Get everything positioned and start routing

Also added CAN.

Change-Id: Ib6834e50fd28483dcfb3783588f27500570f4263
diff --git a/motors/big_schematic/control-main.sch b/motors/big_schematic/control-main.sch
index 66067cd..9de3a0a 100644
--- a/motors/big_schematic/control-main.sch
+++ b/motors/big_schematic/control-main.sch
@@ -330,32 +330,31 @@
 C 42800 43000 1 0 0 5V-plus-1.sym
 N 42200 42700 43000 42700 4
 N 43000 42700 43000 43000 4
-C 42900 42000 1 0 0 gnd-1.sym
 N 42200 42400 43000 42400 4
 N 43000 42400 43000 42300 4
 C 42900 38100 1 0 0 gnd-1.sym
 N 42200 38500 43000 38500 4
 N 43000 38500 43000 38400 4
-C 35200 40100 1 270 0 connector4-1.sym
+C 35200 39800 1 270 0 connector4-1.sym
 {
-T 36100 38300 5 10 0 0 270 0 1
+T 36100 38000 5 10 0 0 270 0 1
 device=CONNECTOR_4
-T 36600 40100 5 10 1 1 270 0 1
+T 36600 39800 5 10 1 1 270 0 1
 refdes=CONN6
-T 35200 40100 5 10 0 0 0 0 1
+T 35200 39800 5 10 0 0 0 0 1
 footprint=HEADER4x1
-T 35200 40100 5 10 0 0 0 0 1
+T 35200 39800 5 10 0 0 0 0 1
 pn=TSW-104-15-T-S
 }
-C 37100 42300 1 270 0 connector4-1.sym
+C 37100 43200 1 270 0 connector4-1.sym
 {
-T 38000 40500 5 10 0 0 270 0 1
+T 38000 41400 5 10 0 0 270 0 1
 device=CONNECTOR_4
-T 38500 42300 5 10 1 1 270 0 1
+T 38500 43200 5 10 1 1 270 0 1
 refdes=CONN8
-T 37100 42300 5 10 0 0 0 0 1
+T 37100 43200 5 10 0 0 0 0 1
 footprint=HEADER4x1
-T 37100 42300 5 10 0 0 0 0 1
+T 37100 43200 5 10 0 0 0 0 1
 pn=TSW-104-15-T-S
 }
 C 45200 39100 1 270 0 connector4-1.sym
@@ -369,17 +368,6 @@
 T 45200 39100 5 10 0 0 0 0 1
 pn=TSW-104-15-T-S
 }
-C 45600 43600 1 270 0 connector4-1.sym
-{
-T 46500 41800 5 10 0 0 270 0 1
-device=CONNECTOR_4
-T 47000 43600 5 10 1 1 270 0 1
-refdes=CONN9
-T 45600 43600 5 10 0 0 0 0 1
-footprint=HEADER4x1
-T 45600 43600 5 10 0 0 0 0 1
-pn=TSW-104-15-T-S
-}
 C 51100 40100 1 0 0 bolt.sym
 {
 T 50800 41300 5 10 0 1 0 0 1
@@ -421,54 +409,50 @@
 N 45200 36500 45200 36300 4
 N 45200 36300 45700 36300 4
 N 45400 37400 45400 37200 4
-N 45400 37200 44500 37200 4
-N 44500 37200 44500 36100 4
-N 44500 36100 42200 36100 4
-N 36000 38400 36000 36100 4
-N 36000 36100 40300 36100 4
-N 42200 40600 43900 40600 4
-N 43900 40600 43900 34400 4
+N 44200 37200 45400 37200 4
+N 44200 36100 42200 36100 4
+N 34000 36100 40300 36100 4
+N 42200 40300 43900 40300 4
+N 43900 40300 43900 34400 4
 N 43900 34400 36300 34400 4
-N 36300 34400 36300 38400 4
+N 36300 34400 36300 38100 4
 N 42200 41800 43900 41800 4
 N 43900 41800 43900 44100 4
 N 34500 44100 43900 44100 4
 N 34500 44100 34500 37700 4
 N 34500 37700 35700 37700 4
-N 35700 37700 35700 38400 4
+N 35700 37700 35700 38100 4
 N 42200 41500 44100 41500 4
 N 44100 41500 44100 44300 4
 N 44100 44300 34700 44300 4
 N 34700 44300 34700 37900 4
 N 34700 37900 35400 37900 4
-N 35400 37900 35400 38400 4
-N 37300 40600 37300 39400 4
+N 35400 37900 35400 38100 4
+N 37300 41500 37300 39400 4
 N 37300 39400 40300 39400 4
-N 37600 40600 37600 39700 4
-N 37600 39700 40300 39700 4
-N 37900 40600 37900 40200 4
-N 37900 40200 38800 40200 4
-N 38800 40200 38800 43900 4
-N 38800 43900 43700 43900 4
-N 43700 43900 43700 40300 4
-N 43700 40300 42200 40300 4
-N 38200 40600 38200 35800 4
-N 38200 35800 40300 35800 4
+N 37600 41500 37600 39600 4
+N 37600 39600 39600 39600 4
+N 37900 41500 37900 41200 4
+N 37900 41200 38800 41200 4
+N 38800 41200 38800 43900 4
+N 35900 43900 43700 43900 4
+N 43700 43900 43700 40600 4
+N 43700 40600 42200 40600 4
+N 37800 35800 40300 35800 4
 N 45800 41900 45800 40900 4
 N 45800 40900 42200 40900 4
 N 40300 40600 39000 40600 4
 N 39000 40600 39000 43700 4
 N 39000 43700 45000 43700 4
-N 45000 43700 45000 41400 4
-N 45000 41400 46100 41400 4
-N 46100 41400 46100 41900 4
+N 45000 43700 45000 41100 4
+N 45000 41100 46100 41100 4
+N 46100 41100 46100 41900 4
 N 46400 39500 46400 41900 4
-N 42200 37600 44900 37600 4
-N 44900 37600 44900 39300 4
-N 44900 39300 46700 39300 4
-N 46700 39300 46700 41900 4
+N 42200 37600 45000 37600 4
+N 45000 37600 45000 39300 4
+N 45000 39300 46700 39300 4
 N 46400 39500 44500 39500 4
-N 44500 39500 44500 39400 4
+N 44500 39200 44500 39500 4
 N 44500 39400 42200 39400 4
 C 47700 35000 1 270 0 resistor-1.sym
 {
@@ -496,7 +480,6 @@
 T 47500 36100 5 10 1 1 270 0 1
 value=59 k
 }
-C 47700 33600 1 0 0 gnd-1.sym
 N 47800 33900 47800 34100 4
 N 47800 36300 47800 36500 4
 N 47800 35400 47800 35000 4
@@ -505,42 +488,624 @@
 N 43100 35200 47800 35200 4
 C 47600 36500 1 0 0 vcc-1.sym
 C 39300 38700 1 0 0 3.3V-plus-1.sym
-C 42500 42000 1 0 0 3.3V-plus-1.sym
-N 42700 42000 42700 41900 4
-N 42700 41900 42500 41900 4
-N 42500 41900 42500 42100 4
-N 42500 42100 42200 42100 4
+C 42400 42000 1 0 0 3.3V-plus-1.sym
+N 42600 42000 42600 41900 4
+N 42600 41900 42400 41900 4
+N 42400 41900 42400 42100 4
+N 42400 42100 42200 42100 4
 N 39500 38700 39500 38500 4
 N 39500 38500 40300 38500 4
-C 30000 37000 1 0 0 connector6-1.sym
+C 30000 34200 1 0 0 connector6-1.sym
 {
-T 31800 38800 5 10 0 0 0 0 1
+T 31800 36000 5 10 0 0 0 0 1
 device=CONNECTOR_6
-T 30100 39000 5 10 1 1 0 0 1
+T 30100 36200 5 10 1 1 0 0 1
 refdes=CONN1
-T 30000 37000 5 10 0 0 0 0 1
+T 30000 34200 5 10 0 0 0 0 1
 pn=S06B-PASK-2(LF)(SN)
-T 30000 37000 5 10 0 0 0 0 1
+T 30000 34200 5 10 0 0 0 0 1
 footprint=S06B-PASK-2
 }
-C 32200 38600 1 90 0 gnd-1.sym
-C 32600 38600 1 270 0 3.3V-plus-1.sym
-C 31900 38300 1 270 0 5V-plus-1.sym
-N 31900 38700 31700 38700 4
-N 31700 38400 32600 38400 4
-N 31900 38100 31700 38100 4
+C 32200 35800 1 90 0 gnd-1.sym
+C 31900 35500 1 270 0 3.3V-plus-1.sym
+C 32400 35800 1 270 0 5V-plus-1.sym
+N 31900 35900 31700 35900 4
 N 42200 40000 43700 40000 4
 N 43700 34600 43700 40000 4
-N 33500 34600 43700 34600 4
+N 33900 34600 43700 34600 4
 N 42200 39700 43500 39700 4
 N 43500 39700 43500 34800 4
 N 43500 34800 33700 34800 4
-N 33700 34800 33700 37500 4
-N 33700 37500 31700 37500 4
-N 31700 37200 33500 37200 4
-N 33500 37200 33500 34600 4
+N 33700 34800 33700 34700 4
+N 33700 34700 31700 34700 4
+N 31700 34400 33900 34400 4
+N 33900 34400 33900 34600 4
 N 42200 37900 43400 37900 4
