diff --git a/kicad_workspace/3d_models/ultrasound.step b/kicad_workspace/3d_models/ultrasound.step
new file mode 100644
index 0000000..476be81
--- /dev/null
+++ b/kicad_workspace/3d_models/ultrasound.step
@@ -0,0 +1,947 @@
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+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#665 = PCURVE('',#627,#666);
+#666 = DEFINITIONAL_REPRESENTATION('',(#667),#671);
+#667 = LINE('',#668,#669);
+#668 = CARTESIAN_POINT('',(-6.28318530718,0.));
+#669 = VECTOR('',#670,1.);
+#670 = DIRECTION('',(-0.,-1.));
+#671 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) 
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#672 = ORIENTED_EDGE('',*,*,#673,.T.);
+#673 = EDGE_CURVE('',#651,#651,#674,.T.);
+#674 = SURFACE_CURVE('',#675,(#680,#687),.PCURVE_S1.);
+#675 = CIRCLE('',#676,5.);
+#676 = AXIS2_PLACEMENT_3D('',#677,#678,#679);
+#677 = CARTESIAN_POINT('',(0.,0.,7.85));
+#678 = DIRECTION('',(0.,0.,1.));
+#679 = DIRECTION('',(1.,0.,0.));
+#680 = PCURVE('',#627,#681);
+#681 = DEFINITIONAL_REPRESENTATION('',(#682),#686);
+#682 = LINE('',#683,#684);
+#683 = CARTESIAN_POINT('',(-0.,-0.85));
+#684 = VECTOR('',#685,1.);
+#685 = DIRECTION('',(-1.,0.));
+#686 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) 
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#687 = PCURVE('',#688,#693);
+#688 = TOROIDAL_SURFACE('',#689,4.85,0.15);
+#689 = AXIS2_PLACEMENT_3D('',#690,#691,#692);
+#690 = CARTESIAN_POINT('',(0.,0.,7.85));
+#691 = DIRECTION('',(0.,0.,1.));
+#692 = DIRECTION('',(1.,0.,0.));
+#693 = DEFINITIONAL_REPRESENTATION('',(#694),#698);
+#694 = LINE('',#695,#696);
+#695 = CARTESIAN_POINT('',(0.,0.));
+#696 = VECTOR('',#697,1.);
+#697 = DIRECTION('',(1.,0.));
+#698 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) 
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#699 = ORIENTED_EDGE('',*,*,#650,.F.);
+#700 = ORIENTED_EDGE('',*,*,#610,.F.);
+#701 = ADVANCED_FACE('',(#702),#688,.T.);
+#702 = FACE_BOUND('',#703,.T.);
+#703 = EDGE_LOOP('',(#704,#726,#727,#728));
+#704 = ORIENTED_EDGE('',*,*,#705,.F.);
+#705 = EDGE_CURVE('',#651,#706,#708,.T.);
+#706 = VERTEX_POINT('',#707);
+#707 = CARTESIAN_POINT('',(4.85,0.,8.));
+#708 = SEAM_CURVE('',#709,(#714,#720),.PCURVE_S1.);
+#709 = CIRCLE('',#710,0.15);
+#710 = AXIS2_PLACEMENT_3D('',#711,#712,#713);
+#711 = CARTESIAN_POINT('',(4.85,0.,7.85));
+#712 = DIRECTION('',(0.,-1.,0.));
+#713 = DIRECTION('',(1.,0.,0.));
+#714 = PCURVE('',#688,#715);
+#715 = DEFINITIONAL_REPRESENTATION('',(#716),#719);
+#716 = B_SPLINE_CURVE_WITH_KNOTS('',1,(#717,#718),.UNSPECIFIED.,.F.,.F.,
+  (2,2),(0.,1.570796326795),.PIECEWISE_BEZIER_KNOTS.);
+#717 = CARTESIAN_POINT('',(0.,0.));
+#718 = CARTESIAN_POINT('',(0.,1.570796326795));
+#719 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) 
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#720 = PCURVE('',#688,#721);
+#721 = DEFINITIONAL_REPRESENTATION('',(#722),#725);
+#722 = B_SPLINE_CURVE_WITH_KNOTS('',1,(#723,#724),.UNSPECIFIED.,.F.,.F.,
+  (2,2),(0.,1.570796326795),.PIECEWISE_BEZIER_KNOTS.);
+#723 = CARTESIAN_POINT('',(6.28318530718,0.));
