7.62 17.78 270) (length 5.08)
          (name "VM" (effects (font (size 1.27 1.27))))
          (number "12" (effects (font (size 1.27 1.27))))
        )
        (pin power_in line (at 0 -17.78 90) (length 5.08)
          (name "GND" (effects (font (size 1.27 1.27))))
          (number "13" (effects (font (size 1.27 1.27))))
        )
        (pin power_in line (at 5.08 17.78 270) (length 5.08)
          (name "VINT" (effects (font (size 1.27 1.27))))
          (number "14" (effects (font (size 1.27 1.27))))
        )
        (pin input line (at -15.24 -5.08 0) (length 5.08)
          (name "AIN2" (effects (font (size 1.27 1.27))))
          (number "15" (effects (font (size 1.27 1.27))))
        )
        (pin input line (at -15.24 -2.54 0) (length 5.08)
          (name "AIN1" (effects (font (size 1.27 1.27))))
          (number "16" (effects (font (size 1.27 1.27))))
        )
        (pin power_in line (at -2.54 -17.78 90) (length 5.08)
          (name "GND(PPAD)" (effects (font (size 1.27 1.27))))
          (number "17" (effects (font (size 1.27 1.27))))
        )
        (pin power_out line (at 15.24 -2.54 180) (length 5.08)
          (name "AOUT1" (effects (font (size 1.27 1.27))))
          (number "2" (effects (font (size 1.27 1.27))))
        )
        (pin bidirectional line (at -15.24 5.08 0) (length 5.08)
          (name "AISEN" (effects (font (size 1.27 1.27))))
          (number "3" (effects (font (size 1.27 1.27))))
        )
        (pin power_out line (at 15.24 -5.08 180) (length 5.08)
          (name "AOUT2" (effects (font (size 1.27 1.27))))
          (number "4" (effects (font (size 1.27 1.27))))
        )
        (pin power_out line (at 15.24 -10.16 180) (length 5.08)
          (name "BOUT2" (effects (font (size 1.27 1.27))))
          (number "5" (effects (font (size 1.27 1.27))))
        )
        (pin bidirectional line (at -15.24 2.54 0) (length 5.08)
          (name "BISEN" (effects (font (size 1.27 1.27))))
          (number "6" (effects (font (size 1.27 1.27))))
        )
        (pin power_out line (at 15.24 -7.62 180) (length 5.08)
          (name "BOUT1" (effects (font (size 1.27 1.27))))
          (number "7" (effects (font (size 1.27 1.27))))
        )
        (pin open_collector line (at 15.24 2.54 180) (length 5.08)
          (name "nFAULT" (effects (font (size 1.27 1.27))))
          (number "8" (effects (font (size 1.27 1.27))))
        )
        (pin input line (at -15.24 -7.62 0) (length 5.08)
          (name "BIN1" (effects (font (size 1.27 1.27))))
          (number "9" (effects (font (size 1.27 1.27))))
        )
      )
    )
    (symbol "pololu:N20_MOTOR_EXTENDED_SHAFT" (pin_names (offset 0.002)) (in_bom yes) (on_board yes)
      (property "Reference" "M" (at 2.54 -19.05 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Value" "N20_MOTOR_EXTENDED_SHAFT" (at 13.97 1.27 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Footprint" "pololu:N20_EXTENDED_SHAFT" (at 13.335 3.175 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Datasheet" "" (at 1.905 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_description" "N20 motor from pololu, fit for all mini metal gearboxed motors" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (symbol "N20_MOTOR_EXTENDED_SHAFT_0_1"
        (rectangle (start 0 0) (end 5.08 -17.78)
          (stroke (width 0) (type default))
          (fill (type background))
        )
      )
      (symbol "N20_MOTOR_EXTENDED_SHAFT_1_1"
        (pin power_in line (at 7.62 -15.24 180) (length 2.54)
          (name "GND" (effects (font (size 1.27 1.27))))
          (number "1" (effects (font (size 1.27 1.27))))
        )
        (pin output line (at 7.62 -12.7 180) (length 2.54)
          (name "B" (effects (font (size 1.27 1.27))))
          (number "2" (effects (font (size 1.27 1.27))))