 N 43400 37900 43400 35000 4
-N 43400 35000 33900 35000 4
-N 33900 35000 33900 37800 4
-N 33900 37800 31700 37800 4
+N 31700 35000 43400 35000 4
+C 44000 33800 1 270 0 capacitor-1.sym
+{
+T 44700 33600 5 10 0 0 270 0 1
+device=CAPACITOR
+T 44900 33600 5 10 0 0 270 0 1
+symversion=0.1
+T 44000 33800 5 10 0 0 270 0 1
+footprint=0603
+T 44000 33800 5 10 0 0 270 0 1
+pn=CL10C103JA8NNNC
+T 44500 33500 5 10 1 1 270 0 1
+refdes=C9
+T 43800 33600 5 10 1 1 270 0 1
+value=10 nF
+}
+N 44200 32900 44200 32700 4
+C 43200 42300 1 180 0 generic-power.sym
+{
+T 43000 42050 5 10 1 1 180 3 1
+net=Agnd:1
+}
+C 45300 43600 1 270 0 connector5-1.sym
+{
+T 46800 41800 5 10 0 0 270 0 1
+device=CONNECTOR_5
+T 47000 43500 5 10 1 1 270 0 1
+refdes=CONN9
+T 45300 43600 5 10 0 0 0 0 1
+footprint=HEADER5x1
+}
+C 45700 41700 1 180 0 generic-power.sym
+{
+T 45500 41450 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 45500 41900 45500 41700 4
+C 48000 33900 1 180 0 generic-power.sym
+{
+T 47800 33650 5 10 1 1 180 3 1
+net=Agnd:1
+}
+C 44400 32700 1 180 0 generic-power.sym
+{
+T 44200 32450 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 44200 33800 44200 37200 4
+C 33000 38300 1 270 0 capacitor-1.sym
+{
+T 33700 38100 5 10 0 0 270 0 1
+device=CAPACITOR
+T 33900 38100 5 10 0 0 270 0 1
+symversion=0.1
+T 33000 38300 5 10 0 0 270 0 1
+footprint=0603
+T 33000 38300 5 10 0 0 270 0 1
+pn=CL10C103JA8NNNC
+T 33500 38000 5 10 1 1 270 0 1
+refdes=C10
+T 32800 38100 5 10 1 1 270 0 1
+value=10 nF
+}
+N 33200 37400 33200 37200 4
+C 33400 37200 1 180 0 generic-power.sym
+{
+T 33200 36950 5 10 1 1 180 3 1
+net=Agnd:1
+}
+C 31700 38300 1 270 0 resistor-1.sym
+{
+T 32100 38000 5 10 0 0 270 0 1
+device=RESISTOR
+T 31700 38300 5 10 0 0 270 0 1
+footprint=0603
+T 31700 38300 5 10 0 0 270 0 1
+tolerance=1%
+T 31700 38300 5 10 0 0 0 0 1
+pn=RC0603FR-071K47L
+T 32000 38100 5 10 1 1 270 0 1
+refdes=R10
+T 31500 38100 5 10 1 1 270 0 1
+value=1.47 k
+}
+C 31700 39600 1 270 0 resistor-1.sym
+{
+T 32100 39300 5 10 0 0 270 0 1
+device=RESISTOR
+T 31700 39600 5 10 0 0 270 0 1
+footprint=0603
+T 31700 39600 5 10 0 0 270 0 1
+tolerance=1%
+T 31700 39600 5 10 0 0 0 0 1
+pn=RC0603FR-07768RL
+T 32000 39400 5 10 1 1 270 0 1
+refdes=R11
+T 31500 39400 5 10 1 1 270 0 1
+value=768
+}
+N 31800 37200 31800 37400 4
+N 31800 39600 31800 39800 4
+N 31800 38700 31800 38300 4
+C 32000 37200 1 180 0 generic-power.sym
+{
+T 31800 36950 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 33200 38300 33200 38500 4
+N 31800 38500 34000 38500 4
+N 34000 36100 34000 38500 4
+N 31800 39800 34300 39800 4
+N 34300 39800 34300 37500 4
+N 34300 37500 36000 37500 4
+N 36000 37500 36000 38100 4
+C 38300 38100 1 270 0 capacitor-1.sym
+{
+T 39000 37900 5 10 0 0 270 0 1
+device=CAPACITOR
+T 39200 37900 5 10 0 0 270 0 1
+symversion=0.1
+T 38300 38100 5 10 0 0 270 0 1
+footprint=0603
+T 38300 38100 5 10 0 0 270 0 1
+pn=CL10C103JA8NNNC
+T 38800 37800 5 10 1 1 270 0 1
+refdes=C11
+T 38100 37900 5 10 1 1 270 0 1
+value=10 nF
+}
+N 38500 37200 38500 37000 4
+C 38700 37000 1 180 0 generic-power.sym
+{
+T 38500 36750 5 10 1 1 180 3 1
+net=Agnd:1
+}
+C 37000 38100 1 270 0 resistor-1.sym
+{
+T 37400 37800 5 10 0 0 270 0 1
+device=RESISTOR
+T 37000 38100 5 10 0 0 270 0 1
+footprint=0603
+T 37000 38100 5 10 0 0 270 0 1
+tolerance=1%
+T 37000 38100 5 10 0 0 0 0 1
+pn=RC0603FR-071K47L
+T 37300 37900 5 10 1 1 270 0 1
+refdes=R12
+T 36800 37900 5 10 1 1 270 0 1
+value=1.47 k
+}
+C 37000 39400 1 270 0 resistor-1.sym
+{
+T 37400 39100 5 10 0 0 270 0 1
+device=RESISTOR
+T 37000 39400 5 10 0 0 270 0 1
+footprint=0603
+T 37000 39400 5 10 0 0 270 0 1
+tolerance=1%
+T 37000 39400 5 10 0 0 0 0 1
+pn=RC0603FR-07768RL
+T 37300 39200 5 10 1 1 270 0 1
+refdes=R13
+T 36800 39200 5 10 1 1 270 0 1
+value=768
+}
+N 37100 37000 37100 37200 4
+N 37100 39400 37100 39800 4
+N 37100 38500 37100 38100 4
+C 37300 37000 1 180 0 generic-power.sym
+{
+T 37100 36750 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 38500 38100 38500 38300 4
+N 38500 38300 37100 38300 4
+N 38200 41500 38200 39800 4
+N 38200 39800 37100 39800 4
+N 37800 38300 37800 35800 4
+C 49300 39700 1 270 0 capacitor-1.sym
+{
+T 50000 39500 5 10 0 0 270 0 1
+device=CAPACITOR
+T 50200 39500 5 10 0 0 270 0 1
+symversion=0.1
+T 49300 39700 5 10 0 0 270 0 1
+footprint=0603
+T 49300 39700 5 10 0 0 270 0 1
+pn=CL10C103JA8NNNC
+T 49800 39400 5 10 1 1 270 0 1
+refdes=C12
+T 49100 39500 5 10 1 1 270 0 1
+value=10 nF
+}
+N 49500 38800 49500 38600 4
+C 49700 38600 1 180 0 generic-power.sym
+{
+T 49500 38350 5 10 1 1 180 3 1
+net=Agnd:1
+}
+C 48000 39700 1 270 0 resistor-1.sym
+{
+T 48400 39400 5 10 0 0 270 0 1
+device=RESISTOR
+T 48000 39700 5 10 0 0 270 0 1
+footprint=0603
+T 48000 39700 5 10 0 0 270 0 1
+tolerance=1%
+T 48000 39700 5 10 0 0 0 0 1
+pn=RC0603FR-071K47L
+T 48300 39500 5 10 1 1 270 0 1
+refdes=R14
+T 47800 39500 5 10 1 1 270 0 1
+value=1.47 k
+}
+C 48000 41100 1 270 0 resistor-1.sym
+{
+T 48400 40800 5 10 0 0 270 0 1
+device=RESISTOR
+T 48000 41100 5 10 0 0 270 0 1
+footprint=0603
+T 48000 41100 5 10 0 0 270 0 1
+tolerance=1%
+T 48000 41100 5 10 0 0 0 0 1
+pn=RC0603FR-07768RL
+T 48300 40900 5 10 1 1 270 0 1
+refdes=R15
+T 47800 40900 5 10 1 1 270 0 1
+value=768
+}
+N 48100 38600 48100 38800 4
+N 48100 41100 48100 41500 4
+N 48100 40200 48100 39700 4
+C 48300 38600 1 180 0 generic-power.sym
+{
+T 48100 38350 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 49500 39700 49500 39900 4
+N 49500 39900 48100 39900 4
+N 46700 39300 46700 40000 4
+N 46700 40000 48100 40000 4
+N 48100 41500 46700 41500 4
+N 46700 41500 46700 41900 4
+C 46300 35000 1 270 0 capacitor-1.sym
+{
+T 47000 34800 5 10 0 0 270 0 1
+device=CAPACITOR
+T 47200 34800 5 10 0 0 270 0 1
+symversion=0.1
+T 46300 35000 5 10 0 0 270 0 1
+footprint=0603
+T 46300 35000 5 10 0 0 270 0 1
+pn=GRM1885C1H272JA01D
+T 46800 34700 5 10 1 1 270 0 1
+refdes=C13
+T 46100 34800 5 10 1 1 270 0 1
+value=2.7 nF
+}
+N 46500 34100 46500 33900 4
+C 46700 33900 1 180 0 generic-power.sym
