Romi-unified-board.bak

EESchema Schematic File Version 4
LIBS:Romi-unified-board-cache
EELAYER 29 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
Text Notes 15350 1900 0    50   ~ 0
MP4423H
Text Notes 15350 2000 0    50   ~ 0
DRV8838
Wire Wire Line
	8900 -1200 8750 -1200
$Comp
L Device:R_Small_US R7
U 1 1 5F46AD02
P 8750 -1000
F 0 "R7" H 8818 -954 50  0000 L CNN
F 1 "100k" H 8818 -1045 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8750 -1000 50  0001 C CNN
F 3 "~" H 8750 -1000 50  0001 C CNN
	1    8750 -1000
	1    0    0    -1  
$EndComp
Wire Wire Line
	8750 -1100 8750 -1200
Connection ~ 8750 -1200
Wire Wire Line
	8750 -1200 8450 -1200
Wire Wire Line
	9100 -900 9100 -750
Wire Wire Line
	9100 -750 8750 -750
Wire Wire Line
	8750 -750 8750 -900
$Comp
L Device:D D3
U 1 1 5F46B984
P 8450 -950
F 0 "D3" V 8404 -871 50  0000 L CNN
F 1 "D" V 8495 -871 50  0000 L CNN
F 2 "Diode_SMD:D_SOD-323F" H 8450 -950 50  0001 C CNN
F 3 "~" H 8450 -950 50  0001 C CNN
	1    8450 -950
	0    1    1    0   
$EndComp
Wire Wire Line
	8450 -1100 8450 -1200
Connection ~ 8450 -1200
Wire Wire Line
	8450 -1200 8400 -1200
Wire Wire Line
	8200 -900 8200 -750
Wire Wire Line
	8200 -750 8450 -750
Wire Wire Line
	8450 -750 8450 -800
Wire Wire Line
	8750 -750 8450 -750
Connection ~ 8750 -750
Connection ~ 8450 -750
Text Notes 7900 -1600 0    50   ~ 0
for fet: SI7415DN-T1-E3\nMOSFET P-CH 60V 3.6A 1212-8\nSI7415DN-T1-E3CT-ND
$Comp
L Driver_Motor:DRV8838 U3
U 1 1 5F46D60C
P 16650 2900
F 0 "U3" H 16400 3350 50  0000 C CNN
F 1 "DRV8838" H 16850 2450 50  0000 C CNN
F 2 "Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm" H 16650 2050 50  0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/drv8837.pdf" H 16650 2900 50  0001 C CNN
	1    16650 2900
	1    0    0    -1  
$EndComp
$Comp
L Driver_Motor:DRV8838 U2
U 1 1 5F46E062
P 15100 2900
F 0 "U2" H 14800 3350 50  0000 C CNN
F 1 "DRV8838" H 15300 2450 50  0000 C CNN
F 2 "Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm" H 15100 2050 50  0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/drv8837.pdf" H 15100 2900 50  0001 C CNN
	1    15100 2900
	1    0    0    -1  
$EndComp
$Comp
L power:+BATT #PWR0101
U 1 1 5F4750B2
P 7850 -1300
F 0 "#PWR0101" H 7850 -1450 50  0001 C CNN
F 1 "+BATT" H 7865 -1127 50  0000 C CNN
F 2 "" H 7850 -1300 50  0001 C CNN
F 3 "" H 7850 -1300 50  0001 C CNN
	1    7850 -1300
	1    0    0    -1  
$EndComp
$Comp
L power:VBUS #PWR0102
U 1 1 5F475D50
P 9500 -1300
F 0 "#PWR0102" H 9500 -1450 50  0001 C CNN
F 1 "VBUS" H 9515 -1127 50  0000 C CNN
F 2 "" H 9500 -1300 50  0001 C CNN
F 3 "" H 9500 -1300 50  0001 C CNN
	1    9500 -1300
	1    0    0    -1  
$EndComp
Wire Wire Line
	9300 -1200 9500 -1200
Wire Wire Line
	9500 -1200 9500 -1300
$Comp
L Switch:SW_SPST SW1
U 1 1 5F479528
P 7950 -750
F 0 "SW1" H 7950 -515 50  0000 C CNN
F 1 "SW_SPST" H 7950 -606 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 7950 -750 50  0001 C CNN
F 3 "~" H 7950 -750 50  0001 C CNN
	1    7950 -750
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0103
U 1 1 5F479F89
P 7650 -550
F 0 "#PWR0103" H 7650 -800 50  0001 C CNN
F 1 "GND" H 7655 -723 50  0000 C CNN
F 2 "" H 7650 -550 50  0001 C CNN
F 3 "" H 7650 -550 50  0001 C CNN
	1    7650 -550
	1    0    0    -1  
$EndComp
Wire Wire Line
	7750 -750 7650 -750
Wire Wire Line
	7650 -750 7650 -550
Wire Wire Line
	8200 -750 8150 -750
Connection ~ 8200 -750
$Comp
L romi-unified-board:MP4423H U1
U 1 1 5F47BCD7
P 7350 4900
F 0 "U1" H 7350 5565 50  0000 C CNN
F 1 "MP4423H" H 7350 5474 50  0000 C CNN
F 2 "Package_DFN_QFN:DFN-8-1EP_3x3mm_P0.65mm_EP1.7x2.05mm" H 7050 4250 50  0001 C CNN
F 3 "" H 7050 4250 50  0001 C CNN
	1    7350 4900
	1    0    0    -1  
$EndComp
$Comp
L Device:CP C1
U 1 1 5F47E4AF
P 5250 4700
F 0 "C1" H 5368 4746 50  0000 L CNN
F 1 "220u" H 5368 4655 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x3.9" H 5288 4550 50  0001 C CNN
F 3 "~" H 5250 4700 50  0001 C CNN
	1    5250 4700
	1    0    0    -1  
$EndComp
$Comp
L Device:C C3
U 1 1 5F4813F4
P 5850 4700
F 0 "C3" H 5965 4746 50  0000 L CNN
F 1 "10u" H 5965 4655 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 5888 4550 50  0001 C CNN
F 3 "~" H 5850 4700 50  0001 C CNN
	1    5850 4700
	1    0    0    -1  
$EndComp
$Comp
L Device:C C4
U 1 1 5F482875
P 6100 5000
F 0 "C4" H 6215 5046 50  0000 L CNN
F 1 "0.1u" H 6215 4955 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 6138 4850 50  0001 C CNN
F 3 "~" H 6100 5000 50  0001 C CNN
	1    6100 5000
	1    0    0    -1  
$EndComp
$Comp
L Device:C C5
U 1 1 5F48287B
P 6350 4700
F 0 "C5" H 6465 4746 50  0000 L CNN
F 1 "0.1u" H 6465 4655 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 6388 4550 50  0001 C CNN
F 3 "~" H 6350 4700 50  0001 C CNN
	1    6350 4700
	1    0    0    -1  
$EndComp
Wire Wire Line
	6950 4500 6600 4500
Wire Wire Line
	5250 4500 5250 4550
$Comp
L Device:C C6
U 1 1 5F488049
P 6600 5300
F 0 "C6" H 6715 5346 50  0000 L CNN
F 1 "0.1u" H 6715 5255 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 6638 5150 50  0001 C CNN
F 3 "~" H 6600 5300 50  0001 C CNN
	1    6600 5300
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0104
U 1 1 5F488C87
P 5250 5650
F 0 "#PWR0104" H 5250 5400 50  0001 C CNN