+#724 = CARTESIAN_POINT('',(6.28318530718,1.570796326795));
+#725 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) 
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#726 = ORIENTED_EDGE('',*,*,#673,.T.);
+#727 = ORIENTED_EDGE('',*,*,#705,.T.);
+#728 = ORIENTED_EDGE('',*,*,#729,.F.);
+#729 = EDGE_CURVE('',#706,#706,#730,.T.);
+#730 = SURFACE_CURVE('',#731,(#736,#743),.PCURVE_S1.);
+#731 = CIRCLE('',#732,4.85);
+#732 = AXIS2_PLACEMENT_3D('',#733,#734,#735);
+#733 = CARTESIAN_POINT('',(0.,0.,8.));
+#734 = DIRECTION('',(0.,0.,1.));
+#735 = DIRECTION('',(1.,0.,0.));
+#736 = PCURVE('',#688,#737);
+#737 = DEFINITIONAL_REPRESENTATION('',(#738),#742);
+#738 = LINE('',#739,#740);
+#739 = CARTESIAN_POINT('',(0.,1.570796326795));
+#740 = VECTOR('',#741,1.);
+#741 = DIRECTION('',(1.,0.));
+#742 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) 
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#743 = PCURVE('',#744,#749);
+#744 = PLANE('',#745);
+#745 = AXIS2_PLACEMENT_3D('',#746,#747,#748);
+#746 = CARTESIAN_POINT('',(-2.7E-16,3.4E-16,8.));
+#747 = DIRECTION('',(0.,0.,1.));
+#748 = DIRECTION('',(0.,1.,0.));
+#749 = DEFINITIONAL_REPRESENTATION('',(#750),#754);
+#750 = CIRCLE('',#751,4.85);
+#751 = AXIS2_PLACEMENT_2D('',#752,#753);
+#752 = CARTESIAN_POINT('',(-3.4E-16,-2.7E-16));
+#753 = DIRECTION('',(0.,-1.));
+#754 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) 
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+  ) );
+#755 = ADVANCED_FACE('',(#756),#744,.T.);
+#756 = FACE_BOUND('',#757,.T.);
+#757 = EDGE_LOOP('',(#758));
+#758 = ORIENTED_EDGE('',*,*,#729,.T.);
+#759 = ( GEOMETRIC_REPRESENTATION_CONTEXT(3) 
+GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#763)) GLOBAL_UNIT_ASSIGNED_CONTEXT
+((#760,#761,#762)) REPRESENTATION_CONTEXT('Context #1',
+  '3D Context with UNIT and UNCERTAINTY') );
+#760 = ( LENGTH_UNIT() NAMED_UNIT(*) SI_UNIT(.MILLI.,.METRE.) );
+#761 = ( NAMED_UNIT(*) PLANE_ANGLE_UNIT() SI_UNIT($,.RADIAN.) );
+#762 = ( NAMED_UNIT(*) SI_UNIT($,.STERADIAN.) SOLID_ANGLE_UNIT() );
+#763 = UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(1.E-07),#760,
+  'distance_accuracy_value','confusion accuracy');
+#764 = PRODUCT_RELATED_PRODUCT_CATEGORY('part',$,(#7));
+#765 = MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#766,
+    #777,#785,#792),#759);
+#766 = STYLED_ITEM('color',(#767),#15);
+#767 = PRESENTATION_STYLE_ASSIGNMENT((#768,#774));
+#768 = SURFACE_STYLE_USAGE(.BOTH.,#769);
+#769 = SURFACE_SIDE_STYLE('',(#770));
+#770 = SURFACE_STYLE_FILL_AREA(#771);
+#771 = FILL_AREA_STYLE('',(#772));
+#772 = FILL_AREA_STYLE_COLOUR('',#773);
+#773 = COLOUR_RGB('',0.300000011149,0.300000011149,0.300000011149);
+#774 = CURVE_STYLE('',#775,POSITIVE_LENGTH_MEASURE(0.1),#776);
+#775 = DRAUGHTING_PRE_DEFINED_CURVE_FONT('continuous');
+#776 = COLOUR_RGB('',0.5450980686,0.5450980686,0.5450980686);
+#777 = OVER_RIDING_STYLED_ITEM('overriding color',(#778),#430,#766);
+#778 = PRESENTATION_STYLE_ASSIGNMENT((#779));
+#779 = SURFACE_STYLE_USAGE(.BOTH.,#780);
+#780 = SURFACE_SIDE_STYLE('',(#781));
+#781 = SURFACE_STYLE_FILL_AREA(#782);
