diff --git a/kicad_workspace/bottom/bottom.kicad_pcb b/kicad_workspace/bottom/bottom.kicad_pcb
index 65f2b74..6e71380 100644
--- a/kicad_workspace/bottom/bottom.kicad_pcb
+++ b/kicad_workspace/bottom/bottom.kicad_pcb
@@ -103,9 +103,9 @@
   (net 25 "BNO_INT")
   (net 26 "unconnected-(U3-PB4-Pad8)")
   (net 27 "unconnected-(U3-PB5-Pad9)")
-  (net 28 "unconnected-(U3-PC0-Pad10)")
-  (net 29 "unconnected-(U3-PC1-Pad11)")
-  (net 30 "unconnected-(U3-PC2-Pad12)")
+  (net 28 "VL_EN1")
+  (net 29 "VL_EN2")
+  (net 30 "VL_EN3")
   (net 31 "unconnected-(U3-PC3-Pad13)")
   (net 32 "unconnected-(U3-PC4-Pad16)")
   (net 33 "unconnected-(U3-PC5-Pad17)")
@@ -129,8 +129,8 @@
   (net 51 "unconnected-(U3-UPDI-Pad41)")
   (net 52 "unconnected-(U3-PA0-Pad44)")
   (net 53 "unconnected-(U3-PA1-Pad45)")
-  (net 54 "BNO_SDA")
-  (net 55 "BNO_SCL")
+  (net 54 "SDA")
+  (net 55 "SCL")
   (net 56 "Net-(U3-PA4)")
   (net 57 "unconnected-(U4-PIN1-Pad1)")
   (net 58 "Net-(U4-~{BOOT_LOAD_PIN})")
@@ -147,6 +147,9 @@
   (net 69 "unconnected-(U4-PIN24-Pad24)")
   (net 70 "Net-(U4-XOUT32)")
   (net 71 "Net-(U4-XIN32)")
+  (net 72 "unconnected-(U5-GPIO1-Pad5)")
+  (net 73 "unconnected-(U6-GPIO1-Pad5)")
+  (net 74 "unconnected-(U7-GPIO1-Pad5)")
 
   (footprint "Jumper:SolderJumper-3_P1.3mm_Bridged12_Pad1.0x1.5mm_NumberLabels" (layer "F.Cu")
     (tstamp 05e861b3-4350-49f9-b6aa-6b5e5b8c2f9c)
@@ -241,6 +244,46 @@
     )
   )
 
+  (footprint "pololu:VL53L0X" (layer "F.Cu")
+    (tstamp 10f09755-d07a-46e6-a3bf-6c5d1154f720)
+    (at 68.58 22.225 180)
+    (property "Sheetfile" "bottom.kicad_sch")
+    (property "Sheetname" "")
+    (path "/9aed1f65-5ae0-4b7b-b395-af67da58eb3a")
+    (attr smd)
+    (fp_text reference "U5" (at 10.16 -1.27 180 unlocked) (layer "F.SilkS")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp c5a5cb5f-99e0-4833-a4bf-d094527d8fbc)
+    )
+    (fp_text value "~" (at 3.81 -1.27 180 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp b016b3a8-b1b5-485a-9ce2-18f6df69d6ce)
+    )
+    (fp_text user "${REFERENCE}" (at 6.35 5.08 180 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp df4bafc3-db64-4106-b9de-e9328729cf76)
+    )
+    (fp_rect (start 0 0) (end 16 3.38)
+      (stroke (width 0.12) (type default)) (fill none) (layer "F.SilkS") (tstamp e5ad87e9-9ad3-4a4c-9054-97e1aa410433))
+    (pad "1" smd roundrect (at 1.65 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 3 "VCC") (pinfunction "VIN") (pintype "power_in") (thermal_bridge_angle 45) (tstamp f9214f30-9217-4d7d-9d69-e06080f5d0e8))
+    (pad "2" smd roundrect (at 4.19 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (thermal_bridge_angle 45) (tstamp 16c72344-9e98-47e2-92f8-b245cdc88867))
+    (pad "3" smd roundrect (at 6.73 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 55 "SCL") (pinfunction "SCL") (pintype "input") (thermal_bridge_angle 45) (tstamp c19b699c-e51e-4597-81d5-02bd88c58701))
+    (pad "4" smd roundrect (at 9.27 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 54 "SDA") (pinfunction "SDA") (pintype "bidirectional") (thermal_bridge_angle 45) (tstamp fed05d8f-2ae7-4cca-8d7d-58ce8974c77e))
+    (pad "5" smd roundrect (at 11.81 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 72 "unconnected-(U5-GPIO1-Pad5)") (pinfunction "GPIO1") (pintype "output") (thermal_bridge_angle 45) (tstamp b7ca0e65-dbc1-46d8-bbf7-a2b18f40f23f))
+    (pad "6" smd roundrect (at 14.35 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 28 "VL_EN1") (pinfunction "XSHUT") (pintype "input") (thermal_bridge_angle 45) (tstamp e72c7052-e284-4a22-aae7-201f772bd1c9))
+    (model "${KICAD_3DMODEL_DIR_LOCAL}/vl53l0x.stp"
+      (offset (xyz 8.15 -1 4))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 180 180))
+    )
+  )
+
   (footprint "Package_LGA:LGA-28_5.2x3.8mm_P0.5mm" (layer "F.Cu")
     (tstamp 2292d4b0-4879-4853-9827-d0c55dd1a8ea)
     (at 58.13 77.7125)
@@ -333,9 +376,9 @@
     (pad "18" smd rect (at 2.3875 -0.25 90) (size 0.254 0.675) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "COM2") (pintype "passive") (tstamp 8b343aac-8622-4857-89df-c3ef817dd29d))
     (pad "19" smd rect (at 2.3875 -0.75 90) (size 0.254 0.675) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 55 "BNO_SCL") (pinfunction "COM1") (pintype "bidirectional") (tstamp f233e88f-54cd-4767-bfac-ff8ad6391d35))
+      (net 55 "SCL") (pinfunction "COM1") (pintype "bidirectional") (tstamp f233e88f-54cd-4767-bfac-ff8ad6391d35))
     (pad "20" smd rect (at 2.25 -1.6625) (size 0.254 0.675) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 54 "BNO_SDA") (pinfunction "COM0") (pintype "bidirectional") (tstamp 937a8aaf-ecbf-4bdb-af1e-c2cd5e036b0a))
+      (net 54 "SDA") (pinfunction "COM0") (pintype "bidirectional") (tstamp 937a8aaf-ecbf-4bdb-af1e-c2cd5e036b0a))
     (pad "21" smd rect (at 1.75 -1.6625) (size 0.254 0.675) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 66 "unconnected-(U4-PIN21-Pad21)") (pinfunction "PIN21") (pintype "no_connect") (tstamp 757798bc-427d-4a66-be4e-f5da94eb8fb0))
     (pad "22" smd rect (at 1.25 -1.6625) (size 0.254 0.675) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -359,43 +402,6 @@
     )
   )
 