F 1 "GND" H 5255 5477 50  0000 C CNN
F 2 "" H 5250 5650 50  0001 C CNN
F 3 "" H 5250 5650 50  0001 C CNN
	1    5250 5650
	1    0    0    -1  
$EndComp
Wire Wire Line
	6950 5300 6900 5300
Wire Wire Line
	6900 5300 6900 5600
Wire Wire Line
	6900 5600 6600 5600
Wire Wire Line
	5250 5600 5250 5650
Wire Wire Line
	5550 5150 5550 5600
Connection ~ 5550 5600
Wire Wire Line
	5550 5600 5250 5600
Wire Wire Line
	6100 5150 6100 5600
Connection ~ 6100 5600
Wire Wire Line
	6100 5600 5850 5600
Wire Wire Line
	6600 5450 6600 5600
Connection ~ 6600 5600
Wire Wire Line
	6600 5600 6350 5600
Wire Wire Line
	6950 5000 6850 5000
Wire Wire Line
	6600 5000 6600 5150
Wire Wire Line
	6350 4850 6350 5600
Connection ~ 6350 5600
Wire Wire Line
	6350 5600 6100 5600
Wire Wire Line
	5850 4850 5850 5600
Connection ~ 5850 5600
Wire Wire Line
	5850 5600 5550 5600
Wire Wire Line
	5550 4500 5550 4850
Connection ~ 5550 4500
Wire Wire Line
	5550 4500 5250 4500
Wire Wire Line
	5850 4550 5850 4500
Connection ~ 5850 4500
Wire Wire Line
	5850 4500 5550 4500
Wire Wire Line
	6100 4850 6100 4500
Connection ~ 6100 4500
Wire Wire Line
	6100 4500 5850 4500
Wire Wire Line
	6350 4550 6350 4500
Connection ~ 6350 4500
Wire Wire Line
	6350 4500 6100 4500
$Comp
L Device:R_Small_US R2
U 1 1 5F48EDDE
P 6800 4700
F 0 "R2" V 6750 4600 50  0000 C CNN
F 1 "270k" V 6900 4700 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 6800 4700 50  0001 C CNN
F 3 "~" H 6800 4700 50  0001 C CNN
	1    6800 4700
	0    1    1    0   
$EndComp
Wire Wire Line
	6700 4700 6600 4700
Wire Wire Line
	6600 4700 6600 4500
Connection ~ 6600 4500
Wire Wire Line
	6600 4500 6350 4500
Wire Wire Line
	6950 4700 6900 4700
$Comp
L Device:D D2
U 1 1 5F491CE3
P 7900 4300
F 0 "D2" V 7946 4221 50  0000 R CNN
F 1 "1N4148" V 7855 4221 50  0000 R CNN
F 2 "Diode_SMD:D_SOD-323F" H 7900 4300 50  0001 C CNN
F 3 "~" H 7900 4300 50  0001 C CNN
	1    7900 4300
	0    -1   -1   0   
$EndComp
Wire Wire Line
	7750 4500 7900 4500
Wire Wire Line
	7900 4500 7900 4450
Text GLabel 7850 4100 0    50   Input ~ 0
REG_VCC
Text GLabel 6800 4900 0    50   Input ~ 0
REG_VCC
Wire Wire Line
	6800 4900 6850 4900
Wire Wire Line
	6850 4900 6850 5000
Connection ~ 6850 5000
Wire Wire Line
	6850 5000 6600 5000
Wire Wire Line
	7850 4100 7900 4100
Wire Wire Line
	7900 4100 7900 4150
$Comp
L Device:R_Small_US R4
U 1 1 5F496E04
P 8100 4500
F 0 "R4" V 8050 4400 50  0000 C CNN
F 1 "22.1" V 8200 4500 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8100 4500 50  0001 C CNN
F 3 "~" H 8100 4500 50  0001 C CNN
	1    8100 4500
	0    1    1    0   
$EndComp
Wire Wire Line
	8000 4500 7900 4500
Connection ~ 7900 4500
$Comp
L Device:C C7
U 1 1 5F4981A9
P 8300 4700
F 0 "C7" H 8415 4746 50  0000 L CNN
F 1 "0.1u" H 8415 4655 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 8338 4550 50  0001 C CNN
F 3 "~" H 8300 4700 50  0001 C CNN
	1    8300 4700
	1    0    0    -1  
$EndComp
Wire Wire Line
	8200 4500 8300 4500
Wire Wire Line
	8300 4500 8300 4550
Wire Wire Line
	7750 4950 8300 4950
Wire Wire Line
	8300 4850 8300 4950
Connection ~ 8300 4950
$Comp
L Device:L L1
U 1 1 5F49B53E
P 8700 4950
F 0 "L1" V 8800 5050 50  0000 C CNN
F 1 "5.1u" V 8650 4900 50  0000 C CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 8700 4950 50  0001 C CNN
F 3 "~" H 8700 4950 50  0001 C CNN
	1    8700 4950
	0    -1   -1   0   
$EndComp
Wire Wire Line
	8300 4950 8550 4950
$Comp
L Device:R_Small_US R3
U 1 1 5F49CDE0
P 8050 5300
F 0 "R3" V 8000 5200 50  0000 C CNN
F 1 "51.1k" V 8150 5300 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8050 5300 50  0001 C CNN
F 3 "~" H 8050 5300 50  0001 C CNN
	1    8050 5300
	0    1    1    0   
$EndComp
$Comp
L Device:R_Small_US R6
U 1 1 5F49E0FF
P 8650 5300
F 0 "R6" V 8600 5200 50  0000 C CNN
F 1 "41.2k" V 8750 5300 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8650 5300 50  0001 C CNN
F 3 "~" H 8650 5300 50  0001 C CNN
	1    8650 5300
	0    1    1    0   
$EndComp
Wire Wire Line
	8850 4950 8950 4950
Wire Wire Line
	8950 4950 8950 5300
Wire Wire Line
	8950 5300 8750 5300
Wire Wire Line
	7950 5300 7750 5300
Wire Wire Line
	8550 5300 8350 5300
Wire Wire Line
	6900 5600 8350 5600
Wire Wire Line
	8350 5600 8350 5550
Connection ~ 6900 5600
Wire Wire Line
	8350 5350 8350 5300
Connection ~ 8350 5300
Wire Wire Line
	8350 5300 8150 5300
$Comp
L Device:C C8
U 1 1 5F4A5C16
P 9200 5150
F 0 "C8" H 9100 5250 50  0000 L CNN
F 1 "0.1u" V 9250 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9238 5000 50  0001 C CNN
F 3 "~" H 9200 5150 50  0001 C CNN
	1    9200 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C9
U 1 1 5F4A7C03
P 9450 5150
F 0 "C9" H 9350 5250 50  0000 L CNN
F 1 "1u" V 9500 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9488 5000 50  0001 C CNN
F 3 "~" H 9450 5150 50  0001 C CNN
	1    9450 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C10
U 1 1 5F4A81F5
P 9700 5150
F 0 "C10" H 9600 5250 50  0000 L CNN
F 1 "10u" V 9750 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9738 5000 50  0001 C CNN
F 3 "~" H 9700 5150 50  0001 C CNN
	1    9700 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C11
U 1 1 5F4A86EF
P 9950 5150
F 0 "C11" H 9850 5250 50  0000 L CNN
F 1 "10u" V 10000 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 9988 5000 50  0001 C CNN