+#782 = FILL_AREA_STYLE('',(#783));
+#783 = FILL_AREA_STYLE_COLOUR('',#784);
+#784 = DRAUGHTING_PRE_DEFINED_COLOUR('black');
+#785 = OVER_RIDING_STYLED_ITEM('overriding color',(#786),#603,#766);
+#786 = PRESENTATION_STYLE_ASSIGNMENT((#787));
+#787 = SURFACE_STYLE_USAGE(.BOTH.,#788);
+#788 = SURFACE_SIDE_STYLE('',(#789));
+#789 = SURFACE_STYLE_FILL_AREA(#790);
+#790 = FILL_AREA_STYLE('',(#791));
+#791 = FILL_AREA_STYLE_COLOUR('',#784);
+#792 = OVER_RIDING_STYLED_ITEM('overriding color',(#793),#755,#766);
+#793 = PRESENTATION_STYLE_ASSIGNMENT((#794));
+#794 = SURFACE_STYLE_USAGE(.BOTH.,#795);
+#795 = SURFACE_SIDE_STYLE('',(#796));
+#796 = SURFACE_STYLE_FILL_AREA(#797);
+#797 = FILL_AREA_STYLE('',(#798));
+#798 = FILL_AREA_STYLE_COLOUR('',#799);
+#799 = DRAUGHTING_PRE_DEFINED_COLOUR('white');
+ENDSEC;
+END-ISO-10303-21;
diff --git a/kicad_workspace/bottom/bottom.kicad_pcb b/kicad_workspace/bottom/bottom.kicad_pcb
index e3a2888..77c5ae6 100644
--- a/kicad_workspace/bottom/bottom.kicad_pcb
+++ b/kicad_workspace/bottom/bottom.kicad_pcb
@@ -77,13 +77,56 @@
 
   (net 0 "")
   (net 1 "GND")
-  (net 2 "Net-(M1-A)")
+  (net 2 "unconnected-(M1-B-Pad2)")
   (net 3 "VCC")
-  (net 4 "unconnected-(M1-M2-Pad5)")
-  (net 5 "unconnected-(M1-M1-Pad6)")
-  (net 6 "Net-(M2-A)")
-  (net 7 "unconnected-(M2-M2-Pad5)")
-  (net 8 "unconnected-(M2-M1-Pad6)")
+  (net 4 "unconnected-(M1-A-Pad3)")
+  (net 5 "Net-(M1-M2)")
+  (net 6 "Net-(M1-M1)")
+  (net 7 "unconnected-(M2-B-Pad2)")
+  (net 8 "unconnected-(M2-A-Pad3)")
+  (net 9 "Net-(M2-M2)")
+  (net 10 "Net-(M2-M1)")
+  (net 11 "unconnected-(U1-nSLEEP-Pad1)")
+  (net 12 "Net-(U1-AISEN)")
+  (net 13 "Net-(U1-BISEN)")
+  (net 14 "unconnected-(U1-nFAULT-Pad8)")
+  (net 15 "unconnected-(U1-BIN1-Pad9)")
+  (net 16 "unconnected-(U1-BIN2-Pad10)")
+  (net 17 "Net-(U1-VCP)")
+  (net 18 "unconnected-(U1-AIN2-Pad15)")
+  (net 19 "unconnected-(U1-AIN1-Pad16)")
+
+  (footprint "pololu:ULTRASOUND_T_R" (layer "F.Cu")
+    (tstamp 0963cf22-b825-433f-b693-d40e8b689107)
+    (at 60.325 76.835)
+    (property "Sheetfile" "bottom.kicad_sch")
+    (property "Sheetname" "")
+    (path "/730d79ec-4ada-4e5d-ba21-b8948ec42a54")
+    (attr through_hole)
+    (fp_text reference "U2" (at 0 -5.08 unlocked) (layer "F.SilkS")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 2fbcc74f-29b9-4be3-ba5c-301dddd0c9fa)
+    )
+    (fp_text value "ULTRASOUND_T_R" (at 0 -2.54 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 8d9c177a-43b9-46c1-8aa0-acd81e75dba8)
+    )
+    (fp_text user "${REFERENCE}" (at 0 5.08 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp ad836132-2f6e-4c25-8764-990f9da55a4a)
+    )
+    (fp_circle (center 0 0) (end 8 0)
+      (stroke (width 0.12) (type default)) (fill none) (layer "F.SilkS") (tstamp b8f406df-9113-4d22-bcd1-37b62d0c115c))
+    (pad "1" thru_hole circle (at 4.5 0) (size 3.84 3.84) (drill 2) (layers "*.Cu" "*.Mask")
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 592b4a9e-1ab1-4933-ab6f-f4361f820870))
+    (pad "2" thru_hole circle (at -4.5 0) (size 3.84 3.84) (drill 2) (layers "*.Cu" "*.Mask")