+{
+T 46500 33650 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 46500 35000 46500 35200 4
+C 37200 34200 1 270 0 capacitor-1.sym
+{
+T 37900 34000 5 10 0 0 270 0 1
+device=CAPACITOR
+T 38100 34000 5 10 0 0 270 0 1
+symversion=0.1
+T 37200 34200 5 10 0 0 270 0 1
+footprint=0603
+T 37200 34200 5 10 0 0 270 0 1
+pn=GRM1885C1H272JA01D
+T 37700 33900 5 10 1 1 270 0 1
+refdes=C15
+T 37000 34000 5 10 1 1 270 0 1
+value=2.7 nF
+}
+N 37400 33300 37400 33100 4
+C 37600 33100 1 180 0 generic-power.sym
+{
+T 37400 32850 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 37400 34200 37400 34400 4
+C 35700 43700 1 270 0 capacitor-1.sym
+{
+T 36400 43500 5 10 0 0 270 0 1
+device=CAPACITOR
+T 36600 43500 5 10 0 0 270 0 1
+symversion=0.1
+T 35700 43700 5 10 0 0 270 0 1
+footprint=0603
+T 35700 43700 5 10 0 0 270 0 1
+pn=GRM1885C1H272JA01D
+T 36200 43400 5 10 1 1 270 0 1
+refdes=C14
+T 35500 43500 5 10 1 1 270 0 1
+value=2.7 nF
+}
+N 35900 42800 35900 42600 4
+C 36100 42600 1 180 0 generic-power.sym
+{
+T 35900 42350 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 35900 43700 35900 43900 4
+C 44300 39200 1 270 0 capacitor-1.sym
+{
+T 45000 39000 5 10 0 0 270 0 1
+device=CAPACITOR
+T 45200 39000 5 10 0 0 270 0 1
+symversion=0.1
+T 44300 39200 5 10 0 0 270 0 1
+footprint=0603
+T 44300 39200 5 10 0 0 270 0 1
+pn=GRM1885C1H272JA01D
+T 44800 38900 5 10 1 1 270 0 1
+refdes=C16
+T 44100 39000 5 10 1 1 270 0 1
+value=2.7 nF
+}
+N 44500 38300 44500 38100 4
+C 44700 38100 1 180 0 generic-power.sym
+{
+T 44500 37850 5 10 1 1 180 3 1
+net=Agnd:1
+}
+N 32400 35600 31700 35600 4
+N 31700 35300 31900 35300 4
+C 41500 29900 1 90 0 connector6-1.sym
+{
+T 39700 31700 5 10 0 0 90 0 1
+device=CONNECTOR_6
+T 41500 29900 5 10 0 0 90 0 1
+pn=S06B-PASK-2(LF)(SN)
+T 41500 29900 5 10 0 0 90 0 1
+footprint=S06B-PASK-2
+T 39500 30000 5 10 1 1 90 0 1
+refdes=CONN2
+}
+C 39900 32100 1 180 0 gnd-1.sym
+C 40200 31800 1 0 0 3.3V-plus-1.sym
+C 39900 32300 1 0 0 5V-plus-1.sym
+N 39800 31800 39800 31600 4
+N 40100 32300 40100 31600 4
+N 40400 31600 40400 31800 4
+C 28600 41000 1 0 0 connector6-1.sym
+{
+T 30400 42800 5 10 0 0 0 0 1
+device=CONNECTOR_6
+T 28600 41000 5 10 0 0 0 0 1
+pn=S06B-PASK-2(LF)(SN)
+T 28600 41000 5 10 0 0 0 0 1
+footprint=S06B-PASK-2
+T 28700 43000 5 10 1 1 0 0 1
+refdes=CONN3
+}
+C 30800 42600 1 90 0 gnd-1.sym
+C 31000 42600 1 270 0 5V-plus-1.sym
+N 30500 42700 30300 42700 4
+N 31000 42400 30300 42400 4
+N 42200 36400 42400 36400 4
+N 42400 36400 42400 33300 4
+N 42400 33300 40700 33300 4
+N 40700 33300 40700 31600 4
+N 42200 37000 42600 37000 4
+N 42600 37000 42600 32900 4
+N 42600 32900 41000 32900 4
+N 41000 32900 41000 31600 4
+N 42200 37300 42800 37300 4
+N 42800 37300 42800 32400 4
+N 42800 32400 41300 32400 4
+N 41300 32400 41300 31600 4
+N 40300 40000 38800 40000 4
+N 38800 40000 38800 40200 4
+N 38800 40200 33400 40200 4
+N 33400 40200 33400 41500 4
+N 33400 41500 30300 41500 4
+N 30300 41800 33600 41800 4
+N 33600 41800 33600 40400 4
+N 33600 40400 39200 40400 4
+N 39200 40400 39200 40300 4
+N 39200 40300 40300 40300 4
+N 40300 38800 39900 38800 4
+N 39900 38800 39900 39200 4
+N 39900 39200 38400 39200 4
+N 38400 39200 38400 40000 4
+N 38400 40000 33200 40000 4
+N 33200 40000 33200 41200 4
+N 33200 41200 30300 41200 4
+N 39600 39600 39600 39700 4
+N 39600 39700 40300 39700 4
+N 42200 41200 44300 41200 4
+N 44300 41200 44300 44500 4
+N 44300 44500 32900 44500 4
+N 32900 42100 32900 44500 4
+N 32900 42100 30300 42100 4
+C 27300 42700 1 0 0 5V-plus-1.sym
+C 27400 41100 1 0 0 gnd-1.sym
+N 27500 42700 27500 42500 4
+N 27500 41600 27500 41400 4
+C 27300 42500 1 270 0 capacitor-1.sym
+{
+T 28000 42300 5 10 0 0 270 0 1
+device=CAPACITOR
+T 28200 42300 5 10 0 0 270 0 1
+symversion=0.1
+T 27300 42500 5 10 0 0 270 0 1
+voltage=25 V
+T 27300 42500 5 10 0 0 270 0 1
+footprint=0603
+T 27300 42500 5 10 0 0 270 0 1
+pn=GRM188R71E104KA01D
+T 27800 42300 5 10 1 1 270 0 1
+refdes=C17
+T 27100 42300 5 10 1 1 270 0 1
+value=.1 uF
+}
+C 28800 35800 1 0 0 5V-plus-1.sym
+C 28900 34200 1 0 0 gnd-1.sym
+N 29000 35800 29000 35600 4
+N 29000 34700 29000 34500 4
+C 28800 35600 1 270 0 capacitor-1.sym
+{
+T 29500 35400 5 10 0 0 270 0 1
+device=CAPACITOR
+T 29700 35400 5 10 0 0 270 0 1
+symversion=0.1
+T 28800 35600 5 10 0 0 270 0 1
+voltage=25 V
+T 28800 35600 5 10 0 0 270 0 1
+footprint=0603
+T 28800 35600 5 10 0 0 270 0 1
+pn=GRM188R71E104KA01D
+T 29300 35400 5 10 1 1 270 0 1
+refdes=C18
+T 28600 35400 5 10 1 1 270 0 1
+value=.1 uF
+}
+C 39700 29000 1 0 0 5V-plus-1.sym
+C 39800 27400 1 0 0 gnd-1.sym
+N 39900 29000 39900 28800 4
+N 39900 27900 39900 27700 4
+C 39700 28800 1 270 0 capacitor-1.sym
+{
+T 40400 28600 5 10 0 0 270 0 1
+device=CAPACITOR
+T 40600 28600 5 10 0 0 270 0 1
+symversion=0.1
+T 39700 28800 5 10 0 0 270 0 1
+voltage=25 V
+T 39700 28800 5 10 0 0 270 0 1
+footprint=0603
+T 39700 28800 5 10 0 0 270 0 1
+pn=GRM188R71E104KA01D
+T 40200 28600 5 10 1 1 270 0 1
+refdes=C19
+T 39500 28600 5 10 1 1 270 0 1
+value=.1 uF
+}
+C 41100 27400 1 0 0 gnd-1.sym
+N 41200 29000 41200 28800 4
+N 41200 27900 41200 27700 4
+C 41000 28800 1 270 0 capacitor-1.sym
+{
+T 41700 28600 5 10 0 0 270 0 1
+device=CAPACITOR
+T 41900 28600 5 10 0 0 270 0 1
+symversion=0.1
+T 41000 28800 5 10 0 0 270 0 1
+voltage=25 V
+T 41000 28800 5 10 0 0 270 0 1
+footprint=0603
+T 41000 28800 5 10 0 0 270 0 1
+pn=GRM188R71E104KA01D
+T 41500 28600 5 10 1 1 270 0 1
+refdes=C20
+T 40800 28600 5 10 1 1 270 0 1
+value=.1 uF
+}
+C 41000 29000 1 0 0 3.3V-plus-1.sym
+C 27600 34200 1 0 0 gnd-1.sym
+N 27700 35800 27700 35600 4
+N 27700 34700 27700 34500 4
+C 27500 35600 1 270 0 capacitor-1.sym
+{
+T 28200 35400 5 10 0 0 270 0 1
+device=CAPACITOR
+T 28400 35400 5 10 0 0 270 0 1
+symversion=0.1
+T 27500 35600 5 10 0 0 270 0 1
+voltage=25 V
+T 27500 35600 5 10 0 0 270 0 1
+footprint=0603
+T 27500 35600 5 10 0 0 270 0 1
+pn=GRM188R71E104KA01D
+T 28000 35400 5 10 1 1 270 0 1
+refdes=C21
+T 27300 35400 5 10 1 1 270 0 1
+value=.1 uF
+}
+C 27500 35800 1 0 0 3.3V-plus-1.sym
