use locking connector for servo PWM outputs

[hw/telemega] / telemega.sch

diff --git a/telemega.sch b/telemega.sch
index 1493d9f87b691d8004776f747e4911e6cf8b29d9..17c25efe45ce621dcdcee4489bb23a3358afc339 100644 (file)
--- a/telemega.sch
+++ b/telemega.sch
@@ -1,4 +1,4 @@
-v 20121123 2
+v 20130925 2
 C 40000 40000 0 0 0 title-E-bdale.sym
 N 51400 61900 50600 61900 4
 {
@@ -23,7 +23,7 @@ symversion=0.1
 T 56700 42500 5 10 1 1 0 0 1
 value=4.7uF
 T 57500 42400 5 10 0 0 0 0 1
-vendor_part_number=490-5408-1-ND
+vendor_part_number=445-5947-1-ND
 T 57500 42400 5 10 0 0 0 0 1
 footprint=0402
 T 57500 42400 5 10 0 0 0 0 1
@@ -83,8 +83,8 @@ T 82500 47800 9 10 1 0 0 0 2
   70CM 
 Antenna
 C 50700 60000 1 0 1 gnd.sym
-T 77100 41900 9 30 1 0 0 0 1
-TeleMega w/ Passive GPS
+T 79000 41800 9 30 1 0 0 0 1
+TeleMega
 N 51500 50200 53600 50200 4
 {
 T 53200 50300 5 10 1 1 0 0 1
@@ -179,7 +179,7 @@ Tolerate up to
 N 68000 43600 67900 43600 4
 N 67900 43600 67900 44000 4
 T 82400 40400 9 10 1 0 0 0 1
-0.4
+1.1
 T 80000 40400 9 10 1 0 0 0 1
 1
 T 80600 40400 9 10 1 0 0 0 1
@@ -433,11 +433,11 @@ footprint=1212-8
 T 50600 48700 5 10 0 0 0 0 1
 slot=1
 T 50600 48700 5 10 0 0 0 0 1
-vendor_part_number=SI7232DN-T1-GE3CT-ND
+vendor_part_number=781-SI7232DN-GE3
 T 50600 48700 5 10 1 1 0 0 1
 value=Si7232DN
 T 50600 48700 5 10 0 0 0 0 1
-vendor=digikey
+vendor=mouser
 T 50600 48700 5 10 0 1 0 0 1
 loadstatus=smt
 }
@@ -452,11 +452,11 @@ footprint=1212-8
 T 44300 48700 5 10 0 0 0 0 1
 slot=2
 T 44300 48700 5 10 0 1 0 0 1
-vendor_part_number=SI7232DN-T1-GE3CT-ND
+vendor_part_number=781-SI7232DN-GE3
 T 44300 48700 5 10 1 1 0 0 1
 value=Si7232DN
 T 44300 48700 5 10 0 0 0 0 1
-vendor=digikey
+vendor=mouser
 T 44300 48700 5 10 0 1 0 0 1
 loadstatus=smt
 }
@@ -662,7 +662,7 @@ loadstatus=smt
 T 59400 43000 5 10 0 1 0 0 1
 vendor=digikey
 T 59400 43000 5 10 0 1 0 0 1
-vendor_part_number=MCP73831T-2ACI/OTCT-ND      
+vendor_part_number=MCP73831T-2DCI/OTCT-ND      
 T 60600 44600 5 10 1 1 0 0 1
 value=MCP73831
 }
@@ -698,7 +698,7 @@ symversion=0.1
 T 63100 42200 5 10 1 1 0 0 1
 value=4.7uF
 T 63200 42100 5 10 0 0 0 0 1
-vendor_part_number=490-5408-1-ND
+vendor_part_number=445-5947-1-ND
 T 63200 42100 5 10 0 0 0 0 1
 footprint=0402
 T 63200 42100 5 10 0 0 0 0 1
@@ -730,15 +730,15 @@ refdes=J1
 T 44500 53600 5 10 1 1 0 0 1
 value=Pyro
 T 44300 53800 5 10 0 0 0 0 1
-vendor=digikey
+vendor=4ucon
 T 44300 53800 5 10 0 0 0 0 1
-vendor_part_number=282834-9-ND
+vendor_part_number=18477
 T 44300 53800 5 10 0 0 0 0 1
 footprint=282834-9
 T 44300 53800 5 10 0 1 0 0 1
 device=CONNECTOR
 T 44300 53800 5 10 0 1 0 0 1
-loadstatus=throughhole
+loadstatus=noload
 }
 C 46100 57200 1 180 0 conn-9.sym
 {
@@ -751,11 +751,11 @@ device=CONNECTOR
 T 46100 57200 5 10 0 1 0 0 1
 footprint=282834-9
 T 46100 57200 5 10 0 1 0 0 1