+      (net 13 "Net-(U1-BISEN)") (pinfunction "SIG") (pintype "input") (tstamp 84782a91-82e2-486d-9d1b-b97900f13afa))
+    (model "${KICAD_3DMODEL_DIR_LOCAL}/ultrasound.step"
+      (offset (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
 
   (footprint "pololu:N20_EXTENDED_SHAFT" (layer "F.Cu")
     (tstamp 5e0a5a05-be99-4a8f-a437-985fb97308fb)
@@ -120,15 +163,15 @@
     (pad "1" smd roundrect (at -5 36.8 90) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp a0734d53-70fa-42e9-8426-f6c8a7d403e7))
     (pad "2" smd roundrect (at -3 36.8 90) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 2 "Net-(M1-A)") (pinfunction "B") (pintype "output") (tstamp 8795ad97-7677-4007-b4d6-66c888bb1f3f))
+      (net 2 "unconnected-(M1-B-Pad2)") (pinfunction "B") (pintype "output+no_connect") (tstamp 8795ad97-7677-4007-b4d6-66c888bb1f3f))
     (pad "3" smd roundrect (at -1 36.8 90) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 2 "Net-(M1-A)") (pinfunction "A") (pintype "output") (tstamp 6ab5ea5b-1939-4bab-a11c-6b604a600b57))
+      (net 4 "unconnected-(M1-A-Pad3)") (pinfunction "A") (pintype "output+no_connect") (tstamp 6ab5ea5b-1939-4bab-a11c-6b604a600b57))
     (pad "4" smd roundrect (at 1 36.8 90) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 3 "VCC") (pinfunction "VCC") (pintype "power_in") (tstamp 888b6afb-64bf-49ee-9b4d-179aac2f5812))
     (pad "5" smd roundrect (at 3 36.8 90) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 4 "unconnected-(M1-M2-Pad5)") (pinfunction "M2") (pintype "input+no_connect") (tstamp 10e21033-c770-4a90-8ff5-cdb7e17387b5))
+      (net 5 "Net-(M1-M2)") (pinfunction "M2") (pintype "input") (tstamp 10e21033-c770-4a90-8ff5-cdb7e17387b5))
     (pad "6" smd roundrect (at 5 36.8 90) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 5 "unconnected-(M1-M1-Pad6)") (pinfunction "M1") (pintype "input+no_connect") (tstamp b8665ce9-9636-4bf5-9db8-ab7d74057a79))
+      (net 6 "Net-(M1-M1)") (pinfunction "M1") (pintype "input") (tstamp b8665ce9-9636-4bf5-9db8-ab7d74057a79))
     (model "${KICAD_3DMODEL_DIR_LOCAL}/micro-metal-gearmotor-carbon-backshaft.step"
       (offset (xyz 0 -19 5))
       (scale (xyz 1 1 1))
@@ -151,6 +194,113 @@
     )
   )
 
+  (footprint "Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias" (layer "F.Cu")
+    (tstamp 73c42e36-2674-4656-abaf-7f669c3131d9)
+    (at 74.6075 44.715)
+    (descr "HTSSOP, 16 Pin (http://www.analog.com/media/en/technical-documentation/data-sheets/LTC7810.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+    (tags "HTSSOP SO")
+    (property "Sheetfile" "bottom.kicad_sch")
+    (property "Sheetname" "")
+    (property "ki_description" "Dual H-Bridge Motor Driver, HTSSOP-16")
+    (property "ki_keywords" "H-bridge motor driver")
+    (path "/352c5516-9491-4f18-a58a-3accc3a122c1")
+    (attr smd)
+    (fp_text reference "U1" (at 0 -3.45) (layer "F.SilkS")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 92ea7865-60a3-48d1-be78-3c5468fb73ce)
+    )
+    (fp_text value "DRV8833PWP" (at 0 3.45) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp f0da6402-9306-4160-9726-4926dbee71e4)