+C 29700 30900 1 0 0 TJF1051.sym
+{
+T 29900 32300 5 10 1 1 0 0 1
+device=TJF1051T/3
+T 32400 32100 5 10 0 1 0 0 1
+footprint=SO8
+T 31100 32300 5 10 1 1 0 0 1
+refdes=U4
+}
+C 35400 32200 1 180 0 connector2-1.sym
+{
+T 35200 31200 5 10 0 0 180 0 1
+device=CONNECTOR_2
+T 35400 31400 5 10 1 1 180 0 1
+refdes=CONN4
+T 35400 32200 5 10 0 0 0 0 1
+pn=S02B-PASK-2(LF)(SN)
+T 35400 32200 5 10 0 0 0 0 1
+footprint=S02B-PASK-2
+}
+N 33700 32000 31700 32000 4
+N 31700 31700 33700 31700 4
+N 40300 36400 39200 36400 4
+N 39200 35400 39200 36400 4
+N 33200 35400 39200 35400 4
+N 33200 35400 33200 31100 4
+N 33200 31100 31700 31100 4
+N 31700 31400 33100 31400 4
+N 33100 31400 33100 35600 4
+N 33100 35600 39000 35600 4
+N 39000 35600 39000 36700 4
+N 39000 36700 40300 36700 4
+C 31100 30100 1 0 0 5V-plus-1.sym
+C 31200 28500 1 0 0 gnd-1.sym
+N 31300 30100 31300 29900 4
+N 31300 29000 31300 28800 4
+C 31100 29900 1 270 0 capacitor-1.sym
+{
+T 31800 29700 5 10 0 0 270 0 1
+device=CAPACITOR
+T 32000 29700 5 10 0 0 270 0 1
+symversion=0.1
+T 31100 29900 5 10 0 0 270 0 1
+voltage=25 V
+T 31100 29900 5 10 0 0 270 0 1
+footprint=0603
+T 31100 29900 5 10 0 0 270 0 1
+pn=GRM188R71E104KA01D
+T 31600 29700 5 10 1 1 270 0 1
+refdes=C22
+T 30900 29700 5 10 1 1 270 0 1
+value=.1 uF
+}
+C 29900 28500 1 0 0 gnd-1.sym
+N 30000 30100 30000 29900 4
+N 30000 29000 30000 28800 4
+C 29800 29900 1 270 0 capacitor-1.sym
+{
+T 30500 29700 5 10 0 0 270 0 1
+device=CAPACITOR
+T 30700 29700 5 10 0 0 270 0 1
+symversion=0.1
+T 29800 29900 5 10 0 0 270 0 1
+voltage=25 V
+T 29800 29900 5 10 0 0 270 0 1
+footprint=0603
+T 29800 29900 5 10 0 0 270 0 1
+pn=GRM188R71E104KA01D
+T 30300 29700 5 10 1 1 270 0 1
+refdes=C23
+T 29600 29700 5 10 1 1 270 0 1
+value=.1 uF
+}
+C 29800 30100 1 0 0 3.3V-plus-1.sym
+C 28600 31200 1 90 0 3.3V-plus-1.sym
+C 29100 31500 1 90 0 5V-plus-1.sym
+C 28800 31200 1 270 0 gnd-1.sym
+C 28300 32100 1 270 0 gnd-1.sym
+N 28600 32000 29700 32000 4
+N 29100 31700 29700 31700 4
+N 28600 31400 29700 31400 4
+N 29100 31100 29700 31100 4
diff --git a/motors/big_schematic/control.pcb b/motors/big_schematic/control.pcb
index 2424e8f..594d232 100644
--- a/motors/big_schematic/control.pcb
+++ b/motors/big_schematic/control.pcb
@@ -5,11 +5,11 @@
 
 PCB["control" 6000.00mil 5000.00mil]
 
-Grid[100.000000 0.0000 0.0000 0]
+Grid[500.000000 0.0000 0.0000 1]
 PolyArea[3100.006200]
 Thermal[0.500000]
 DRC[10.00mil 10.00mil 10.00mil 10.00mil 15.00mil 10.00mil]
-Flags("showdrc,rubberband,nameonpcb,autodrc,clearnew,locknames,hidenames")
+Flags("rubberband,nameonpcb,clearnew,snappin,locknames")
 Groups("1,c:2:3:4,s:5:6")
 Styles["Signal,10.00mil,36.00mil,20.00mil,10.00mil:Power,25.00mil,60.00mil,35.00mil,10.00mil:Fat,15.00mil,45.00mil,25.00mil,10.00mil:Skinny,6.00mil,24.02mil,11.81mil,6.00mil"]
 
@@ -786,94 +786,79 @@
 	SymbolLine[20.00mil 35.00mil 25.00mil 30.00mil 8.00mil]
 )
 Attribute("PCB::grid::unit" "mil")
-Attribute("PCB::grid::size" "1.00mil")
-Via[2578.00mil 3931.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2590.00mil 3768.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2500.00mil 3825.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2500.00mil 3768.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2519.00mil 3878.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2567.00mil 3882.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2618.00mil 3931.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2656.00mil 3931.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2696.00mil 3931.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2731.00mil 3827.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2673.00mil 3798.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2673.00mil 3764.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1456.00mil 3846.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1519.00mil 3846.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1487.00mil 3846.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1425.00mil 3846.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1395.00mil 3846.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1365.00mil 3846.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1396.00mil 3935.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1565.00mil 3891.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1319.00mil 3891.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1365.00mil 3935.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1425.00mil 3935.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1456.00mil 3935.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1487.00mil 3935.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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-Via[1579.00mil 4059.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1610.00mil 4059.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1643.00mil 4027.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1653.00mil 4113.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1660.00mil 4084.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1694.00mil 4100.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1725.00mil 4084.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1753.00mil 4061.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1753.00mil 4026.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1777.00mil 4316.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1939.00mil 4316.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1974.00mil 4306.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1930.00mil 4352.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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-Via[1837.00mil 4352.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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-Via[1800.00mil 4281.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1768.00mil 4281.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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-Via[1808.00mil 4123.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1848.00mil 4123.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1888.00mil 4122.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1477.00mil 4152.00mil 21.00mil 20.00mil 0.0000 10.00mil "" "found,connected"]