F 3 "~" H 9950 5150 50  0001 C CNN
	1    9950 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C12
U 1 1 5F4A89D5
P 10200 5150
F 0 "C12" H 10100 5250 50  0000 L CNN
F 1 "10u" V 10250 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 10238 5000 50  0001 C CNN
F 3 "~" H 10200 5150 50  0001 C CNN
	1    10200 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C13
U 1 1 5F4A8D30
P 10450 5150
F 0 "C13" H 10350 5250 50  0000 L CNN
F 1 "4.7" V 10500 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 10488 5000 50  0001 C CNN
F 3 "~" H 10450 5150 50  0001 C CNN
	1    10450 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C14
U 1 1 5F4A9262
P 10700 5150
F 0 "C14" H 10600 5250 50  0000 L CNN
F 1 "4.7" V 10750 4850 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 10738 5000 50  0001 C CNN
F 3 "~" H 10700 5150 50  0001 C CNN
	1    10700 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:CP C15
U 1 1 5F4A96BD
P 10950 5150
F 0 "C15" H 11068 5196 50  0000 L CNN
F 1 "220u" H 11068 5105 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x3.9" H 10988 5000 50  0001 C CNN
F 3 "~" H 10950 5150 50  0001 C CNN
	1    10950 5150
	1    0    0    -1  
$EndComp
Wire Wire Line
	8950 4950 9200 4950
Wire Wire Line
	10950 4950 10950 5000
Connection ~ 8950 4950
Wire Wire Line
	10700 4950 10700 5000
Connection ~ 10700 4950
Wire Wire Line
	10700 4950 10950 4950
Wire Wire Line
	10450 4950 10450 5000
Connection ~ 10450 4950
Wire Wire Line
	10450 4950 10700 4950
Wire Wire Line
	10200 4950 10200 5000
Connection ~ 10200 4950
Wire Wire Line
	10200 4950 10450 4950
Wire Wire Line
	9950 4950 9950 5000
Connection ~ 9950 4950
Wire Wire Line
	9950 4950 10200 4950
Wire Wire Line
	9700 4950 9700 5000
Connection ~ 9700 4950
Wire Wire Line
	9700 4950 9950 4950
Wire Wire Line
	9450 4950 9450 5000
Connection ~ 9450 4950
Wire Wire Line
	9450 4950 9700 4950
Wire Wire Line
	9200 4950 9200 5000
Connection ~ 9200 4950
Wire Wire Line
	9200 4950 9450 4950
Wire Wire Line
	10950 5600 10950 5300
Connection ~ 8350 5600
Wire Wire Line
	10700 5300 10700 5600
Wire Wire Line
	8350 5600 9200 5600
Connection ~ 10700 5600
Wire Wire Line
	10700 5600 10950 5600
Wire Wire Line
	10450 5300 10450 5600
Connection ~ 10450 5600
Wire Wire Line
	10450 5600 10700 5600
Wire Wire Line
	10200 5300 10200 5600
Connection ~ 10200 5600
Wire Wire Line
	10200 5600 10450 5600
Wire Wire Line
	9950 5300 9950 5600
Connection ~ 9950 5600
Wire Wire Line
	9950 5600 10200 5600
Wire Wire Line
	9700 5300 9700 5600
Connection ~ 9700 5600
Wire Wire Line
	9700 5600 9950 5600
Wire Wire Line
	9450 5300 9450 5600
Connection ~ 9450 5600
Wire Wire Line
	9450 5600 9700 5600
Wire Wire Line
	9200 5300 9200 5600
Connection ~ 9200 5600
Wire Wire Line
	9200 5600 9450 5600
$Comp
L power:+5V #PWR0105
U 1 1 5F4C7006
P 10950 4800
F 0 "#PWR0105" H 10950 4650 50  0001 C CNN
F 1 "+5V" H 10965 4973 50  0000 C CNN
F 2 "" H 10950 4800 50  0001 C CNN
F 3 "" H 10950 4800 50  0001 C CNN
	1    10950 4800
	1    0    0    -1  
$EndComp
Wire Wire Line
	10950 4950 10950 4800
Connection ~ 10950 4950
$Comp
L Device:R_Small_US R5
U 1 1 5F4A1A22
P 8350 5450
F 0 "R5" H 8250 5550 50  0000 C CNN
F 1 "7.68k" V 8450 5450 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 8350 5450 50  0001 C CNN
F 3 "~" H 8350 5450 50  0001 C CNN
	1    8350 5450
	-1   0    0    1   
$EndComp
Text Notes 8050 5200 0    50   ~ 0
0.25% or better
$Comp
L power:VBUS #PWR0106
U 1 1 5F4CAEEE
P 16650 2400
F 0 "#PWR0106" H 16650 2250 50  0001 C CNN
F 1 "VBUS" V 16650 2650 50  0000 C CNN
F 2 "" H 16650 2400 50  0001 C CNN
F 3 "" H 16650 2400 50  0001 C CNN
	1    16650 2400
	1    0    0    -1  
$EndComp
$Comp
L power:VBUS #PWR0107
U 1 1 5F4CD111
P 15100 2400
F 0 "#PWR0107" H 15100 2250 50  0001 C CNN
F 1 "VBUS" V 15115 2573 50  0000 C CNN
F 2 "" H 15100 2400 50  0001 C CNN
F 3 "" H 15100 2400 50  0001 C CNN
	1    15100 2400
	1    0    0    -1  
$EndComp
$Comp
L Device:R_Small_US R8
U 1 1 5F4DB109
P 14400 2400
F 0 "R8" H 14468 2446 50  0000 L CNN
F 1 "100k" H 14468 2355 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 14400 2400 50  0001 C CNN
F 3 "~" H 14400 2400 50  0001 C CNN
	1    14400 2400
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0108
U 1 1 5F4ED0A2
P 15100 3500
F 0 "#PWR0108" H 15100 3250 50  0001 C CNN
F 1 "GND" H 15105 3327 50  0000 C CNN
F 2 "" H 15100 3500 50  0001 C CNN
F 3 "" H 15100 3500 50  0001 C CNN
	1    15100 3500
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0109
U 1 1 5F4ED5D1
P 16650 3500
F 0 "#PWR0109" H 16650 3250 50  0001 C CNN
F 1 "GND" H 16655 3327 50  0000 C CNN
F 2 "" H 16650 3500 50  0001 C CNN
F 3 "" H 16650 3500 50  0001 C CNN
	1    16650 3500
	1    0    0    -1  
$EndComp
Wire Wire Line
	16650 3400 16650 3500
Wire Wire Line
	15100 3400 15100 3500
Text GLabel 17050 2600 2    50   Input ~ 0
ML+
Text GLabel 17050 3200 2    50   Input ~ 0
ML-
Wire Wire Line
	4100 2850 4150 2850
Wire Wire Line
	4100 3450 4150 3450
Text GLabel 15500 3200 2    50   Input ~ 0
MR-
Text GLabel 15500 2600 2    50   Input ~ 0
MR+
$Comp
L Connector:Conn_01x03_Male J4
U 1 1 5EE96798
P 2800 1450
F 0 "J4" H 2908 1731 50  0000 C CNN
F 1 "LineSensor" H 2908 1640 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 2800 1450 50  0001 C CNN