+    )
+    (fp_text user "${REFERENCE}" (at 0 0) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 45fb064d-faed-45f8-b727-5d57537b542c)
+    )
+    (fp_line (start 0 -2.76) (end -3.65 -2.76)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp e821f8be-35a7-4219-9102-08470a53895b))
+    (fp_line (start 0 -2.76) (end 2.2 -2.76)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 6da871ce-7d32-4985-bde7-7471cf570a92))
+    (fp_line (start 0 2.76) (end -2.2 2.76)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 9f5a0d95-0e7f-4ab4-b300-2f03aaaeb312))
+    (fp_line (start 0 2.76) (end 2.2 2.76)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 032ffe82-25e5-4c41-b454-893bb2a20fdd))
+    (fp_line (start -3.9 -2.75) (end -3.9 2.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 6c4d5e19-7243-424e-8ac2-36b39c3f9714))
+    (fp_line (start -3.9 2.75) (end 3.9 2.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 882a9e00-0c05-4518-a349-eac620d6ea3f))
+    (fp_line (start 3.9 -2.75) (end -3.9 -2.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp ac576f1e-7690-470c-b6d9-7b3f9fb856be))
+    (fp_line (start 3.9 2.75) (end 3.9 -2.75)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 06b872a8-479b-4507-818e-627f65773ccd))
+    (fp_line (start -2.2 -1.5) (end -1.2 -2.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 22f862d2-0568-4f31-8c29-2e1a8800a660))
+    (fp_line (start -2.2 2.5) (end -2.2 -1.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 99bee486-0236-4be6-aad9-e73d9fb27d7e))
+    (fp_line (start -1.2 -2.5) (end 2.2 -2.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp b17bf0d7-25b4-4f62-baeb-aa5013d5761c))
+    (fp_line (start 2.2 -2.5) (end 2.2 2.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp fcfe148b-416d-49de-9a33-27f80ca7ef1a))
+    (fp_line (start 2.2 2.5) (end -2.2 2.5)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a662b339-21da-4f30-8283-e690ac7421ea))
+    (pad "" smd roundrect (at 0 -0.58) (size 1.98 0.93) (layers "F.Paste") (roundrect_rratio 0.25) (tstamp 6bc70ada-97f9-4698-a5a5-30cb490d400d))
+    (pad "" smd rect (at 0 0) (size 2.46 2.31) (layers "F.Mask") (tstamp 0831090f-d349-4f08-a4d0-002955ac1f84))
+    (pad "" smd roundrect (at 0 0.58) (size 1.98 0.93) (layers "F.Paste") (roundrect_rratio 0.25) (tstamp b5257a09-c66a-4fd9-92e8-cea7cabf3065))
+    (pad "1" smd roundrect (at -2.8625 -2.275) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 11 "unconnected-(U1-nSLEEP-Pad1)") (pinfunction "nSLEEP") (pintype "input") (tstamp e65f2ca2-7b67-4452-b4cf-c53307781fb5))
+    (pad "2" smd roundrect (at -2.8625 -1.625) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 6 "Net-(M1-M1)") (pinfunction "AOUT1") (pintype "power_out") (tstamp 23fe17cd-3a6d-44a9-a1da-861b9783edf6))
+    (pad "3" smd roundrect (at -2.8625 -0.975) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 12 "Net-(U1-AISEN)") (pinfunction "AISEN") (pintype "bidirectional") (tstamp b7d53971-b671-4254-a3aa-5e1928457f35))
+    (pad "4" smd roundrect (at -2.8625 -0.325) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 5 "Net-(M1-M2)") (pinfunction "AOUT2") (pintype "power_out") (tstamp cf09dfae-9a72-4a04-a674-23c4af495043))