-loadstatus=throughhole
+loadstatus=noload
 T 46100 57200 5 10 0 1 0 0 1
-vendor=digikey
+vendor=4ucon
 T 46100 57200 5 10 0 1 0 0 1
-vendor_part_number=282834-9-ND
+vendor_part_number=18477
 }
 N 51500 46800 53600 46800 4
 {
@@ -909,11 +909,11 @@ footprint=1212-8
 T 50600 45300 5 10 0 0 0 0 1
 slot=2
 T 50600 45300 5 10 0 0 0 0 1
-vendor_part_number=SI7232DN-T1-GE3CT-ND
+vendor_part_number=781-SI7232DN-GE3
 T 50600 45300 5 10 1 1 0 0 1
 value=Si7232DN
 T 50600 45300 5 10 0 0 0 0 1
-vendor=digikey
+vendor=mouser
 T 50600 45300 5 10 0 1 0 0 1
 loadstatus=smt
 }
@@ -928,11 +928,11 @@ footprint=1212-8
 T 44300 45300 5 10 0 0 0 0 1
 slot=1
 T 44300 45300 5 10 0 1 0 0 1
-vendor_part_number=SI7232DN-T1-GE3CT-ND
+vendor_part_number=781-SI7232DN-GE3
 T 44300 45300 5 10 1 1 0 0 1
 value=Si7232DN
 T 44300 45300 5 10 0 0 0 0 1
-vendor=digikey
+vendor=mouser
 T 44300 45300 5 10 0 1 0 0 1
 loadstatus=smt
 }
@@ -1111,11 +1111,11 @@ footprint=1212-8
 T 50600 41900 5 10 0 0 0 0 1
 slot=1
 T 50600 41900 5 10 0 0 0 0 1
-vendor_part_number=SI7232DN-T1-GE3CT-ND
+vendor_part_number=781-SI7232DN-GE3
 T 50600 41900 5 10 1 1 0 0 1
 value=Si7232DN
 T 50600 41900 5 10 0 0 0 0 1
-vendor=digikey
+vendor=mouser
 T 50600 41900 5 10 0 1 0 0 1
 loadstatus=smt
 }
@@ -1130,11 +1130,11 @@ footprint=1212-8
 T 44300 41900 5 10 0 0 0 0 1
 slot=2
 T 44300 41900 5 10 0 1 0 0 1
-vendor_part_number=SI7232DN-T1-GE3CT-ND
+vendor_part_number=781-SI7232DN-GE3
 T 44300 41900 5 10 1 1 0 0 1
 value=Si7232DN
 T 44300 41900 5 10 0 0 0 0 1
-vendor=digikey
+vendor=mouser
 T 44300 41900 5 10 0 1 0 0 1
 loadstatus=smt
 }
@@ -1284,11 +1284,11 @@ refdes=U7
 T 54800 51900 5 10 0 0 0 0 1
 footprint=lqfp100
 T 54800 51900 5 10 0 0 0 0 1
-vendor=avnet
+vendor=mouser
 T 54800 51900 5 10 0 1 0 0 1
-value=STM32L151VBT6
+value=STM32L151VCT6
 T 54800 51900 5 10 0 0 0 0 1
-vendor_part_number=STM32L151VBT6
+vendor_part_number=511-STM32L151VCT6 
 T 54800 51900 5 10 0 1 0 0 1
 loadstatus=smt
 }
@@ -1327,7 +1327,7 @@ vendor=digikey
 T 79700 53700 5 10 0 1 0 0 1
 loadstatus=smt
 T 79700 53700 5 10 0 1 0 0 1
-vendor_part_number=490-1278-1-ND
+vendor_part_number=490-5921-1-ND
 }
 C 78400 53700 1 270 0 capacitor.sym
 {
@@ -1346,7 +1346,7 @@ vendor=digikey
 T 78400 53700 5 10 0 1 0 0 1
 loadstatus=smt
 T 78400 53700 5 10 0 1 0 0 1
-vendor_part_number=490-1278-1-ND
+vendor_part_number=490-5921-1-ND
 }
 C 79800 52500 1 0 0 gnd.sym
 C 78500 52500 1 0 0 gnd.sym
@@ -1383,7 +1383,7 @@ symversion=0.1
 T 53600 69100 5 10 1 1 0 0 1
 value=22pF
 T 53200 69900 5 10 0 0 0 0 1
-vendor_part_number=490-1283-1-ND
+vendor_part_number=311-1018-1-ND
 T 53200 69900 5 10 0 0 0 0 1
 footprint=0402
 T 53200 69900 5 10 0 0 0 0 1
@@ -1402,7 +1402,7 @@ symversion=0.1
 T 51500 69100 5 10 1 1 0 0 1
 value=22pF
 T 51900 69900 5 10 0 0 0 0 1
