From c0cc5b9b072262c7e247ae76993884b594999f7d Mon Sep 17 00:00:00 2001
From: John Hodge <tpg@mutabah.net>
Date: Mon, 15 Nov 2021 18:44:17 +0800
Subject: [PATCH] Misc
---
EagleProject/driverv2.brd | 716 ++++++++++++++++++--------
EagleProject/driverv2.sch | 859 ++++++++++++++++++++------------
EagleProject/eagle.epf | 3 +-
EncoderResistorNetworkSizing.py | 58 +++
4 files changed, 1094 insertions(+), 542 deletions(-)
create mode 100644 EncoderResistorNetworkSizing.py
diff --git a/EagleProject/driverv2.brd b/EagleProject/driverv2.brd
index c372338..a17a66e 100644
--- a/EagleProject/driverv2.brd
+++ b/EagleProject/driverv2.brd
@@ -172,12 +172,12 @@
</layers>
<board>
<plain>
-<wire x1="2.54" y1="25.908" x2="58.09" y2="25.908" width="0" layer="20"/>
-<wire x1="58.09" y1="25.908" x2="58.09" y2="85.08" width="0" layer="20"/>
-<wire x1="58.09" y1="85.08" x2="2.54" y2="85.08" width="0" layer="20"/>
-<wire x1="2.54" y1="85.08" x2="2.54" y2="25.908" width="0" layer="20"/>
-<dimension x1="58.166" y1="85.09" x2="58.09" y2="25.908" x3="77.21385" y3="55.474490625" textsize="1.778" layer="20"/>
-<dimension x1="2.54" y1="26.416" x2="58.09" y2="25.908" x3="30.2635875" y3="20.540321875" textsize="1.778" layer="20"/>
+<wire x1="-0.762" y1="25.908" x2="61.392" y2="25.908" width="0" layer="20"/>
+<wire x1="61.392" y1="25.908" x2="61.392" y2="85.08" width="0" layer="20"/>
+<wire x1="61.392" y1="85.08" x2="-0.762" y2="85.08" width="0" layer="20"/>
+<wire x1="-0.762" y1="85.08" x2="-0.762" y2="25.908" width="0" layer="20"/>
+<text x="36.322" y="49.276" size="1.778" layer="25">[TPG]</text>
+<text x="2.794" y="47.498" size="1.778" layer="25" rot="R90">ForceFeedback v1</text>
</plain>
<libraries>
<library name="resistor">
@@ -2523,50 +2523,6 @@ No holes, no ICSP connections.
</package>
</packages>
</library>
-<library name="con-jack">
-<description><b>Jacks</b><p>
-Power Connectors<br>
-Phone Connectors<br>
-Cinch Connectors<br>
-<author>Created by librarian@cadsoft.de</author></description>
-<packages>
-<package name="DCJ0202">
-<description><b>DC POWER JACK</b><p>
-Source: DCJ0202.pdf</description>
-<wire x1="1.65" y1="2.6" x2="-1.65" y2="2.6" width="0" layer="46"/>
-<wire x1="-1.65" y1="2.6" x2="-1.65" y2="3.6" width="0" layer="46"/>
-<wire x1="-1.65" y1="3.6" x2="1.65" y2="3.6" width="0" layer="46"/>
-<wire x1="1.65" y1="3.6" x2="1.65" y2="2.6" width="0" layer="46"/>
-<wire x1="5.3" y1="1.4" x2="4.3" y2="1.4" width="0" layer="46"/>
-<wire x1="4.3" y1="1.4" x2="4.3" y2="-1.4" width="0" layer="46"/>
-<wire x1="4.3" y1="-1.4" x2="5.3" y2="-1.4" width="0" layer="46"/>
-<wire x1="5.3" y1="-1.4" x2="5.3" y2="1.4" width="0" layer="46"/>
-<wire x1="1.4" y1="-3.5" x2="-1.4" y2="-3.5" width="0" layer="46"/>
-<wire x1="-1.4" y1="-3.5" x2="-1.4" y2="-2.5" width="0" layer="46"/>
-<wire x1="-1.4" y1="-2.5" x2="1.4" y2="-2.5" width="0" layer="46"/>
-<wire x1="1.4" y1="-2.5" x2="1.4" y2="-3.5" width="0" layer="46"/>
-<wire x1="-4.3" y1="-10.4" x2="4.3" y2="-10.4" width="0.2032" layer="21"/>
-<wire x1="4.3" y1="-10.4" x2="4.3" y2="3.9" width="0.2032" layer="51"/>
-<wire x1="4.3" y1="3.9" x2="-4.3" y2="3.9" width="0.2032" layer="51"/>
-<wire x1="-4.3" y1="3.9" x2="-4.3" y2="-10.4" width="0.2032" layer="21"/>
-<wire x1="-2.7" y1="3.9" x2="-4.3" y2="3.9" width="0.2032" layer="21"/>
-<wire x1="4.3" y1="3.9" x2="2.7" y2="3.9" width="0.2032" layer="21"/>
-<wire x1="-3" y1="-10.275" x2="-3" y2="-3" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="3" y1="-10.3" x2="3" y2="-3" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="3" y1="-3" x2="-3" y2="-3" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="-0.9" y1="-9" x2="-0.9" y2="-4.5" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="0.9" y1="-9" x2="0.9" y2="-4.5" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="-0.9" y1="-9" x2="0.9" y2="-9" width="0.2032" layer="51" curve="166.57811"/>
-<wire x1="4.3" y1="-10.4" x2="4.3" y2="-2.45" width="0.2032" layer="21"/>
-<wire x1="4.3" y1="2.3" x2="4.3" y2="3.9" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="3.1" drill="1" diameter="2" shape="long" rot="R180"/>
-<pad name="3" x="0" y="-3" drill="1" diameter="2" shape="long" rot="R180"/>
-<pad name="2" x="4.8" y="0" drill="1" diameter="2" shape="long" rot="R90"/>
-<text x="-3.81" y="5.08" size="1.27" layer="25">>NAME</text>
-<text x="-5.08" y="-10.16" size="1.27" layer="27" rot="R90">>VALUE</text>
-</package>
-</packages>
-</library>
<library name="lib">
<packages>
<package name="POLOLU-2980">
@@ -2618,24 +2574,6 @@ Source: DCJ0202.pdf</description>
</library>
<library name="altronics">
<packages>
-<package name="P2028">
-<pad name="P$1" x="-1.75" y="0" drill="0.8" shape="long" rot="R90"/>
-<pad name="P$2" x="1.75" y="0" drill="0.8" shape="long" rot="R90"/>
-<wire x1="-3.5" y1="3.5" x2="-3.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="-3.5" y1="-3.5" x2="3.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="3.5" y1="-3.5" x2="3.5" y2="3.5" width="0.127" layer="21"/>
-<wire x1="3.5" y1="3.5" x2="-3.5" y2="3.5" width="0.127" layer="21"/>
-</package>
-<package name="P2029">
-<pad name="P$1" x="0" y="0" drill="0.8" shape="long" rot="R90"/>
-<pad name="P$2" x="-3.5" y="0" drill="0.8" shape="long" rot="R90"/>
-<pad name="P$3" x="3.5" y="0" drill="0.8" shape="long" rot="R90"/>
-<wire x1="-5.5" y1="3.5" x2="-5.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="-5.5" y1="-3.5" x2="5.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="5.5" y1="-3.5" x2="5.5" y2="3.5" width="0.127" layer="21"/>
-<wire x1="5.5" y1="3.5" x2="-5.5" y2="3.5" width="0.127" layer="21"/>
-<text x="-3.81" y="3.81" size="1.27" layer="21">>NAME</text>
-</package>
<package name="P2024A">
<pad name="P$2" x="0" y="0" drill="1.3" shape="long" rot="R90"/>
<pad name="P$1" x="-2.5" y="0" drill="1.3" shape="long" rot="R90"/>
@@ -2646,6 +2584,42 @@ Source: DCJ0202.pdf</description>
<wire x1="7.5" y1="-4" x2="-5" y2="-4" width="0.127" layer="21"/>
<wire x1="-5" y1="-4" x2="-5" y2="4" width="0.127" layer="21"/>
</package>
+<package name="P3084A">
+<description>Altronics DE15 P3084A</description>
+<pad name="P8" x="0.25" y="0" drill="1.1"/>
+<pad name="P7" x="2.54" y="0" drill="1.1"/>
+<pad name="P6" x="4.83" y="0" drill="1.1"/>
+<pad name="P9" x="-2.04" y="0" drill="1.1"/>
+<pad name="P10" x="-4.33" y="0" drill="1.1"/>
+<pad name="P1" x="3.685" y="-1.99" drill="1.1"/>
+<pad name="P2" x="1.395" y="-1.99" drill="1.1"/>
+<pad name="P3" x="-0.895" y="-1.99" drill="1.1"/>
+<pad name="P4" x="-3.185" y="-1.99" drill="1.1"/>
+<pad name="P5" x="-5.475" y="-1.99" drill="1.1"/>
+<pad name="P11" x="3.685" y="1.99" drill="1.1"/>
+<pad name="P12" x="1.395" y="1.99" drill="1.1"/>
+<pad name="P13" x="-0.895" y="1.99" drill="1.1"/>
+<pad name="P14" x="-3.185" y="1.99" drill="1.1"/>
+<pad name="P15" x="-5.475" y="1.99" drill="1.1"/>
+<hole x="-12.5" y="0" drill="3.2"/>
+<hole x="12.5" y="0" drill="3.2"/>
+<wire x1="-15.5" y1="5.1" x2="15.5" y2="5.1" width="0.127" layer="21"/>
+<wire x1="15.5" y1="5.1" x2="15.5" y2="-5" width="0.127" layer="21"/>
+<wire x1="15.5" y1="-5" x2="-15.5" y2="-5" width="0.127" layer="21"/>
+<wire x1="-15.5" y1="-5" x2="-15.5" y2="5.1" width="0.127" layer="21"/>
+</package>
+<package name="P0621">
+<pad name="S1" x="0" y="0" drill="3" rot="R90"/>
+<pad name="P" x="6" y="0" drill="3" rot="R90"/>
+<pad name="S2" x="3.2" y="-4.8" drill="3"/>
+<rectangle x1="1.7" y1="-5.2" x2="4.7" y2="-4.4" layer="49"/>
+<rectangle x1="-0.4" y1="-1.5" x2="0.4" y2="1.5" layer="49"/>
+<rectangle x1="5.6" y1="-1.5" x2="6.4" y2="1.5" layer="49"/>
+<wire x1="-7.5" y1="4.5" x2="6.7" y2="4.5" width="0.127" layer="21"/>
+<wire x1="6.7" y1="4.5" x2="6.7" y2="-4.5" width="0.127" layer="21"/>
+<wire x1="6.7" y1="-4.5" x2="-7.5" y2="-4.5" width="0.127" layer="21"/>
+<wire x1="-7.5" y1="-4.5" x2="-7.5" y2="4.5" width="0.127" layer="21"/>
+</package>
</packages>
</library>
<library name="diode">
@@ -2737,7 +2711,7 @@ design rules under a new name.</description>
<param name="msBlindViaRatio" value="0.5"/>
<param name="rvPadTop" value="0.25"/>
<param name="rvPadInner" value="0.25"/>
-<param name="rvPadBottom" value="0.5"/>
+<param name="rvPadBottom" value="0.3"/>
<param name="rvViaOuter" value="0.25"/>
<param name="rvViaInner" value="0.25"/>
<param name="rvMicroViaOuter" value="0.25"/>
@@ -2761,9 +2735,9 @@ design rules under a new name.</description>
<param name="psFirst" value="-1"/>
<param name="psElongationLong" value="100"/>
<param name="psElongationOffset" value="100"/>
-<param name="mvStopFrame" value="1"/>
-<param name="mvCreamFrame" value="0"/>
-<param name="mlMinStopFrame" value="4mil"/>
+<param name="mvStopFrame" value="0.1"/>
+<param name="mvCreamFrame" value="0.05"/>
+<param name="mlMinStopFrame" value="1.5mil"/>
<param name="mlMaxStopFrame" value="4mil"/>
<param name="mlMinCreamFrame" value="0mil"/>
<param name="mlMaxCreamFrame" value="0mil"/>
@@ -2878,232 +2852,536 @@ design rules under a new name.</description>
</pass>
</autorouter>
<elements>
-<element name="R1" library="rcl" package="0309/12" value="4k7" x="35.56" y="56.642" rot="R180"/>
-<element name="R6" library="rcl" package="0309/10" value="22K" x="11.684" y="74.93" rot="R90"/>
-<element name="C2" library="resistor" package="C050-030X075" value="47n" x="11.684" y="62.738" rot="R270"/>
-<element name="R7" library="rcl" package="0309/10" value="1K" x="20.574" y="42.926" rot="R270"/>
-<element name="R8" library="rcl" package="0309/10" value="2K" x="23.876" y="42.926" rot="R270"/>
-<element name="R9" library="rcl" package="0309/10" value="4K" x="17.272" y="42.926" rot="R270"/>
-<element name="R10" library="rcl" package="0309/10" value="8K" x="13.97" y="42.926" rot="R270"/>
-<element name="R11" library="rcl" package="0309/10" value="1K" x="18.796" y="52.578"/>
-<element name="B1" library="SparkFun-Boards" package="UNO_R3_SHIELD" value="ARDUINO_UNO_R3_SHIELDBASIC" x="30.48" y="55.88"/>
-<element name="J1" library="con-jack" package="DCJ0202" value="DCJ0202" x="48.514" y="34.798">
-<attribute name="OC_NEWARK" value="unknown" x="48.514" y="34.798" size="1.778" layer="27" display="off"/>