-  (footprint "pololu:VL53L0X" (layer "F.Cu")
-    (tstamp 2f39cf74-c548-409f-9093-7cc5b5c0d0df)
-    (at 68.58 22.86 180)
-    (attr smd)
-    (fp_text reference "REF**" (at 10.16 -1.27 unlocked) (layer "F.SilkS")
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp cad71322-bf41-42c4-9df4-cbe48b49cb76)
-    )
-    (fp_text value "VL53L0X" (at 3.81 -1.27 unlocked) (layer "F.Fab")
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp af5ddfec-e4a9-4bbc-96de-30bcf21578bd)
-    )
-    (fp_text user "${REFERENCE}" (at 6.35 5.08 unlocked) (layer "F.Fab")
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp bd900a69-b5a1-4f1a-a490-d46c84eb943d)
-    )
-    (fp_rect (start 0 0) (end 16 3.38)
-      (stroke (width 0.12) (type default)) (fill none) (layer "F.SilkS") (tstamp 6249bfdb-5b9f-4cee-9ae9-41ae0b055fd5))
-    (pad "1" smd roundrect (at 1.65 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (thermal_bridge_angle 45) (tstamp ec342d15-97e2-46f8-bb22-89c73f78469c))
-    (pad "2" smd roundrect (at 4.19 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (thermal_bridge_angle 45) (tstamp 2928530d-fae3-4284-9282-dec3844581dc))
-    (pad "3" smd roundrect (at 6.73 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (thermal_bridge_angle 45) (tstamp 2bb7cc28-eb16-4ce2-af66-c685a9cfba17))
-    (pad "4" smd roundrect (at 9.27 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (thermal_bridge_angle 45) (tstamp 5f90ca2e-1785-4ec4-800f-9596f084b1f7))
-    (pad "5" smd roundrect (at 11.81 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (thermal_bridge_angle 45) (tstamp 7941c855-35f2-4cda-9983-f3530aac6aa3))
-    (pad "6" smd roundrect (at 14.35 1.69 270) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (thermal_bridge_angle 45) (tstamp e9c06274-054f-423f-bb20-e42dfd1fcf78))
-    (model "${KICAD_3DMODEL_DIR_LOCAL}/vl53l0x.stp"
-      (offset (xyz 8.15 -1 4))
-      (scale (xyz 1 1 1))
-      (rotate (xyz 0 180 180))
-    )
-  )
-
   (footprint "pololu:N20_EXTENDED_SHAFT" (layer "F.Cu")
     (tstamp 5e0a5a05-be99-4a8f-a437-985fb97308fb)
     (at 19 60 90)
@@ -687,11 +693,11 @@
     (pad "9" smd roundrect (at -4.1625 1.25) (size 1.475 0.3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 27 "unconnected-(U3-PB5-Pad9)") (pinfunction "PB5") (pintype "bidirectional+no_connect") (tstamp c28567a9-8d6a-41e2-ab59-89e3b74d2bbd))
     (pad "10" smd roundrect (at -4.1625 1.75) (size 1.475 0.3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 28 "unconnected-(U3-PC0-Pad10)") (pinfunction "PC0") (pintype "bidirectional+no_connect") (tstamp 270ed944-73b5-44b4-a748-5ce59f33f4a8))
+      (net 28 "VL_EN1") (pinfunction "PC0") (pintype "bidirectional") (tstamp 270ed944-73b5-44b4-a748-5ce59f33f4a8))
     (pad "11" smd roundrect (at -4.1625 2.25) (size 1.475 0.3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 29 "unconnected-(U3-PC1-Pad11)") (pinfunction "PC1") (pintype "bidirectional+no_connect") (tstamp 0fc9d1ab-da6f-434e-a6b4-47334ecd817c))
+      (net 29 "VL_EN2") (pinfunction "PC1") (pintype "bidirectional") (tstamp 0fc9d1ab-da6f-434e-a6b4-47334ecd817c))
     (pad "12" smd roundrect (at -4.1625 2.75) (size 1.475 0.3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 30 "unconnected-(U3-PC2-Pad12)") (pinfunction "PC2") (pintype "bidirectional+no_connect") (tstamp 2a4c6319-5d9f-49aa-896b-8a1a8a017028))
+      (net 30 "VL_EN3") (pinfunction "PC2") (pintype "bidirectional") (tstamp 2a4c6319-5d9f-49aa-896b-8a1a8a017028))
     (pad "13" smd roundrect (at -2.75 4.1625) (size 0.3 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 31 "unconnected-(U3-PC3-Pad13)") (pinfunction "PC3") (pintype "bidirectional+no_connect") (tstamp dbd51f67-7f4e-4f70-a9b4-84691a90211a))
     (pad "14" smd roundrect (at -2.25 4.1625) (size 0.3 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
@@ -759,9 +765,9 @@
     (pad "45" smd roundrect (at -1.25 -4.1625) (size 0.3 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 53 "unconnected-(U3-PA1-Pad45)") (pinfunction "PA1") (pintype "bidirectional+no_connect") (tstamp 3ad07d83-59cf-4585-9152-14e740c39c0f))
     (pad "46" smd roundrect (at -1.75 -4.1625) (size 0.3 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 54 "BNO_SDA") (pinfunction "PA2") (pintype "bidirectional") (tstamp 7841c222-53e9-4606-a34b-357bd6090501))
+      (net 54 "SDA") (pinfunction "PA2") (pintype "bidirectional") (tstamp 7841c222-53e9-4606-a34b-357bd6090501))
     (pad "47" smd roundrect (at -2.25 -4.1625) (size 0.3 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 55 "BNO_SCL") (pinfunction "PA3") (pintype "bidirectional") (tstamp 33a8822f-f2cc-4868-814b-f2fba898ba3a))
+      (net 55 "SCL") (pinfunction "PA3") (pintype "bidirectional") (tstamp 33a8822f-f2cc-4868-814b-f2fba898ba3a))
     (pad "48" smd roundrect (at -2.75 -4.1625) (size 0.3 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 56 "Net-(U3-PA4)") (pinfunction "PA4") (pintype "bidirectional") (tstamp 50c90d73-2df7-4124-80a4-f4cfc5aef4e3))
     (model "${KICAD6_3DMODEL_DIR}/Package_QFP.3dshapes/TQFP-48_7x7mm_P0.5mm.wrl"
@@ -771,6 +777,46 @@
     )
   )
 