F 3 "~" H 2800 1450 50  0001 C CNN
	1    2800 1450
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x03_Male J3
U 1 1 5EE97251
P 2800 1000
F 0 "J3" H 2908 1281 50  0000 C CNN
F 1 "LineSensor" H 2908 1190 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 2800 1000 50  0001 C CNN
F 3 "~" H 2800 1000 50  0001 C CNN
	1    2800 1000
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x04_Male J7
U 1 1 5EE97506
P 5100 -250
F 0 "J7" H 5208 31  50  0000 C CNN
F 1 "Ultrasonic." H 5208 -60 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical" H 5100 -250 50  0001 C CNN
F 3 "~" H 5100 -250 50  0001 C CNN
	1    5100 -250
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x12_Female J5
U 1 1 5EEA014D
P 2850 2550
F 0 "J5" H 2878 2526 50  0000 L CNN
F 1 "THING" H 2878 2435 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x12_P2.54mm_Vertical" H 2850 2550 50  0001 C CNN
F 3 "~" H 2850 2550 50  0001 C CNN
	1    2850 2550
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x06_Male J12
U 1 1 5EEA248E
P 12900 1650
F 0 "J12" H 13008 2031 50  0000 C CNN
F 1 "ROMI-Encoder" H 13008 1940 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical" H 12900 1650 50  0001 C CNN
F 3 "~" H 12900 1650 50  0001 C CNN
	1    12900 1650
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x06_Male J13
U 1 1 5EEA38A0
P 12900 3500
F 0 "J13" H 13008 3881 50  0000 C CNN
F 1 "ROMI-Encoder" H 13008 3790 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical" H 12900 3500 50  0001 C CNN
F 3 "~" H 12900 3500 50  0001 C CNN
	1    12900 3500
	1    0    0    -1  
$EndComp
Text Notes 12700 1500 0    50   ~ 0
GND
Text Notes 12700 1600 0    50   ~ 0
ELA
Text Notes 12700 1700 0    50   ~ 0
ELB
Text Notes 12550 1800 0    50   ~ 0
VCCENC
Text Notes 12700 1900 0    50   ~ 0
ML+
Text Notes 12700 2000 0    50   ~ 0
ML-
Text Notes 12700 3350 0    50   ~ 0
GND
Text Notes 12700 3450 0    50   ~ 0
ELA
Text Notes 12700 3550 0    50   ~ 0
ELB
Text Notes 12550 3650 0    50   ~ 0
VCCENC
Text Notes 12700 3750 0    50   ~ 0
ML+
Text Notes 12700 3850 0    50   ~ 0
ML-
Text GLabel 4650 2050 2    50   Input ~ 0
GPIO21
Text GLabel 4650 2150 2    50   Input ~ 0
GPIO17
Text GLabel 4650 2250 2    50   Input ~ 0
GPIO16
Text GLabel 4650 2350 2    50   Input ~ 0
GPIO19
Text GLabel 4650 2450 2    50   Input ~ 0
GPIO18
Text GLabel 4650 2550 2    50   Input ~ 0
GPIO5
Text GLabel 4650 2650 2    50   Input ~ 0
GPIO4
Text GLabel 4650 2750 2    50   Input ~ 0
GPIO36
Text GLabel 4650 2850 2    50   Input ~ 0
GPIO39
Text GLabel 4650 2950 2    50   Input ~ 0
GPIO34
Text GLabel 4650 3050 2    50   Input ~ 0
GPIO25
Text GLabel 4650 3150 2    50   Input ~ 0
GPIO26
$Comp
L power:GND #PWR0110
U 1 1 5EEB6068
P 4950 3250
F 0 "#PWR0110" H 4950 3000 50  0001 C CNN
F 1 "GND" V 4955 3122 50  0000 R CNN
F 2 "" H 4950 3250 50  0001 C CNN
F 3 "" H 4950 3250 50  0001 C CNN
	1    4950 3250
	0    -1   -1   0   
$EndComp
$Comp
L power:+3.3V #PWR0111
U 1 1 5EEB70F6
P 4950 3450
F 0 "#PWR0111" H 4950 3300 50  0001 C CNN
F 1 "+3.3V" V 4965 3578 50  0000 L CNN
F 2 "" H 4950 3450 50  0001 C CNN
F 3 "" H 4950 3450 50  0001 C CNN
	1    4950 3450
	0    1    1    0   
$EndComp
Text GLabel 2550 2050 0    50   Input ~ 0
GPIO23
Text GLabel 2550 2150 0    50   Input ~ 0
GPIO22
Text GLabel 2550 2250 0    50   Input ~ 0
GPIO14
Text GLabel 2550 2350 0    50   Input ~ 0
GPIO32
Text GLabel 2550 2450 0    50   Input ~ 0
GPIO15
Text GLabel 2550 2550 0    50   Input ~ 0
GPIO33
Text GLabel 2550 2650 0    50   Input ~ 0
GPIO27
Text GLabel 2550 2750 0    50   Input ~ 0
GPIO12
Text GLabel 2550 2850 0    50   Input ~ 0
GPIO13
$Comp
L power:+5V #PWR0112
U 1 1 5EEBA0E4
P 2150 2950
F 0 "#PWR0112" H 2150 2800 50  0001 C CNN
F 1 "+5V" V 2165 3078 50  0000 L CNN
F 2 "" H 2150 2950 50  0001 C CNN
F 3 "" H 2150 2950 50  0001 C CNN
	1    2150 2950
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2650 2050 2550 2050
Wire Wire Line
	2650 2150 2550 2150
Wire Wire Line
	2650 2250 2550 2250
Wire Wire Line
	2650 2350 2550 2350
Wire Wire Line
	2650 2450 2550 2450
Wire Wire Line
	2650 2550 2550 2550
Wire Wire Line
	2650 2650 2550 2650
Wire Wire Line
	2650 2750 2550 2750
Wire Wire Line
	2650 2850 2550 2850
Wire Wire Line
	4550 2050 4650 2050
Wire Wire Line
	4550 2150 4650 2150
Wire Wire Line
	4550 2250 4650 2250
Wire Wire Line
	4550 2350 4650 2350
Wire Wire Line
	4550 2450 4650 2450
Wire Wire Line
	4550 2550 4650 2550
Wire Wire Line
	4550 2650 4650 2650
Wire Wire Line
	4550 2750 4650 2750
Wire Wire Line
	4550 2850 4650 2850
Wire Wire Line
	4550 2950 4650 2950
Wire Wire Line
	4550 3050 4650 3050
Wire Wire Line
	4550 3150 4650 3150
Wire Wire Line
	4950 3250 4550 3250
Wire Wire Line
	4550 3450 4950 3450
$Comp
L power:GND #PWR0113
U 1 1 5EF5EACD
P 13600 3300
F 0 "#PWR0113" H 13600 3050 50  0001 C CNN
F 1 "GND" V 13605 3172 50  0000 R CNN
F 2 "" H 13600 3300 50  0001 C CNN
F 3 "" H 13600 3300 50  0001 C CNN
	1    13600 3300
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR0114
U 1 1 5EF66105
P 13650 1450
F 0 "#PWR0114" H 13650 1200 50  0001 C CNN
F 1 "GND" V 13655 1322 50  0000 R CNN
F 2 "" H 13650 1450 50  0001 C CNN
F 3 "" H 13650 1450 50  0001 C CNN
	1    13650 1450
	0    -1   -1   0   