-<attribute name="MPN" value="" x="48.514" y="34.798" size="1.778" layer="27" display="off"/>
-<attribute name="MF" value="" x="48.514" y="34.798" size="1.778" layer="27" display="off"/>
-<attribute name="OC_FARNELL" value="unknown" x="48.514" y="34.798" size="1.778" layer="27" display="off"/>
+<element name="R1" library="rcl" package="0309/12" value="56K" x="30.226" y="62.992" smashed="yes" rot="R90">
+<attribute name="NAME" x="30.861" y="59.055" size="1.27" layer="25" ratio="10" rot="R90"/>
+<attribute name="VALUE" x="30.9118" y="63.627" size="1.27" layer="27" ratio="10" rot="R90"/>
+</element>
+<element name="R6" library="rcl" package="0309/10" value="22K" x="13.97" y="67.056" smashed="yes" rot="R90">
+<attribute name="NAME" x="14.605" y="63.627" size="1.27" layer="25" ratio="10" rot="R90"/>
+<attribute name="VALUE" x="14.6558" y="67.437" size="1.27" layer="27" ratio="10" rot="R90"/>
+</element>
+<element name="C2" library="resistor" package="C050-030X075" value="47n" x="13.97" y="56.642" smashed="yes" rot="R270">
+<attribute name="NAME" x="15.875" y="55.372" size="1.27" layer="25" ratio="10" rot="R270"/>
+<attribute name="VALUE" x="15.748" y="59.944" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="R7" library="rcl" package="0309/10" value="10K" x="21.844" y="41.402" smashed="yes" rot="R270">
+<attribute name="NAME" x="21.463" y="39.751" size="1.27" layer="25" ratio="10" rot="R270"/>
+<attribute name="VALUE" x="21.1582" y="45.339" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="R8" library="rcl" package="0309/10" value="22K" x="18.542" y="41.402" smashed="yes" rot="R270">
+<attribute name="NAME" x="17.907" y="39.751" size="1.27" layer="25" ratio="10" rot="R270"/>
+<attribute name="VALUE" x="17.8562" y="45.339" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="R9" library="rcl" package="0309/10" value="39K" x="15.24" y="41.402" smashed="yes" rot="R270">
+<attribute name="NAME" x="14.605" y="39.751" size="1.27" layer="25" ratio="10" rot="R270"/>
+<attribute name="VALUE" x="14.5542" y="45.339" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="R10" library="rcl" package="0309/10" value="82K" x="11.938" y="41.402" smashed="yes" rot="R270">
+<attribute name="NAME" x="11.303" y="41.021" size="1.27" layer="25" ratio="10" rot="R270"/>
+<attribute name="VALUE" x="11.2522" y="45.339" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="B1" library="SparkFun-Boards" package="UNO_R3_SHIELD" value="ARDUINO_UNO_R3_SHIELDBASIC" x="30.48" y="55.88" smashed="yes">
+<attribute name="NAME" x="30.48" y="86.614" size="0.6096" layer="25" font="vector" ratio="20" align="bottom-center"/>
+<attribute name="VALUE" x="30.48" y="26.162" size="0.6096" layer="27" font="vector" ratio="20" align="top-center"/>
+</element>
+<element name="R2" library="rcl" package="0309/10" value="56K" x="26.67" y="67.564" smashed="yes" rot="R90">
+<attribute name="NAME" x="27.305" y="63.627" size="1.27" layer="25" ratio="10" rot="R90"/>
+<attribute name="VALUE" x="25.9842" y="71.501" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="R12" library="rcl" package="0309/10" value="10K" x="26.67" y="54.864" smashed="yes" rot="R90">
+<attribute name="NAME" x="27.305" y="51.181" size="1.27" layer="25" ratio="10" rot="R90"/>
+<attribute name="VALUE" x="27.3558" y="55.245" size="1.27" layer="27" ratio="10" rot="R90"/>
+</element>
+<element name="U$1" library="lib" package="POLOLU-2980" value="POLOLU-2980" x="43.942" y="62.484" smashed="yes">
+<attribute name="NAME" x="49.022" y="52.832" size="1.27" layer="21" rot="R90"/>
+<attribute name="VALUE" x="49.276" y="60.452" size="1.27" layer="21" rot="R90"/>
+</element>
+<element name="JP1" library="pinhead" package="1X01" value="" x="17.018" y="50.292" smashed="yes">
+<attribute name="NAME" x="18.7198" y="50.0888" size="1.27" layer="25" ratio="10"/>
+<attribute name="VALUE" x="15.748" y="47.117" size="1.27" layer="27"/>
+</element>
+<element name="U$5" library="altronics" package="P2024A" value="P2024A" x="42.672" y="78.994"/>
+<element name="D1" library="diode" package="DO41-10" value="1N4004" x="30.226" y="49.53" smashed="yes" rot="R270">
+<attribute name="NAME" x="31.877" y="47.244" size="1.27" layer="25" ratio="10" rot="R270"/>
</element>
-<element name="R2" library="rcl" package="0309/10" value="56K" x="16.002" y="74.93" rot="R90"/>
-<element name="R12" library="rcl" package="0309/10" value="10K" x="16.002" y="62.23" rot="R90"/>
-<element name="U$1" library="lib" package="POLOLU-2980" value="POLOLU-2980" x="35.56" y="56.642" rot="R90"/>
-<element name="JP1" library="pinhead" package="1X01" value="" x="21.336" y="67.31"/>
-<element name="U$2" library="altronics" package="P2028" value="P2028" x="38.354" y="31.75"/>
-<element name="U$3" library="altronics" package="P2029" value="P2029" x="28.194" y="31.75"/>
-<element name="U$4" library="altronics" package="P2029" value="P2029" x="17.272" y="31.75"/>
-<element name="U$5" library="altronics" package="P2024A" value="P2024A" x="44.958" y="81.026" rot="R180"/>
-<element name="D1" library="diode" package="DO41-10" value="1N4004" x="43.434" y="42.672" rot="R180"/>
+<element name="U$6" library="lib" package="POLOLU-2980" value="POLOLU-2980" x="17.018" y="62.992" smashed="yes">
+<attribute name="NAME" x="22.098" y="53.086" size="1.27" layer="21" rot="R90"/>
+<attribute name="VALUE" x="22.352" y="60.706" size="1.27" layer="21" rot="R90"/>
+</element>
+<element name="U$7" library="altronics" package="P2024A" value="P2024A" x="16.002" y="78.232"/>
+<element name="R3" library="rcl" package="0309/10" value="22K" x="40.386" y="66.802" smashed="yes" rot="R90">
+<attribute name="NAME" x="41.021" y="62.865" size="1.27" layer="25" ratio="10" rot="R90"/>
+<attribute name="VALUE" x="41.0718" y="67.183" size="1.27" layer="27" ratio="10" rot="R90"/>
+</element>
+<element name="C1" library="resistor" package="C050-030X075" value="47n" x="40.386" y="56.134" smashed="yes" rot="R270">
+<attribute name="NAME" x="42.291" y="55.372" size="1.27" layer="25" ratio="10" rot="R270"/>
+<attribute name="VALUE" x="42.418" y="59.436" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="R4" library="rcl" package="0309/10" value="56K" x="34.036" y="67.564" smashed="yes" rot="R90">
+<attribute name="NAME" x="34.671" y="63.627" size="1.27" layer="25" ratio="10" rot="R90"/>
+<attribute name="VALUE" x="33.6042" y="71.501" size="1.27" layer="27" ratio="10" rot="R270"/>
+</element>
+<element name="R5" library="rcl" package="0309/10" value="10K" x="34.036" y="54.864" smashed="yes" rot="R90">
+<attribute name="NAME" x="34.671" y="51.181" size="1.27" layer="25" ratio="10" rot="R90"/>
+<attribute name="VALUE" x="34.7218" y="55.245" size="1.27" layer="27" ratio="10" rot="R90"/>
+</element>
+<element name="JP2" library="pinhead" package="1X01" value="" x="44.958" y="50.292" smashed="yes">
+<attribute name="NAME" x="46.6598" y="49.8348" size="1.27" layer="25" ratio="10"/>
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</elements>
<signals>
<signal name="VREF">
<contactref element="R6" pad="2"/>
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-<wire x1="6.35" y1="76.2" x2="10.16" y2="80.01" width="0.254" layer="1"/>
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</signal>
-<signal name="CLOCK">
+<signal name="CLK">
<contactref element="B1" pad="D4"/>
<contactref element="U$1" pad="P$10"/>
-<wire x1="40.767" y1="50.292" x2="41.91" y2="50.292" width="0.254" layer="1"/>
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</signal>
<signal name="GND" class="1">
-<contactref element="R11" pad="1"/>
<polygon width="0.8128" layer="1">
-<vertex x="2.54" y="85.09"/>
-<vertex x="2.54" y="26.162"/>
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</polygon>
<contactref element="B1" pad="GND@2"/>
<contactref element="B1" pad="GND@1"/>
<contactref element="B1" pad="GND@0"/>
-<contactref element="J1" pad="3"/>
<contactref element="C2" pad="2"/>
<contactref element="R12" pad="1"/>
-<contactref element="U$2" pad="P$1"/>
-<contactref element="U$4" pad="P$3"/>
<polygon width="0.4064" layer="16">
-<vertex x="2.54" y="85.09"/>
-<vertex x="58.166" y="85.09"/>
-<vertex x="58.166" y="84.836"/>
-<vertex x="58.166" y="25.4"/>
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<vertex x="2.54" y="25.4"/>
-<vertex x="2.54" y="26.416"/>
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</polygon>
<contactref element="D1" pad="A"/>
+<contactref element="C1" pad="2"/>
+<contactref element="R5" pad="1"/>
+<contactref element="U$1" pad="P$1"/>
+<contactref element="U$6" pad="P$1"/>
+<contactref element="U$6" pad="P$7"/>
+<contactref element="U$1" pad="P$7"/>
+<contactref element="U$2" pad="P$4"/>
+<contactref element="U$9" pad="P3"/>
+<contactref element="U$8" pad="P3"/>
+<via x="45.212" y="61.214" extent="1-16" drill="0.6"/>
+<contactref element="U$3" pad="S1"/>
</signal>
<signal name="A_ENC">
-<contactref element="R10" pad="1"/>
-<contactref element="R9" pad="1"/>
-<contactref element="R8" pad="1"/>
-<contactref element="R7" pad="1"/>
-<contactref element="R11" pad="2"/>
<contactref element="B1" pad="A1"/>
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</signal>
<signal name="5V">
<contactref element="R1" pad="1"/>
<contactref element="B1" pad="5V"/>
<contactref element="U$1" pad="P$2"/>
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</signal>
<signal name="3V3">
<contactref element="B1" pad="3.3V"/>
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</signal>
<signal name="VIN" class="1">
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-<contactref element="J1" pad="1"/>
<contactref element="U$1" pad="P$8"/>
<contactref element="D1" pad="C"/>
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</signal>
<signal name="N$13" class="1">
<contactref element="U$1" pad="P$3"/>
<contactref element="U$5" pad="P$1"/>
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</signal>
<signal name="N$14" class="1">
<contactref element="U$1" pad="P$4"/>
<contactref element="U$5" pad="P$2"/>
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</signal>
<signal name="N$15" class="1">
<contactref element="U$1" pad="P$5"/>