+  (footprint "pololu:VL53L0X" (layer "F.Cu")
+    (tstamp 80bfa5b7-c09c-4812-8cc3-b893741fe324)
+    (at 38.735 27.94 -135)
+    (property "Sheetfile" "bottom.kicad_sch")
+    (property "Sheetname" "")
+    (path "/9a0c76a2-4750-4b5a-9fb9-b6f0d0caaf53")
+    (attr smd)
+    (fp_text reference "Uw" (at 10.16 -1.27 -135 unlocked) (layer "F.SilkS")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 2ca7e290-f011-451c-9370-0ff7e963334c)
+    )
+    (fp_text value "~" (at 3.81 -1.27 -135 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 4c887f70-c802-4a58-919c-46af0809844c)
+    )
+    (fp_text user "${REFERENCE}" (at 6.35 5.08 -135 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp ee9f1e77-29d0-4c3c-a5d9-356909ac28de)
+    )
+    (fp_rect (start 0 0) (end 16 3.38)
+      (stroke (width 0.12) (type default)) (fill none) (layer "F.SilkS") (tstamp 88ab7426-622a-4ddc-bbea-bc901b69a9f3))
+    (pad "1" smd roundrect (at 1.65 1.69 315) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 3 "VCC") (pinfunction "VIN") (pintype "power_in") (thermal_bridge_angle 45) (tstamp 9676b307-1477-440f-85b1-c56df3da64ab))
+    (pad "2" smd roundrect (at 4.19 1.69 315) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (thermal_bridge_angle 45) (tstamp b5faac2c-17fc-410e-8e3d-37ac9b7df52a))
+    (pad "3" smd roundrect (at 6.73 1.69 315) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 55 "SCL") (pinfunction "SCL") (pintype "input") (thermal_bridge_angle 45) (tstamp dea020b6-6d1d-4ca3-927f-c327070e6c51))
+    (pad "4" smd roundrect (at 9.27 1.69 315) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 54 "SDA") (pinfunction "SDA") (pintype "bidirectional") (thermal_bridge_angle 45) (tstamp 01d12f59-2681-47a8-8532-7b019172c8e8))
+    (pad "5" smd roundrect (at 11.81 1.69 315) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 73 "unconnected-(U6-GPIO1-Pad5)") (pinfunction "GPIO1") (pintype "output") (thermal_bridge_angle 45) (tstamp 90fd87ae-cbce-42b1-8a95-37e7cc5991a0))
+    (pad "6" smd roundrect (at 14.35 1.69 315) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 29 "VL_EN2") (pinfunction "XSHUT") (pintype "input") (thermal_bridge_angle 45) (tstamp d7a402c6-ba9e-4bf6-993c-06e3d0c5ce7f))
+    (model "${KICAD_3DMODEL_DIR_LOCAL}/vl53l0x.stp"
+      (offset (xyz 8.15 -1 4))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 180 180))
+    )
+  )
+
   (footprint "Crystal:Crystal_SMD_MicroCrystal_CM9V-T1A-2Pin_1.6x1.0mm" (layer "F.Cu")
     (tstamp 8249d450-630f-44d5-aac8-73ca884755b5)
     (at 61.28 71.6325)
@@ -829,6 +875,46 @@
     )
   )
 