        )
        (pin output line (at 7.62 -10.16 180) (length 2.54)
          (name "A" (effects (font (size 1.27 1.27))))
          (number "3" (effects (font (size 1.27 1.27))))
        )
        (pin power_in line (at 7.62 -7.62 180) (length 2.54)
          (name "VCC" (effects (font (size 1.27 1.27))))
          (number "4" (effects (font (size 1.27 1.27))))
        )
        (pin input line (at 7.62 -5.08 180) (length 2.54)
          (name "M2" (effects (font (size 1.27 1.27))))
          (number "5" (effects (font (size 1.27 1.27))))
        )
        (pin input line (at 7.62 -2.54 180) (length 2.54)
          (name "M1" (effects (font (size 1.27 1.27))))
          (number "6" (effects (font (size 1.27 1.27))))
        )
      )
    )
    (symbol "pololu:ULTRASOUND_T_R" (in_bom yes) (on_board yes)
      (property "Reference" "U" (at 8.89 -3.81 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Value" "ULTRASOUND_T_R" (at 0 1.27 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Footprint" "pololu:ULTRASOUND_T_R" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Datasheet" "" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (symbol "ULTRASOUND_T_R_1_1"
        (polyline
          (pts
            (xy 2.54 -1.27)
            (xy 2.54 -6.35)
            (xy 5.08 -6.35)
            (xy 7.62 -7.62)
            (xy 7.62 0)
            (xy 5.08 -1.27)
            (xy 2.54 -1.27)
          )
          (stroke (width 0) (type default))
          (fill (type background))
        )
        (pin power_in line (at 0 -2.54 0) (length 2.54)
          (name "GND" (effects (font (size 1.27 1.27))))
          (number "1" (effects (font (size 1.27 1.27))))
        )
        (pin input line (at 0 -5.08 0) (length 2.54)
          (name "SIG" (effects (font (size 1.27 1.27))))
          (number "2" (effects (font (size 1.27 1.27))))
        )
      )
    )
    (symbol "power:GND" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
      (property "Reference" "#PWR" (at 0 -6.35 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Value" "GND" (at 0 -3.81 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Footprint" "" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Datasheet" "" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_keywords" "global power" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_description" "Power symbol creates a global label with name \"GND\" , ground" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (symbol "GND_0_1"
        (polyline
          (pts
            (xy 0 0)
            (xy 0 -1.27)
            (xy 1.27 -1.27)
            (xy 0 -2.54)
            (xy -1.27 -1.27)
            (xy 0 -1.27)
          )
          (stroke (width 0) (type default))
          (fill (type none))
        )
      )
      (symbol "GND_1_1"
        (pin power_in line (at 0 0 270) (length 0) hide
          (name "GND" (effects (font (size 1.27 1.27))))
          (number "1" (effects (font (size 1.27 1.27))))
        )
      )
    )
    (symbol "power:VCC" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
      (property "Reference" "#PWR" (at 0 -3.81 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Value" "VCC" (at 0 3.81 0)
        (effects (font (size 1.27 1.27)))
      )
      (property "Footprint" "" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "Datasheet" "" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_keywords" "global power" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (property "ki_description" "Power symbol creates a global label with name \"VCC\"" (at 0 0 0)
        (effects (font (size 1.27 1.27)) hide)
      )
      (symbol "VCC_0_1"
        (polyline
          (pts
            (xy -0.762 1.27)
            (xy 0 2.54)
          )
          (stroke (width 0) (type default))
          (fill (type none))