-vendor_part_number=490-1283-1-ND
+vendor_part_number=311-1018-1-ND
 T 51900 69900 5 10 0 0 0 0 1
 footprint=0402
 T 51900 69900 5 10 0 0 0 0 1
@@ -1450,7 +1450,7 @@ loadstatus=smt
 T 71900 47900 5 10 0 1 0 0 1
 vendor=digikey
 T 71900 47900 5 10 0 1 0 0 1
-vendor_part_number=296-29559-1-ND
+vendor_part_number=296-35667-1-ND
 }
 C 75400 47800 1 0 0 gnd.sym
 C 76100 47100 1 90 0 inductor.sym
@@ -1506,7 +1506,7 @@ loadstatus=smt
 T 77400 46000 5 10 0 1 0 0 1
 vendor=digikey
 T 77400 46000 5 10 0 1 0 0 1
-vendor_part_number=490-1288-1-ND
+vendor_part_number=311-1022-1-ND
 }
 C 77400 44900 1 90 0 capacitor.sym
 {
@@ -1592,7 +1592,7 @@ loadstatus=smt
 T 78900 47100 5 10 0 1 0 0 1
 vendor=digikey
 T 78900 47100 5 10 0 1 0 0 1
-vendor_part_number=490-1267-1-ND
+vendor_part_number=490-5932-1-ND
 }
 C 80400 48000 1 90 0 capacitor.sym
 {
@@ -1611,7 +1611,7 @@ loadstatus=smt
 T 80400 48000 5 10 0 1 0 0 1
 vendor=digikey
 T 80400 48000 5 10 0 1 0 0 1
-vendor_part_number=490-3208-1-ND
+vendor_part_number=490-5945-1-ND
 }
 C 78900 47900 1 0 0 inductor.sym
 {
@@ -1815,7 +1815,7 @@ loadstatus=smt
 T 79000 49700 5 10 0 1 0 0 1
 vendor=digikey
 T 79000 49700 5 10 0 1 0 0 1
-vendor_part_number=490-3208-1-ND
+vendor_part_number=490-5945-1-ND
 }
 N 78900 51500 78900 50800 4
 N 79000 51500 78900 51500 4
@@ -2005,7 +2005,7 @@ footprint=MPU6000
 T 42600 70100 5 10 0 1 0 0 1
 loadstatus=smt
 T 42600 70100 5 10 0 1 0 0 1
-vendor=invensense
+vendor=cdiweb
 T 42600 70100 5 10 0 1 0 0 1
 vendor_part_number=MPU-6000
 }
@@ -2128,9 +2128,9 @@ refdes=J5
 T 50245 60295 5 10 0 1 0 6 1
 footprint=ZX62-B-5PA
 T 50600 59900 5 10 0 0 0 0 1
-vendor=digikey
+vendor=4ucon
 T 50600 59900 5 10 0 0 0 0 1
-vendor_part_number=H11634CT-ND
+vendor_part_number=18575
 T 50600 59900 5 10 0 0 0 0 1
 loadstatus=smt
 T 50600 59900 5 10 0 0 0 0 1
@@ -2206,27 +2206,6 @@ N 54800 61900 53500 61900 4
 T 53500 62000 5 10 1 1 0 0 1
 netname=rx1
 }
-C 71200 58900 1 0 0 gnd.sym
-N 71300 58800 72400 58800 4
-{
-T 71800 58900 5 10 1 1 0 0 1
-netname=reset_n
-}
-N 71300 58400 72400 58400 4
-{
-T 71900 58500 5 10 1 1 0 0 1
-netname=boot0
-}
-N 71300 58000 72400 58000 4
-{
-T 72100 58100 5 10 1 1 0 0 1
-netname=tx1
-}
-N 71300 57600 72400 57600 4
-{
-T 72100 57700 5 10 1 1 0 0 1
-netname=rx1
-}
 N 77200 62300 75500 62300 4
 {
 T 75500 62400 5 10 1 1 0 0 1
@@ -2239,19 +2218,16 @@ refdes=J9
 T 77100 60800 5 10 1 1 0 0 1
 value=Companion
 T 77200 61000 5 10 0 0 0 0 1
-loadstatus=throughhole
+loadstatus=noload
 T 77200 61000 5 10 0 0 0 0 1
-vendor=digikey
+vendor=mouser
 T 77200 61000 5 10 0 0 0 0 1
-vendor_part_number=A99436CT-ND
+vendor_part_number=571-338068-8
 T 77200 61000 5 10 0 0 0 0 1
 footprint=0-338068-8
 T 77200 61000 5 10 0 1 0 0 1
 device=CONNECTOR
 }
-T 70400 57800 9 10 1 0 90 0 2
-bootloader
-  support