<contactref element="U$5" pad="P$3"/>
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</signal>
<signal name="N$16" class="1">
<contactref element="U$1" pad="P$6"/>
<contactref element="U$5" pad="P$4"/>
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</signal>
<signal name="A_VREF">
<contactref element="R6" pad="1"/>
<contactref element="C2" pad="1"/>
<contactref element="B1" pad="A2"/>
<contactref element="R2" pad="2"/>
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</signal>
<signal name="5V_4K7">
<contactref element="R1" pad="2"/>
<contactref element="U$1" pad="P$16"/>
<contactref element="U$1" pad="P$12"/>
<contactref element="U$1" pad="P$11"/>
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-</signal>
-<signal name="N$20">
-<contactref element="R7" pad="2"/>
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-</signal>
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-<contactref element="R8" pad="2"/>
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-<contactref element="R9" pad="2"/>
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-</signal>
-<signal name="N$23">
-<contactref element="R10" pad="2"/>
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+<contactref element="U$6" pad="P$11"/>
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</signal>
<signal name="DIR">
-<contactref element="B1" pad="D3"/>
<contactref element="U$1" pad="P$9"/>
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+<contactref element="B1" pad="D2"/>
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</signal>
<signal name="A_POT">
<contactref element="B1" pad="A0"/>
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</signal>
<signal name="N$1">
<contactref element="R2" pad="1"/>
<contactref element="R12" pad="2"/>
<contactref element="JP1" pad="1"/>
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</signal>
-<signal name="N$4">
-<contactref element="U$1" pad="P$7"/>
+<signal name="N$3" class="1">
+<contactref element="U$7" pad="P$1"/>
+<contactref element="U$6" pad="P$3"/>
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</signal>
-<signal name="N$6">
-<contactref element="U$1" pad="P$1"/>
+<signal name="N$5" class="1">
+<contactref element="U$6" pad="P$4"/>
+<contactref element="U$7" pad="P$2"/>
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+</signal>
+<signal name="N$7" class="1">
+<contactref element="U$7" pad="P$3"/>
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+</signal>
+<signal name="N$8" class="1">
+<contactref element="U$6" pad="P$6"/>
+<contactref element="U$7" pad="P$4"/>
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+</signal>
+<signal name="N$9">
+<contactref element="R4" pad="1"/>
+<contactref element="R5" pad="2"/>
+<contactref element="JP2" pad="1"/>
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+</signal>
+<signal name="VREF2">
+<contactref element="R3" pad="2"/>
+<contactref element="B1" pad="D6"/>
+<wire x1="38.481" y1="71.882" x2="40.386" y2="71.882" width="0.254" layer="1"/>
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+</signal>
+<signal name="A_VREF2">
+<contactref element="R3" pad="1"/>
+<contactref element="C1" pad="1"/>
+<contactref element="R4" pad="2"/>
+<contactref element="B1" pad="A5"/>
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+</signal>
+<signal name="A_ENC2">
+<contactref element="R10" pad="1"/>
+<contactref element="R9" pad="1"/>
+<contactref element="R8" pad="1"/>
+<contactref element="R7" pad="1"/>
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+</signal>
+<signal name="A_POT2">
+<contactref element="B1" pad="A3"/>
+<contactref element="U$2" pad="P$2"/>
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+</signal>
+<signal name="CLK2">
+<contactref element="U$6" pad="P$10"/>
+<contactref element="B1" pad="D7"/>
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+</signal>
+<signal name="DIR2">
+<contactref element="U$6" pad="P$9"/>
+<contactref element="B1" pad="D5"/>
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+</signal>
+<signal name="ENC2_EA+">
+<contactref element="U$8" pad="P1"/>
+<contactref element="R7" pad="2"/>
+<wire x1="21.844" y1="31.623" x2="21.844" y2="36.322" width="0.254" layer="1"/>
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+<wire x1="18.542" y1="29.083" x2="18.417" y2="28.998" width="0.254" layer="1"/>
+</signal>
+<signal name="ENC2_EB+">
+<contactref element="U$8" pad="P11"/>
+<contactref element="R8" pad="2"/>
+<wire x1="18.542" y1="33.02" x2="18.542" y2="36.322" width="0.254" layer="1"/>
+<wire x1="18.542" y1="33.02" x2="18.417" y2="32.978" width="0.254" layer="1"/>
+</signal>
+<signal name="ENC2_EB-">
+<contactref element="U$8" pad="P12"/>
+<contactref element="R10" pad="2"/>
+<wire x1="12.7" y1="36.322" x2="11.938" y2="36.322" width="0.254" layer="16"/>
+<wire x1="16.002" y1="33.02" x2="12.7" y2="36.322" width="0.254" layer="16"/>
+<wire x1="16.002" y1="33.02" x2="16.127" y2="32.978" width="0.254" layer="16"/>
+</signal>
+<signal name="ENC2_EA-">
+<contactref element="U$8" pad="P13"/>
+<contactref element="R9" pad="2"/>
+<wire x1="15.24" y1="34.417" x2="15.24" y2="36.322" width="0.254" layer="1"/>
+<wire x1="13.843" y1="33.02" x2="15.24" y2="34.417" width="0.254" layer="1"/>
+<wire x1="13.843" y1="33.02" x2="13.837" y2="32.978" width="0.254" layer="1"/>
+</signal>
+<signal name="ENC1_EA+">
+<contactref element="U$9" pad="P1"/>
+<contactref element="R13" pad="2"/>
+<wire x1="48.768" y1="35.56" x2="48.768" y2="36.576" width="0.254" layer="1"/>
+<wire x1="52.07" y1="32.258" x2="48.768" y2="35.56" width="0.254" layer="1"/>
+<wire x1="52.07" y1="30.607" x2="52.07" y2="32.258" width="0.254" layer="1"/>
+<wire x1="50.546" y1="29.083" x2="52.07" y2="30.607" width="0.254" layer="1"/>
+<wire x1="49.784" y1="29.083" x2="50.546" y2="29.083" width="0.254" layer="1"/>
+<wire x1="49.784" y1="29.083" x2="49.659" y2="28.998" width="0.254" layer="1"/>
+</signal>
+<signal name="ENC1_EB+">
+<contactref element="U$9" pad="P11"/>
+<contactref element="R14" pad="2"/>
+<wire x1="46.101" y1="36.576" x2="45.466" y2="36.576" width="0.254" layer="1"/>
+<wire x1="49.657" y1="33.02" x2="46.101" y2="36.576" width="0.254" layer="1"/>
+<wire x1="49.657" y1="33.02" x2="49.659" y2="32.978" width="0.254" layer="1"/>
+</signal>
+<signal name="ENC1_EA-">
+<contactref element="U$9" pad="P13"/>
+<contactref element="R15" pad="2"/>
+<wire x1="42.164" y1="35.814" x2="42.164" y2="36.576" width="0.254" layer="16"/>
+<wire x1="44.958" y1="33.02" x2="42.164" y2="35.814" width="0.254" layer="16"/>
+<wire x1="44.958" y1="33.02" x2="45.079" y2="32.978" width="0.254" layer="16"/>
+</signal>
+<signal name="ENC1_EB-">
+<contactref element="U$9" pad="P12"/>
+<contactref element="R16" pad="2"/>
+<wire x1="40.64" y1="36.576" x2="38.862" y2="36.576" width="0.254" layer="1"/>
+<wire x1="43.053" y1="34.163" x2="40.64" y2="36.576" width="0.254" layer="1"/>
+<wire x1="46.101" y1="34.163" x2="43.053" y2="34.163" width="0.254" layer="1"/>
+<wire x1="47.244" y1="33.02" x2="46.101" y2="34.163" width="0.254" layer="1"/>
+<wire x1="47.244" y1="33.02" x2="47.369" y2="32.978" width="0.254" layer="1"/>
+</signal>
+<signal name="VIN_ARD">
+<contactref element="B1" pad="VIN"/>
</signal>
</signals>
+<errors>
+<approved hash="1,20,59fa421a45725e92"/>
+</errors>
</board>
</drawing>
</eagle>
diff --git a/EagleProject/driverv2.sch b/EagleProject/driverv2.sch
index bd25d65..323f8c4 100644
--- a/EagleProject/driverv2.sch
+++ b/EagleProject/driverv2.sch
@@ -7587,99 +7587,6 @@ Shield form compatible with the Arduino Uno R3.
</deviceset>
</devicesets>
</library>
-<library name="con-jack">
-<description><b>Jacks</b><p>
-Power Connectors<br>
-Phone Connectors<br>
-Cinch Connectors<br>
-<author>Created by librarian@cadsoft.de</author></description>
-<packages>
-<package name="DCJ0202">
-<description><b>DC POWER JACK</b><p>
-Source: DCJ0202.pdf</description>
-<wire x1="1.65" y1="2.6" x2="-1.65" y2="2.6" width="0" layer="46"/>
-<wire x1="-1.65" y1="2.6" x2="-1.65" y2="3.6" width="0" layer="46"/>
-<wire x1="-1.65" y1="3.6" x2="1.65" y2="3.6" width="0" layer="46"/>
-<wire x1="1.65" y1="3.6" x2="1.65" y2="2.6" width="0" layer="46"/>
-<wire x1="5.3" y1="1.4" x2="4.3" y2="1.4" width="0" layer="46"/>
-<wire x1="4.3" y1="1.4" x2="4.3" y2="-1.4" width="0" layer="46"/>
-<wire x1="4.3" y1="-1.4" x2="5.3" y2="-1.4" width="0" layer="46"/>
-<wire x1="5.3" y1="-1.4" x2="5.3" y2="1.4" width="0" layer="46"/>
-<wire x1="1.4" y1="-3.5" x2="-1.4" y2="-3.5" width="0" layer="46"/>
-<wire x1="-1.4" y1="-3.5" x2="-1.4" y2="-2.5" width="0" layer="46"/>
-<wire x1="-1.4" y1="-2.5" x2="1.4" y2="-2.5" width="0" layer="46"/>
-<wire x1="1.4" y1="-2.5" x2="1.4" y2="-3.5" width="0" layer="46"/>
-<wire x1="-4.3" y1="-10.4" x2="4.3" y2="-10.4" width="0.2032" layer="21"/>
-<wire x1="4.3" y1="-10.4" x2="4.3" y2="3.9" width="0.2032" layer="51"/>
-<wire x1="4.3" y1="3.9" x2="-4.3" y2="3.9" width="0.2032" layer="51"/>
-<wire x1="-4.3" y1="3.9" x2="-4.3" y2="-10.4" width="0.2032" layer="21"/>
-<wire x1="-2.7" y1="3.9" x2="-4.3" y2="3.9" width="0.2032" layer="21"/>
-<wire x1="4.3" y1="3.9" x2="2.7" y2="3.9" width="0.2032" layer="21"/>
-<wire x1="-3" y1="-10.275" x2="-3" y2="-3" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="3" y1="-10.3" x2="3" y2="-3" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="3" y1="-3" x2="-3" y2="-3" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="-0.9" y1="-9" x2="-0.9" y2="-4.5" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="0.9" y1="-9" x2="0.9" y2="-4.5" width="0.2032" layer="51" style="shortdash"/>
-<wire x1="-0.9" y1="-9" x2="0.9" y2="-9" width="0.2032" layer="51" curve="166.57811"/>
-<wire x1="4.3" y1="-10.4" x2="4.3" y2="-2.45" width="0.2032" layer="21"/>
-<wire x1="4.3" y1="2.3" x2="4.3" y2="3.9" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="3.1" drill="1" diameter="2" shape="long" rot="R180"/>
-<pad name="3" x="0" y="-3" drill="1" diameter="2" shape="long" rot="R180"/>
-<pad name="2" x="4.8" y="0" drill="1" diameter="2" shape="long" rot="R90"/>
-<text x="-3.81" y="5.08" size="1.27" layer="25">>NAME</text>