        )
        (polyline
          (pts
            (xy 0 0)
            (xy 0 2.54)
          )
          (stroke (width 0) (type default))
          (fill (type none))
        )
        (polyline
          (pts
            (xy 0 2.54)
            (xy 0.762 1.27)
          )
          (stroke (width 0) (type default))
          (fill (type none))
        )
      )
      (symbol "VCC_1_1"
        (pin power_in line (at 0 0 90) (length 0) hide
          (name "VCC" (effects (font (size 1.27 1.27))))
          (number "1" (effects (font (size 1.27 1.27))))
        )
      )
    )
  )

  (junction (at 71.12 30.48) (diameter 0) (color 0 0 0 0)
    (uuid 4cf55695-6df3-4fd9-a35a-e7e380216af0)
  )
  (junction (at 63.5 71.12) (diameter 0) (color 0 0 0 0)
    (uuid 7ab9f3e9-c40e-4443-a5a6-4ea5553dcc97)
  )
  (junction (at 48.26 48.26) (diameter 0) (color 0 0 0 0)
    (uuid bf68759e-388a-4f48-b150-5d053e9434ce)
  )
  (junction (at 25.4 48.26) (diameter 0) (color 0 0 0 0)
    (uuid dacdebd3-f832-4d7e-9332-f003ac8fd7a2)
  )

  (no_connect (at 81.28 48.26) (uuid 192238dd-5bcb-436d-ae22-8304774fb7d0))
  (no_connect (at 116.84 48.26) (uuid 1a980bcc-fe45-4c9a-893a-82c51918b02c))
  (no_connect (at 116.84 50.8) (uuid 43faf8b6-3ea8-47c7-8e80-d5bd4b665d09))
  (no_connect (at 50.8 60.96) (uuid 46e5fc4a-70c8-497d-aed7-956073942b58))
  (no_connect (at 50.8 53.34) (uuid 49296c1e-cdb4-4a98-b3af-86c3a800fd48))
  (no_connect (at 50.8 55.88) (uuid ab6a6458-bc85-46d3-8b20-fd5f90602cd9))
  (no_connect (at 50.8 58.42) (uuid b1cd42df-3d56-4a95-b4c0-17363c00de51))
  (no_connect (at 147.32 50.8) (uuid c77a4c2a-41d4-4187-bf71-9c7b148ade3c))
  (no_connect (at 147.32 48.26) (uuid f3f06935-516e-45f0-aeb4-0b25ee179f60))

  (wire (pts (xy 66.04 68.58) (xy 66.04 71.12))
    (stroke (width 0) (type default))
    (uuid 05aba9bc-40e8-46d8-aa81-bbcd502ff5d9)
  )
  (wire (pts (xy 116.84 53.34) (xy 114.3 53.34))
    (stroke (width 0) (type default))
    (uuid 0ca6be4f-70c6-479d-b70b-a6ffc9e06998)
  )
  (wire (pts (xy 144.78 55.88) (xy 144.78 53.34))
    (stroke (width 0) (type default))
    (uuid 0dcc1485-e0d4-4d7a-8bb2-677d3d3fd894)
  )
  (wire (pts (xy 38.1 45.72) (xy 25.4 45.72))
    (stroke (width 0) (type default))
    (uuid 0fd6605a-829c-4807-a98c-96f641199ce7)
  )
  (wire (pts (xy 88.9 55.88) (xy 88.9 43.18))
    (stroke (width 0) (type default))
    (uuid 0feaa389-d886-4f28-9db4-87ac01ae987c)
  )
  (wire (pts (xy 147.32 45.72) (xy 139.7 45.72))
    (stroke (width 0) (type default))
    (uuid 19e67a64-7e80-4794-a156-ca3daf20c6bb)
  )
  (wire (pts (xy 134.62 66.04) (xy 134.62 43.18))
    (stroke (width 0) (type default))
    (uuid 257cf8aa-fa9b-4e6d-b258-caa21a86ace5)
  )
  (wire (pts (xy 147.32 53.34) (xy 144.78 53.34))
    (stroke (width 0) (type default))
    (uuid 25e14398-a72c-481c-8433-7b2097d2b4e7)
  )
  (wire (pts (xy 25.4 48.26) (xy 25.4 50.8))
    (stroke (width 0) (type default))
    (uuid 28eabd29-2836-4420-ae8e-b4e813123914)
  )
  (wire (pts (xy 88.9 63.5) (xy 132.08 63.5))
    (stroke (width 0) (type default))
    (uuid 30eda2f3-2e5f-4e65-ab17-6940b6b0599d)
  )
  (wire (pts (xy 71.12 30.48) (xy 71.12 33.02))
    (stroke (width 0) (type default))
    (uuid 3921f265-1f5d-4476-9583-ba60717a3cae)
  )
  (wire (pts (xy 88.9 43.18) (xy 116.84 43.18))
    (stroke (width 0) (type default))
    (uuid 3b5a92a1-64d3-4de7-af58-09b98541fddf)
  )
  (wire (pts (xy 134.62 43.18) (xy 147.32 43.18))
    (stroke (width 0) (type default))
    (uuid 489c5b72-6a9a-4a7a-b874-830feb9e938b)
  )
  (wire (pts (xy 63.5 71.12) (xy 66.04 71.12))
    (stroke (width 0) (type default))
    (uuid 4a22d753-2274-4918-9db8-4768e34d29d2)
  )
  (wire (pts (xy 109.22 33.02) (xy 109.22 45.72))
    (stroke (width 0) (type default))
    (uuid 4ca3cfde-2f37-4cbd-a659-2ba25e53b7c8)
  )
  (wire (pts (xy 81.28 55.88) (xy 88.9 55.88))