-Via[1476.00mil 4184.00mil 21.00mil 20.00mil 0.0000 10.00mil "" "found,connected"]
-Via[1593.00mil 4299.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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-Via[2107.00mil 4205.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2120.00mil 4233.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[2120.00mil 4264.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1830.00mil 4206.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-Via[1657.00mil 4206.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
-
-Element["" "HEADER4x1" "CONN9" "unknown" 1380.00mil 2765.00mil -200.00mil -50.00mil 3 100 ""]
-(
-	Pin[-150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "1" "1" "square,edge2"]
-	Pin[-50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "2" "2" "edge2"]
-	Pin[50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "3" "3" "edge2"]
-	Pin[150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "4" "4" "edge2"]
-	ElementLine [-200.00mil -50.00mil -200.00mil 50.00mil 10.00mil]
-	ElementLine [-200.00mil 50.00mil 200.00mil 50.00mil 10.00mil]
-	ElementLine [200.00mil 50.00mil 200.00mil -50.00mil 10.00mil]
-	ElementLine [100.00mil 50.00mil 100.00mil -50.00mil 10.00mil]
-	ElementLine [0.0000 50.00mil 0.0000 -50.00mil 10.00mil]
-	ElementLine [200.00mil -50.00mil -200.00mil -50.00mil 10.00mil]
-	ElementLine [-200.00mil 50.00mil -100.00mil 50.00mil 10.00mil]
-	ElementLine [-100.00mil 50.00mil -100.00mil -50.00mil 10.00mil]
-
-	)
+Attribute("PCB::grid::size" "5.00mil")
+Via[2345.00mil 4143.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2357.00mil 4306.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2267.00mil 4249.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2267.00mil 4306.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2286.00mil 4196.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2334.00mil 4192.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2385.00mil 4143.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2423.00mil 4143.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2463.00mil 4143.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2498.00mil 4247.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2440.00mil 4276.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[2440.00mil 4310.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1223.00mil 4228.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1286.00mil 4228.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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+Via[1163.00mil 4139.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1332.00mil 4183.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1086.00mil 4183.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1132.00mil 4139.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1192.00mil 4139.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1223.00mil 4139.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1254.00mil 4139.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1286.00mil 4140.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1346.00mil 4015.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1377.00mil 4015.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1410.00mil 4047.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1420.00mil 3961.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1427.00mil 3990.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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+Via[1544.00mil 3758.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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+Via[1741.00mil 3768.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
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+Via[1660.00mil 3794.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1629.00mil 3793.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1598.00mil 3793.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1567.00mil 3793.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1535.00mil 3793.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1539.00mil 3951.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1575.00mil 3951.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1615.00mil 3951.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1655.00mil 3952.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1244.00mil 3922.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1243.00mil 3890.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1360.00mil 3775.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1335.00mil 3777.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1333.00mil 3802.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1843.00mil 3870.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1874.00mil 3869.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1887.00mil 3841.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1887.00mil 3810.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1597.00mil 3868.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[1424.00mil 3868.00mil 21.00mil 20.00mil 0.0000 10.00mil "" ""]
+Via[3325.00mil 3700.00mil 36.00mil 20.00mil 0.0000 20.00mil "" ""]
+Via[3325.00mil 3590.00mil 36.00mil 20.00mil 0.0000 20.00mil "" ""]
 
 Element["" "HEADER4x1" "CONN7" "unknown" 2565.00mil 2765.00mil -200.00mil -50.00mil 3 100 ""]
 (
 	Pin[-150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "1" "1" "square,edge2"]
 	Pin[-50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "2" "2" "edge2"]
-	Pin[50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "3" "3" "found,edge2"]
+	Pin[50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "3" "3" "edge2"]