+    (pad "5" smd roundrect (at -2.8625 0.325) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 9 "Net-(M2-M2)") (pinfunction "BOUT2") (pintype "power_out") (tstamp 5b740ade-a10f-454c-902c-4aaf3ab5c44e))
+    (pad "6" smd roundrect (at -2.8625 0.975) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 13 "Net-(U1-BISEN)") (pinfunction "BISEN") (pintype "bidirectional") (tstamp 5ecffa45-2264-4b2f-9bc5-6f7bc8b3e213))
+    (pad "7" smd roundrect (at -2.8625 1.625) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 10 "Net-(M2-M1)") (pinfunction "BOUT1") (pintype "power_out") (tstamp 078723c2-b7cd-4518-86b9-3888bbc05ec8))
+    (pad "8" smd roundrect (at -2.8625 2.275) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 14 "unconnected-(U1-nFAULT-Pad8)") (pinfunction "nFAULT") (pintype "open_collector+no_connect") (tstamp a6c03022-459d-432f-abf0-34354f9bace7))
+    (pad "9" smd roundrect (at 2.8625 2.275) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 15 "unconnected-(U1-BIN1-Pad9)") (pinfunction "BIN1") (pintype "input+no_connect") (tstamp a3703fd8-c29d-4d0a-9172-78c2c8e129da))
+    (pad "10" smd roundrect (at 2.8625 1.625) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 16 "unconnected-(U1-BIN2-Pad10)") (pinfunction "BIN2") (pintype "input+no_connect") (tstamp 4c7635ea-6977-4b1e-9a4a-40822ad60290))
+    (pad "11" smd roundrect (at 2.8625 0.975) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 17 "Net-(U1-VCP)") (pinfunction "VCP") (pintype "bidirectional") (tstamp e209e6bb-b211-4a21-a605-e8502a7d13d9))
+    (pad "12" smd roundrect (at 2.8625 0.325) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 3 "VCC") (pinfunction "VM") (pintype "power_in") (tstamp e0583d1e-2a76-4853-a280-5c96c058aa39))
+    (pad "13" smd roundrect (at 2.8625 -0.325) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 2f3a9aee-052f-45f1-a077-b5254b1a6c6f))
+    (pad "14" smd roundrect (at 2.8625 -0.975) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 3 "VCC") (pinfunction "VINT") (pintype "power_in") (tstamp bd60930f-c5de-4c68-9023-7784f77b1fe9))
+    (pad "15" smd roundrect (at 2.8625 -1.625) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 18 "unconnected-(U1-AIN2-Pad15)") (pinfunction "AIN2") (pintype "input+no_connect") (tstamp ba9837d5-a042-4421-83e9-f74204874dde))
+    (pad "16" smd roundrect (at 2.8625 -2.275) (size 1.575 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 19 "unconnected-(U1-AIN1-Pad16)") (pinfunction "AIN1") (pintype "input+no_connect") (tstamp 6cb93b6f-1409-4bde-b455-46c1f23ee782))
+    (pad "17" thru_hole circle (at -0.75 -1.5) (size 0.5 0.5) (drill 0.2) (layers "*.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp 601668f7-9526-4d46-9613-88a54c27e948))
+    (pad "17" thru_hole circle (at -0.75 0) (size 0.5 0.5) (drill 0.2) (layers "*.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp 1b369393-0b79-46ff-9a5b-ac75830f05ad))
+    (pad "17" thru_hole circle (at -0.75 1.5) (size 0.5 0.5) (drill 0.2) (layers "*.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp b35a634d-62ef-4f27-ae98-e433c623db0f))