+  (footprint "pololu:VL53L0X" (layer "F.Cu")
+    (tstamp 9078e4ac-f2d7-46d4-9ff2-5e11c011766f)
+    (at 92.075 38.735 135)
+    (property "Sheetfile" "bottom.kicad_sch")
+    (property "Sheetname" "")
+    (path "/d95d98f9-4e50-4d57-ab4c-08c5d9d4f5df")
+    (attr smd)
+    (fp_text reference "U7" (at 10.16 -1.27 135 unlocked) (layer "F.SilkS")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 12ae2a3d-75cf-45d5-a43f-3305e8843907)
+    )
+    (fp_text value "~" (at 3.81 -1.27 135 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 3a8b48ae-e6b5-45d5-853e-8529b74aac61)
+    )
+    (fp_text user "${REFERENCE}" (at 6.35 5.08 135 unlocked) (layer "F.Fab")
+        (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 371696e3-f5bc-4552-a78e-e6299db12e06)
+    )
+    (fp_rect (start 0 0) (end 16 3.38)
+      (stroke (width 0.12) (type default)) (fill none) (layer "F.SilkS") (tstamp 64404df0-1508-4838-a685-7ec5da2a8c1f))
+    (pad "1" smd roundrect (at 1.65 1.69 225) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 3 "VCC") (pinfunction "VIN") (pintype "power_in") (thermal_bridge_angle 45) (tstamp ec75033e-a62c-49c7-af0b-f59030ca64ff))
+    (pad "2" smd roundrect (at 4.19 1.69 225) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (thermal_bridge_angle 45) (tstamp 561ddfe4-e2b1-4d81-98be-d0062ab3daba))
+    (pad "3" smd roundrect (at 6.73 1.69 225) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 55 "SCL") (pinfunction "SCL") (pintype "input") (thermal_bridge_angle 45) (tstamp c315ed4d-60af-4b70-b848-389f7f0fbf23))
+    (pad "4" smd roundrect (at 9.27 1.69 225) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 54 "SDA") (pinfunction "SDA") (pintype "bidirectional") (thermal_bridge_angle 45) (tstamp f8825096-de46-489e-b974-ae7baf4683bf))
+    (pad "5" smd roundrect (at 11.81 1.69 225) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 74 "unconnected-(U7-GPIO1-Pad5)") (pinfunction "GPIO1") (pintype "output") (thermal_bridge_angle 45) (tstamp b09a3bd7-48a5-4606-bed1-3b6453129944))
+    (pad "6" smd roundrect (at 14.35 1.69 225) (size 2.286 1.9) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 30 "VL_EN3") (pinfunction "XSHUT") (pintype "input") (thermal_bridge_angle 45) (tstamp 8df0caca-fe9e-49aa-bac4-5075895199b4))
+    (model "${KICAD_3DMODEL_DIR_LOCAL}/vl53l0x.stp"
+      (offset (xyz 8.15 -1 4))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 180 180))
+    )
+  )
+
   (footprint "pololu:N20_EXTENDED_SHAFT" (layer "F.Cu")
     (tstamp 90b440a8-8507-4c7e-9f3f-abc05a7820a3)
     (at 101 60 -90)
@@ -895,122 +981,6 @@
     )
   )
 
