cortex_main.net

(export (version D)
  (design
    (source /home/yannick/Robots/pcb-cortex-main/cortex_main.sch)
    (date "jeu. 16 mars 2017 08:17:45 CET")
    (tool "Eeschema 4.0.6-e0-6349~53~ubuntu16.04.1")
    (sheet (number 1) (name /) (tstamps /)
      (title_block
        (title)
        (company)
        (rev)
        (date)
        (source cortex_main.sch)
        (comment (number 1) (value ""))
        (comment (number 2) (value ""))
        (comment (number 3) (value ""))
        (comment (number 4) (value ""))))
    (sheet (number 2) (name /Sheet_MCU/) (tstamps /57A04579/)
      (title_block
        (title)
        (company)
        (rev)
        (date)
        (source cortex_main_mcu.sch)
        (comment (number 1) (value ""))
        (comment (number 2) (value ""))
        (comment (number 3) (value ""))
        (comment (number 4) (value ""))))
    (sheet (number 3) (name /Sheet_Motors/) (tstamps /57A060D2/)
      (title_block
        (title)
        (company)
        (rev)
        (date)
        (source cortex_main_motors.sch)
        (comment (number 1) (value ""))
        (comment (number 2) (value ""))
        (comment (number 3) (value ""))
        (comment (number 4) (value ""))))
    (sheet (number 4) (name /Sheet_PSU/) (tstamps /5802031E/)
      (title_block
        (title)
        (company)
        (rev)
        (date)
        (source cortex_main_psu.sch)
        (comment (number 1) (value ""))
        (comment (number 2) (value ""))
        (comment (number 3) (value ""))
        (comment (number 4) (value ""))))
    (sheet (number 5) (name /Sheet_Connectors/) (tstamps /57A0BF17/)
      (title_block
        (title)
        (company)
        (rev)
        (date)
        (source cortex_main_conn.sch)
        (comment (number 1) (value ""))
        (comment (number 2) (value ""))
        (comment (number 3) (value ""))
        (comment (number 4) (value "")))))
  (components
    (comp (ref U1)
      (value socket_leon_x3_dil64)
      (footprint Housings_DIP:DIP-64_W22.86mm_LongPads)
      (libsource (lib bot_parts) (part socket_leon_x3_dil64))
      (sheetpath (names /Sheet_MCU/) (tstamps /57A04579/))
      (tstamp 57A048FF))
    (comp (ref R1)
      (value 1K)
      (footprint Resistors_ThroughHole:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal)
      (libsource (lib device) (part R))
      (sheetpath (names /Sheet_MCU/) (tstamps /57A04579/))
      (tstamp 58AD3C1E))
    (comp (ref U6)
      (value MCP100-D)
      (footprint bot_parts:TO-92_Inline_Wide)
      (libsource (lib bot_parts) (part MCP100-D))
      (sheetpath (names /Sheet_MCU/) (tstamps /57A04579/))
      (tstamp 58AD3C95))
    (comp (ref U2)
      (value socket_pololu_24v12)
      (footprint bot_parts:pololu_24v12_dip)
      (libsource (lib bot_parts) (part socket_pololu_24v12))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 57A063FB))
    (comp (ref U3)
      (value socket_pololu_24v12)
      (footprint bot_parts:pololu_24v12_dip)
      (libsource (lib bot_parts) (part socket_pololu_24v12))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 57A0643A))
    (comp (ref Q1)
      (value IRF540N)
      (footprint Power_Integrations:TO-220)
      (libsource (lib transistors) (part IRF540N))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58B2EA09))
    (comp (ref R2)
      (value 100R)
      (footprint Resistors_ThroughHole:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal)
      (libsource (lib device) (part R))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58B2EB2C))
    (comp (ref Q2)
      (value IRF540N)
      (footprint Power_Integrations:TO-220)
      (libsource (lib transistors) (part IRF540N))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58B2EF8E))
    (comp (ref R3)
      (value 100R)
      (footprint Resistors_ThroughHole:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal)
      (libsource (lib device) (part R))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58B2EF9A))
    (comp (ref D1)
      (value 1N4001)
      (footprint Diodes_ThroughHole:D_A-405_P7.62mm_Horizontal)