$EndComp
Text GLabel 13650 1650 2    50   Input ~ 0
GPIO27
Text GLabel 13650 1550 2    50   Input ~ 0
GPIO26
Text GLabel 5700 -150 2    50   Input ~ 0
GPIO17
Text GLabel 6100 -300 2    50   Input ~ 0
GPIO16
Wire Wire Line
	13650 1450 13100 1450
Wire Wire Line
	13600 3300 13100 3300
Text GLabel 16250 3000 0    50   Input ~ 0
GPIO12
Text GLabel 16250 2900 0    50   Input ~ 0
GPIO25
Text GLabel 14700 2900 0    50   Input ~ 0
GPIO4
Text GLabel 14700 3000 0    50   Input ~ 0
GPIO13
$Comp
L Connector:Conn_01x04_Male J1
U 1 1 5F02C6DF
P 1750 1100
F 0 "J1" H 1858 1381 50  0000 C CNN
F 1 "ServoAnalog" H 1858 1290 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical" H 1750 1100 50  0001 C CNN
F 3 "~" H 1750 1100 50  0001 C CNN
	1    1750 1100
	1    0    0    -1  
$EndComp
Text GLabel 2050 1200 2    50   Input ~ 0
GPIO33
Text GLabel 2050 1300 2    50   Input ~ 0
GPIO34
$Comp
L power:+5V #PWR0115
U 1 1 5F02EA50
P 2050 1100
F 0 "#PWR0115" H 2050 950 50  0001 C CNN
F 1 "+5V" V 2065 1228 50  0000 L CNN
F 2 "" H 2050 1100 50  0001 C CNN
F 3 "" H 2050 1100 50  0001 C CNN
	1    2050 1100
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0116
U 1 1 5F02F2FA
P 2050 1000
F 0 "#PWR0116" H 2050 750 50  0001 C CNN
F 1 "GND" V 2055 872 50  0000 R CNN
F 2 "" H 2050 1000 50  0001 C CNN
F 3 "" H 2050 1000 50  0001 C CNN
	1    2050 1000
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2050 1000 1950 1000
Wire Wire Line
	2050 1100 1950 1100
Wire Wire Line
	1950 1200 2050 1200
Wire Wire Line
	1950 1300 2050 1300
$Comp
L power:GND #PWR0117
U 1 1 5F0659A1
P 3100 900
F 0 "#PWR0117" H 3100 650 50  0001 C CNN
F 1 "GND" V 3105 772 50  0000 R CNN
F 2 "" H 3100 900 50  0001 C CNN
F 3 "" H 3100 900 50  0001 C CNN
	1    3100 900 
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR0118
U 1 1 5F065D2D
P 3000 1350
F 0 "#PWR0118" H 3000 1100 50  0001 C CNN
F 1 "GND" V 3005 1222 50  0000 R CNN
F 2 "" H 3000 1350 50  0001 C CNN
F 3 "" H 3000 1350 50  0001 C CNN
	1    3000 1350
	0    -1   -1   0   
$EndComp
$Comp
L power:+3.3V #PWR0119
U 1 1 5F066072
P 3100 1100
F 0 "#PWR0119" H 3100 950 50  0001 C CNN
F 1 "+3.3V" V 3115 1228 50  0000 L CNN
F 2 "" H 3100 1100 50  0001 C CNN
F 3 "" H 3100 1100 50  0001 C CNN
	1    3100 1100
	0    1    1    0   
$EndComp
$Comp
L power:+3.3V #PWR0120
U 1 1 5F06675F
P 3000 1550
F 0 "#PWR0120" H 3000 1400 50  0001 C CNN
F 1 "+3.3V" V 3015 1678 50  0000 L CNN
F 2 "" H 3000 1550 50  0001 C CNN
F 3 "" H 3000 1550 50  0001 C CNN
	1    3000 1550
	0    1    1    0   
$EndComp
Text GLabel 3100 1000 2    50   Input ~ 0
GPIO36
Text GLabel 3000 1450 2    50   Input ~ 0
GPIO39
Wire Wire Line
	3100 900  3000 900 
Wire Wire Line
	3100 1000 3000 1000
Wire Wire Line
	3100 1100 3000 1100
$Comp
L power:GND #PWR0121
U 1 1 5F0BDC9A
P 5300 -50
F 0 "#PWR0121" H 5300 -300 50  0001 C CNN
F 1 "GND" V 5300 -250 50  0000 R CNN
F 2 "" H 5300 -50 50  0001 C CNN
F 3 "" H 5300 -50 50  0001 C CNN
	1    5300 -50 
	0    -1   -1   0   
$EndComp
Text GLabel 13600 3400 2    50   Input ~ 0
GPIO32
Text GLabel 13600 3500 2    50   Input ~ 0
GPIO14
$Comp
L power:+3.3V #PWR0122
U 1 1 5EEAE8DA
P 6350 900
F 0 "#PWR0122" H 6350 750 50  0001 C CNN
F 1 "+3.3V" V 6365 1028 50  0000 L CNN
F 2 "" H 6350 900 50  0001 C CNN
F 3 "" H 6350 900 50  0001 C CNN
	1    6350 900 
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0123
U 1 1 5EEAECD4
P 6350 1500
F 0 "#PWR0123" H 6350 1250 50  0001 C CNN
F 1 "GND" V 6355 1372 50  0000 R CNN
F 2 "" H 6350 1500 50  0001 C CNN
F 3 "" H 6350 1500 50  0001 C CNN
	1    6350 1500
	0    -1   -1   0   
$EndComp
Text GLabel 14250 2600 0    50   Input ~ 0
GPIO15
Text GLabel 6350 1100 2    50   Input ~ 0
GPIO19
Text GLabel 6350 1200 2    50   Input ~ 0
GPIO18
Text GLabel 6350 1300 2    50   Input ~ 0
GPIO5
Wire Wire Line
	6350 900  6300 900 
Wire Wire Line
	6350 1000 6300 1000
Wire Wire Line
	6300 1100 6350 1100
Wire Wire Line
	6350 1200 6300 1200
Wire Wire Line
	6300 1300 6350 1300
$Comp
L Mechanical:MountingHole H1
U 1 1 5EF4C315
P 5200 3850
F 0 "H1" H 5300 3896 50  0000 L CNN
F 1 "MountingHole" H 5300 3805 50  0000 L CNN
F 2 "MountingHole:MountingHole_2.2mm_M2_DIN965" H 5200 3850 50  0001 C CNN
F 3 "~" H 5200 3850 50  0001 C CNN
	1    5200 3850
	1    0    0    -1  
$EndComp
$Comp
L Mechanical:MountingHole H2
U 1 1 5EF4C5E3
P 5200 4200
F 0 "H2" H 5300 4246 50  0000 L CNN
F 1 "MountingHole" H 5300 4155 50  0000 L CNN
F 2 "MountingHole:MountingHole_2.2mm_M2_DIN965" H 5200 4200 50  0001 C CNN
F 3 "~" H 5200 4200 50  0001 C CNN
	1    5200 4200
	1    0    0    -1  
$EndComp
Text Notes 8650 -1150 0    50   ~ 0
trig
Text Notes 8650 -1050 0    50   ~ 0
rcho
$Comp
L Connector:Conn_01x19_Female J2
U 1 1 5F01D059
P 1950 2950
F 0 "J2" H 1978 2930 50  0000 L CNN
F 1 "Conn_01x19_Female" H 1978 2885 50  0001 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x19_P2.54mm_Vertical" H 1950 2950 50  0001 C CNN
F 3 "~" H 1950 2950 50  0001 C CNN
	1    1950 2950
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0124
U 1 1 5F044560
P 1550 2050
F 0 "#PWR0124" H 1550 1900 50  0001 C CNN
F 1 "+3.3V" V 1565 2178 50  0000 L CNN
F 2 "" H 1550 2050 50  0001 C CNN
F 3 "" H 1550 2050 50  0001 C CNN
	1    1550 2050
	0    -1   -1   0   
$EndComp