 	Pin[150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "4" "4" "edge2"]
 	ElementLine [-200.00mil -50.00mil -200.00mil 50.00mil 10.00mil]
 	ElementLine [-200.00mil 50.00mil 200.00mil 50.00mil 10.00mil]
@@ -941,344 +926,706 @@
 
 	)
 
-Element["lock" "teensy3.5" "U3" "unknown" 2160.00mil 3635.00mil 840.00mil 50.00mil 1 100 ""]
+Element["" "HEADER5x1" "CONN9" "unknown" 1430.00mil 2765.00mil -250.00mil -50.00mil 3 100 ""]
 (
-	Pin[1150.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "GND" "1" "square,lock,edge2"]
-	Pin[1050.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P0" "2" "lock,edge2"]
-	Pin[950.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P1" "3" "lock,edge2"]
-	Pin[850.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P2" "4" "lock,edge2"]
-	Pin[750.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P3" "5" "lock,edge2"]
-	Pin[650.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P4" "6" "lock,edge2"]
-	Pin[550.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P5" "7" "lock,edge2"]
-	Pin[450.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P6" "8" "lock,edge2"]
-	Pin[350.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P7" "9" "lock,edge2"]
-	Pin[250.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P8" "10" "lock,edge2"]
-	Pin[150.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P9" "11" "lock,edge2"]
-	Pin[50.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P10" "12" "lock,edge2"]
-	Pin[-50.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P11" "13" "lock,edge2"]
-	Pin[-150.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P12" "14" "lock,edge2"]
-	Pin[-250.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "V3.3" "15" "lock,edge2"]
-	Pin[-350.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P24" "16" "lock,edge2"]
-	Pin[-450.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P25" "17" "lock,edge2"]
-	Pin[-550.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P26" "18" "lock,edge2"]
-	Pin[-650.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P27" "19" "lock,edge2"]
-	Pin[-750.00mil -600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P28" "20" "lock,edge2"]
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+	Pin[-950.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P1" "3" "lock,edge2"]
+	Pin[-850.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P2" "4" "lock,edge2"]
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+	Pin[-650.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P4" "6" "lock,edge2"]
+	Pin[-550.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P5" "7" "lock,edge2"]
+	Pin[-450.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P6" "8" "lock,edge2"]
+	Pin[-350.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P7" "9" "lock,edge2"]
+	Pin[-250.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P8" "10" "lock,edge2"]
+	Pin[-150.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P9" "11" "lock,edge2"]
+	Pin[-50.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P10" "12" "lock,edge2"]
+	Pin[50.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P11" "13" "lock,edge2"]
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+	Pin[250.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "V3.3" "15" "lock,edge2"]
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+	Pin[550.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P26" "18" "lock,edge2"]
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+	Pin[750.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P28" "20" "lock,edge2"]
+	Pin[850.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P29" "21" "lock,edge2"]
+	Pin[950.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P30" "22" "lock,edge2"]
+	Pin[1050.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P31" "23" "lock,edge2"]
+	Pin[1150.00mil 600.00mil 60.00mil 30.00mil 66.00mil 38.00mil "P32" "24" "lock,edge2"]
+	Pin[1150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P33" "25" "lock,edge2"]
+	Pin[1050.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P34" "26" "lock,edge2"]
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+	Pin[750.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P37" "29" "lock,edge2"]
+	Pin[650.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P38" "30" "lock,edge2"]
+	Pin[550.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P39" "31" "lock,edge2"]
+	Pin[450.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "A21" "32" "lock,edge2"]
+	Pin[350.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "A22" "33" "lock,edge2"]
+	Pin[250.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "GND" "34" "lock,edge2"]
+	Pin[150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P13" "35" "lock,edge2"]
+	Pin[50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P14" "36" "lock,edge2"]
+	Pin[-50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P15" "37" "lock,edge2"]
+	Pin[-150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P16" "38" "lock,edge2"]
+	Pin[-250.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P17" "39" "lock,edge2"]
+	Pin[-350.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P18" "40" "lock,edge2"]
+	Pin[-450.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P19" "41" "lock,edge2"]
+	Pin[-550.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P20" "42" "lock,edge2"]
+	Pin[-650.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P21" "43" "lock,edge2"]
+	Pin[-750.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P22" "44" "lock,edge2"]
+	Pin[-850.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "P23" "45" "lock,edge2"]
+	Pin[-950.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "3V3" "46" "lock,edge2"]
+	Pin[-1050.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "AGND" "47" "lock,edge2"]
+	Pin[-1150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "VIN" "48" "lock,edge2"]