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-    (at 39.37 27.94 -135)
-    (attr smd)
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-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp d931826d-af10-4deb-9ea5-480eba62f067)
-    )
-    (fp_text value "VL53L0X" (at 3.81 -1.27 45 unlocked) (layer "F.Fab")
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 610e9fbe-e653-4fe5-ac07-1e1378591c30)
-    )
-    (fp_text user "${REFERENCE}" (at 6.350001 5.08 45 unlocked) (layer "F.Fab")
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 47af678c-358e-4a63-ada2-89c99665b7be)
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-    (fp_rect (start 0 0) (end 16 3.38)
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-      (thermal_bridge_angle 45) (tstamp afa54bf9-c063-4972-8a4a-20038b0eeac7))
-    (model "${KICAD_3DMODEL_DIR_LOCAL}/vl53l0x.stp"
-      (offset (xyz 8.15 -1 4))
-      (scale (xyz 1 1 1))
-      (rotate (xyz 0 180 180))
-    )
-  )
-
-  (footprint "pololu:VL53L0X" (layer "F.Cu")
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-    (at 92.075 39.37 135)
-    (attr smd)
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-      (tstamp 30ec905b-6d05-4714-bc97-91e4d2df9c91)
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-    (fp_text value "VL53L0X" (at 3.81 -1.27 315 unlocked) (layer "F.Fab")
-        (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp a188ffff-1048-4125-8d59-67bde9c95bdb)
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-    (fp_text user "${REFERENCE}" (at 6.350001 5.08 315 unlocked) (layer "F.Fab")
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-      (thermal_bridge_angle 45) (tstamp d8d841c3-4889-47a3-9b08-63c1307d9c39))
-    (model "${KICAD_3DMODEL_DIR_LOCAL}/vl53l0x.stp"
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-      (scale (xyz 1 1 1))
-      (rotate (xyz 0 180 180))
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-
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-      (stroke (width 0.12) (type solid)) (fill none) (layer "Edge.Cuts") (tstamp 789cab0a-96ef-4b3a-be44-692c7b66e33e))
-    (model "${KICAD_3DMODEL_DIR_LOCAL}/pololu-ball-caster-with-0-375in-ball.step"
-      (offset (xyz 0 0 1.5))
-      (scale (xyz 1 1 1))
-      (rotate (xyz 0 0 0))
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diff --git a/kicad_workspace/bottom/bottom.kicad_sch b/kicad_workspace/bottom/bottom.kicad_sch
index 5f8bb19..0ffabba 100644
--- a/kicad_workspace/bottom/bottom.kicad_sch
+++ b/kicad_workspace/bottom/bottom.kicad_sch
@@ -879,6 +879,50 @@
         )
       )
     )
+    (symbol "pololu:VL53L0X" (in_bom yes) (on_board yes)
+      (property "Reference" "U" (at 1.27 1.27 0)
+        (effects (font (size 1.27 1.27)))
+      )
+      (property "Value" "" (at 0 0 0)
+        (effects (font (size 1.27 1.27)))
+      )
+      (property "Footprint" "pololu:VL53L0X" (at 10.16 1.27 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Datasheet" "" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "VL53L0X_1_1"
+        (rectangle (start 0 0) (end 7.62 -17.78)
+          (stroke (width 0) (type default))
+          (fill (type background))
+        )
+        (pin power_in line (at 10.16 -2.54 180) (length 2.54)
+          (name "VIN" (effects (font (size 1.27 1.27))))
+          (number "1" (effects (font (size 1.27 1.27))))
+        )
+        (pin power_in line (at 10.16 -5.08 180) (length 2.54)
+          (name "GND" (effects (font (size 1.27 1.27))))
+          (number "2" (effects (font (size 1.27 1.27))))
+        )
+        (pin input line (at 10.16 -7.62 180) (length 2.54)
+          (name "SCL" (effects (font (size 1.27 1.27))))
+          (number "3" (effects (font (size 1.27 1.27))))
+        )
+        (pin bidirectional line (at 10.16 -10.16 180) (length 2.54)
+          (name "SDA" (effects (font (size 1.27 1.27))))
+          (number "4" (effects (font (size 1.27 1.27))))
+        )
+        (pin output line (at 10.16 -12.7 180) (length 2.54)
+          (name "GPIO1" (effects (font (size 1.27 1.27))))
+          (number "5" (effects (font (size 1.27 1.27))))
+        )
+        (pin input line (at 10.16 -15.24 180) (length 2.54)
+          (name "XSHUT" (effects (font (size 1.27 1.27))))
+          (number "6" (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)
@@ -1080,7 +1124,6 @@
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   (no_connect (at 50.8 116.84) (uuid 0dedc250-aa21-4d06-9f01-0c4fc4b5d94f))
   (no_connect (at 50.8 124.46) (uuid 0f688153-ffb6-4f05-9395-d7ef07164772))
-  (no_connect (at 81.28 137.16) (uuid 15755458-e7ab-45de-a597-c4befe69cd7e))
   (no_connect (at 81.28 48.26) (uuid 192238dd-5bcb-436d-ae22-8304774fb7d0))
   (no_connect (at 50.8 114.3) (uuid 24beff3b-0ebe-40af-b43c-688263ac5cd9))
   (no_connect (at 50.8 142.24) (uuid 299edd34-986d-4747-95f3-fc62f00cfe26))
@@ -1100,9 +1143,7 @@
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   (no_connect (at 81.28 111.76) (uuid bf870bc6-7a17-47ab-ab90-1e483d3714b7))
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   (no_connect (at 50.8 40.64) (uuid c47472b4-c812-4efb-9376-cc11e007b44a))
-  (no_connect (at 81.28 139.7) (uuid c5444162-3360-4280-84bf-12f7e16f9295))
   (no_connect (at 50.8 154.94) (uuid d3052341-a561-423e-b0cd-abbb840557a8))
   (no_connect (at 50.8 144.78) (uuid d556cc22-a2d1-4604-a873-c18284b8af6b))
   (no_connect (at 81.28 96.52) (uuid df273b75-4959-4b8e-82fd-88deb33d0728))
@@ -1111,6 +1152,14 @@
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   (no_connect (at 81.28 152.4) (uuid facad217-4c43-4f1e-a5e4-903642b58ff7))
 