-<text x="-5.08" y="-10.16" size="1.27" layer="27" rot="R90">>VALUE</text>
-</package>
-</packages>
-<symbols>
-<symbol name="DC-JACK-SWITCH">
-<wire x1="5.08" y1="2.54" x2="-2.54" y2="2.54" width="0.1524" layer="94"/>
-<wire x1="-2.54" y1="2.54" x2="-2.54" y2="1.27" width="0.1524" layer="94"/>
-<wire x1="5.08" y1="0" x2="2.54" y2="0" width="0.1524" layer="94"/>
-<wire x1="2.54" y1="0" x2="2.54" y2="-2.54" width="0.1524" layer="94"/>
-<wire x1="5.08" y1="-2.54" x2="2.54" y2="-2.54" width="0.1524" layer="94"/>
-<wire x1="2.54" y1="-2.54" x2="0.762" y2="-2.54" width="0.1524" layer="94"/>
-<wire x1="0.762" y1="-2.54" x2="0" y2="-1.016" width="0.1524" layer="94"/>
-<wire x1="0" y1="-1.016" x2="-0.762" y2="-2.54" width="0.1524" layer="94"/>
-<text x="-2.54" y="3.81" size="1.778" layer="95">>NAME</text>
-<text x="-2.54" y="-6.35" size="1.778" layer="96">>VALUE</text>
-<rectangle x1="-3.302" y1="-2.54" x2="-1.778" y2="1.27" layer="94"/>
-<pin name="1" x="7.62" y="2.54" visible="pad" length="short" direction="pas" rot="R180"/>
-<pin name="2" x="7.62" y="0" visible="pad" length="short" direction="pas" rot="R180"/>
-<pin name="3" x="7.62" y="-2.54" visible="pad" length="short" direction="pas" rot="R180"/>
-<polygon width="0.1524" layer="94">
-<vertex x="2.54" y="-2.54"/>
-<vertex x="2.032" y="-1.27"/>
-<vertex x="3.048" y="-1.27"/>
-</polygon>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="DCJ0202" prefix="J">
-<description><b>DC POWER JACK</b><p>
-Source: DCJ0202.pdf</description>
-<gates>
-<gate name="G$1" symbol="DC-JACK-SWITCH" x="0" y="0"/>
-</gates>
-<devices>
-<device name="" package="DCJ0202">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="MF" value="" constant="no"/>
-<attribute name="MPN" value="" constant="no"/>
-<attribute name="OC_FARNELL" value="unknown" constant="no"/>
-<attribute name="OC_NEWARK" value="unknown" constant="no"/>
-</technology>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
<library name="lib">
<packages>
<package name="POLOLU-2980">
@@ -7816,24 +7723,6 @@ Source: DCJ0202.pdf</description>
</library>
<library name="altronics">
<packages>
-<package name="P2028">
-<pad name="P$1" x="-1.75" y="0" drill="0.8" shape="long" rot="R90"/>
-<pad name="P$2" x="1.75" y="0" drill="0.8" shape="long" rot="R90"/>
-<wire x1="-3.5" y1="3.5" x2="-3.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="-3.5" y1="-3.5" x2="3.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="3.5" y1="-3.5" x2="3.5" y2="3.5" width="0.127" layer="21"/>
-<wire x1="3.5" y1="3.5" x2="-3.5" y2="3.5" width="0.127" layer="21"/>
-</package>
-<package name="P2029">
-<pad name="P$1" x="0" y="0" drill="0.8" shape="long" rot="R90"/>
-<pad name="P$2" x="-3.5" y="0" drill="0.8" shape="long" rot="R90"/>
-<pad name="P$3" x="3.5" y="0" drill="0.8" shape="long" rot="R90"/>
-<wire x1="-5.5" y1="3.5" x2="-5.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="-5.5" y1="-3.5" x2="5.5" y2="-3.5" width="0.127" layer="21"/>
-<wire x1="5.5" y1="-3.5" x2="5.5" y2="3.5" width="0.127" layer="21"/>
-<wire x1="5.5" y1="3.5" x2="-5.5" y2="3.5" width="0.127" layer="21"/>
-<text x="-3.81" y="3.81" size="1.27" layer="21">>NAME</text>
-</package>
<package name="P2024A">
<pad name="P$2" x="0" y="0" drill="1.3" shape="long" rot="R90"/>
<pad name="P$1" x="-2.5" y="0" drill="1.3" shape="long" rot="R90"/>
@@ -7844,23 +7733,44 @@ Source: DCJ0202.pdf</description>
<wire x1="7.5" y1="-4" x2="-5" y2="-4" width="0.127" layer="21"/>
<wire x1="-5" y1="-4" x2="-5" y2="4" width="0.127" layer="21"/>
</package>
+<package name="P3084A">
+<description>Altronics DE15 P3084A</description>
+<pad name="P8" x="0.25" y="0" drill="1.1"/>
+<pad name="P7" x="2.54" y="0" drill="1.1"/>
+<pad name="P6" x="4.83" y="0" drill="1.1"/>
+<pad name="P9" x="-2.04" y="0" drill="1.1"/>
+<pad name="P10" x="-4.33" y="0" drill="1.1"/>
+<pad name="P1" x="3.685" y="-1.99" drill="1.1"/>
+<pad name="P2" x="1.395" y="-1.99" drill="1.1"/>
+<pad name="P3" x="-0.895" y="-1.99" drill="1.1"/>
+<pad name="P4" x="-3.185" y="-1.99" drill="1.1"/>
+<pad name="P5" x="-5.475" y="-1.99" drill="1.1"/>
+<pad name="P11" x="3.685" y="1.99" drill="1.1"/>
+<pad name="P12" x="1.395" y="1.99" drill="1.1"/>
+<pad name="P13" x="-0.895" y="1.99" drill="1.1"/>
+<pad name="P14" x="-3.185" y="1.99" drill="1.1"/>
+<pad name="P15" x="-5.475" y="1.99" drill="1.1"/>
+<hole x="-12.5" y="0" drill="3.2"/>
+<hole x="12.5" y="0" drill="3.2"/>
+<wire x1="-15.5" y1="5.1" x2="15.5" y2="5.1" width="0.127" layer="21"/>
+<wire x1="15.5" y1="5.1" x2="15.5" y2="-5" width="0.127" layer="21"/>
+<wire x1="15.5" y1="-5" x2="-15.5" y2="-5" width="0.127" layer="21"/>
+<wire x1="-15.5" y1="-5" x2="-15.5" y2="5.1" width="0.127" layer="21"/>
+</package>
+<package name="P0621">
+<pad name="S1" x="0" y="0" drill="3" rot="R90"/>
+<pad name="P" x="6" y="0" drill="3" rot="R90"/>
+<pad name="S2" x="3.2" y="-4.8" drill="3"/>
+<rectangle x1="1.7" y1="-5.2" x2="4.7" y2="-4.4" layer="49"/>
+<rectangle x1="-0.4" y1="-1.5" x2="0.4" y2="1.5" layer="49"/>
+<rectangle x1="5.6" y1="-1.5" x2="6.4" y2="1.5" layer="49"/>
+<wire x1="-7.5" y1="4.5" x2="6.7" y2="4.5" width="0.127" layer="21"/>
+<wire x1="6.7" y1="4.5" x2="6.7" y2="-4.5" width="0.127" layer="21"/>
+<wire x1="6.7" y1="-4.5" x2="-7.5" y2="-4.5" width="0.127" layer="21"/>
+<wire x1="-7.5" y1="-4.5" x2="-7.5" y2="4.5" width="0.127" layer="21"/>
+</package>
</packages>
<symbols>
-<symbol name="P2028">
-<circle x="0" y="0" radius="0.635" width="0.254" layer="94"/>
-<circle x="0" y="-2.54" radius="0.635" width="0.254" layer="94"/>
-<pin name="P$1" x="-5.715" y="-2.54" visible="pad" length="middle"/>
-<pin name="P$2" x="-5.715" y="0" visible="off" length="middle"/>
-</symbol>
-<symbol name="P2029">
-<circle x="0" y="0" radius="0.635" width="0.254" layer="94"/>
-<circle x="0" y="2.54" radius="0.635" width="0.254" layer="94"/>
-<circle x="0" y="-2.54" radius="0.635" width="0.254" layer="94"/>
-<pin name="P$1" x="-5.08" y="2.54" visible="pad" length="middle"/>
-<pin name="P$2" x="-5.08" y="0" visible="pad" length="middle"/>
-<pin name="P$3" x="-5.08" y="-2.54" visible="pad" length="middle"/>
-<text x="1.27" y="2.54" size="1.27" layer="94">>NAME</text>
-</symbol>
<symbol name="P2024A">
<circle x="0" y="0" radius="0.898025" width="0.254" layer="94"/>
<circle x="0" y="-2.54" radius="0.898025" width="0.254" layer="94"/>
@@ -7871,17 +7781,46 @@ Source: DCJ0202.pdf</description>
<pin name="P$3" x="-5.08" y="-5.08" length="middle"/>
<pin name="P$4" x="-5.08" y="-7.62" length="middle"/>
</symbol>
+<symbol name="DE15">
+<pin name="P$1" x="2.54" y="25.4" visible="pad" length="middle" rot="R180"/>
+<pin name="P$2" x="2.54" y="17.78" visible="pad" length="middle" rot="R180"/>
+<pin name="P$3" x="2.54" y="10.16" visible="pad" length="middle" rot="R180"/>
+<pin name="P$4" x="2.54" y="2.54" visible="pad" length="middle" rot="R180"/>
+<pin name="P$5" x="2.54" y="-5.08" visible="pad" length="middle" rot="R180"/>
+<pin name="P$6" x="0" y="22.86" visible="pad" length="middle" rot="R180"/>
+<pin name="P$7" x="0" y="15.24" visible="pad" length="middle" rot="R180"/>
+<pin name="P$8" x="0" y="7.62" visible="pad" length="middle" rot="R180"/>
+<pin name="P$9" x="0" y="0" visible="pad" length="middle" rot="R180"/>
+<pin name="P$10" x="0" y="-7.62" visible="pad" length="middle" rot="R180"/>
+<pin name="P$11" x="-2.54" y="20.32" visible="pad" length="middle" rot="R180"/>
+<pin name="P$12" x="-2.54" y="12.7" visible="pad" length="middle" rot="R180"/>
+<pin name="P$13" x="-2.54" y="5.08" visible="pad" length="middle" rot="R180"/>
+<pin name="P$14" x="-2.54" y="-2.54" visible="pad" length="middle" rot="R180"/>
+<pin name="P$15" x="-2.54" y="-10.16" visible="pad" length="middle" rot="R180"/>
+</symbol>
+<symbol name="DCJ">
+<pin name="P$1" x="5.08" y="2.54" visible="pad" length="middle" rot="R180"/>
+<pin name="P$2" x="5.08" y="0" visible="pad" length="middle" rot="R180"/>
+<pin name="P$3" x="5.08" y="-2.54" visible="pad" length="middle" rot="R180"/>
+<wire x1="0" y1="0" x2="0" y2="-2.54" width="0.127" layer="94"/>
+<wire x1="0" y1="2.54" x2="-7.62" y2="2.54" width="0.127" layer="94"/>
+<wire x1="-7.62" y1="2.54" x2="-7.62" y2="0" width="0.254" layer="94"/>
+<wire x1="-7.62" y1="0" x2="-7.62" y2="-2.54" width="1.778" layer="94"/>
+<wire x1="0" y1="-2.54" x2="-2.54" y2="-2.54" width="0.127" layer="94"/>
+</symbol>
</symbols>
<devicesets>
-<deviceset name="P2028">
+<deviceset name="P2024A">
<gates>
-<gate name="G$1" symbol="P2028" x="0" y="0"/>
+<gate name="G$1" symbol="P2024A" x="0" y="2.54"/>
</gates>
<devices>
-<device name="" package="P2028">
+<device name="" package="P2024A">
<connects>
<connect gate="G$1" pin="P$1" pad="P$1"/>
<connect gate="G$1" pin="P$2" pad="P$2"/>
+<connect gate="G$1" pin="P$3" pad="P$3"/>
+<connect gate="G$1" pin="P$4" pad="P$4"/>
</connects>
<technologies>
<technology name=""/>
@@ -7889,16 +7828,28 @@ Source: DCJ0202.pdf</description>
</device>
</devices>
</deviceset>
-<deviceset name="P2029">
+<deviceset name="DE15-P3084A">
<gates>
-<gate name="G$1" symbol="P2029" x="0" y="-2.54"/>
+<gate name="G$1" symbol="DE15" x="2.54" y="-7.62"/>
</gates>
<devices>
-<device name="" package="P2029">
+<device name="" package="P3084A">
<connects>
-<connect gate="G$1" pin="P$1" pad="P$1"/>
-<connect gate="G$1" pin="P$2" pad="P$2"/>
-<connect gate="G$1" pin="P$3" pad="P$3"/>
+<connect gate="G$1" pin="P$1" pad="P1"/>
+<connect gate="G$1" pin="P$10" pad="P10"/>
+<connect gate="G$1" pin="P$11" pad="P11"/>
+<connect gate="G$1" pin="P$12" pad="P12"/>
+<connect gate="G$1" pin="P$13" pad="P13"/>
+<connect gate="G$1" pin="P$14" pad="P14"/>
+<connect gate="G$1" pin="P$15" pad="P15"/>
+<connect gate="G$1" pin="P$2" pad="P2"/>
+<connect gate="G$1" pin="P$3" pad="P3"/>
+<connect gate="G$1" pin="P$4" pad="P4"/>
+<connect gate="G$1" pin="P$5" pad="P5"/>
+<connect gate="G$1" pin="P$6" pad="P6"/>
+<connect gate="G$1" pin="P$7" pad="P7"/>
+<connect gate="G$1" pin="P$8" pad="P8"/>
+<connect gate="G$1" pin="P$9" pad="P9"/>
</connects>
<technologies>
<technology name=""/>
@@ -7906,17 +7857,16 @@ Source: DCJ0202.pdf</description>
</device>