 N 54800 60700 53500 60700 4
 {
 T 53500 60800 5 10 1 1 0 0 1
@@ -2262,19 +2238,19 @@ N 54800 60300 53500 60300 4
 T 53500 60400 5 10 1 1 0 0 1
 netname=swclk
 }
-N 53900 53500 53300 53500 4
+N 54800 53500 53500 53500 4
 {
-T 53800 53600 5 10 1 1 0 6 1
+T 54000 53600 5 10 1 1 0 6 1
 netname=mosi2
 }
-N 52600 54300 52100 54300 4
+N 53500 54300 54800 54300 4
 {
-T 52500 54400 5 10 1 1 0 6 1
+T 53900 54400 5 10 1 1 0 6 1
 netname=sck2
 }
-N 51400 53900 50900 53900 4
+N 54800 53900 53500 53900 4
 {
-T 51400 54000 5 10 1 1 0 6 1
+T 54000 54000 5 10 1 1 0 6 1
 netname=miso2
 }
 C 53300 70900 1 0 0 capacitor.sym
@@ -2600,8 +2576,6 @@ N 64300 58700 65600 58700 4
 T 65000 58800 5 10 1 1 0 0 1
 netname=gyro_int
 }
-C 71400 57200 1 0 0 3.3V-plus.sym
-N 71600 57200 71300 57200 4
 N 73100 63000 74000 63000 4
 {
 T 73400 63100 5 10 1 1 0 0 1
@@ -2662,7 +2636,7 @@ loadstatus=smt
 T 79000 51300 5 10 0 1 0 0 1
 vendor=digikey
 T 79000 51300 5 10 0 1 0 0 1
-vendor_part_number=490-3208-1-ND
+vendor_part_number=490-5945-1-ND
 }
 C 71800 47400 1 90 0 resistor.sym
 {
@@ -2928,11 +2902,11 @@ value=Debug
 T 74300 57600 5 10 0 0 0 6 1
 footprint=0-215079-4
 T 74300 57600 5 10 0 0 0 6 1
-vendor_part_number=A99472CT-ND
+vendor_part_number=571-215079-4
 T 74300 57600 5 10 0 0 0 6 1
-vendor=digikey
+vendor=mouser
 T 74300 57600 5 10 0 0 0 6 1
-loadstatus=throughhole
+loadstatus=noload
 T 74300 57600 5 10 0 0 0 6 1
 device=CONNECTOR
 }
@@ -2953,17 +2927,17 @@ N 74300 57700 75600 57700 4
 T 75600 57800 5 10 1 1 0 6 1
 netname=swclk
 }
-C 71300 57100 1 0 1 conn-6.sym
+C 68900 58600 1 0 0 conn-6.sym
 {
-T 70945 59395 5 10 1 1 0 6 1
+T 69255 60895 5 10 1 1 0 0 1
 refdes=J21
-T 71300 57100 5 10 0 1 0 0 1
+T 68900 58600 5 10 0 1 0 6 1
 device=CONNECTOR
-T 71300 57100 5 10 0 1 0 0 1
-footprint=0-215079-6
-T 70600 56900 5 10 1 1 0 0 1
-value=Boot
-T 71300 57100 5 10 0 1 0 0 1
+T 68900 58600 5 10 0 1 0 6 1
+footprint=0-338068-6
+T 69700 58400 5 10 1 1 0 6 1
+value=Servos
+T 68900 58600 5 10 0 1 0 6 1
 loadstatus=noload
 }
 C 46800 66000 1 0 0 3.3V-plus.sym
@@ -3038,249 +3012,21 @@ netname=cs_pres
 }
 N 49700 66000 49800 66000 4
 N 49800 66000 49800 65600 4
-C 53500 54700 1 0 1 capacitor.sym
+N 64300 52700 65600 52700 4
 {
-T 53300 55400 5 10 0 0 0 6 1
-device=CAPACITOR
-T 52900 55100 5 10 1 1 180 2 1
-refdes=C403
-T 53300 55600 5 10 0 0 0 6 1
-symversion=0.1
-T 53200 55200 5 10 1 1 0 2 1
-value=47pF
-T 53500 54700 5 10 0 1 0 0 1
-footprint=0402
-T 53500 54700 5 10 0 1 0 0 1
-loadstatus=noload
-T 53500 54700 5 10 0 1 0 0 1
-vendor=digikey
-T 53500 54700 5 10 0 1 0 0 1
-vendor_part_number=399-1019-1-ND
-}
-C 52600 54200 1 0 0 resistor.sym
-{
-T 52900 54600 5 10 0 0 0 0 1
-device=RESISTOR
-T 52700 54500 5 10 1 1 0 0 1
-refdes=R103
-T 53200 54500 5 10 1 1 0 0 1
-value=0
-T 52600 54200 5 10 0 1 0 0 1