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@@ -1135,6 +1184,10 @@
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@@ -1203,6 +1256,10 @@
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@@ -1223,6 +1280,10 @@
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@@ -1275,6 +1336,10 @@
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@@ -1287,11 +1352,15 @@
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-  (wire (pts (xy 102.87 33.02) (xy 102.87 45.72))
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@@ -1303,6 +1372,10 @@
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+    (uuid 4f2d480c-84cb-4d55-87bf-14f276c77fd7)
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@@ -1343,7 +1416,7 @@
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@@ -1407,6 +1480,10 @@
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@@ -1415,6 +1492,10 @@
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@@ -1431,6 +1512,10 @@
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@@ -1575,6 +1692,10 @@
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@@ -1583,11 +1704,15 @@
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+    (uuid d0b462a2-89c7-4ee3-b3ca-6514592b83ee)
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-  (wire (pts (xy 45.72 25.4) (xy 45.72 27.94))
+  (wire (pts (xy 45.72 26.67) (xy 45.72 27.94))
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@@ -1599,6 +1724,10 @@
     (stroke (width 0) (type default))
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+  (wire (pts (xy 222.25 30.48) (xy 222.25 26.67))
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+    (uuid d7b5a90a-777f-4b4b-a587-9be1fc81ffd3)
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@@ -1655,10 +1784,18 @@
     (stroke (width 0) (type default))
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@@ -1675,7 +1812,7 @@
     (stroke (width 0) (type default))
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-  (wire (pts (xy 132.08 33.02) (xy 132.08 45.72))
+  (wire (pts (xy 132.08 26.67) (xy 132.08 45.72))
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@@ -1693,6 +1830,13 @@
     (uuid 17affc8e-69cb-4bff-80de-df8a23cdfd10)
   )
 
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+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 156ed2c8-e6a6-4bea-8bbd-cdb6b21fc34c)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 94.8485 142.24 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
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     (effects (font (size 1.27 1.27)) (justify right))
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@@ -1700,13 +1844,20 @@
       (effects (font (size 1.27 1.27)) (justify right) hide)
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-  (global_label "BNO_SCL" (shape input) (at 167.64 121.92 180) (fields_autoplaced)
+  (global_label "SCL" (shape input) (at 167.64 121.92 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 1c45cb5b-c64c-4257-a977-29832e959ba6)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 156.2486 121.92 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 161.1472 121.92 0)
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
+  (global_label "VL_EN2" (shape input) (at 85.09 139.7 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 219e8681-3f28-422c-aaee-37dfe2216119)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 94.8485 139.7 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
   (global_label "M2_A" (shape input) (at 85.09 124.46 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
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@@ -1721,10 +1872,10 @@
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
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-  (global_label "BNO_SCL" (shape input) (at 92.71 104.14 0) (fields_autoplaced)
+  (global_label "SCL" (shape input) (at 92.71 104.14 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 4a6d60d1-9057-472c-b8eb-b5f120bc917b)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 104.1014 104.14 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 99.2028 104.14 0)
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
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@@ -1735,10 +1886,31 @@
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
-  (global_label "BNO_SDA" (shape input) (at 92.71 101.6 0) (fields_autoplaced)
+  (global_label "VL_EN3" (shape input) (at 252.73 43.18 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 4ed2a412-e02c-403c-8933-eba452f40e47)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 262.4885 43.18 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
+  (global_label "VL_EN1" (shape input) (at 85.09 137.16 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 625833b1-23c6-4cb3-9e9d-7bb0e794040d)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 94.8485 137.16 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
+  (global_label "SDA" (shape input) (at 196.85 38.1 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 67a3ae12-91e9-41c4-b608-78e69fdf6a83)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 203.4033 38.1 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
+  (global_label "SDA" (shape input) (at 92.71 101.6 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 69718514-ef09-4f68-888f-6c6e207e749f)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 104.1619 101.6 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 99.2633 101.6 0)
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
   )
@@ -1749,6 +1921,13 @@
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
   )
+  (global_label "SCL" (shape input) (at 252.73 35.56 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 863f65ee-23d3-43e4-b7c5-7a2de555b9f1)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 259.2228 35.56 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
   (global_label "BNO_INT" (shape input) (at 167.64 106.68 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 866f8e76-d6bf-40e0-8714-8465b51f6b27)
@@ -1756,6 +1935,13 @@
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
+  (global_label "VL_EN2" (shape input) (at 224.79 43.18 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 927c7070-02d5-451a-af6b-81a488030791)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 234.5485 43.18 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
   (global_label "M1_A" (shape input) (at 107.95 48.26 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
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@@ -1770,13 +1956,48 @@
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
-  (global_label "BNO_SDA" (shape input) (at 167.64 119.38 180) (fields_autoplaced)
+  (global_label "SCL" (shape input) (at 196.85 35.56 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid b92d68b3-d48d-4b30-a1ac-b41a7bd42bf6)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 203.3428 35.56 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
+  (global_label "SDA" (shape input) (at 224.79 38.1 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid bc0b864c-71f0-4e29-bf98-4876d590ce06)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 231.3433 38.1 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
+  (global_label "VL_EN1" (shape input) (at 196.85 43.18 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid bdf924e8-d985-4154-8ba2-4745ea6f427f)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 206.6085 43.18 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
+  (global_label "SDA" (shape input) (at 167.64 119.38 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid c8c9f5fc-b5fb-4194-adba-e52044165239)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 156.1881 119.38 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 161.0867 119.38 0)
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
+  (global_label "SDA" (shape input) (at 252.73 38.1 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid c8fd4d03-bff1-417d-99f3-feed27511f36)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 259.2833 38.1 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
+  (global_label "SCL" (shape input) (at 224.79 35.56 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid db4db44f-2613-4489-9b24-bc4358b0af1f)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 231.2828 35.56 0)
+      (effects (font (size 1.27 1.27)) (justify left) hide)
+    )
+  )
   (global_label "M1_A" (shape input) (at 85.09 119.38 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid e10392d0-fb55-4a0f-8e42-deb671f4114a)
@@ -1918,19 +2139,19 @@
     )
   )
 