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+	Pad[-2.0000mm 102.36mil 2.0000mm 102.36mil 47.25mil 20.00mil 35.52mil "2" "2" "onsolder,square"]
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+(
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+(
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+	)
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+(
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+	Pad[-4.92mil 25.59mil 4.92mil 25.59mil 29.52mil 20.00mil 35.52mil "2" "2" "square"]
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+	)
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+Element["onsolder" "0603" "C5" "1_uF" 46.4208mm 3833.00mil -31.50mil 31.50mil 0 100 "auto"]
+(
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 	Pad[25.59mil -4.92mil 25.59mil 4.92mil 29.52mil 20.00mil 35.52mil "2" "2" "onsolder,square"]
 
 	)
 
-Element["" "HTSSOP14" "U1" "unknown" 1830.00mil 4206.00mil -20.00mil -60.00mil 0 100 ""]
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-	Pad[-143.70mil -51.18mil -90.16mil -51.18mil 16.54mil 16.00mil 22.99mil "PGND" "2" "square"]
-	Pad[-143.70mil -25.59mil -90.16mil -25.59mil 16.54mil 16.00mil 22.99mil "VIN" "3" "found,square,connected"]
-	Pad[-143.70mil 0.0000 -90.16mil 0.0000 16.54mil 16.00mil 22.99mil "EN/UVLO" "4" "square"]
-	Pad[-143.70mil 25.59mil -90.16mil 25.59mil 16.54mil 16.00mil 22.99mil "RON" "5" "square"]
-	Pad[-143.70mil 51.18mil -90.16mil 51.18mil 16.54mil 16.00mil 22.99mil "SS" "6" "square"]
-	Pad[-143.70mil 76.77mil -90.16mil 76.77mil 16.54mil 16.00mil 22.99mil "NC" "7" "square"]
-	Pad[90.16mil 76.77mil 143.70mil 76.77mil 16.54mil 16.00mil 22.99mil "FPWM" "8" "square,edge2"]
-	Pad[90.16mil 51.18mil 143.70mil 51.18mil 16.54mil 16.00mil 22.99mil "FB" "9" "square,edge2"]
-	Pad[90.16mil 25.59mil 143.70mil 25.59mil 16.54mil 16.00mil 22.99mil "VCC" "10" "square,edge2"]
-	Pad[90.16mil 0.0000 143.70mil 0.0000 16.54mil 16.00mil 22.99mil "BST" "11" "square,edge2"]
-	Pad[90.16mil -25.59mil 143.70mil -25.59mil 16.54mil 16.00mil 22.99mil "SW" "12" "square,edge2"]
-	Pad[90.16mil -51.18mil 143.70mil -51.18mil 16.54mil 16.00mil 22.99mil "SW" "13" "square,edge2"]
-	Pad[90.16mil -76.77mil 143.70mil -76.77mil 16.54mil 16.00mil 22.99mil "NC" "14" "square,edge2"]
-	Pad[0.0000 -1.97mil 0.0000 1.97mil 118.11mil 16.00mil 125.50mil "EP" "EP" "square,edge2"]
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-	ElementLine [-160.66mil 93.26mil 160.66mil 93.26mil 10.00mil]
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-	ElementLine [160.66mil -93.26mil 25.00mil -93.26mil 10.00mil]
-	ElementArc [0.0000 -93.26mil 25.00mil 25.00mil 0 180 10.00mil]
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+	Pad[-25.59mil -4.92mil -25.59mil 4.92mil 29.52mil 20.00mil 35.52mil "2" "2" "onsolder,square"]
 
 	)
 
-Element["" "0805" "C1" "0.1_uF" 1599.00mil 105.0181mm -31.50mil 31.50mil 1 100 ""]
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-	Pad[-3.93mil -35.43mil 3.93mil -35.43mil 51.18mil 20.00mil 57.18mil "2" "2" "square"]
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-	ElementLine [27.55mil -3.93mil 27.55mil 3.93mil 8.00mil]
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+	Pad[-25.59mil -4.92mil -25.59mil 4.92mil 29.52mil 20.00mil 35.52mil "2" "2" "onsolder,square"]
 
 	)
 
-Element["" "0603" "C4" "10_nF" 2020.00mil 4171.00mil -31.50mil 31.50mil 1 100 ""]
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+	ElementLine [-27.55mil 3.93mil -27.55mil -3.93mil 8.00mil]
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+(
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+	Pad[25.59mil -4.92mil 25.59mil 4.92mil 29.52mil 20.00mil 35.52mil "2" "2" "square"]
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+(
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+	Pad[-143.70mil 0.0000 -90.16mil 0.0000 16.54mil 16.00mil 22.99mil "EN/UVLO" "4" "onsolder,square"]
+	Pad[-143.70mil -25.59mil -90.16mil -25.59mil 16.54mil 16.00mil 22.99mil "RON" "5" "onsolder,square"]
+	Pad[-143.70mil -51.18mil -90.16mil -51.18mil 16.54mil 16.00mil 22.99mil "SS" "6" "onsolder,square"]
+	Pad[-143.70mil -76.77mil -90.16mil -76.77mil 16.54mil 16.00mil 22.99mil "NC" "7" "onsolder,square"]
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+	Pad[90.16mil 25.59mil 143.70mil 25.59mil 16.54mil 16.00mil 22.99mil "SW" "12" "onsolder,square,edge2"]
+	Pad[90.16mil 51.18mil 143.70mil 51.18mil 16.54mil 16.00mil 22.99mil "SW" "13" "onsolder,square,edge2"]
+	Pad[90.16mil 76.77mil 143.70mil 76.77mil 16.54mil 16.00mil 22.99mil "NC" "14" "onsolder,square,edge2"]
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+(
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+		Connect("C20-1")
+		Connect("C21-1")
+		Connect("C23-1")
+		Connect("CONN1-3")
+		Connect("CONN2-3")
+		Connect("U3-15")
+		Connect("U3-46")
+		Connect("U4-5")
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 		Connect("C7-1")
+		Connect("C17-1")
+		Connect("C18-1")
+		Connect("C19-1")
+		Connect("C22-1")
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+		Connect("CONN2-2")
+		Connect("CONN3-2")
 		Connect("U2-2")
 		Connect("U3-48")
+		Connect("U4-3")
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 		Connect("R4-1")
 		Connect("U2-3")
 	)
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+		Connect("C10-2")
+		Connect("C11-2")
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+		Connect("C13-2")
+		Connect("C14-2")
+		Connect("C15-2")
+		Connect("C16-2")
+		Connect("CONN9-5")
+		Connect("R6-2")
+		Connect("R10-2")
+		Connect("R12-2")
+		Connect("R14-2")
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@@ -1389,6 +1789,16 @@
 		Connect("C6-2")
 		Connect("C7-2")
 		Connect("C8-2")
+		Connect("C17-2")
+		Connect("C18-2")
+		Connect("C19-2")
+		Connect("C20-2")
+		Connect("C21-2")
+		Connect("C22-2")
+		Connect("C23-2")
+		Connect("CONN1-1")
+		Connect("CONN2-1")
+		Connect("CONN3-1")
 		Connect("CONN7-1")
 		Connect("R3-2")
 		Connect("R5-2")
@@ -1399,7 +1809,8 @@
 		Connect("U2-1")
 		Connect("U3-1")
 		Connect("U3-34")