Text GLabel 1700 2250 0    50   Input ~ 0
GPIO36
Text GLabel 1700 2350 0    50   Input ~ 0
GPIO39
Text GLabel 1700 2450 0    50   Input ~ 0
GPIO34
Text GLabel 1700 2550 0    50   Input ~ 0
GPIO35
Text GLabel 1700 2650 0    50   Input ~ 0
GPIO32
Text GLabel 1700 2750 0    50   Input ~ 0
GPIO33
Text GLabel 1700 2850 0    50   Input ~ 0
GPIO25
Text GLabel 1700 2950 0    50   Input ~ 0
GPIO26
Text GLabel 1700 3050 0    50   Input ~ 0
GPIO27
Text GLabel 1700 3150 0    50   Input ~ 0
GPIO14
Text GLabel 1700 3250 0    50   Input ~ 0
GPIO12
$Comp
L power:GND #PWR0125
U 1 1 5F04AAFB
P 1300 3350
F 0 "#PWR0125" H 1300 3100 50  0001 C CNN
F 1 "GND" V 1305 3222 50  0000 R CNN
F 2 "" H 1300 3350 50  0001 C CNN
F 3 "" H 1300 3350 50  0001 C CNN
	1    1300 3350
	0    1    1    0   
$EndComp
Text GLabel 1700 3450 0    50   Input ~ 0
GPIO13
$Comp
L power:+5V #PWR0126
U 1 1 5F04D5C5
P 1350 3850
F 0 "#PWR0126" H 1350 3700 50  0001 C CNN
F 1 "+5V" V 1365 3978 50  0000 L CNN
F 2 "" H 1350 3850 50  0001 C CNN
F 3 "" H 1350 3850 50  0001 C CNN
	1    1350 3850
	0    -1   -1   0   
$EndComp
Wire Wire Line
	1750 3850 1350 3850
Wire Wire Line
	1300 3350 1750 3350
$Comp
L power:GND #PWR0127
U 1 1 5F0613E4
P 3750 2050
F 0 "#PWR0127" H 3750 1800 50  0001 C CNN
F 1 "GND" V 3755 1922 50  0000 R CNN
F 2 "" H 3750 2050 50  0001 C CNN
F 3 "" H 3750 2050 50  0001 C CNN
	1    3750 2050
	0    1    -1   0   
$EndComp
Text GLabel 3950 2150 0    50   Input ~ 0
GPIO23
Text GLabel 3950 2250 0    50   Input ~ 0
GPIO22
Text GLabel 3950 2350 0    50   Input ~ 0
GPIO1
Text GLabel 3950 2450 0    50   Input ~ 0
GPIO3
Text GLabel 3950 2550 0    50   Input ~ 0
GPIO21
Text GLabel 3950 2750 0    50   Input ~ 0
GPIO19
Text GLabel 3950 2850 0    50   Input ~ 0
GPIO18
Text GLabel 3950 2950 0    50   Input ~ 0
GPIO5
Text GLabel 3950 3050 0    50   Input ~ 0
GPIO17
Text GLabel 3950 3150 0    50   Input ~ 0
GPIO16
Text GLabel 3950 3250 0    50   Input ~ 0
GPIO4
Text GLabel 3950 3350 0    50   Input ~ 0
GPIO0
Text GLabel 3950 3450 0    50   Input ~ 0
GPIO2
Text GLabel 3950 3550 0    50   Input ~ 0
GPIO15
$Comp
L power:GND #PWR0128
U 1 1 5F072993
P 3750 2650
F 0 "#PWR0128" H 3750 2400 50  0001 C CNN
F 1 "GND" V 3755 2522 50  0000 R CNN
F 2 "" H 3750 2650 50  0001 C CNN
F 3 "" H 3750 2650 50  0001 C CNN
	1    3750 2650
	0    1    -1   0   
$EndComp
Wire Wire Line
	4050 2050 3750 2050
Wire Wire Line
	4050 2650 3750 2650
Wire Wire Line
	4050 2150 3950 2150
Wire Wire Line
	4050 2250 3950 2250
Wire Wire Line
	4050 2350 3950 2350
Wire Wire Line
	3950 2450 4050 2450
Wire Wire Line
	4050 2550 3950 2550
Wire Wire Line
	3950 2750 4050 2750
Wire Wire Line
	4050 2850 3950 2850
Wire Wire Line
	3950 2950 4050 2950
Wire Wire Line
	3950 3050 4050 3050
Wire Wire Line
	3950 3150 4050 3150
Wire Wire Line
	3950 3250 4050 3250
Wire Wire Line
	3950 3350 4050 3350
Wire Wire Line
	3950 3450 4050 3450
Wire Wire Line
	3950 3550 4050 3550
Wire Wire Line
	3950 3650 4050 3650
Wire Wire Line
	3950 3750 4050 3750
Wire Wire Line
	3950 3850 4050 3850
Wire Wire Line
	1750 2050 1550 2050
Wire Wire Line
	1750 2250 1700 2250
Wire Wire Line
	1750 2350 1700 2350
Wire Wire Line
	1750 2450 1700 2450
Wire Wire Line
	1750 2550 1700 2550
Wire Wire Line
	1750 2650 1700 2650
Wire Wire Line
	1750 2750 1700 2750
Wire Wire Line
	1750 2850 1700 2850
Wire Wire Line
	1750 2950 1700 2950
Wire Wire Line
	1750 3450 1700 3450
Wire Wire Line
	1750 3550 1700 3550
Wire Wire Line
	1700 3650 1750 3650
Wire Wire Line
	1750 3750 1700 3750
Text GLabel 1700 2150 0    50   Input ~ 0
EN
Wire Wire Line
	1750 2150 1700 2150
Text Notes 12350 1450 0    50   ~ 0
Left
Text Notes 12500 3450 2    50   ~ 0
Right
$Comp
L Connector:Conn_01x04_Male J9
U 1 1 5F351CBA
P 7700 1200
F 0 "J9" H 7808 1481 50  0000 C CNN
F 1 "i2c" H 7808 1390 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical" H 7700 1200 50  0001 C CNN
F 3 "~" H 7700 1200 50  0001 C CNN
	1    7700 1200
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0129
U 1 1 5F351CC0
P 7950 1100
F 0 "#PWR0129" H 7950 950 50  0001 C CNN
F 1 "+3.3V" V 7965 1228 50  0000 L CNN
F 2 "" H 7950 1100 50  0001 C CNN
F 3 "" H 7950 1100 50  0001 C CNN
	1    7950 1100
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0130
U 1 1 5F351CC6
P 7950 1400
F 0 "#PWR0130" H 7950 1150 50  0001 C CNN
F 1 "GND" V 7955 1272 50  0000 R CNN
F 2 "" H 7950 1400 50  0001 C CNN
F 3 "" H 7950 1400 50  0001 C CNN
	1    7950 1400
	0    -1   -1   0   
$EndComp
Wire Wire Line
	7950 1100 7900 1100
Wire Wire Line
	7950 1400 7900 1400
Text GLabel 8000 1200 2    50   Input ~ 0
GPIO22
Wire Wire Line
	8000 1200 7900 1200
Wire Wire Line
	8000 1300 7900 1300
NoConn ~ 1250 2750
NoConn ~ 1250 2450
NoConn ~ 2150 2550
NoConn ~ 5050 2950
NoConn ~ 1250 2250
NoConn ~ 1250 2300
NoConn ~ 5050 2750
NoConn ~ 5050 2850
NoConn ~ 2150 2250
NoConn ~ 2150 2350
NoConn ~ 1250 2650
NoConn ~ 1250 3150
NoConn ~ 3550 3050
NoConn ~ 3550 3150
NoConn ~ 5050 2150
NoConn ~ 5050 2250
NoConn ~ 1250 3050
NoConn ~ 1250 2950
NoConn ~ 2150 2650
NoConn ~ 5050 3150
NoConn ~ 5050 2650
NoConn ~ 2150 2850
NoConn ~ 3550 3250
NoConn ~ 5050 3050
NoConn ~ 2150 2750
NoConn ~ 3550 3550
NoConn ~ 2150 2450
Text Notes 8650 2900 0    50   ~ 0
Free: 23 22 21 19 18 5
Text GLabel 3200 6550 0    50   Input ~ 0