</devices>
</deviceset>
-<deviceset name="P2024A">
+<deviceset name="P0621A">
<gates>
-<gate name="G$1" symbol="P2024A" x="0" y="2.54"/>
+<gate name="G$1" symbol="DCJ" x="2.54" y="0"/>
</gates>
<devices>
-<device name="" package="P2024A">
+<device name="" package="P0621">
<connects>
-<connect gate="G$1" pin="P$1" pad="P$1"/>
-<connect gate="G$1" pin="P$2" pad="P$2"/>
-<connect gate="G$1" pin="P$3" pad="P$3"/>
-<connect gate="G$1" pin="P$4" pad="P$4"/>
+<connect gate="G$1" pin="P$1" pad="P"/>
+<connect gate="G$1" pin="P$2" pad="S2"/>
+<connect gate="G$1" pin="P$3" pad="S1"/>
</connects>
<technologies>
<technology name=""/>
@@ -8013,185 +7963,254 @@ general purpose rectifier, 1 A</description>
</class>
</classes>
<parts>
-<part name="R1" library="rcl" deviceset="R-EU_" device="0309/12" value="4k7"/>
+<part name="R1" library="rcl" deviceset="R-EU_" device="0309/12" value="56K"/>
<part name="R6" library="rcl" deviceset="R-EU_" device="0309/10" value="22K"/>
<part name="C2" library="resistor" deviceset="C-EU" device="050-030X075" value="47n"/>
<part name="SUPPLY6" library="supply2" deviceset="GND" device=""/>
-<part name="SUPPLY7" library="supply2" deviceset="GND" device=""/>
-<part name="SUPPLY11" library="supply2" deviceset="GND" device=""/>
-<part name="R7" library="rcl" deviceset="R-EU_" device="0309/10" value="1K"/>
-<part name="R8" library="rcl" deviceset="R-EU_" device="0309/10" value="2K"/>
-<part name="R9" library="rcl" deviceset="R-EU_" device="0309/10" value="4K"/>
-<part name="R10" library="rcl" deviceset="R-EU_" device="0309/10" value="8K"/>
-<part name="R11" library="rcl" deviceset="R-EU_" device="0309/10" value="1K"/>
+<part name="R7" library="rcl" deviceset="R-EU_" device="0309/10" value="10K"/>
+<part name="R8" library="rcl" deviceset="R-EU_" device="0309/10" value="22K"/>
+<part name="R9" library="rcl" deviceset="R-EU_" device="0309/10" value="39K"/>
+<part name="R10" library="rcl" deviceset="R-EU_" device="0309/10" value="82K"/>
<part name="SUPPLY12" library="supply2" deviceset="GND" device=""/>
<part name="B1" library="SparkFun-Boards" deviceset="ARDUINO_UNO_R3_SHIELD" device="BASIC"/>
<part name="SUPPLY2" library="supply2" deviceset="GND" device=""/>
-<part name="J1" library="con-jack" deviceset="DCJ0202" device=""/>
<part name="SUPPLY3" library="supply2" deviceset="GND" device=""/>
<part name="R2" library="rcl" deviceset="R-EU_" device="0309/10" value="56K"/>
<part name="R12" library="rcl" deviceset="R-EU_" device="0309/10" value="10K"/>
<part name="SUPPLY5" library="supply2" deviceset="GND" device=""/>
<part name="U$1" library="lib" deviceset="POLOLU-2980" device=""/>
-<part name="SUPPLY1" library="supply2" deviceset="GND" device=""/>
<part name="JP1" library="pinhead" deviceset="PINHD-1X1" device=""/>
-<part name="U$2" library="altronics" deviceset="P2028" device=""/>
-<part name="U$3" library="altronics" deviceset="P2029" device=""/>
-<part name="U$4" library="altronics" deviceset="P2029" device=""/>
<part name="U$5" library="altronics" deviceset="P2024A" device=""/>
<part name="D1" library="diode" deviceset="1N4004" device=""/>
+<part name="U$6" library="lib" deviceset="POLOLU-2980" device=""/>
+<part name="U$7" library="altronics" deviceset="P2024A" device=""/>
+<part name="R3" library="rcl" deviceset="R-EU_" device="0309/10" value="22K"/>
+<part name="C1" library="resistor" deviceset="C-EU" device="050-030X075" value="47n"/>
+<part name="SUPPLY9" library="supply2" deviceset="GND" device=""/>
+<part name="R4" library="rcl" deviceset="R-EU_" device="0309/10" value="56K"/>
+<part name="R5" library="rcl" deviceset="R-EU_" device="0309/10" value="10K"/>
+<part name="JP2" library="pinhead" deviceset="PINHD-1X1" device=""/>
+<part name="SUPPLY10" library="supply2" deviceset="GND" device=""/>
+<part name="R13" library="rcl" deviceset="R-EU_" device="0309/10" value="10K"/>
+<part name="R14" library="rcl" deviceset="R-EU_" device="0309/10" value="22K"/>
+<part name="R15" library="rcl" deviceset="R-EU_" device="0309/10" value="39K"/>
+<part name="R16" library="rcl" deviceset="R-EU_" device="0309/10" value="82K"/>
+<part name="SUPPLY14" library="supply2" deviceset="GND" device=""/>
+<part name="U$2" library="altronics" deviceset="P2024A" device=""/>
+<part name="U$8" library="altronics" deviceset="DE15-P3084A" device=""/>
+<part name="U$9" library="altronics" deviceset="DE15-P3084A" device=""/>
+<part name="U$3" library="altronics" deviceset="P0621A" device=""/>
</parts>
<sheets>
<sheet>
<plain>
<text x="10.16" y="68.58" size="1.778" layer="91">ENABLE pulled high</text>
-<text x="-12.7" y="93.98" size="1.778" layer="91">0-3.3 V</text>
-<text x="0" y="81.28" size="1.778" layer="91">0-0.5V</text>
-<text x="53.34" y="142.24" size="1.778" layer="91">TODO:
+<text x="-20.32" y="96.52" size="1.778" layer="91">0-3.3 V</text>
+<text x="-10.16" y="91.44" size="1.778" layer="91">0-0.5V</text>
+<text x="93.98" y="157.48" size="1.778" layer="91">TODO:
- TVS diode for flyback protection
(or a F-off cap on the supply)</text>
-<text x="-43.18" y="68.58" size="1.778" layer="91">1kHz
+<text x="-50.8" y="71.12" size="1.778" layer="91">1kHz
1ms TC
22K is random
47n gives above TC</text>
+<text x="-20.32" y="147.32" size="1.778" layer="91">0-3.3 V</text>
+<text x="-7.62" y="142.24" size="1.778" layer="91">0-0.5V</text>
+<text x="-50.8" y="121.92" size="1.778" layer="91">1kHz
+1ms TC
+22K is random
+47n gives above TC</text>
+<text x="-91.44" y="91.44" size="1.778" layer="91">The encoder either ties high, or ties low
+ 0 0 -- 0
+ 1 15 -- 19
+ 2 33 -- 39
+ 3 49 -- 57
+ 4 59 -- 68
+ 5 75 -- 86
+ 6 93 -- 105
+ 7 110 -- 122
+ 8 133 -- 145
+ 9 150 -- 162
+10 169 -- 180
+11 187 -- 196
+12 198 -- 206
+13 216 -- 222
+14 236 -- 240
+15 255 -- 255
+</text>
</plain>
<instances>
<instance part="R1" gate="G$1" x="10.16" y="149.86" rot="R270"/>
-<instance part="R6" gate="G$1" x="-17.78" y="96.52" rot="R90"/>
-<instance part="C2" gate="G$1" x="-17.78" y="81.28"/>
-<instance part="SUPPLY6" gate="GND" x="-17.78" y="63.5"/>
-<instance part="SUPPLY7" gate="GND" x="-66.04" y="66.04"/>
-<instance part="SUPPLY11" gate="GND" x="-63.5" y="76.2"/>
-<instance part="R7" gate="G$1" x="-93.98" y="88.9"/>
-<instance part="R8" gate="G$1" x="-86.36" y="86.36"/>
-<instance part="R9" gate="G$1" x="-78.74" y="83.82"/>
-<instance part="R10" gate="G$1" x="-71.12" y="81.28"/>
-<instance part="R11" gate="G$1" x="-101.6" y="73.66" rot="R90"/>
-<instance part="SUPPLY12" gate="GND" x="-101.6" y="63.5"/>
-<instance part="B1" gate="G$1" x="-86.36" y="137.16"/>
-<instance part="SUPPLY2" gate="GND" x="-104.14" y="104.14"/>
-<instance part="J1" gate="G$1" x="-48.26" y="152.4"/>
-<instance part="SUPPLY3" gate="GND" x="-33.02" y="147.32"/>
-<instance part="R2" gate="G$1" x="-5.08" y="86.36" rot="R90"/>
-<instance part="R12" gate="G$1" x="-5.08" y="73.66" rot="R90"/>
-<instance part="SUPPLY5" gate="GND" x="99.06" y="73.66"/>
+<instance part="R6" gate="G$1" x="-25.4" y="99.06" rot="R90"/>
+<instance part="C2" gate="G$1" x="-25.4" y="83.82"/>
+<instance part="SUPPLY6" gate="GND" x="-25.4" y="66.04"/>
+<instance part="R7" gate="G$1" x="-114.3" y="99.06" rot="R180"/>
+<instance part="R8" gate="G$1" x="-109.22" y="93.98" rot="R180"/>
+<instance part="R9" gate="G$1" x="-114.3" y="88.9" rot="R180"/>
+<instance part="R10" gate="G$1" x="-109.22" y="83.82" rot="R180"/>
+<instance part="SUPPLY12" gate="GND" x="-104.14" y="66.04"/>
+<instance part="B1" gate="G$1" x="-83.82" y="198.12"/>
+<instance part="SUPPLY2" gate="GND" x="-101.6" y="170.18"/>
+<instance part="SUPPLY3" gate="GND" x="58.42" y="172.72"/>
+<instance part="R2" gate="G$1" x="-15.24" y="88.9" rot="R90"/>
+<instance part="R12" gate="G$1" x="-15.24" y="76.2" rot="R90"/>
+<instance part="SUPPLY5" gate="GND" x="104.14" y="73.66"/>
<instance part="U$1" gate="G$1" x="58.42" y="91.44" rot="R180"/>
-<instance part="SUPPLY1" gate="GND" x="96.52" y="104.14"/>
-<instance part="JP1" gate="G$1" x="27.94" y="60.96"/>
-<instance part="U$2" gate="G$1" x="-55.88" y="71.12"/>
-<instance part="U$3" gate="G$1" x="-53.34" y="88.9"/>
-<instance part="U$4" gate="G$1" x="-53.34" y="81.28"/>
+<instance part="JP1" gate="G$1" x="-5.08" y="83.82"/>
<instance part="U$5" gate="G$1" x="144.78" y="96.52"/>
-<instance part="D1" gate="1" x="-17.78" y="152.4" rot="R90"/>
+<instance part="D1" gate="1" x="73.66" y="177.8" rot="R90"/>
+<instance part="U$6" gate="G$1" x="58.42" y="134.62" rot="R180"/>
+<instance part="U$7" gate="G$1" x="106.68" y="134.62"/>
+<instance part="R3" gate="G$1" x="-25.4" y="149.86" rot="R90"/>
+<instance part="C1" gate="G$1" x="-25.4" y="134.62"/>
+<instance part="SUPPLY9" gate="GND" x="-25.4" y="116.84"/>
+<instance part="R4" gate="G$1" x="-15.24" y="139.7" rot="R90"/>
+<instance part="R5" gate="G$1" x="-15.24" y="127" rot="R90"/>
+<instance part="JP2" gate="G$1" x="-5.08" y="134.62"/>
+<instance part="SUPPLY10" gate="GND" x="-66.04" y="60.96"/>
+<instance part="R13" gate="G$1" x="-114.3" y="152.4" rot="R180"/>
+<instance part="R14" gate="G$1" x="-109.22" y="147.32" rot="R180"/>
+<instance part="R15" gate="G$1" x="-114.3" y="142.24" rot="R180"/>
+<instance part="R16" gate="G$1" x="-109.22" y="137.16" rot="R180"/>
+<instance part="SUPPLY14" gate="GND" x="-104.14" y="121.92"/>
+<instance part="U$2" gate="G$1" x="-58.42" y="71.12"/>
+<instance part="U$8" gate="G$1" x="-137.16" y="73.66"/>
+<instance part="U$9" gate="G$1" x="-139.7" y="127"/>
+<instance part="U$3" gate="G$1" x="45.72" y="177.8"/>
</instances>
<busses>
</busses>
<nets>
<net name="VREF" class="0">
<segment>
-<wire x1="-73.66" y1="147.32" x2="-66.04" y2="147.32" width="0.1524" layer="91"/>
-<label x="-68.58" y="147.32" size="1.778" layer="95"/>
-<pinref part="B1" gate="G$1" pin="D2"/>
+<pinref part="R6" gate="G$1" pin="2"/>
+<wire x1="-25.4" y1="104.14" x2="-25.4" y2="109.22" width="0.1524" layer="91"/>
+<label x="-25.4" y="109.22" size="1.778" layer="95" rot="R180" xref="yes"/>
</segment>
<segment>
-<pinref part="R6" gate="G$1" pin="2"/>
-<wire x1="-17.78" y1="101.6" x2="-17.78" y2="106.68" width="0.1524" layer="91"/>
-<label x="-17.78" y="106.68" size="1.778" layer="95" rot="R180" xref="yes"/>