    (stroke (width 0) (type default))
    (uuid 5a0f5592-9448-45de-aa82-eb5ad40e732a)
  )
  (wire (pts (xy 40.64 68.58) (xy 48.26 68.58))
    (stroke (width 0) (type default))
    (uuid 5d75eac3-4134-415f-81e9-36fb37131777)
  )
  (wire (pts (xy 86.36 60.96) (xy 86.36 66.04))
    (stroke (width 0) (type default))
    (uuid 6015c2c4-9d1f-4b95-9194-86567754b611)
  )
  (wire (pts (xy 40.64 71.12) (xy 63.5 71.12))
    (stroke (width 0) (type default))
    (uuid 6217f11c-78e7-413a-8885-52b1f11c5d2f)
  )
  (wire (pts (xy 63.5 71.12) (xy 63.5 73.66))
    (stroke (width 0) (type default))
    (uuid 628aa425-9210-4049-9b7c-8cf4cff941cb)
  )
  (wire (pts (xy 71.12 27.94) (xy 71.12 30.48))
    (stroke (width 0) (type default))
    (uuid 6789f4ae-0556-486d-a4aa-7b7277e33324)
  )
  (wire (pts (xy 48.26 48.26) (xy 50.8 48.26))
    (stroke (width 0) (type default))
    (uuid 6a8e0492-d8a1-45d2-8ccf-24fd0903596e)
  )
  (wire (pts (xy 114.3 55.88) (xy 114.3 53.34))
    (stroke (width 0) (type default))
    (uuid 711bf7c1-bc32-4542-9729-03e53aef7158)
  )
  (wire (pts (xy 73.66 30.48) (xy 71.12 30.48))
    (stroke (width 0) (type default))
    (uuid 72522f8e-6025-4018-a2a2-b91c0d4a9c31)
  )
  (wire (pts (xy 73.66 33.02) (xy 73.66 30.48))
    (stroke (width 0) (type default))
    (uuid 7fd7884b-ba75-4e15-9f1a-59a1f3a08575)
  )
  (wire (pts (xy 88.9 58.42) (xy 88.9 63.5))
    (stroke (width 0) (type default))
    (uuid 8168bb9a-d829-4376-bf83-f3d404c34d04)
  )
  (wire (pts (xy 45.72 43.18) (xy 50.8 43.18))
    (stroke (width 0) (type default))
    (uuid 83e64a74-a9f2-4e1e-95a0-451ff11266b4)
  )
  (wire (pts (xy 25.4 45.72) (xy 25.4 48.26))
    (stroke (width 0) (type default))
    (uuid 8a3f4ae5-ca59-4c18-8b78-5832c37d94ee)
  )
  (wire (pts (xy 38.1 48.26) (xy 48.26 48.26))
    (stroke (width 0) (type default))
    (uuid 8a5698ca-7da3-4051-be98-20a95b93d091)
  )
  (wire (pts (xy 81.28 60.96) (xy 86.36 60.96))
    (stroke (width 0) (type default))
    (uuid 9370b659-ae93-4af0-b4db-36c616934fe4)
  )
  (wire (pts (xy 86.36 40.64) (xy 86.36 53.34))
    (stroke (width 0) (type default))
    (uuid a698f971-2e52-495a-b986-392a75156e72)
  )
  (wire (pts (xy 48.26 68.58) (xy 48.26 48.26))
    (stroke (width 0) (type default))
    (uuid a7e434f6-1c08-4d0b-94ab-29dad39b0d3b)
  )
  (wire (pts (xy 86.36 66.04) (xy 134.62 66.04))
    (stroke (width 0) (type default))
    (uuid ab65cdf8-cc40-4b6f-a6fe-77042a150088)
  )
  (wire (pts (xy 45.72 35.56) (xy 45.72 43.18))
    (stroke (width 0) (type default))
    (uuid b63cd8db-4aae-46b6-939b-3edd37cb9c43)
  )
  (wire (pts (xy 132.08 63.5) (xy 132.08 40.64))
    (stroke (width 0) (type default))
    (uuid b83681bc-b60f-4da1-8719-3f7f2867957b)
  )
  (wire (pts (xy 116.84 45.72) (xy 109.22 45.72))
    (stroke (width 0) (type default))
    (uuid bbb7937d-b4d6-43fb-9762-69aba4019e08)
  )
  (wire (pts (xy 25.4 48.26) (xy 30.48 48.26))
    (stroke (width 0) (type default))
    (uuid c314c8c4-c649-4f77-8f3d-5c0a3f70aeba)
  )
  (wire (pts (xy 81.28 58.42) (xy 88.9 58.42))
    (stroke (width 0) (type default))
    (uuid d1885883-fa6b-4e54-85b1-619d789ef108)
  )
  (wire (pts (xy 45.72 45.72) (xy 50.8 45.72))
    (stroke (width 0) (type default))
    (uuid d585eaa1-0947-4a9c-8716-c31afa607f95)
  )
  (wire (pts (xy 45.72 25.4) (xy 45.72 27.94))
    (stroke (width 0) (type default))
    (uuid d58d7848-4bcf-40fc-8441-d2d2598d6e33)
  )
  (wire (pts (xy 86.36 53.34) (xy 81.28 53.34))
    (stroke (width 0) (type default))
    (uuid e170e22b-00b7-4eb0-a718-0070cee95466)
  )
  (wire (pts (xy 63.5 68.58) (xy 63.5 71.12))
    (stroke (width 0) (type default))
    (uuid e2656ebd-8f91-498e-98a5-720fd2d79e97)
  )
  (wire (pts (xy 86.36 40.64) (xy 116.84 40.64))
    (stroke (width 0) (type default))
    (uuid e7fd4d17-aad6-489c-b6e2-54d747ca8b46)
  )