GPIO23
Text GLabel 3800 6550 2    50   Input ~ 0
GPIO21
$Comp
L power:+5V #PWR0131
U 1 1 5F1AA820
P 5300 -350
F 0 "#PWR0131" H 5300 -500 50  0001 C CNN
F 1 "+5V" H 5315 -177 50  0000 C CNN
F 2 "" H 5300 -350 50  0001 C CNN
F 3 "" H 5300 -350 50  0001 C CNN
	1    5300 -350
	0    1    1    0   
$EndComp
$Comp
L Device:R_Small R1
U 1 1 5F1ADAC2
P 5800 -300
F 0 "R1" V 5604 -300 50  0000 C CNN
F 1 "10k" V 5695 -300 50  0000 C CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" H 5800 -300 50  0001 C CNN
F 3 "~" H 5800 -300 50  0001 C CNN
	1    5800 -300
	0    1    1    0   
$EndComp
$Comp
L Device:D_Zener D1
U 1 1 5F1ECB50
P 6000 -650
F 0 "D1" V 6000 -571 50  0000 L CNN
F 1 "D_Zener" V 6045 -571 50  0001 L CNN
F 2 "Diode_SMD:D_SOD-323F" H 6000 -650 50  0001 C CNN
F 3 "~" H 6000 -650 50  0001 C CNN
	1    6000 -650
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR0132
U 1 1 5F1EDCD3
P 6000 -850
F 0 "#PWR0132" H 6000 -1100 50  0001 C CNN
F 1 "GND" V 6005 -978 50  0000 R CNN
F 2 "" H 6000 -850 50  0001 C CNN
F 3 "" H 6000 -850 50  0001 C CNN
	1    6000 -850
	-1   0    0    1   
$EndComp
Wire Wire Line
	5900 -300 6000 -300
Wire Wire Line
	6000 -500 6000 -300
Connection ~ 6000 -300
Wire Wire Line
	6000 -300 6100 -300
Wire Wire Line
	6000 -850 6000 -800
$Comp
L Jumper:Jumper_3_Bridged12 JP1
U 1 1 5F229CDD
P 3500 6550
F 0 "JP1" H 3500 6754 50  0000 C CNN
F 1 "Jumper_3_Bridged12" H 3500 6663 50  0000 C CNN
F 2 "Jumper:SolderJumper-3_P1.3mm_Bridged12_RoundedPad1.0x1.5mm" H 3500 6550 50  0001 C CNN
F 3 "~" H 3500 6550 50  0001 C CNN
	1    3500 6550
	-1   0    0    1   
$EndComp
Wire Wire Line
	3800 6550 3750 6550
Wire Wire Line
	3500 6700 3500 6750
Wire Wire Line
	3250 6550 3200 6550
Text GLabel 6350 1000 2    50   Input ~ 0
GPIO23
Text GLabel 8000 1300 2    50   Input ~ 0
SDA
Text GLabel 3500 6400 1    50   Input ~ 0
SDA
$Comp
L Device:C C2
U 1 1 5F480A06
P 5550 5000
F 0 "C2" H 5665 5046 50  0000 L CNN
F 1 "10u" H 5665 4955 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 5588 4850 50  0001 C CNN
F 3 "~" H 5550 5000 50  0001 C CNN
	1    5550 5000
	1    0    0    -1  
$EndComp
Wire Wire Line
	2650 2950 2150 2950
Wire Wire Line
	8000 -1200 7850 -1200
Wire Wire Line
	7850 -1200 7850 -1300
Wire Wire Line
	5250 4850 5250 5600
Connection ~ 5250 5600
Wire Wire Line
	5700 -300 5600 -300
Wire Wire Line
	5600 -300 5600 -250
Wire Wire Line
	5600 -250 5300 -250
Wire Wire Line
	5700 -150 5300 -150
Wire Wire Line
	13100 3500 13600 3500
Wire Wire Line
	13100 3400 13600 3400
Wire Wire Line
	13100 1650 13650 1650
Wire Wire Line
	13100 1550 13650 1550
Text GLabel 13200 3700 2    50   Input ~ 0
MR+
Text GLabel 13200 3800 2    50   Input ~ 0
MR-
Text GLabel 13200 1850 2    50   Input ~ 0
ML+
Text GLabel 13200 1950 2    50   Input ~ 0
ML-
$Comp
L power:+3.3V #PWR0133
U 1 1 5F67EF4B
P 13200 3600
F 0 "#PWR0133" H 13200 3450 50  0001 C CNN
F 1 "+3.3V" V 13215 3728 50  0000 L CNN
F 2 "" H 13200 3600 50  0001 C CNN
F 3 "" H 13200 3600 50  0001 C CNN
	1    13200 3600
	0    1    1    0   
$EndComp
$Comp
L power:+3.3V #PWR0134
U 1 1 5F68079A
P 13200 1750
F 0 "#PWR0134" H 13200 1600 50  0001 C CNN
F 1 "+3.3V" V 13215 1878 50  0000 L CNN
F 2 "" H 13200 1750 50  0001 C CNN
F 3 "" H 13200 1750 50  0001 C CNN
	1    13200 1750
	0    1    1    0   
$EndComp
Wire Wire Line
	13100 1750 13200 1750
Wire Wire Line
	13200 1850 13100 1850
Wire Wire Line
	13100 1950 13200 1950
Wire Wire Line
	13200 3600 13100 3600
Wire Wire Line
	13100 3700 13200 3700
Wire Wire Line
	13200 3800 13100 3800
$Comp
L power:+3.3V #PWR0135
U 1 1 5F6FB58F
P 15000 2400
F 0 "#PWR0135" H 15000 2250 50  0001 C CNN
F 1 "+3.3V" V 15015 2528 50  0000 L CNN
F 2 "" H 15000 2400 50  0001 C CNN
F 3 "" H 15000 2400 50  0001 C CNN
	1    15000 2400
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0136
U 1 1 5F70E909
P 16550 2400
F 0 "#PWR0136" H 16550 2250 50  0001 C CNN
F 1 "+3.3V" V 16565 2528 50  0000 L CNN
F 2 "" H 16550 2400 50  0001 C CNN
F 3 "" H 16550 2400 50  0001 C CNN
	1    16550 2400
	1    0    0    -1  
$EndComp
$Comp
L power:+3.3V #PWR0137
U 1 1 5F70F933
P 14400 2200
F 0 "#PWR0137" H 14400 2050 50  0001 C CNN
F 1 "+3.3V" V 14415 2328 50  0000 L CNN
F 2 "" H 14400 2200 50  0001 C CNN
F 3 "" H 14400 2200 50  0001 C CNN
	1    14400 2200
	1    0    0    -1  
$EndComp
Wire Wire Line
	14400 2200 14400 2300
Wire Wire Line
	14700 2800 14400 2800
Wire Wire Line
	14400 2800 14400 2600
Wire Wire Line
	14400 2600 14250 2600
Wire Wire Line
	14400 2500 14400 2600
Connection ~ 14400 2600
Text GLabel 16250 2800 0    50   Input ~ 0
GPIO15
$Comp
L Connector:Conn_01x07_Female J8
U 1 1 5F79F56E
P 6100 1200
F 0 "J8" H 5992 1685 50  0000 C CNN
F 1 "SPI" H 5992 1594 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x07_P2.54mm_Vertical" H 6100 1200 50  0001 C CNN
F 3 "~" H 6100 1200 50  0001 C CNN
	1    6100 1200
	-1   0    0    -1  
$EndComp
Text GLabel 6350 1400 2    50   Input ~ 0
GPIO2
Wire Wire Line
	6350 1500 6300 1500
Wire Wire Line
	6350 1400 6300 1400
$Comp
L Connector:Conn_01x06_Male J10
U 1 1 5F7D63BD
P 10150 1500
F 0 "J10" H 10258 1881 50  0000 C CNN
F 1 "LIDAR_DATA" H 10258 1790 50  0000 C CNN
F 2 "unified:JST_BM06B-GHS-TBT(LF)(SN)(N)" H 10150 1500 50  0001 C CNN