+<pinref part="B1" gate="G$1" pin="*D3"/>
+<wire x1="-71.12" y1="205.74" x2="-66.04" y2="205.74" width="0.1524" layer="91"/>
+<label x="-66.04" y="205.74" size="1.778" layer="95"/>
</segment>
</net>
-<net name="CLOCK" class="0">
+<net name="CLK" class="0">
<segment>
-<wire x1="27.94" y1="101.6" x2="17.78" y2="101.6" width="0.1524" layer="91"/>
-<label x="17.78" y="101.6" size="1.778" layer="95"/>
-<label x="17.78" y="101.6" size="1.778" layer="95" rot="R180" xref="yes"/>
+<wire x1="27.94" y1="101.6" x2="22.86" y2="101.6" width="0.1524" layer="91"/>
+<label x="22.86" y="101.6" size="1.778" layer="95" rot="R180" xref="yes"/>
<pinref part="U$1" gate="G$1" pin="STEP"/>
</segment>
<segment>
<pinref part="B1" gate="G$1" pin="D4"/>
-<wire x1="-73.66" y1="142.24" x2="-63.5" y2="142.24" width="0.1524" layer="91"/>
-<label x="-68.58" y="142.24" size="1.778" layer="95"/>
-<label x="-68.58" y="142.24" size="1.778" layer="95"/>
+<wire x1="-71.12" y1="203.2" x2="-60.96" y2="203.2" width="0.1524" layer="91"/>
+<label x="-66.04" y="203.2" size="1.778" layer="95"/>
+<label x="-66.04" y="203.2" size="1.778" layer="95"/>
</segment>
</net>
<net name="GND" class="1">
<segment>
-<pinref part="SUPPLY7" gate="GND" pin="GND"/>
-<pinref part="U$2" gate="G$1" pin="P$1"/>
-<wire x1="-61.595" y1="68.58" x2="-66.04" y2="68.58" width="0.1524" layer="91"/>
-</segment>
-<segment>
-<wire x1="-58.42" y1="78.74" x2="-63.5" y2="78.74" width="0.1524" layer="91"/>
-<pinref part="SUPPLY11" gate="GND" pin="GND"/>
-<pinref part="U$4" gate="G$1" pin="P$3"/>
-</segment>
-<segment>
-<pinref part="R11" gate="G$1" pin="1"/>
<pinref part="SUPPLY12" gate="GND" pin="GND"/>
-<wire x1="-101.6" y1="68.58" x2="-101.6" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="-104.14" y1="68.58" x2="-104.14" y2="71.12" width="0.1524" layer="91"/>
+<pinref part="U$8" gate="G$1" pin="P$3"/>
+<wire x1="-134.62" y1="83.82" x2="-124.46" y2="83.82" width="0.1524" layer="91"/>
+<wire x1="-124.46" y1="83.82" x2="-124.46" y2="71.12" width="0.1524" layer="91"/>
+<wire x1="-124.46" y1="71.12" x2="-104.14" y2="71.12" width="0.1524" layer="91"/>
</segment>
<segment>
<pinref part="B1" gate="G$1" pin="GND@2"/>
-<wire x1="-99.06" y1="119.38" x2="-104.14" y2="119.38" width="0.1524" layer="91"/>
-<wire x1="-104.14" y1="119.38" x2="-104.14" y2="116.84" width="0.1524" layer="91"/>
+<wire x1="-96.52" y1="180.34" x2="-101.6" y2="180.34" width="0.1524" layer="91"/>
+<wire x1="-101.6" y1="180.34" x2="-101.6" y2="177.8" width="0.1524" layer="91"/>
<pinref part="B1" gate="G$1" pin="GND@1"/>
-<wire x1="-104.14" y1="116.84" x2="-104.14" y2="114.3" width="0.1524" layer="91"/>
-<wire x1="-104.14" y1="114.3" x2="-104.14" y2="106.68" width="0.1524" layer="91"/>
-<wire x1="-99.06" y1="116.84" x2="-104.14" y2="116.84" width="0.1524" layer="91"/>
-<junction x="-104.14" y="116.84"/>
+<wire x1="-101.6" y1="177.8" x2="-101.6" y2="175.26" width="0.1524" layer="91"/>
+<wire x1="-101.6" y1="175.26" x2="-101.6" y2="172.72" width="0.1524" layer="91"/>
+<wire x1="-96.52" y1="177.8" x2="-101.6" y2="177.8" width="0.1524" layer="91"/>
+<junction x="-101.6" y="177.8"/>
<pinref part="B1" gate="G$1" pin="GND@0"/>
-<wire x1="-99.06" y1="114.3" x2="-104.14" y2="114.3" width="0.1524" layer="91"/>
-<junction x="-104.14" y="114.3"/>
+<wire x1="-96.52" y1="175.26" x2="-101.6" y2="175.26" width="0.1524" layer="91"/>
+<junction x="-101.6" y="175.26"/>
<pinref part="SUPPLY2" gate="GND" pin="GND"/>
</segment>
<segment>
-<pinref part="J1" gate="G$1" pin="3"/>
-<wire x1="-40.64" y1="149.86" x2="-33.02" y2="149.86" width="0.1524" layer="91"/>
-<label x="-35.56" y="149.86" size="1.778" layer="95"/>
+<wire x1="50.8" y1="175.26" x2="58.42" y2="175.26" width="0.1524" layer="91"/>
+<label x="55.88" y="175.26" size="1.778" layer="95"/>
<pinref part="SUPPLY3" gate="GND" pin="GND"/>
-<wire x1="-17.78" y1="149.86" x2="-33.02" y2="149.86" width="0.1524" layer="91"/>
-<junction x="-33.02" y="149.86"/>
+<wire x1="73.66" y1="175.26" x2="58.42" y2="175.26" width="0.1524" layer="91"/>
+<junction x="58.42" y="175.26"/>
<pinref part="D1" gate="1" pin="A"/>
+<pinref part="U$3" gate="G$1" pin="P$3"/>
</segment>
<segment>
<pinref part="C2" gate="G$1" pin="2"/>
<pinref part="SUPPLY6" gate="GND" pin="GND"/>
-<wire x1="-17.78" y1="76.2" x2="-17.78" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="-25.4" y1="78.74" x2="-25.4" y2="71.12" width="0.1524" layer="91"/>
<pinref part="R12" gate="G$1" pin="1"/>
-<wire x1="-17.78" y1="68.58" x2="-17.78" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="-5.08" y1="68.58" x2="-17.78" y2="68.58" width="0.1524" layer="91"/>
-<junction x="-17.78" y="68.58"/>
+<wire x1="-25.4" y1="71.12" x2="-25.4" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="-15.24" y1="71.12" x2="-25.4" y2="71.12" width="0.1524" layer="91"/>
+<junction x="-25.4" y="71.12"/>
+</segment>
+<segment>
+<pinref part="C1" gate="G$1" pin="2"/>
+<pinref part="SUPPLY9" gate="GND" pin="GND"/>
+<wire x1="-25.4" y1="129.54" x2="-25.4" y2="121.92" width="0.1524" layer="91"/>
+<pinref part="R5" gate="G$1" pin="1"/>
+<wire x1="-25.4" y1="121.92" x2="-25.4" y2="119.38" width="0.1524" layer="91"/>
+<wire x1="-15.24" y1="121.92" x2="-25.4" y2="121.92" width="0.1524" layer="91"/>
+<junction x="-25.4" y="121.92"/>
+</segment>
+<segment>
+<pinref part="SUPPLY10" gate="GND" pin="GND"/>
+<wire x1="-63.5" y1="63.5" x2="-66.04" y2="63.5" width="0.1524" layer="91"/>
+<pinref part="U$2" gate="G$1" pin="P$4"/>
</segment>
<segment>
-<wire x1="93.98" y1="76.2" x2="99.06" y2="76.2" width="0.1524" layer="91"/>
+<pinref part="SUPPLY14" gate="GND" pin="GND"/>
+<wire x1="-104.14" y1="127" x2="-104.14" y2="124.46" width="0.1524" layer="91"/>
+<pinref part="U$9" gate="G$1" pin="P$3"/>
+<wire x1="-137.16" y1="137.16" x2="-127" y2="137.16" width="0.1524" layer="91"/>
+<label x="-134.62" y="137.16" size="1.778" layer="95"/>
+<wire x1="-127" y1="137.16" x2="-127" y2="124.46" width="0.1524" layer="91"/>
+<wire x1="-127" y1="124.46" x2="-104.14" y2="124.46" width="0.1524" layer="91"/>
+<junction x="-104.14" y="124.46"/>
+</segment>
+<segment>
+<pinref part="U$1" gate="G$1" pin="GND@1"/>
+<wire x1="81.28" y1="106.68" x2="93.98" y2="106.68" width="0.1524" layer="91"/>
+<pinref part="U$6" gate="G$1" pin="GND@1"/>
+<wire x1="81.28" y1="149.86" x2="93.98" y2="149.86" width="0.1524" layer="91"/>
+<wire x1="93.98" y1="149.86" x2="93.98" y2="119.38" width="0.1524" layer="91"/>
+<junction x="93.98" y="106.68"/>
+<pinref part="U$6" gate="G$1" pin="GND@7"/>
+<wire x1="93.98" y1="119.38" x2="93.98" y2="106.68" width="0.1524" layer="91"/>
+<wire x1="81.28" y1="119.38" x2="93.98" y2="119.38" width="0.1524" layer="91"/>
+<junction x="93.98" y="119.38"/>
+<wire x1="93.98" y1="76.2" x2="104.14" y2="76.2" width="0.1524" layer="91"/>
<pinref part="SUPPLY5" gate="GND" pin="GND"/>
+<wire x1="93.98" y1="106.68" x2="93.98" y2="76.2" width="0.1524" layer="91"/>
+<pinref part="U$1" gate="G$1" pin="GND@7"/>
+<wire x1="81.28" y1="76.2" x2="93.98" y2="76.2" width="0.1524" layer="91"/>
+<junction x="93.98" y="76.2"/>
</segment>
</net>
<net name="A_ENC" class="0">
<segment>
-<wire x1="-101.6" y1="81.28" x2="-101.6" y2="83.82" width="0.1524" layer="91"/>
-<pinref part="R10" gate="G$1" pin="1"/>
-<wire x1="-101.6" y1="83.82" x2="-101.6" y2="86.36" width="0.1524" layer="91"/>
-<wire x1="-101.6" y1="86.36" x2="-101.6" y2="88.9" width="0.1524" layer="91"/>
-<wire x1="-101.6" y1="88.9" x2="-101.6" y2="96.52" width="0.1524" layer="91"/>
-<wire x1="-76.2" y1="81.28" x2="-101.6" y2="81.28" width="0.1524" layer="91"/>
-<pinref part="R9" gate="G$1" pin="1"/>
-<wire x1="-83.82" y1="83.82" x2="-101.6" y2="83.82" width="0.1524" layer="91"/>
-<junction x="-101.6" y="83.82"/>
-<pinref part="R8" gate="G$1" pin="1"/>
-<wire x1="-91.44" y1="86.36" x2="-101.6" y2="86.36" width="0.1524" layer="91"/>
-<junction x="-101.6" y="86.36"/>
-<pinref part="R7" gate="G$1" pin="1"/>
-<wire x1="-99.06" y1="88.9" x2="-101.6" y2="88.9" width="0.1524" layer="91"/>
-<junction x="-101.6" y="88.9"/>
-<pinref part="R11" gate="G$1" pin="2"/>
-<wire x1="-101.6" y1="81.28" x2="-101.6" y2="78.74" width="0.1524" layer="91"/>
-<junction x="-101.6" y="81.28"/>
-<label x="-101.6" y="96.52" size="1.778" layer="95" xref="yes"/>
+<pinref part="B1" gate="G$1" pin="A1"/>
+<wire x1="-96.52" y1="213.36" x2="-104.14" y2="213.36" width="0.1524" layer="91"/>
+<label x="-104.14" y="213.36" size="1.778" layer="95"/>
</segment>
<segment>
-<pinref part="B1" gate="G$1" pin="A1"/>
-<wire x1="-99.06" y1="152.4" x2="-106.68" y2="152.4" width="0.1524" layer="91"/>
-<label x="-106.68" y="152.4" size="1.778" layer="95"/>
+<wire x1="-104.14" y1="137.16" x2="-104.14" y2="142.24" width="0.1524" layer="91"/>
+<pinref part="R16" gate="G$1" pin="1"/>
+<wire x1="-104.14" y1="142.24" x2="-104.14" y2="147.32" width="0.1524" layer="91"/>
+<wire x1="-104.14" y1="147.32" x2="-104.14" y2="152.4" width="0.1524" layer="91"/>
+<wire x1="-104.14" y1="152.4" x2="-104.14" y2="157.48" width="0.1524" layer="91"/>
+<pinref part="R15" gate="G$1" pin="1"/>
+<wire x1="-109.22" y1="142.24" x2="-104.14" y2="142.24" width="0.1524" layer="91"/>
+<junction x="-104.14" y="142.24"/>
+<pinref part="R14" gate="G$1" pin="1"/>
+<junction x="-104.14" y="147.32"/>
+<pinref part="R13" gate="G$1" pin="1"/>
+<wire x1="-109.22" y1="152.4" x2="-104.14" y2="152.4" width="0.1524" layer="91"/>
+<junction x="-104.14" y="152.4"/>
+<label x="-104.14" y="157.48" size="1.778" layer="95" xref="yes"/>
</segment>
</net>
<net name="5V" class="0">
@@ -8204,43 +8223,58 @@ general purpose rectifier, 1 A</description>
</segment>
<segment>
<pinref part="B1" gate="G$1" pin="5V"/>
-<wire x1="-99.06" y1="127" x2="-104.14" y2="127" width="0.1524" layer="91"/>
-<label x="-104.14" y="127" size="1.778" layer="95"/>
+<wire x1="-96.52" y1="187.96" x2="-101.6" y2="187.96" width="0.1524" layer="91"/>
+<label x="-101.6" y="187.96" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="VDD"/>
-<wire x1="81.28" y1="101.6" x2="91.44" y2="101.6" width="0.1524" layer="91"/>
-<label x="91.44" y="101.6" size="1.778" layer="95"/>