-  (symbol (lib_id "power:VCC") (at 45.72 25.4 0) (mirror y) (unit 1)
+  (symbol (lib_id "power:VCC") (at 45.72 26.67 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)
+    (property "Reference" "#PWR05" (at 45.72 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "VCC" (at 45.72 20.32 0)
+    (property "Value" "VCC" (at 45.72 21.59 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 45.72 25.4 0)
+    (property "Footprint" "" (at 45.72 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 45.72 25.4 0)
+    (property "Datasheet" "" (at 45.72 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 36837e58-2d4f-45fd-a678-f1252994bc1d))
@@ -2111,6 +2332,31 @@
     )
   )
 
+  (symbol (lib_id "power:VCC") (at 250.19 26.67 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 41ecb73f-7061-452f-ab4b-c908c5e2b7bd)
+    (property "Reference" "#PWR027" (at 250.19 30.48 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "VCC" (at 250.19 21.59 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 250.19 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 250.19 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid b81d301e-f367-41c7-a1ea-b3f8ca4a250e))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "#PWR027") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:VDD") (at 190.5 88.9 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 46ca6fb3-479c-41fd-a8ed-02390217c1f2)
@@ -2186,6 +2432,31 @@
     )
   )
 
+  (symbol (lib_id "power:GND") (at 250.19 48.26 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 5b45f2bd-bf3b-4955-bcf3-281728bcc8eb)
+    (property "Reference" "#PWR030" (at 250.19 54.61 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (at 250.19 53.34 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 250.19 48.26 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 250.19 48.26 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid ef5fe2e5-4d97-455f-b2c5-1e990cf96c6b))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "#PWR030") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:VDD") (at 195.58 88.9 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 620108ab-8910-425d-9278-708dbe588a25)
@@ -2211,6 +2482,31 @@
     )
   )
 
+  (symbol (lib_id "power:GND") (at 194.31 48.26 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 6349f323-90c3-402d-adba-92ecac57d3a9)
+    (property "Reference" "#PWR028" (at 194.31 54.61 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (at 194.31 53.34 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 194.31 48.26 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 194.31 48.26 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid e8efcc2c-b21e-4598-b7b1-c2eda91944ad))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "#PWR028") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "Device:C") (at 210.82 132.08 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 6a98f3f3-286c-429d-8f9e-1d53031ace94)
@@ -2289,19 +2585,19 @@
     )
   )
 
-  (symbol (lib_id "power:VCC") (at 71.12 27.94 0) (mirror y) (unit 1)
+  (symbol (lib_id "power:VCC") (at 71.12 26.67 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)
+    (property "Reference" "#PWR04" (at 71.12 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "VCC" (at 71.12 22.86 0)
+    (property "Value" "VCC" (at 71.12 21.59 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 71.12 27.94 0)
+    (property "Footprint" "" (at 71.12 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 71.12 27.94 0)
+    (property "Datasheet" "" (at 71.12 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 0bb37221-3fd1-46df-ae2b-1797e6dd582e))
@@ -2591,6 +2887,66 @@
     )
   )
 
+  (symbol (lib_id "pololu:VL53L0X") (at 208.28 27.94 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 9a0c76a2-4750-4b5a-9fb9-b6f0d0caaf53)
+    (property "Reference" "U6" (at 212.09 25.4 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Value" "~" (at 208.28 27.94 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "pololu:VL53L0X" (at 208.28 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 208.28 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid cdddf0ee-bf18-40fd-bdfc-8b87cc068534))
+    (pin "2" (uuid 4e89e174-f94c-4475-9a03-455f5a6e02cc))
+    (pin "3" (uuid 79552517-4ba1-4c97-880d-151d6fadae75))
+    (pin "4" (uuid bea32f98-d3dd-4bf4-b788-c08bb84848e4))
+    (pin "5" (uuid e80c2ece-924c-41cd-a0d3-495e6c1b5167))
+    (pin "6" (uuid 33ca6fe2-15ab-4285-9831-4abc164228e2))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "U6") (unit 1)
+        )
+      )
+    )
+  )
+
+  (symbol (lib_id "pololu:VL53L0X") (at 180.34 27.94 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 9aed1f65-5ae0-4b7b-b395-af67da58eb3a)
+    (property "Reference" "U5" (at 184.15 25.4 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Value" "~" (at 180.34 27.94 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "pololu:VL53L0X" (at 180.34 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 180.34 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 43b3e129-0588-41a6-a0a5-28f6de474766))
+    (pin "2" (uuid 15921069-5fba-47ba-a89f-260378afa13e))
+    (pin "3" (uuid 6de7c8d4-0e64-43c0-a6ba-53939440dac0))
+    (pin "4" (uuid b3c113ba-8b23-4e43-9856-87b544fd2725))
+    (pin "5" (uuid 7e4db51e-9d5a-4f3e-b3b5-15cff7e1d17f))
+    (pin "6" (uuid 21eba2a0-4771-41fe-b86b-f4e90e49bf06))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "U5") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:VCC") (at 88.9 86.36 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 9f5b4241-b059-46ab-bd3a-ac48b8725df5)
@@ -2744,19 +3100,19 @@
     )
   )
 