  (wire (pts (xy 132.08 40.64) (xy 147.32 40.64))
    (stroke (width 0) (type default))
    (uuid f8b88e41-a72a-4ee7-b444-634c50cec1cd)
  )
  (wire (pts (xy 139.7 33.02) (xy 139.7 45.72))
    (stroke (width 0) (type default))
    (uuid f9a7baed-2d4f-445a-9167-4ea351e49511)
  )

  (symbol (lib_id "power:VCC") (at 45.72 25.4 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 1f869049-07f7-4f99-bb57-55ce3c6dcb39)
    (property "Reference" "#PWR05" (at 45.72 29.21 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "VCC" (at 45.72 20.32 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 45.72 25.4 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 45.72 25.4 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 36837e58-2d4f-45fd-a678-f1252994bc1d))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR05") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "Driver_Motor:DRV8833PWP") (at 66.04 50.8 0) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid 352c5516-9491-4f18-a58a-3accc3a122c1)
    (property "Reference" "U1" (at 75.8541 33.02 0)
      (effects (font (size 1.27 1.27)) (justify left))
    )
    (property "Value" "DRV8833PWP" (at 75.8541 35.56 0)
      (effects (font (size 1.27 1.27)) (justify left))
    )
    (property "Footprint" "Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias" (at 77.47 39.37 0)
      (effects (font (size 1.27 1.27)) (justify left) hide)
    )
    (property "Datasheet" "http://www.ti.com/lit/ds/symlink/drv8833.pdf" (at 62.23 36.83 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid b55bf871-9009-47f2-9fe7-1d1a54948a09))
    (pin "10" (uuid 7d415350-f3ee-49ae-881a-0a31ddcb3633))
    (pin "11" (uuid 38bdafa6-03c5-4440-9e8c-d7238af7b3ba))
    (pin "12" (uuid 4906b5be-874d-47bf-82c3-bf9924a0d053))
    (pin "13" (uuid b4025a97-66bc-43c1-aeb5-f1185e776b4f))
    (pin "14" (uuid 3961bd35-6d94-4e51-9807-d935c44d74e7))
    (pin "15" (uuid abdb3dbe-d661-41cf-9d09-9937c3a5db21))
    (pin "16" (uuid 840f59ae-f1f5-4191-a739-e7c778e55a2b))
    (pin "17" (uuid 3c65e8bd-2384-431d-a7e0-899422dd493e))
    (pin "2" (uuid de098af7-fd0d-4dcd-8381-967596de2afd))
    (pin "3" (uuid 3aed6d57-47a3-46ef-9ce3-6c2c84e743da))
    (pin "4" (uuid e787d050-f005-4104-a92a-71c2a2ab32b1))
    (pin "5" (uuid bb8169d5-5aa0-47fe-a524-a78251a203c4))
    (pin "6" (uuid 1bf1dabe-85c5-419f-9e4f-e79a03237ce7))
    (pin "7" (uuid 430b7dd5-9804-45f2-9897-770579e80fc8))
    (pin "8" (uuid b2b84763-3bae-4a16-aa65-f182572123ce))
    (pin "9" (uuid e7026551-2761-40b4-8709-35f18214f4a3))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "U1") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "power:GND") (at 144.78 55.88 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 48c513e2-e7b9-4f09-acf3-7ef06c4e4549)
    (property "Reference" "#PWR01" (at 144.78 62.23 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "GND" (at 144.78 60.96 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 144.78 55.88 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 144.78 55.88 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 56a83527-542e-4310-a745-f0180fd0e128))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR01") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "power:GND") (at 25.4 50.8 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 5ae6a0f4-ed95-4431-95d2-a6b2296caee6)
    (property "Reference" "#PWR06" (at 25.4 57.15 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "GND" (at 25.4 55.88 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 25.4 50.8 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 25.4 50.8 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 2db490ea-a33e-4ffd-b3cd-564390ba398b))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR06") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "Device:R") (at 41.91 45.72 90) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 6b46c305-df23-4817-ac60-2cc31213315e)