+<wire x1="81.28" y1="101.6" x2="86.36" y2="101.6" width="0.1524" layer="91"/>
+<label x="101.6" y="101.6" size="1.778" layer="95" xref="yes"/>
+<pinref part="U$6" gate="G$1" pin="VDD"/>
+<wire x1="86.36" y1="101.6" x2="101.6" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="81.28" y1="144.78" x2="86.36" y2="144.78" width="0.1524" layer="91"/>
+<wire x1="86.36" y1="144.78" x2="86.36" y2="101.6" width="0.1524" layer="91"/>
+<junction x="86.36" y="101.6"/>
</segment>
</net>
<net name="3V3" class="0">
<segment>
-<wire x1="-58.42" y1="91.44" x2="-66.04" y2="91.44" width="0.1524" layer="91"/>
-<label x="-66.04" y="91.44" size="1.778" layer="95"/>
-<pinref part="U$3" gate="G$1" pin="P$1"/>
+<pinref part="B1" gate="G$1" pin="3.3V"/>
+<wire x1="-96.52" y1="185.42" x2="-101.6" y2="185.42" width="0.1524" layer="91"/>
+<label x="-101.6" y="185.42" size="1.778" layer="95"/>
</segment>
<segment>
-<pinref part="B1" gate="G$1" pin="3.3V"/>
-<wire x1="-99.06" y1="124.46" x2="-104.14" y2="124.46" width="0.1524" layer="91"/>
-<label x="-104.14" y="124.46" size="1.778" layer="95"/>
+<pinref part="U$2" gate="G$1" pin="P$1"/>
+<wire x1="-63.5" y1="71.12" x2="-73.66" y2="71.12" width="0.1524" layer="91"/>
+<label x="-73.66" y="71.12" size="1.778" layer="95"/>
</segment>
-</net>
-<net name="VIN" class="1">
<segment>
-<pinref part="B1" gate="G$1" pin="VIN"/>
-<wire x1="-99.06" y1="129.54" x2="-104.14" y2="129.54" width="0.1524" layer="91"/>
-<label x="-104.14" y="129.54" size="1.778" layer="95"/>
+<pinref part="U$9" gate="G$1" pin="P$2"/>
+<wire x1="-137.16" y1="144.78" x2="-127" y2="144.78" width="0.1524" layer="91"/>
+<label x="-127" y="144.78" size="1.778" layer="95" xref="yes"/>
</segment>
<segment>
-<pinref part="J1" gate="G$1" pin="1"/>
-<label x="-35.56" y="154.94" size="1.778" layer="95"/>
-<wire x1="-40.64" y1="154.94" x2="-17.78" y2="154.94" width="0.1524" layer="91"/>
+<pinref part="U$8" gate="G$1" pin="P$2"/>
+<wire x1="-134.62" y1="91.44" x2="-127" y2="91.44" width="0.1524" layer="91"/>
+<label x="-127" y="91.44" size="1.778" layer="95" xref="yes"/>
+</segment>
+</net>
+<net name="VIN" class="1">
+<segment>
+<label x="55.88" y="180.34" size="1.778" layer="95"/>
+<wire x1="50.8" y1="180.34" x2="73.66" y2="180.34" width="0.1524" layer="91"/>
<pinref part="D1" gate="1" pin="C"/>
+<pinref part="U$3" gate="G$1" pin="P$1"/>
</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="VMOT"/>
<wire x1="81.28" y1="71.12" x2="88.9" y2="71.12" width="0.1524" layer="91"/>
-<label x="88.9" y="71.12" size="1.778" layer="95"/>
+<label x="93.98" y="71.12" size="1.778" layer="95" xref="yes"/>
+<pinref part="U$6" gate="G$1" pin="VMOT"/>
+<wire x1="81.28" y1="114.3" x2="88.9" y2="114.3" width="0.1524" layer="91"/>
+<wire x1="88.9" y1="114.3" x2="88.9" y2="71.12" width="0.1524" layer="91"/>
+<junction x="88.9" y="71.12"/>
+<wire x1="88.9" y1="71.12" x2="93.98" y2="71.12" width="0.1524" layer="91"/>
</segment>
</net>
<net name="N$13" class="1">
@@ -8280,24 +8314,27 @@ general purpose rectifier, 1 A</description>
<segment>
<pinref part="R6" gate="G$1" pin="1"/>
<pinref part="C2" gate="G$1" pin="1"/>
-<wire x1="-25.4" y1="91.44" x2="-17.78" y2="91.44" width="0.1524" layer="91"/>
-<junction x="-17.78" y="91.44"/>
-<wire x1="-17.78" y1="91.44" x2="-5.08" y2="91.44" width="0.1524" layer="91"/>
+<wire x1="-33.02" y1="93.98" x2="-25.4" y2="93.98" width="0.1524" layer="91"/>
+<junction x="-25.4" y="93.98"/>
+<wire x1="-25.4" y1="93.98" x2="-15.24" y2="93.98" width="0.1524" layer="91"/>
<pinref part="R2" gate="G$1" pin="2"/>
-<wire x1="-17.78" y1="91.44" x2="-17.78" y2="83.82" width="0.1524" layer="91"/>
-<label x="-25.4" y="91.44" size="1.778" layer="95" rot="R180" xref="yes"/>
+<wire x1="-25.4" y1="93.98" x2="-25.4" y2="86.36" width="0.1524" layer="91"/>
+<label x="-33.02" y="93.98" size="1.778" layer="95" rot="R180" xref="yes"/>
</segment>
<segment>
<pinref part="B1" gate="G$1" pin="A2"/>
-<wire x1="-99.06" y1="149.86" x2="-106.68" y2="149.86" width="0.1524" layer="91"/>
-<label x="-106.68" y="149.86" size="1.778" layer="95"/>
+<wire x1="-96.52" y1="210.82" x2="-104.14" y2="210.82" width="0.1524" layer="91"/>
+<label x="-104.14" y="210.82" size="1.778" layer="95"/>
</segment>
</net>
<net name="5V_4K7" class="0">
<segment>
<pinref part="R1" gate="G$1" pin="2"/>
-<wire x1="10.16" y1="144.78" x2="10.16" y2="96.52" width="0.1524" layer="91"/>
-<label x="2.54" y="109.22" size="1.778" layer="95"/>
+<wire x1="10.16" y1="144.78" x2="10.16" y2="139.7" width="0.1524" layer="91"/>
+<label x="-5.08" y="111.76" size="1.778" layer="95"/>
+<wire x1="10.16" y1="139.7" x2="10.16" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="10.16" y1="134.62" x2="10.16" y2="114.3" width="0.1524" layer="91"/>
+<wire x1="10.16" y1="114.3" x2="10.16" y2="96.52" width="0.1524" layer="91"/>
<wire x1="10.16" y1="96.52" x2="27.94" y2="96.52" width="0.1524" layer="91"/>
<wire x1="10.16" y1="96.52" x2="10.16" y2="91.44" width="0.1524" layer="91"/>
<junction x="10.16" y="96.52"/>
@@ -8308,89 +8345,267 @@ general purpose rectifier, 1 A</description>
<wire x1="27.94" y1="91.44" x2="10.16" y2="91.44" width="0.1524" layer="91"/>
<junction x="10.16" y="91.44"/>
<pinref part="U$1" gate="G$1" pin="!SLP"/>
+<pinref part="U$6" gate="G$1" pin="!SLP"/>
+<wire x1="27.94" y1="139.7" x2="10.16" y2="139.7" width="0.1524" layer="91"/>
+<junction x="10.16" y="139.7"/>
+<pinref part="U$6" gate="G$1" pin="!RST"/>
+<wire x1="27.94" y1="134.62" x2="10.16" y2="134.62" width="0.1524" layer="91"/>
+<junction x="10.16" y="134.62"/>
+<pinref part="U$6" gate="G$1" pin="EN"/>
+<wire x1="27.94" y1="114.3" x2="10.16" y2="114.3" width="0.1524" layer="91"/>
+<junction x="10.16" y="114.3"/>
</segment>
</net>
-<net name="N$20" class="0">
+<net name="DIR" class="0">
<segment>
-<wire x1="-58.42" y1="88.9" x2="-88.9" y2="88.9" width="0.1524" layer="91"/>
-<pinref part="R7" gate="G$1" pin="2"/>
-<pinref part="U$3" gate="G$1" pin="P$2"/>
+<wire x1="27.94" y1="106.68" x2="22.86" y2="106.68" width="0.1524" layer="91"/>
+<label x="22.86" y="106.68" size="1.778" layer="95" rot="R180" xref="yes"/>
+<pinref part="U$1" gate="G$1" pin="DIR"/>
+</segment>
+<segment>
+<pinref part="B1" gate="G$1" pin="D2"/>
+<wire x1="-71.12" y1="208.28" x2="-66.04" y2="208.28" width="0.1524" layer="91"/>
+<label x="-66.04" y="208.28" size="1.778" layer="95"/>
</segment>
</net>
-<net name="N$21" class="0">
+<net name="A_POT" class="0">
<segment>
-<wire x1="-58.42" y1="86.36" x2="-81.28" y2="86.36" width="0.1524" layer="91"/>
-<pinref part="R8" gate="G$1" pin="2"/>
-<pinref part="U$3" gate="G$1" pin="P$3"/>
+<pinref part="B1" gate="G$1" pin="A0"/>
+<wire x1="-96.52" y1="215.9" x2="-104.14" y2="215.9" width="0.1524" layer="91"/>
+<label x="-104.14" y="215.9" size="1.778" layer="95"/>
+</segment>
+<segment>
+<label x="-71.12" y="66.04" size="1.778" layer="95" rot="R180" xref="yes"/>
+<wire x1="-63.5" y1="66.04" x2="-71.12" y2="66.04" width="0.1524" layer="91"/>
+<pinref part="U$2" gate="G$1" pin="P$3"/>
</segment>
</net>
-<net name="N$22" class="0">
+<net name="N$1" class="0">
<segment>
-<pinref part="R9" gate="G$1" pin="2"/>
-<pinref part="U$4" gate="G$1" pin="P$1"/>
-<wire x1="-58.42" y1="83.82" x2="-73.66" y2="83.82" width="0.1524" layer="91"/>
+<pinref part="R2" gate="G$1" pin="1"/>
+<pinref part="R12" gate="G$1" pin="2"/>
+<wire x1="-15.24" y1="83.82" x2="-15.24" y2="81.28" width="0.1524" layer="91"/>
+<wire x1="-15.24" y1="83.82" x2="-7.62" y2="83.82" width="0.1524" layer="91"/>
+<junction x="-15.24" y="83.82"/>
+<pinref part="JP1" gate="G$1" pin="1"/>
</segment>
</net>
-<net name="N$23" class="0">
+<net name="N$3" class="1">
<segment>
-<pinref part="R10" gate="G$1" pin="2"/>
-<pinref part="U$4" gate="G$1" pin="P$2"/>
-<wire x1="-58.42" y1="81.28" x2="-66.04" y2="81.28" width="0.1524" layer="91"/>
+<pinref part="U$7" gate="G$1" pin="P$1"/>
+<wire x1="101.6" y1="134.62" x2="99.06" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="99.06" y1="134.62" x2="99.06" y2="139.7" width="0.1524" layer="91"/>
+<pinref part="U$6" gate="G$1" pin="1B"/>
+<wire x1="99.06" y1="139.7" x2="81.28" y2="139.7" width="0.1524" layer="91"/>
</segment>
</net>
-<net name="DIR" class="0">
+<net name="N$5" class="1">
<segment>
-<pinref part="B1" gate="G$1" pin="*D3"/>
-<wire x1="-73.66" y1="144.78" x2="-66.04" y2="144.78" width="0.1524" layer="91"/>
-<label x="-68.58" y="144.78" size="1.778" layer="95"/>
+<pinref part="U$6" gate="G$1" pin="1A"/>
+<wire x1="81.28" y1="134.62" x2="96.52" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="96.52" y1="134.62" x2="96.52" y2="132.08" width="0.1524" layer="91"/>
+<pinref part="U$7" gate="G$1" pin="P$2"/>
+<wire x1="96.52" y1="132.08" x2="101.6" y2="132.08" width="0.1524" layer="91"/>
</segment>
+</net>
+<net name="N$7" class="1">
<segment>
-<wire x1="27.94" y1="106.68" x2="17.78" y2="106.68" width="0.1524" layer="91"/>
-<label x="17.78" y="106.68" size="1.778" layer="95"/>
-<label x="17.78" y="106.68" size="1.778" layer="95" rot="R180" xref="yes"/>
-<pinref part="U$1" gate="G$1" pin="DIR"/>
+<pinref part="U$7" gate="G$1" pin="P$3"/>
+<pinref part="U$6" gate="G$1" pin="2A"/>
+<wire x1="101.6" y1="129.54" x2="81.28" y2="129.54" width="0.1524" layer="91"/>
</segment>
</net>
-<net name="A_POT" class="0">
+<net name="N$8" class="1">
<segment>
-<pinref part="B1" gate="G$1" pin="A0"/>
-<wire x1="-99.06" y1="154.94" x2="-106.68" y2="154.94" width="0.1524" layer="91"/>
-<label x="-106.68" y="154.94" size="1.778" layer="95"/>
+<pinref part="U$6" gate="G$1" pin="2B"/>
+<wire x1="81.28" y1="124.46" x2="96.52" y2="124.46" width="0.1524" layer="91"/>
+<wire x1="96.52" y1="124.46" x2="96.52" y2="127" width="0.1524" layer="91"/>
+<pinref part="U$7" gate="G$1" pin="P$4"/>
+<wire x1="96.52" y1="127" x2="101.6" y2="127" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="N$9" class="0">
+<segment>
+<pinref part="R4" gate="G$1" pin="1"/>
+<pinref part="R5" gate="G$1" pin="2"/>
+<wire x1="-15.24" y1="134.62" x2="-15.24" y2="132.08" width="0.1524" layer="91"/>
+<wire x1="-15.24" y1="134.62" x2="-7.62" y2="134.62" width="0.1524" layer="91"/>
+<junction x="-15.24" y="134.62"/>