-footprint=0402
-T 52600 54200 5 10 0 1 0 0 1
-loadstatus=smt
-T 52600 54200 5 10 0 1 0 0 1
-vendor=digikey
-T 52600 54200 5 10 0 1 0 0 1
-vendor_part_number=P0.0JCT-ND
-}
-C 53800 54800 1 90 0 gnd.sym
-N 53500 54300 54800 54300 4
-C 54100 52600 1 90 0 capacitor.sym
-{
-T 53400 52800 5 10 0 0 90 0 1
-device=CAPACITOR
-T 53700 53300 5 10 1 1 180 0 1
-refdes=C405
-T 53200 52800 5 10 0 0 90 0 1
-symversion=0.1
-T 53400 52800 5 10 1 1 0 0 1
-value=47pF
-T 54100 52600 5 10 0 1 0 0 1
-footprint=0402
-T 54100 52600 5 10 0 1 0 0 1
-loadstatus=noload
-T 54100 52600 5 10 0 1 0 0 1
-vendor=digikey
-T 54100 52600 5 10 0 1 0 0 1
-vendor_part_number=399-1019-1-ND
-}
-C 53900 53400 1 0 0 resistor.sym
-{
-T 54200 53800 5 10 0 0 0 0 1
-device=RESISTOR
-T 54000 53700 5 10 1 1 0 0 1
-refdes=R105
-T 54500 53700 5 10 1 1 0 0 1
-value=0
-T 53900 53400 5 10 0 1 0 0 1
-footprint=0402
-T 53900 53400 5 10 0 1 0 0 1
-loadstatus=smt
-T 53900 53400 5 10 0 1 0 0 1
-vendor=digikey
-T 53900 53400 5 10 0 1 0 0 1
-vendor_part_number=P0.0JCT-ND
-}
-C 53800 52300 1 0 0 gnd.sym
-C 52100 53000 1 270 1 capacitor.sym
-{
-T 52800 53200 5 10 0 0 90 2 1
-device=CAPACITOR
-T 52500 53700 5 10 1 1 180 6 1
-refdes=C404
-T 53000 53200 5 10 0 0 90 2 1
-symversion=0.1
-T 52800 53200 5 10 1 1 0 6 1
-value=47pF
-T 52100 53000 5 10 0 1 0 0 1
-footprint=0402
-T 52100 53000 5 10 0 1 0 0 1
-loadstatus=noload
-T 52100 53000 5 10 0 1 0 0 1
-vendor=digikey
-T 52100 53000 5 10 0 1 0 0 1
-vendor_part_number=399-1019-1-ND
-}
-C 52300 53800 1 0 1 resistor.sym
-{
-T 52000 54200 5 10 0 0 0 6 1
-device=RESISTOR
-T 51700 53600 5 10 1 1 0 6 1
-refdes=R104
-T 52200 53600 5 10 1 1 0 6 1
-value=0
-T 52300 53800 5 10 0 1 0 0 1
-footprint=0402
-T 52300 53800 5 10 0 1 0 0 1
-loadstatus=smt
-T 52300 53800 5 10 0 1 0 0 1
-vendor=digikey
-T 52300 53800 5 10 0 1 0 0 1
-vendor_part_number=P0.0JCT-ND
-}
-C 52400 52700 1 0 1 gnd.sym
-N 52600 54900 52600 54300 4
-N 52300 53900 54800 53900 4
-N 65200 52700 65800 52700 4
-{
-T 65300 52800 5 10 1 1 0 0 1
+T 65100 52800 5 10 1 1 0 0 1
 netname=mosi1
 }
-N 66500 53500 67000 53500 4
+N 64300 53500 65600 53500 4
 {
-T 66600 53600 5 10 1 1 0 0 1
+T 65200 53600 5 10 1 1 0 0 1
 netname=sck1
 }
-N 67700 53100 68200 53100 4
+N 64300 53100 65600 53100 4
 {
-T 67700 53200 5 10 1 1 0 0 1
+T 65100 53200 5 10 1 1 0 0 1
 netname=miso1
 }
-C 65600 53900 1 0 0 capacitor.sym
-{
-T 65800 54600 5 10 0 0 0 0 1
-device=CAPACITOR
-T 66200 54300 5 10 1 1 180 8 1
-refdes=C406
-T 65800 54800 5 10 0 0 0 0 1
-symversion=0.1
-T 65900 54400 5 10 1 1 0 8 1
-value=47pF
-T 65600 53900 5 10 0 1 0 0 1
-footprint=0402
-T 65600 53900 5 10 0 1 0 0 1
-loadstatus=noload
-T 65600 53900 5 10 0 1 0 0 1
-vendor=digikey
-T 65600 53900 5 10 0 1 0 0 1
-vendor_part_number=399-1019-1-ND
-}
-C 66500 53400 1 0 1 resistor.sym
-{
-T 66200 53800 5 10 0 0 0 6 1