    (property "Reference" "R1" (at 41.91 39.37 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "0.2R" (at 41.91 41.91 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 41.91 47.498 90)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "~" (at 41.91 45.72 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid d7b02b04-9c75-41ef-8612-17342b9cf277))
    (pin "2" (uuid 731eda80-01da-4707-a202-5a3fbff1a416))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "R1") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "power:VCC") (at 71.12 27.94 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 6c8a8e1e-ff2c-4d31-bb97-0511e3002dcc)
    (property "Reference" "#PWR04" (at 71.12 31.75 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "VCC" (at 71.12 22.86 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 71.12 27.94 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 71.12 27.94 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 0bb37221-3fd1-46df-ae2b-1797e6dd582e))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR04") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "pololu:ULTRASOUND_T_R") (at 40.64 73.66 180) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 730d79ec-4ada-4e5d-ba21-b8948ec42a54)
    (property "Reference" "U2" (at 35.56 60.96 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "ULTRASOUND_T_R" (at 35.56 63.5 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "pololu:ULTRASOUND_T_R" (at 40.64 73.66 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 40.64 73.66 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid cca8e13c-4084-4119-97a3-0a829da183c0))
    (pin "2" (uuid 08d17871-02f7-4ca9-82ed-28b3a3f32f94))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "U2") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "Device:C") (at 45.72 31.75 0) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 777c8c14-d8cb-4baf-b341-3d2f1461b4c1)
    (property "Reference" "C1" (at 49.53 30.48 0)
      (effects (font (size 1.27 1.27)) (justify left))
    )
    (property "Value" "10nF" (at 49.53 33.02 0)
      (effects (font (size 1.27 1.27)) (justify left))
    )
    (property "Footprint" "" (at 46.6852 35.56 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "~" (at 45.72 31.75 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 36c85e7d-aa7e-470a-9862-57c65de5cbcd))
    (pin "2" (uuid eecf7cb8-4bd7-4caf-87b1-44a16e276f03))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "C1") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "Device:R") (at 34.29 48.26 90) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 932bea8f-7f14-4e28-a379-1c692e0144a1)
    (property "Reference" "R2" (at 34.29 41.91 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "0.2R" (at 34.29 44.45 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 34.29 50.038 90)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "~" (at 34.29 48.26 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 8f287fad-d65d-4ccd-9337-6058788ae3c7))
    (pin "2" (uuid 74e61b6f-c260-4d7f-9e44-fbef3e7e9f37))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "R2") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "power:GND") (at 63.5 73.66 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid a613f9a2-af6f-4702-bdfe-1894598d18f1)
    (property "Reference" "#PWR03" (at 63.5 80.01 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "GND" (at 63.5 78.74 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 63.5 73.66 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 63.5 73.66 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 6e0f9100-ba36-4e4d-a9b8-b83600c24a85))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR03") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "power:VCC") (at 109.22 33.02 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid b8430d9e-730b-49b7-8095-ed84876da861)