+<pinref part="JP2" gate="G$1" pin="1"/>
+</segment>
+</net>
+<net name="VREF2" class="0">
+<segment>
+<pinref part="R3" gate="G$1" pin="2"/>
+<wire x1="-25.4" y1="154.94" x2="-25.4" y2="160.02" width="0.1524" layer="91"/>
+<label x="-25.4" y="160.02" size="1.778" layer="95" rot="R180" xref="yes"/>
+</segment>
+<segment>
+<pinref part="B1" gate="G$1" pin="*D6"/>
+<wire x1="-71.12" y1="198.12" x2="-66.04" y2="198.12" width="0.1524" layer="91"/>
+<label x="-66.04" y="198.12" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="A_VREF2" class="0">
+<segment>
+<pinref part="R3" gate="G$1" pin="1"/>
+<pinref part="C1" gate="G$1" pin="1"/>
+<wire x1="-33.02" y1="144.78" x2="-25.4" y2="144.78" width="0.1524" layer="91"/>
+<junction x="-25.4" y="144.78"/>
+<wire x1="-25.4" y1="144.78" x2="-15.24" y2="144.78" width="0.1524" layer="91"/>
+<pinref part="R4" gate="G$1" pin="2"/>
+<wire x1="-25.4" y1="144.78" x2="-25.4" y2="137.16" width="0.1524" layer="91"/>
+<label x="-33.02" y="144.78" size="1.778" layer="95" rot="R180" xref="yes"/>
+</segment>
+<segment>
+<pinref part="B1" gate="G$1" pin="A5"/>
+<wire x1="-96.52" y1="203.2" x2="-104.14" y2="203.2" width="0.1524" layer="91"/>
+<label x="-104.14" y="203.2" size="1.778" layer="95"/>
+</segment>
+</net>
+<net name="A_ENC2" class="0">
+<segment>
+<wire x1="-104.14" y1="83.82" x2="-104.14" y2="88.9" width="0.1524" layer="91"/>
+<pinref part="R10" gate="G$1" pin="1"/>
+<wire x1="-104.14" y1="88.9" x2="-104.14" y2="93.98" width="0.1524" layer="91"/>
+<wire x1="-104.14" y1="93.98" x2="-104.14" y2="99.06" width="0.1524" layer="91"/>
+<wire x1="-104.14" y1="99.06" x2="-104.14" y2="104.14" width="0.1524" layer="91"/>
+<pinref part="R9" gate="G$1" pin="1"/>
+<wire x1="-109.22" y1="88.9" x2="-104.14" y2="88.9" width="0.1524" layer="91"/>
+<junction x="-104.14" y="88.9"/>
+<pinref part="R8" gate="G$1" pin="1"/>
+<junction x="-104.14" y="93.98"/>
+<pinref part="R7" gate="G$1" pin="1"/>
+<wire x1="-109.22" y1="99.06" x2="-104.14" y2="99.06" width="0.1524" layer="91"/>
+<junction x="-104.14" y="99.06"/>
+<label x="-104.14" y="104.14" size="1.778" layer="95" xref="yes"/>
+</segment>
+<segment>
+<pinref part="B1" gate="G$1" pin="A4"/>
+<wire x1="-96.52" y1="205.74" x2="-104.14" y2="205.74" width="0.1524" layer="91"/>
+<label x="-104.14" y="205.74" size="1.778" layer="95"/>
</segment>
+</net>
+<net name="A_POT2" class="0">
<segment>
-<label x="-68.58" y="71.12" size="1.778" layer="95"/>
-<label x="-78.74" y="71.12" size="1.778" layer="95" rot="R180" xref="yes"/>
+<label x="-81.28" y="68.58" size="1.778" layer="95" rot="R180" xref="yes"/>
+<wire x1="-63.5" y1="68.58" x2="-81.28" y2="68.58" width="0.1524" layer="91"/>
<pinref part="U$2" gate="G$1" pin="P$2"/>
-<wire x1="-61.595" y1="71.12" x2="-78.74" y2="71.12" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="B1" gate="G$1" pin="A3"/>
+<wire x1="-96.52" y1="208.28" x2="-104.14" y2="208.28" width="0.1524" layer="91"/>
+<label x="-104.14" y="208.28" size="1.778" layer="95"/>
</segment>
</net>
-<net name="N$1" class="0">
+<net name="CLK2" class="0">
<segment>
-<pinref part="R2" gate="G$1" pin="1"/>
-<pinref part="R12" gate="G$1" pin="2"/>
-<wire x1="-5.08" y1="81.28" x2="-5.08" y2="78.74" width="0.1524" layer="91"/>
-<wire x1="-5.08" y1="81.28" x2="0" y2="81.28" width="0.1524" layer="91"/>
-<junction x="-5.08" y="81.28"/>
-<wire x1="0" y1="81.28" x2="0" y2="60.96" width="0.1524" layer="91"/>
-<wire x1="0" y1="60.96" x2="25.4" y2="60.96" width="0.1524" layer="91"/>
-<pinref part="JP1" gate="G$1" pin="1"/>
+<pinref part="U$6" gate="G$1" pin="STEP"/>
+<wire x1="27.94" y1="144.78" x2="22.86" y2="144.78" width="0.1524" layer="91"/>
+<label x="22.86" y="144.78" size="1.778" layer="95" rot="MR0" xref="yes"/>
+</segment>
+<segment>
+<pinref part="B1" gate="G$1" pin="D7"/>
+<wire x1="-71.12" y1="195.58" x2="-66.04" y2="195.58" width="0.1524" layer="91"/>
+<label x="-66.04" y="195.58" size="1.778" layer="95"/>
</segment>
</net>
-<net name="N$4" class="0">
+<net name="DIR2" class="0">
<segment>
-<pinref part="U$1" gate="G$1" pin="GND@7"/>
-<wire x1="81.28" y1="76.2" x2="93.98" y2="76.2" width="0.1524" layer="91"/>
+<pinref part="U$6" gate="G$1" pin="DIR"/>
+<wire x1="27.94" y1="149.86" x2="22.86" y2="149.86" width="0.1524" layer="91"/>
+<label x="22.86" y="149.86" size="1.778" layer="95" rot="MR0" xref="yes"/>
+</segment>
+<segment>
+<pinref part="B1" gate="G$1" pin="*D5"/>
+<wire x1="-71.12" y1="200.66" x2="-66.04" y2="200.66" width="0.1524" layer="91"/>
+<label x="-66.04" y="200.66" size="1.778" layer="95"/>
</segment>
</net>
-<net name="N$6" class="0">
+<net name="ENC2_EA+" class="0">
<segment>
-<pinref part="U$1" gate="G$1" pin="GND@1"/>
-<wire x1="81.28" y1="106.68" x2="96.52" y2="106.68" width="0.1524" layer="91"/>
+<pinref part="U$8" gate="G$1" pin="P$1"/>
+<label x="-132.08" y="99.06" size="1.778" layer="95"/>
+<pinref part="R7" gate="G$1" pin="2"/>
+<wire x1="-134.62" y1="99.06" x2="-119.38" y2="99.06" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="ENC2_EB+" class="0">
+<segment>
+<pinref part="U$8" gate="G$1" pin="P$11"/>
+<wire x1="-139.7" y1="93.98" x2="-114.3" y2="93.98" width="0.1524" layer="91"/>
+<label x="-132.08" y="93.98" size="1.778" layer="95"/>
+<pinref part="R8" gate="G$1" pin="2"/>
+</segment>
+</net>
+<net name="ENC2_EB-" class="0">
+<segment>
+<pinref part="U$8" gate="G$1" pin="P$12"/>
+<wire x1="-139.7" y1="86.36" x2="-116.84" y2="86.36" width="0.1524" layer="91"/>
+<label x="-132.08" y="86.36" size="1.778" layer="95"/>
+<wire x1="-116.84" y1="86.36" x2="-116.84" y2="83.82" width="0.1524" layer="91"/>
+<pinref part="R10" gate="G$1" pin="2"/>
+<wire x1="-116.84" y1="83.82" x2="-114.3" y2="83.82" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="ENC2_EA-" class="0">
+<segment>
+<pinref part="U$8" gate="G$1" pin="P$13"/>
+<wire x1="-139.7" y1="78.74" x2="-119.38" y2="78.74" width="0.1524" layer="91"/>
+<label x="-132.08" y="78.74" size="1.778" layer="95"/>
+<pinref part="R9" gate="G$1" pin="2"/>
+<wire x1="-119.38" y1="78.74" x2="-119.38" y2="88.9" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="ENC1_EA+" class="0">
+<segment>
+<pinref part="U$9" gate="G$1" pin="P$1"/>
+<label x="-134.62" y="152.4" size="1.778" layer="95"/>
+<pinref part="R13" gate="G$1" pin="2"/>
+<wire x1="-119.38" y1="152.4" x2="-137.16" y2="152.4" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="ENC1_EB+" class="0">
+<segment>
+<pinref part="U$9" gate="G$1" pin="P$11"/>
+<wire x1="-142.24" y1="147.32" x2="-114.3" y2="147.32" width="0.1524" layer="91"/>
+<label x="-134.62" y="147.32" size="1.778" layer="95"/>
+<pinref part="R14" gate="G$1" pin="2"/>
+</segment>
+</net>
+<net name="ENC1_EA-" class="0">
+<segment>
+<pinref part="U$9" gate="G$1" pin="P$13"/>
+<wire x1="-142.24" y1="132.08" x2="-119.38" y2="132.08" width="0.1524" layer="91"/>
+<label x="-134.62" y="132.08" size="1.778" layer="95"/>
+<wire x1="-119.38" y1="132.08" x2="-119.38" y2="142.24" width="0.1524" layer="91"/>
+<pinref part="R15" gate="G$1" pin="2"/>
+</segment>
+</net>
+<net name="ENC1_EB-" class="0">
+<segment>
+<pinref part="U$9" gate="G$1" pin="P$12"/>
+<wire x1="-142.24" y1="139.7" x2="-116.84" y2="139.7" width="0.1524" layer="91"/>
+<label x="-134.62" y="139.7" size="1.778" layer="95"/>
+<pinref part="R16" gate="G$1" pin="2"/>
+<wire x1="-114.3" y1="137.16" x2="-116.84" y2="139.7" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="VIN_ARD" class="0">
+<segment>
+<pinref part="B1" gate="G$1" pin="VIN"/>
+<wire x1="-96.52" y1="190.5" x2="-111.76" y2="190.5" width="0.1524" layer="91"/>
+<label x="-111.76" y="190.5" size="1.778" layer="95"/>
</segment>
</net>
</nets>
</sheet>
</sheets>
+<errors>
+<approved hash="106,1,-96.52,190.5,VIN_ARD,,,,,"/>
+<approved hash="113,1,-7.38293,85.2212,JP1,,,,,"/>
+<approved hash="113,1,-7.38293,136.021,JP2,,,,,"/>
+</errors>
</schematic>
</drawing>
<compatibility>
diff --git a/EagleProject/eagle.epf b/EagleProject/eagle.epf
index 51b9487..9f738a4 100644
--- a/EagleProject/eagle.epf
+++ b/EagleProject/eagle.epf
@@ -345,10 +345,11 @@ UsedLibrary="/home/wheel/bob/eagle/libraries/NSC_By_element14_Batch_1.1.lbr"
UsedLibrary="/home/wheel/bob/eagle/libraries/Texas Instruments_By_element14_Batch_1.lbr"
UsedLibrary="lib.lbr"
UsedLibrary="/home/wheel/tpg/Projects/ForceFeedback/EagleProject/altronics.lbr"
+UsedLibrary="altronics.lbr"
[Win_1]
Type="Control Panel"
-Loc="677 230 1759 670"
+Loc="605 538 1687 978"
State=2
Number=0
diff --git a/EncoderResistorNetworkSizing.py b/EncoderResistorNetworkSizing.py
new file mode 100644
index 0000000..fd1824d
--- /dev/null
+++ b/EncoderResistorNetworkSizing.py
@@ -0,0 +1,58 @@
+
+# E12
+# 10 12 15 18 22 27 33 39 47 56 68 82
+
+#values = [10, 22, 39, 82,]
+values = [82, 39, 22, 10]
+
+class Vals(object):
+ def __init__(self):
+ self.hi = []
+ self.lo = []
+ def push(self, is_high, v):
+ # Assumes either tying high, or tying low
+ if is_high:
+ self.hi.append(v)
+ else:
+ self.lo.append(v)
+ def clone(self):
+ rv = Vals()
+ rv.hi = [v for v in self.hi]
+ rv.lo = [v for v in self.lo]
+ return rv
+ def calc(self):
+ if len(self.hi) == 0:
+ return 0.0
+ if len(self.lo) == 0:
+ return 1.0
+ hi = 1.0 / sum(( 1.0 / v for v in self.hi))
+ lo = 1.0 / sum(( 1.0 / v for v in self.lo))
+ return lo / (hi + lo)
+ def __repr__(self):
+ return "Vals({!r},{!r})".format(self.hi, self.lo)
+
+for state in range(16):
+ #output_vals = [0.0]
+ #for i,r in enumerate(values):
+ # ov = []
+ # for v in output_vals:
+ # for m in [0.95,1.05]:
+ # R = r * m
+ # ov.append( v + R / (R + 10) )
+ # output_vals = ov
+ output_vals = [Vals()]
+ for i,r in enumerate(values):
+ is_high = ((state >> i) & 1 != 0)
+ ov = []
+ for v in output_vals:
+ for m in [0.95,1.0,1.05]:
+ ov.append(v.clone())
+ ov[-1].push(is_high, r*m)
+ output_vals = ov
+ #print(output_vals)
+ output_vals = [v.calc() for v in output_vals]
+
+ #print(state, "{:.3f} -- {:.3f}".format(min(output_vals), max(output_vals)))
+ output_vals = [ round(v * 255) for v in output_vals ]
+ print("{:2} {:3} -- {:3}".format(state, min(output_vals), max(output_vals)))
+
--
GitLab