-device=RESISTOR
-T 66400 53700 5 10 1 1 0 6 1
-refdes=R106
-T 65900 53700 5 10 1 1 0 6 1
-value=0
-T 66500 53400 5 10 0 1 0 0 1
-footprint=0402
-T 66500 53400 5 10 0 1 0 0 1
-loadstatus=smt
-T 66500 53400 5 10 0 1 0 0 1
-vendor=digikey
-T 66500 53400 5 10 0 1 0 0 1
-vendor_part_number=P0.0JCT-ND
-}
-C 65300 54000 1 270 1 gnd.sym
-N 65600 53500 64300 53500 4
-C 65000 51800 1 270 1 capacitor.sym
-{
-T 65700 52000 5 10 0 0 90 2 1
-device=CAPACITOR
-T 65400 52500 5 10 1 1 180 6 1
-refdes=C408
-T 65900 52000 5 10 0 0 90 2 1
-symversion=0.1
-T 65700 52000 5 10 1 1 0 6 1
-value=47pF
-T 65000 51800 5 10 0 1 0 0 1
-footprint=0402
-T 65000 51800 5 10 0 1 0 0 1
-loadstatus=noload
-T 65000 51800 5 10 0 1 0 0 1
-vendor=digikey
-T 65000 51800 5 10 0 1 0 0 1
-vendor_part_number=399-1019-1-ND
-}
-C 65200 52600 1 0 1 resistor.sym
-{
-T 64900 53000 5 10 0 0 0 6 1
-device=RESISTOR
-T 65100 52900 5 10 1 1 0 6 1
-refdes=R108
-T 64600 52900 5 10 1 1 0 6 1
-value=0
-T 65200 52600 5 10 0 1 0 0 1
-footprint=0402
-T 65200 52600 5 10 0 1 0 0 1
-loadstatus=smt
-T 65200 52600 5 10 0 1 0 0 1
-vendor=digikey
-T 65200 52600 5 10 0 1 0 0 1
-vendor_part_number=P0.0JCT-ND
-}
-C 65300 51500 1 0 1 gnd.sym
-C 67000 52200 1 90 0 capacitor.sym
-{
-T 66300 52400 5 10 0 0 90 0 1
-device=CAPACITOR
-T 66600 52900 5 10 1 1 180 0 1
-refdes=C407
-T 66100 52400 5 10 0 0 90 0 1
-symversion=0.1
-T 66300 52400 5 10 1 1 0 0 1
-value=47pF
-T 67000 52200 5 10 0 1 0 0 1
-footprint=0402
-T 67000 52200 5 10 0 1 0 0 1
-loadstatus=noload
-T 67000 52200 5 10 0 1 0 0 1
-vendor=digikey
-T 67000 52200 5 10 0 1 0 0 1
-vendor_part_number=399-1019-1-ND
-}
-C 66800 53000 1 0 0 resistor.sym
-{
-T 67100 53400 5 10 0 0 0 0 1
-device=RESISTOR
-T 67400 52800 5 10 1 1 0 0 1
-refdes=R107
-T 66900 52800 5 10 1 1 0 0 1
-value=0
-T 66800 53000 5 10 0 1 0 0 1
-footprint=0402
-T 66800 53000 5 10 0 1 0 0 1
-loadstatus=smt
-T 66800 53000 5 10 0 1 0 0 1
-vendor=digikey
-T 66800 53000 5 10 0 1 0 0 1
-vendor_part_number=P0.0JCT-ND
-}
-C 66700 51900 1 0 0 gnd.sym
-N 66500 54100 66500 53500 4
-N 66800 53100 64300 53100 4
 N 80200 48000 79800 48000 4
 N 54800 63100 53500 63100 4
 {
@@ -3325,13 +3071,13 @@ refdes=U3
 T 42595 63695 5 10 0 1 0 0 1
 footprint=AN3111
 T 42600 64500 5 10 0 0 0 0 1
-vendor=freescale
+vendor=mouser
 T 42600 64500 5 10 0 0 0 0 1
-vendor_part_number=MMA6556KWR2
+vendor_part_number=841-MMA6555KW
 T 42600 64500 5 10 0 1 0 0 1
 loadstatus=smt
 T 43800 68700 5 10 1 1 0 0 1
-value=MMA6556
+value=MMA6555
 }
 N 42600 66700 42500 66700 4
 N 42500 66700 42500 64600 4
@@ -3435,9 +3181,9 @@ loadstatus=smt
 T 74600 66200 5 10 0 1 0 0 1
 vendor=u-blox
 T 74600 66200 5 10 0 1 0 0 1
-vendor_part_number=MAX-6Q
+vendor_part_number=MAX-7Q
 T 74600 66200 5 10 1 1 0 0 1
-value=MAX-6Q
+value=MAX-7Q
 }
 N 76600 66000 76600 66200 4