    (property "Reference" "#PWR0101" (at 109.22 36.83 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "VCC" (at 109.22 27.94 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 109.22 33.02 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 109.22 33.02 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 5135a286-7b3b-4a61-b32b-4df64069d6a9))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR0101") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "power:VCC") (at 139.7 33.02 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid b8f1da5d-f7ff-4fe1-8f81-6f44d95eef6f)
    (property "Reference" "#PWR02" (at 139.7 36.83 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "VCC" (at 139.7 27.94 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 139.7 33.02 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 139.7 33.02 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 14fecf07-c7ab-440e-84a0-ceee99f43837))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR02") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "power:GND") (at 114.3 55.88 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid ce09e886-c93f-4674-9961-575863530056)
    (property "Reference" "#PWR0102" (at 114.3 62.23 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "GND" (at 114.3 60.96 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "" (at 114.3 55.88 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 114.3 55.88 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid d5da0a29-9ae4-4199-b815-db5550baf973))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "#PWR0102") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "pololu:N20_MOTOR_EXTENDED_SHAFT") (at 154.94 38.1 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid e0e9fc58-3e9b-40de-af81-af63f2b54a60)
    (property "Reference" "M2" (at 153.67 33.02 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "N20_MOTOR_EXTENDED_SHAFT" (at 140.97 35.56 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "pololu:N20_EXTENDED_SHAFT" (at 141.605 34.925 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 153.035 38.1 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid a2678822-f51a-4457-b2af-0aa2767d1713))
    (pin "2" (uuid 8fae7642-9253-467a-a284-cf7050735020))
    (pin "3" (uuid 3c5a6f49-b5a9-45be-8c41-e8cdb83216f9))
    (pin "4" (uuid 14e10540-98f2-4072-a0aa-b7e889124071))
    (pin "5" (uuid 3df64022-c24c-4fab-b557-4a4283713810))
    (pin "6" (uuid 9315ac40-1241-413b-953e-7ac2fdde6285))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "M2") (unit 1)
        )
      )
    )
  )

  (symbol (lib_id "pololu:N20_MOTOR_EXTENDED_SHAFT") (at 124.46 38.1 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid f1b9d147-fb95-45c1-a371-9168d76297c0)
    (property "Reference" "M1" (at 123.19 33.02 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "N20_MOTOR_EXTENDED_SHAFT" (at 110.49 35.56 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Footprint" "pololu:N20_EXTENDED_SHAFT" (at 111.125 34.925 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Datasheet" "" (at 122.555 38.1 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid ed1105fa-0164-45c8-beba-678e345a6465))
    (pin "2" (uuid fe2bb1d9-deae-4a99-a2a6-8d6d95c43aed))
    (pin "3" (uuid 7a0b1f34-dc44-45c4-a5ef-e7144dd80368))
    (pin "4" (uuid 44718e21-5a48-48bd-9c30-cc04b941f268))
    (pin "5" (uuid e3b4b9a6-8663-491a-9eb8-87364c60e62b))
    (pin "6" (uuid 9f578f9f-ce14-425a-bc61-dc7bf6204c9e))
    (instances
      (project "bottom"
        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
          (reference "M1") (unit 1)
        )
      )
    )
  )

  (sheet_instances
    (path "/" (page "1"))
  )
)