-		Connect("U3-47")
+		Connect("U4-2")
+		Connect("U4-8")
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 	Net("unnamed_net1" "(unknown)")
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@@ -1441,6 +1852,173 @@
 		Connect("U1-13")
 		Connect("U1-14")
 	)
+	Net("unnamed_net8" "(unknown)")
+	(
+		Connect("C9-1")
+		Connect("CONN7-4")
+		Connect("U3-26")
+	)
+	Net("unnamed_net9" "(unknown)")
+	(
+		Connect("CONN2-4")
+		Connect("U3-27")
+	)
+	Net("unnamed_net10" "(unknown)")
+	(
+		Connect("C12-1")
+		Connect("R14-1")
+		Connect("R15-2")
+		Connect("U3-31")
+	)
+	Net("unnamed_net11" "(unknown)")
+	(
+		Connect("C13-1")
+		Connect("R6-1")
+		Connect("R7-2")
+		Connect("U3-28")
+	)
+	Net("unnamed_net12" "(unknown)")
+	(
+		Connect("CONN2-5")
+		Connect("U3-29")
+	)
+	Net("unnamed_net13" "(unknown)")
+	(
+		Connect("CONN2-6")
+		Connect("U3-30")
+	)
+	Net("unnamed_net14" "(unknown)")
+	(
+		Connect("CONN9-3")
+		Connect("U3-8")
+	)
+	Net("unnamed_net15" "(unknown)")
+	(
+		Connect("CONN3-4")
+		Connect("U3-9")
+	)
+	Net("unnamed_net16" "(unknown)")
+	(
+		Connect("CONN3-5")
+		Connect("U3-10")
+	)
+	Net("unnamed_net17" "(unknown)")
+	(
+		Connect("CONN8-3")
+		Connect("U3-11")
+	)
+	Net("unnamed_net18" "(unknown)")
+	(
+		Connect("CONN8-4")
+		Connect("U3-12")
+	)
+	Net("unnamed_net19" "(unknown)")
+	(
+		Connect("CONN3-6")
+		Connect("U3-14")
+	)
+	Net("unnamed_net20" "(unknown)")
+	(
+		Connect("U3-21")
+		Connect("U4-1")
+	)
+	Net("unnamed_net21" "(unknown)")
+	(
+		Connect("U3-22")
+		Connect("U4-4")
+	)
+	Net("unnamed_net22" "(unknown)")
+	(
+		Connect("C10-1")
+		Connect("R10-1")
+		Connect("R11-2")
+		Connect("U3-23")
+	)
+	Net("unnamed_net23" "(unknown)")
+	(
+		Connect("C11-1")
+		Connect("R12-1")
+		Connect("R13-2")
+		Connect("U3-24")
+	)
+	Net("unnamed_net24" "(unknown)")
+	(
+		Connect("CONN1-4")
+		Connect("U3-32")
+	)
+	Net("unnamed_net25" "(unknown)")
+	(
+		Connect("C16-1")
+		Connect("CONN9-2")
+		Connect("U3-37")
+	)
+	Net("unnamed_net26" "(unknown)")
+	(
+		Connect("CONN1-5")
+		Connect("U3-38")
+	)
+	Net("unnamed_net27" "(unknown)")
+	(
+		Connect("CONN1-6")
+		Connect("U3-39")
+	)
+	Net("unnamed_net28" "(unknown)")
+	(
+		Connect("C15-1")
+		Connect("CONN6-1")
+		Connect("U3-40")
+	)
+	Net("unnamed_net29" "(unknown)")
+	(
+		Connect("C14-1")
+		Connect("CONN8-2")
+		Connect("U3-41")
+	)
+	Net("unnamed_net30" "(unknown)")
+	(
+		Connect("CONN9-4")
+		Connect("U3-42")
+	)
+	Net("unnamed_net31" "(unknown)")
+	(
+		Connect("CONN3-3")
+		Connect("U3-43")
+	)
+	Net("unnamed_net32" "(unknown)")
+	(
+		Connect("CONN6-4")
+		Connect("U3-44")
+	)
+	Net("unnamed_net33" "(unknown)")
+	(
+		Connect("CONN6-3")
+		Connect("U3-45")
+	)
+	Net("unnamed_net34" "(unknown)")
+	(
+		Connect("CONN6-2")
+		Connect("R11-1")
+	)
+	Net("unnamed_net35" "(unknown)")
+	(
+		Connect("CONN8-1")
+		Connect("R13-1")
+	)
+	Net("unnamed_net36" "(unknown)")
+	(
+		Connect("CONN9-1")
+		Connect("R15-1")
+	)
+	Net("unnamed_net37" "(unknown)")
+	(
+		Connect("CONN4-2")
+		Connect("U4-7")
+	)
+	Net("unnamed_net38" "(unknown)")
+	(
+		Connect("CONN4-1")
+		Connect("U4-6")
+	)
 	Net("Vcc" "(unknown)")
 	(
 		Connect("C1-1")
@@ -1448,6 +2026,7 @@
 		Connect("CONN7-3")
 		Connect("R1-1")
 		Connect("R2-1")
+		Connect("R7-1")
 		Connect("U1-3")
 	)
 )
diff --git a/motors/packages/S02B-PASK-2.fp b/motors/packages/S02B-PASK-2.fp
new file mode 100644
index 0000000..138885a
--- /dev/null
+++ b/motors/packages/S02B-PASK-2.fp
@@ -0,0 +1,18 @@
+# This is the footprint at http://www.jst-mfg.com/product/pdf/eng/ePA-F.pdf.
+Element[0x0 "" "" "" 0 0 0 0 0 100 0x0]
+(
+	# The main pins.
+	Pin[-3937 32283 4795 2000 6395 2795 "2" "2" ""]
+	Pin[3937 32283 4795 2000 6395 2795 "1" "1" ""]
+
+	# The alignment posts.
+	Pin[-9843 25016 5970 1600 7570 4370 "" "" ""]
+	Pin[9843 25016 5970 1600 7570 4370 "" "" ""]
+
+	ElementLine[-11811 1500 -11811 20016 800]
+	ElementLine[-11811 30016 -11811 46063 800]
+	ElementLine[11811 1500 11811 20016 800]
+	ElementLine[11811 30016 11811 46063 800]
+	ElementLine[-11811 46063 -7834 46063 800]
+	ElementLine[11811 46063 7834 46063 800]
+)
diff --git a/motors/symbols/TJF1051.sym b/motors/symbols/TJF1051.sym
new file mode 100644
index 0000000..ac98f41
--- /dev/null
+++ b/motors/symbols/TJF1051.sym
@@ -0,0 +1,98 @@
+v 20130925 2
+B 200 0 1600 1300 3 0 0 0 -1 -1 0 -1 -1 -1 -1 -1
+P 0 1100 200 1100 1 0 0
+{
+T 0 1100 5 10 0 0 0 0 1
+pintype=pwr
+T 255 1095 5 10 1 1 0 0 1
+pinlabel=GND
+T 105 1145 5 10 1 1 0 6 1
+pinnumber=2
+T 0 1100 5 10 0 0 0 0 1
+pinseq=1
+}
+P 0 800 200 800 1 0 0
+{
+T 0 800 5 10 0 0 0 0 1
+pintype=pwr
+T 255 795 5 10 1 1 0 0 1
+pinlabel=VCC
+T 105 845 5 10 1 1 0 6 1
+pinnumber=3
+T 0 800 5 10 0 0 0 0 1
+pinseq=2
+}
+P 0 500 200 500 1 0 0
+{
+T 0 500 5 10 0 0 0 0 1
+pintype=pwr
+T 255 495 5 10 1 1 0 0 1
+pinlabel=VIO
+T 105 545 5 10 1 1 0 6 1
+pinnumber=5
+T 0 500 5 10 0 0 0 0 1
+pinseq=3
+}
+P 0 200 200 200 1 0 0
+{
+T 0 200 5 10 0 0 0 0 1
+pintype=in
+T 255 195 5 10 1 1 0 0 1
+pinlabel=SLP
+T 105 245 5 10 1 1 0 6 1
+pinnumber=8
+T 0 200 5 10 0 0 0 0 1
+pinseq=4
+}
+P 2000 1100 1800 1100 1 0 0
+{
+T 2000 1100 5 10 0 0 0 0 1
+pintype=io
+T 1745 1095 5 10 1 1 0 6 1
+pinlabel=CANH
+T 1895 1145 5 10 1 1 0 0 1
+pinnumber=7
+T 2000 1100 5 10 0 0 0 0 1
+pinseq=5
+}
+P 2000 800 1800 800 1 0 0
+{
+T 2000 800 5 10 0 0 0 0 1
+pintype=io
+T 1745 795 5 10 1 1 0 6 1
+pinlabel=CANL
+T 1895 845 5 10 1 1 0 0 1
+pinnumber=6
+T 2000 800 5 10 0 0 0 0 1
+pinseq=6
+}
+P 2000 500 1800 500 1 0 0
+{
+T 2000 500 5 10 0 0 0 0 1
+pintype=in
+T 1745 495 5 10 1 1 0 6 1
+pinlabel=TXD
+T 1895 545 5 10 1 1 0 0 1
+pinnumber=1
+T 2000 500 5 10 0 0 0 0 1
+pinseq=7
+}
+P 2000 200 1800 200 1 0 0
+{
+T 2000 200 5 10 0 0 0 0 1
+pintype=out
+T 1745 195 5 10 1 1 0 6 1
+pinlabel=RXD
+T 1895 245 5 10 1 1 0 0 1
+pinnumber=4
+T 2000 200 5 10 0 0 0 0 1
+pinseq=8
+}
+T 200 1400 8 10 1 1 0 0 1
+device=TJF1051T/3
+T 2700 1200 8 10 0 1 0 0 1
+footprint=SO8
+T 1400 1400 8 10 1 1 0 0 1
+refdes=U?
+T 2600 500 8 10 0 1 0 0 1
+numslots=0