 N 76600 66100 77000 66100 4
@@ -3554,7 +3300,7 @@ loadstatus=smt
 T 42500 59500 5 10 0 1 0 0 1
 vendor=digikey
 T 42500 59500 5 10 0 1 0 0 1
-vendor_part_number=490-5408-1-ND
+vendor_part_number=445-5947-1-ND
 }
 C 42500 59500 1 0 0 HMC5883L.sym
 {
@@ -3701,9 +3447,9 @@ loadstatus=smt
 T 72500 42900 5 10 1 1 180 0 1
 refdes=R39
 T 72100 42400 5 10 1 1 0 0 1
-value=8.45k
+value=9.09k
 T 72800 42200 5 10 0 1 0 0 1
-vendor_part_number=P8.45KLCT-ND
+vendor_part_number=P9.09KLCT-ND
 }
 C 72800 43100 1 90 0 resistor.sym
 {
@@ -3735,9 +3481,9 @@ loadstatus=smt
 T 67300 42300 5 10 1 1 180 0 1
 refdes=R37
 T 66900 41800 5 10 1 1 0 0 1
-value=6.81k
+value=8.06k
 T 67600 41600 5 10 0 1 0 0 1
-vendor_part_number=P6.81KLCT-ND
+vendor_part_number=P8.06KLCT-ND
 }
 C 67600 42500 1 90 0 resistor.sym
 {
@@ -3775,9 +3521,9 @@ device=CAPACITOR
 T 65900 43200 5 10 0 0 90 0 1
 symversion=0.1
 T 66800 43000 5 10 0 0 90 0 1
-footprint=1210
+footprint=1206
 T 66800 43000 5 10 0 0 90 0 1
-vendor_part_number=399-5514-1-ND
+vendor_part_number=587-1780-1-ND
 T 66800 43000 5 10 0 0 0 0 1
 vendor=digikey
 T 66800 43000 5 10 0 1 0 0 1
@@ -3833,9 +3579,9 @@ slot=2
 T 48900 49800 5 10 0 1 0 0 1
 loadstatus=smt
 T 48900 49800 5 10 0 1 0 0 1
-vendor=digikey
+vendor=mouser
 T 48900 49800 5 10 0 1 0 0 1
-vendor_part_number=497-11134-1-ND
+vendor_part_number=511-LM293QT
 T 48900 49800 5 10 0 1 0 0 1
 footprint=8ufson2x2
 T 49700 50500 5 10 1 1 0 0 1
@@ -3868,9 +3614,9 @@ slot=1
 T 42600 49800 5 10 0 1 0 0 1
 loadstatus=smt
 T 42600 49800 5 10 0 1 0 0 1
-vendor=digikey
+vendor=mouser
 T 42600 49800 5 10 0 1 0 0 1
-vendor_part_number=497-11134-1-ND
+vendor_part_number=511-LM293QT
 T 42600 49800 5 10 0 1 0 0 1
 footprint=8ufson2x2
 T 43400 50500 5 10 1 1 0 0 1
@@ -3903,9 +3649,9 @@ slot=2
 T 48900 46400 5 10 0 1 0 0 1
 loadstatus=smt
 T 48900 46400 5 10 0 1 0 0 1
-vendor=digikey
+vendor=mouser
 T 48900 46400 5 10 0 1 0 0 1
-vendor_part_number=497-11134-1-ND
+vendor_part_number=511-LM293QT
 T 48900 46400 5 10 0 1 0 0 1
 footprint=8ufson2x2
 T 49700 47100 5 10 1 1 0 0 1
@@ -3938,9 +3684,9 @@ slot=1
 T 42600 46400 5 10 0 1 0 0 1
 loadstatus=smt
 T 42600 46400 5 10 0 1 0 0 1
-vendor=digikey
+vendor=mouser
 T 42600 46400 5 10 0 1 0 0 1
-vendor_part_number=497-11134-1-ND
+vendor_part_number=511-LM293QT
 T 42600 46400 5 10 0 1 0 0 1
 footprint=8ufson2x2
 T 43400 47100 5 10 1 1 0 0 1
@@ -3973,9 +3719,9 @@ slot=1
 T 42600 43000 5 10 0 1 0 0 1
 loadstatus=smt
 T 42600 43000 5 10 0 1 0 0 1
-vendor=digikey
+vendor=mouser
 T 42600 43000 5 10 0 1 0 0 1
-vendor_part_number=497-11134-1-ND
+vendor_part_number=511-LM293QT
 T 42600 43000 5 10 0 1 0 0 1
 footprint=8ufson2x2
 T 43400 43700 5 10 1 1 0 0 1
@@ -4008,9 +3754,9 @@ slot=2
 T 48900 43000 5 10 0 1 0 0 1
 loadstatus=smt
 T 48900 43000 5 10 0 1 0 0 1