+    (pad "17" smd rect (at 0 0) (size 2 3.5) (layers "B.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp 9dd9dec1-92e2-4244-afbc-ba2c807186dd))
+    (pad "17" smd rect (at 0 0) (size 3.4 5) (layers "F.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp be31bd23-9582-4c6e-896b-6bc703393b33))
+    (pad "17" thru_hole circle (at 0.75 -1.5) (size 0.5 0.5) (drill 0.2) (layers "*.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp a4aa5821-2316-4073-9135-7075b8b4dddb))
+    (pad "17" thru_hole circle (at 0.75 0) (size 0.5 0.5) (drill 0.2) (layers "*.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp 1ec6f83b-ec0c-438c-a530-3224e22c98db))
+    (pad "17" thru_hole circle (at 0.75 1.5) (size 0.5 0.5) (drill 0.2) (layers "*.Cu")
+      (net 1 "GND") (pinfunction "GND(PPAD)") (pintype "power_in") (tstamp 004d62dc-1665-4aa8-9518-e0edf14ac43b))
+    (model "${KICAD6_3DMODEL_DIR}/Package_SO.3dshapes/HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm.wrl"
+      (offset (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
   (footprint "pololu:N20_EXTENDED_SHAFT" (layer "F.Cu")
     (tstamp 90b440a8-8507-4c7e-9f3f-abc05a7820a3)
     (at 101 60 -90)
@@ -186,15 +336,15 @@
     (pad "1" smd roundrect (at -5 36.8 270) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 1fcddb0b-71f4-4002-a79e-777bc456b5c2))
     (pad "2" smd roundrect (at -3 36.8 270) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 6 "Net-(M2-A)") (pinfunction "B") (pintype "output") (tstamp 4facf598-aa05-435f-9d6b-96202143485c))
+      (net 7 "unconnected-(M2-B-Pad2)") (pinfunction "B") (pintype "output+no_connect") (tstamp 4facf598-aa05-435f-9d6b-96202143485c))
     (pad "3" smd roundrect (at -1 36.8 270) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 6 "Net-(M2-A)") (pinfunction "A") (pintype "output") (tstamp a57bbfb7-2c61-41d2-92f5-3856dcfa0c3f))
+      (net 8 "unconnected-(M2-A-Pad3)") (pinfunction "A") (pintype "output+no_connect") (tstamp a57bbfb7-2c61-41d2-92f5-3856dcfa0c3f))
     (pad "4" smd roundrect (at 1 36.8 270) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 3 "VCC") (pinfunction "VCC") (pintype "power_in") (tstamp 060f6d56-9339-4d92-bab6-fa54ba37ab47))
     (pad "5" smd roundrect (at 3 36.8 270) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 7 "unconnected-(M2-M2-Pad5)") (pinfunction "M2") (pintype "input+no_connect") (tstamp af302747-3f75-4e31-a3ff-516ddb41e441))
+      (net 9 "Net-(M2-M2)") (pinfunction "M2") (pintype "input") (tstamp af302747-3f75-4e31-a3ff-516ddb41e441))
     (pad "6" smd roundrect (at 5 36.8 270) (size 1 1.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 8 "unconnected-(M2-M1-Pad6)") (pinfunction "M1") (pintype "input+no_connect") (tstamp 3cccde91-219e-45b7-a448-374e44fb6f9c))
+      (net 10 "Net-(M2-M1)") (pinfunction "M1") (pintype "input") (tstamp 3cccde91-219e-45b7-a448-374e44fb6f9c))
     (model "${KICAD_3DMODEL_DIR_LOCAL}/micro-metal-gearmotor-carbon-backshaft.step"
       (offset (xyz 0 -19 5))
       (scale (xyz 1 1 1))
@@ -244,7 +394,7 @@