-  (symbol (lib_id "power:VCC") (at 102.87 33.02 0) (mirror y) (unit 1)
+  (symbol (lib_id "power:VCC") (at 102.87 26.67 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 102.87 36.83 0)
+    (property "Reference" "#PWR0101" (at 102.87 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "VCC" (at 102.87 27.94 0)
+    (property "Value" "VCC" (at 102.87 21.59 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 102.87 33.02 0)
+    (property "Footprint" "" (at 102.87 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 102.87 33.02 0)
+    (property "Datasheet" "" (at 102.87 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 80d0faee-3e48-446b-b3eb-41d2aecc3334))
@@ -2820,19 +3176,19 @@
     )
   )
 
-  (symbol (lib_id "power:VCC") (at 132.08 33.02 0) (mirror y) (unit 1)
+  (symbol (lib_id "power:VCC") (at 132.08 26.67 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 132.08 36.83 0)
+    (property "Reference" "#PWR02" (at 132.08 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "VCC" (at 132.08 27.94 0)
+    (property "Value" "VCC" (at 132.08 21.59 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 132.08 33.02 0)
+    (property "Footprint" "" (at 132.08 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 132.08 33.02 0)
+    (property "Datasheet" "" (at 132.08 26.67 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid d4aad3ef-7923-4be8-aa0e-9090d04a749a))
@@ -2870,6 +3226,31 @@
     )
   )
 
+  (symbol (lib_id "power:VCC") (at 194.31 26.67 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid bc44e3fa-03ae-4ce5-9fd2-4b5e99b4cc81)
+    (property "Reference" "#PWR025" (at 194.31 30.48 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "VCC" (at 194.31 21.59 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 194.31 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 194.31 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid e2630508-6437-44f3-b06d-29e9d31ccadf))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "#PWR025") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:VCC") (at 66.04 86.36 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid be9a624a-2b0e-44f1-8f78-ec51bab96588)
@@ -2946,6 +3327,36 @@
     )
   )
 
+  (symbol (lib_id "pololu:VL53L0X") (at 236.22 27.94 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid d95d98f9-4e50-4d57-ab4c-08c5d9d4f5df)
+    (property "Reference" "U7" (at 240.03 25.4 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Value" "~" (at 236.22 27.94 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "pololu:VL53L0X" (at 236.22 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 236.22 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 2df92e00-3304-44c2-b75f-341fa0fcd5d1))
+    (pin "2" (uuid 7779bfcc-9a14-4c3a-b9b2-bb53ac71106a))
+    (pin "3" (uuid 94da59bc-7726-466f-b360-26e17948a87b))
+    (pin "4" (uuid af5e331a-d972-4183-83dc-16a84fb06aa8))
+    (pin "5" (uuid 94fc14f0-6151-4153-aab1-644042626220))
+    (pin "6" (uuid bd46b141-d5fc-4714-ac33-1ee4aaeabc9b))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "U7") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "Device:R") (at 107.95 106.68 90) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid dbd39a6b-9c91-4c04-916b-20bae74bc634)
@@ -3053,6 +3464,56 @@
     )
   )
 
+  (symbol (lib_id "power:VCC") (at 222.25 26.67 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid ef63c0c7-4f37-4811-ba7d-7fd5dc644a2f)
+    (property "Reference" "#PWR026" (at 222.25 30.48 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "VCC" (at 222.25 21.59 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 222.25 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 222.25 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid fdd39e07-e985-4f9b-b552-32f700bc2956))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "#PWR026") (unit 1)
+        )
+      )
+    )
+  )
+
+  (symbol (lib_id "power:GND") (at 222.25 48.26 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid f0085e2e-4415-4e11-9c81-5186818ebd6f)
+    (property "Reference" "#PWR029" (at 222.25 54.61 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (at 222.25 53.34 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 222.25 48.26 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 222.25 48.26 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid d9d51e98-c939-45fc-97bf-01a2201001de))
+    (instances
+      (project "bottom"
+        (path "/8949e4cc-98fb-401d-bf78-7a26c685fd98"
+          (reference "#PWR029") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "pololu:N20_MOTOR_EXTENDED_SHAFT") (at 118.11 38.1 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f1b9d147-fb95-45c1-a371-9168d76297c0)
diff --git a/kicad_workspace/bottom/libraries/pololu.kicad_sym b/kicad_workspace/bottom/libraries/pololu.kicad_sym
index 88e6244..90dda27 100644
--- a/kicad_workspace/bottom/libraries/pololu.kicad_sym
+++ b/kicad_workspace/bottom/libraries/pololu.kicad_sym
@@ -92,7 +92,7 @@
     (property "Value" "" (at 0 0 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 0 0 0)
+    (property "Footprint" "pololu:VL53L0X" (at 10.16 1.27 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Datasheet" "" (at 0 0 0)