-vendor=digikey
+vendor=mouser
 T 48900 43000 5 10 0 1 0 0 1
-vendor_part_number=497-11134-1-ND
+vendor_part_number=511-LM293QT
 T 48900 43000 5 10 0 1 0 0 1
 footprint=8ufson2x2
 T 49700 43700 5 10 1 1 0 0 1
@@ -4109,9 +3855,123 @@ T 81600 70000 5 10 0 0 0 0 1
 vendor=digikey
 T 81600 70000 5 10 0 0 0 0 1
 vendor_part_number=587-2995-1-ND
+T 81600 70000 5 10 0 1 0 0 1
+loadstatus=smt
 }
 N 81600 71000 82500 71000 4
 N 81600 70500 81600 70000 4
 N 80400 70000 81600 70000 4
 N 80400 70000 80400 70500 4
 C 80900 69700 1 0 0 gnd.sym
+N 64300 60300 66300 60300 4
+{
+T 65000 60400 5 10 1 1 0 0 1
+netname=pwm_a
+}
+N 64300 59900 66300 59900 4
+{
+T 65000 60000 5 10 1 1 0 0 1
+netname=pwm_b
+}
+N 64300 59500 66300 59500 4
+{
+T 65000 59600 5 10 1 1 0 0 1
+netname=pwm_c
+}
+N 64300 59100 66300 59100 4
+{
+T 65000 59200 5 10 1 1 0 0 1
+netname=pwm_d
+}
+C 66300 59000 1 0 0 resistor.sym
+{
+T 66600 59400 5 10 0 0 0 0 1
+device=RESISTOR
+T 66700 59400 5 10 1 1 180 0 1
+refdes=R43
+T 67100 59400 5 10 1 1 180 0 1
+value=549
+T 66300 59000 5 10 0 0 90 0 1
+footprint=0402
+T 66300 59000 5 10 0 0 90 0 1
+vendor_part_number=P549LCT-ND
+T 66300 59000 5 10 0 0 0 0 1
+vendor=digikey
+T 66300 59000 5 10 0 1 0 0 1
+loadstatus=smt
+}
+C 66300 59400 1 0 0 resistor.sym
+{
+T 66600 59800 5 10 0 0 0 0 1
+device=RESISTOR
+T 66700 59800 5 10 1 1 180 0 1
+refdes=R42
+T 67100 59800 5 10 1 1 180 0 1
+value=549
+T 66300 59400 5 10 0 0 90 0 1
+footprint=0402
+T 66300 59400 5 10 0 0 90 0 1
+vendor_part_number=P549LCT-ND
+T 66300 59400 5 10 0 0 0 0 1
+vendor=digikey
+T 66300 59400 5 10 0 1 0 0 1
+loadstatus=smt
+}
+C 66300 59800 1 0 0 resistor.sym
+{
+T 66600 60200 5 10 0 0 0 0 1
+device=RESISTOR
+T 66300 59800 5 10 0 0 90 0 1
+footprint=0402
+T 66300 59800 5 10 0 0 90 0 1
+vendor_part_number=P549LCT-ND
+T 66300 59800 5 10 0 0 0 0 1
+vendor=digikey
+T 66300 59800 5 10 0 1 0 0 1
+loadstatus=smt
+T 66700 60200 5 10 1 1 180 0 1
+refdes=R41
+T 67100 60200 5 10 1 1 180 0 1
+value=549
+}
+C 66300 60200 1 0 0 resistor.sym
+{
+T 66600 60600 5 10 0 0 0 0 1
+device=RESISTOR
+T 66300 60200 5 10 0 0 90 0 1
+footprint=0402
+T 66300 60200 5 10 0 0 90 0 1
+vendor_part_number=P549LCT-ND
+T 66300 60200 5 10 0 0 0 0 1
+vendor=digikey
+T 66300 60200 5 10 0 1 0 0 1
+loadstatus=smt
+T 66700 60600 5 10 1 1 180 0 1
+refdes=R40
+T 67100 60600 5 10 1 1 180 0 1
+value=549
+}
+N 68900 60300 67200 60300 4
+{
+T 67500 60400 5 10 1 1 0 0 1
+netname=servo_a
+}
+N 68900 59900 67200 59900 4
+{
+T 67500 60000 5 10 1 1 0 0 1
+netname=servo_b
+}
+N 68900 59500 67200 59500 4
+{
+T 67500 59600 5 10 1 1 0 0 1
+netname=servo_c
+}
+N 68900 59100 67200 59100 4
+{
+T 67500 59200 5 10 1 1 0 0 1
+netname=servo_d
+}
+C 68600 60400 1 0 0 gnd.sym
+C 68600 58400 1 0 0 gnd.sym
+N 68700 58700 68900 58700 4
+N 68700 60700 68900 60700 4