F 3 "~" H 10150 1500 50  0001 C CNN
	1    10150 1500
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x02_Male J11
U 1 1 5F7D9E2D
P 10150 2150
F 0 "J11" H 10258 2331 50  0000 C CNN
F 1 "LIDAR_MOTOR" H 10258 2240 50  0000 C CNN
F 2 "unified:JST_SM02B-PASS-TBT(LF)(SN)" H 10150 2150 50  0001 C CNN
F 3 "~" H 10150 2150 50  0001 C CNN
	1    10150 2150
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR0138
U 1 1 5F7DA3E0
P 10500 1800
F 0 "#PWR0138" H 10500 1650 50  0001 C CNN
F 1 "+5V" H 10515 1973 50  0000 C CNN
F 2 "" H 10500 1800 50  0001 C CNN
F 3 "" H 10500 1800 50  0001 C CNN
	1    10500 1800
	0    1    1    0   
$EndComp
$Comp
L power:+5V #PWR0139
U 1 1 5F7DB526
P 10500 2250
F 0 "#PWR0139" H 10500 2100 50  0001 C CNN
F 1 "+5V" H 10515 2423 50  0000 C CNN
F 2 "" H 10500 2250 50  0001 C CNN
F 3 "" H 10500 2250 50  0001 C CNN
	1    10500 2250
	0    1    1    0   
$EndComp
Wire Wire Line
	10350 1600 11150 1600
Wire Wire Line
	11150 1600 11150 2150
Wire Wire Line
	11150 2150 10350 2150
Wire Wire Line
	10500 1800 10350 1800
Wire Wire Line
	10500 2250 10350 2250
Text GLabel 10350 1700 2    50   Input ~ 0
GPIO16
Text GLabel 10350 1400 2    50   Input ~ 0
GPIO17
$Comp
L power:GND #PWR0140
U 1 1 5F80E676
P 10600 1500
F 0 "#PWR0140" H 10600 1250 50  0001 C CNN
F 1 "GND" V 10605 1372 50  0000 R CNN
F 2 "" H 10600 1500 50  0001 C CNN
F 3 "" H 10600 1500 50  0001 C CNN
	1    10600 1500
	0    -1   -1   0   
$EndComp
Wire Wire Line
	10350 1500 10600 1500
$Comp
L Connector_Generic:Conn_02x19_Odd_Even J6
U 1 1 5F64EE4F
P 4350 2950
F 0 "J6" H 4400 4067 50  0000 C CNN
F 1 "Conn_02x19_Odd_Even" H 4400 3976 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_2x19_P2.54mm_Vertical" H 4350 2950 50  0001 C CNN
F 3 "~" H 4350 2950 50  0001 C CNN
	1    4350 2950
	-1   0    0    -1  
$EndComp
Text Notes 8950 1550 0    50   ~ 0
BM06B-GHS-TBT(LF)(SN)(N)
Text Notes 9000 2200 0    50   ~ 0
SM02B-PASS-TBT(LF)(SN)\n
$Comp
L Transistor_FET:SiS415DNT Q2
U 1 1 5F6E7345
P 9100 -1100
F 0 "Q2" V 9443 -1100 50  0000 C CNN
F 1 "SiS415DNT" V 9352 -1100 50  0000 C CNN
F 2 "Package_SO:Vishay_PowerPAK_1212-8_Single" H 9300 -1175 50  0001 L CIN
F 3 "https://www.vishay.com/docs/63684/sis415dnt.pdf" V 9100 -1100 50  0001 L CNN
	1    9100 -1100
	0    -1   -1   0   
$EndComp
$Comp
L Transistor_FET:SiS415DNT Q1
U 1 1 5F6E9CE6
P 8200 -1100
F 0 "Q1" V 8543 -1100 50  0000 C CNN
F 1 "SiS415DNT" V 8452 -1100 50  0000 C CNN
F 2 "Package_SO:Vishay_PowerPAK_1212-8_Single" H 8400 -1175 50  0001 L CIN
F 3 "https://www.vishay.com/docs/63684/sis415dnt.pdf" V 8200 -1100 50  0001 L CNN
	1    8200 -1100
	0    -1   -1   0   
$EndComp
$Comp
L Connector:TestPoint TP1
U 1 1 5F73093E
P 3450 4650
F 0 "TP1" V 3404 4838 50  0000 L CNN
F 1 "TestPoint" V 3495 4838 50  0000 L CNN
F 2 "unified:batterylug" H 3650 4650 50  0001 C CNN
F 3 "~" H 3650 4650 50  0001 C CNN
	1    3450 4650
	0    1    1    0   
$EndComp
$Comp
L Connector:TestPoint TP2
U 1 1 5F731413
P 3450 4850
F 0 "TP2" V 3404 5038 50  0000 L CNN
F 1 "TestPoint" V 3495 5038 50  0000 L CNN
F 2 "unified:batterylug" H 3650 4850 50  0001 C CNN
F 3 "~" H 3650 4850 50  0001 C CNN
	1    3450 4850
	0    1    1    0   
$EndComp
$Comp
L Connector:TestPoint TP3
U 1 1 5F731630
P 3450 5050
F 0 "TP3" V 3404 5238 50  0000 L CNN
F 1 "TestPoint" V 3495 5238 50  0000 L CNN
F 2 "unified:batterylug" H 3650 5050 50  0001 C CNN
F 3 "~" H 3650 5050 50  0001 C CNN
	1    3450 5050
	0    1    1    0   
$EndComp
$Comp
L Connector:TestPoint TP4
U 1 1 5F7319FF
P 3450 5250
F 0 "TP4" V 3404 5438 50  0000 L CNN
F 1 "TestPoint" V 3495 5438 50  0000 L CNN
F 2 "unified:batterylug" H 3650 5250 50  0001 C CNN
F 3 "~" H 3650 5250 50  0001 C CNN
	1    3450 5250
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0141
U 1 1 5F731C08
P 3400 5600
F 0 "#PWR0141" H 3400 5350 50  0001 C CNN
F 1 "GND" H 3405 5427 50  0000 C CNN
F 2 "" H 3400 5600 50  0001 C CNN
F 3 "" H 3400 5600 50  0001 C CNN
	1    3400 5600
	1    0    0    -1  
$EndComp
Wire Wire Line
	3450 5250 3400 5250
Wire Wire Line
	3400 5250 3400 5600
Wire Wire Line
	3450 5050 3400 5050
Wire Wire Line
	3400 5050 3400 4850
Wire Wire Line
	3400 4850 3450 4850
Wire Wire Line
	3450 4650 3400 4650
Wire Wire Line
	3400 4650 3400 4500
Wire Wire Line
	3400 4500 3900 4500
Connection ~ 5250 4500
$Comp
L power:+BATT #PWR0142
U 1 1 5F76753B
P 3900 4500
F 0 "#PWR0142" H 3900 4350 50  0001 C CNN
F 1 "+BATT" H 3915 4673 50  0000 C CNN
F 2 "" H 3900 4500 50  0001 C CNN
F 3 "" H 3900 4500 50  0001 C CNN
	1    3900 4500
	1    0    0    -1  
$EndComp
Connection ~ 3900 4500
Wire Wire Line
	3900 4500 5250 4500
$Comp
L Connector:Conn_01x12_Female J?
U 1 1 5F784A6F
P 1700 5400
F 0 "J?" H 1728 5376 50  0000 L CNN
F 1 "THING" H 1728 5285 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x12_P2.54mm_Vertical" H 1700 5400 50  0001 C CNN
F 3 "~" H 1700 5400 50  0001 C CNN
	1    1700 5400
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x12_Female J?
U 1 1 5F7855EB
P 1700 6750
F 0 "J?" H 1728 6726 50  0000 L CNN
F 1 "THING" H 1728 6635 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x12_P2.54mm_Vertical" H 1700 6750 50  0001 C CNN
F 3 "~" H 1700 6750 50  0001 C CNN
	1    1700 6750
	1    0    0    -1  
$EndComp
$EndSCHEMATC