       (stroke (width 0.12) (type solid)) (layer "B.SilkS") (tstamp 18045525-18a2-4d3b-bd0a-25cb4801ce70))
     (fp_arc (start 5.988332 0.861605) (mid 0 6.049999) (end -5.988332 0.861605)
       (stroke (width 0.12) (type solid)) (layer "B.SilkS") (tstamp 8a880a2b-5599-4570-a9fb-66ec5fab2eeb))
-    (fp_arc (start 6.75 -2.8) (mid 5.350168 -3.264985) (end 4.277997 -4.277996)
+    (fp_arc (start 6.75 -2.8) (mid 5.350172 -3.264991) (end 4.277997 -4.277996)
       (stroke (width 0.12) (type solid)) (layer "B.SilkS") (tstamp f6cd338c-e834-45ae-ac9e-bada835fd897))
     (fp_arc (start 6.75 -2.8) (mid 9.55 0) (end 6.75 2.8)
       (stroke (width 0.12) (type solid)) (layer "B.SilkS") (tstamp 6cde6df4-af69-46d9-b4dc-c0ee542e7839))
diff --git a/kicad_workspace/bottom/bottom.kicad_sch b/kicad_workspace/bottom/bottom.kicad_sch
index 41314b1..a694468 100644
--- a/kicad_workspace/bottom/bottom.kicad_sch
+++ b/kicad_workspace/bottom/bottom.kicad_sch
@@ -243,6 +243,43 @@
         )
       )
     )
+    (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)
@@ -343,6 +380,9 @@
   (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)
   )
@@ -421,10 +461,18 @@
     (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)
@@ -433,6 +481,10 @@
     (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)
@@ -457,7 +509,7 @@
     (stroke (width 0) (type default))
     (uuid 8a3f4ae5-ca59-4c18-8b78-5832c37d94ee)
   )
-  (wire (pts (xy 38.1 48.26) (xy 50.8 48.26))
+  (wire (pts (xy 38.1 48.26) (xy 48.26 48.26))
     (stroke (width 0) (type default))
     (uuid 8a5698ca-7da3-4051-be98-20a95b93d091)
   )
@@ -469,6 +521,10 @@
     (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)
@@ -689,6 +745,32 @@
     )
   )
 
+  (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)
diff --git a/kicad_workspace/bottom/libraries/pololu.kicad_sym b/kicad_workspace/bottom/libraries/pololu.kicad_sym
index 7fb30ca..a6b97f8 100644
--- a/kicad_workspace/bottom/libraries/pololu.kicad_sym
+++ b/kicad_workspace/bottom/libraries/pololu.kicad_sym
@@ -1,23 +1,23 @@
-(kicad_symbol_lib (version 20211014) (generator kicad_symbol_editor)
+(kicad_symbol_lib (version 20220914) (generator kicad_symbol_editor)
   (symbol "N20_MOTOR_EXTENDED_SHAFT" (pin_names (offset 0.002)) (in_bom yes) (on_board yes)
-    (property "Reference" "M" (id 0) (at 2.54 -19.05 0)
+    (property "Reference" "M" (at 2.54 -19.05 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "N20_MOTOR_EXTENDED_SHAFT" (id 1) (at 13.97 1.27 0)
+    (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" (id 2) (at 13.335 3.175 0)
+    (property "Footprint" "pololu:N20_EXTENDED_SHAFT" (at 13.335 3.175 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 1.905 0 0)
+    (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" (id 4) (at 0 0 0)
+    (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) (color 0 0 0 0))
+        (stroke (width 0) (type default))
         (fill (type background))
       )
     )
@@ -48,4 +48,41 @@
       )
     )
   )
+  (symbol "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))))
+      )
+    )
+  )
 )