      (libsource (lib device) (part D))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58B3F788))
    (comp (ref D2)
      (value 1N4001)
      (footprint Diodes_ThroughHole:D_A-405_P7.62mm_Horizontal)
      (libsource (lib device) (part D))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58B3F85C))
    (comp (ref J1)
      (value TEST_1P)
      (footprint Pin_Headers:Pin_Header_Straight_1x01_Pitch2.54mm)
      (libsource (lib conn) (part TEST_1P))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C67A6B))
    (comp (ref J2)
      (value TEST_1P)
      (footprint Pin_Headers:Pin_Header_Straight_1x01_Pitch2.54mm)
      (libsource (lib conn) (part TEST_1P))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C67AE4))
    (comp (ref Q3)
      (value IRF540N)
      (footprint Power_Integrations:TO-220)
      (libsource (lib transistors) (part IRF540N))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C79131))
    (comp (ref R4)
      (value 100R)
      (footprint Resistors_ThroughHole:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal)
      (libsource (lib device) (part R))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C7913D))
    (comp (ref Q4)
      (value IRF540N)
      (footprint Power_Integrations:TO-220)
      (libsource (lib transistors) (part IRF540N))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C79149))
    (comp (ref R5)
      (value 100R)
      (footprint Resistors_ThroughHole:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal)
      (libsource (lib device) (part R))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C79155))
    (comp (ref D3)
      (value 1N4001)
      (footprint Diodes_ThroughHole:D_A-405_P7.62mm_Horizontal)
      (libsource (lib device) (part D))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C79177))
    (comp (ref D4)
      (value 1N4001)
      (footprint Diodes_ThroughHole:D_A-405_P7.62mm_Horizontal)
      (libsource (lib device) (part D))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C7917D))
    (comp (ref Q5)
      (value IRF540N)
      (footprint Power_Integrations:TO-220)
      (libsource (lib transistors) (part IRF540N))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C79257))
    (comp (ref R6)
      (value 100R)
      (footprint Resistors_ThroughHole:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal)
      (libsource (lib device) (part R))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C79263))
    (comp (ref Q6)
      (value IRF540N)
      (footprint Power_Integrations:TO-220)
      (libsource (lib transistors) (part IRF540N))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C7926F))
    (comp (ref R7)
      (value 100R)
      (footprint Resistors_ThroughHole:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal)
      (libsource (lib device) (part R))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C7927B))
    (comp (ref D5)
      (value 1N4001)
      (footprint Diodes_ThroughHole:D_A-405_P7.62mm_Horizontal)
      (libsource (lib device) (part D))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C7929D))
    (comp (ref D6)
      (value 1N4001)
      (footprint Diodes_ThroughHole:D_A-405_P7.62mm_Horizontal)
      (libsource (lib device) (part D))
      (sheetpath (names /Sheet_Motors/) (tstamps /57A060D2/))
      (tstamp 58C792A3))
    (comp (ref U4)
      (value socket_lm2596_mod)
      (footprint bot_parts:lm2596s_mod)
      (libsource (lib bot_parts) (part socket_lm2596_mod))
      (sheetpath (names /Sheet_PSU/) (tstamps /5802031E/))
      (tstamp 58020447))
    (comp (ref U5)
      (value socket_ams1117-3V3_mod)
      (footprint bot_parts:ams1117-3V3_mod)
      (libsource (lib bot_parts) (part socket_ams1117-3V3_mod))
      (sheetpath (names /Sheet_PSU/) (tstamps /5802031E/))
      (tstamp 58AD2792))
    (comp (ref P2)
      (value CONN_02X04)
      (footprint Pin_Headers:Pin_Header_Straight_2x04_Pitch2.54mm)
      (libsource (lib conn) (part CONN_02X04))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 57A0C541))
    (comp (ref P3)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58020DF9))
    (comp (ref P4)
      (value CONN_01X04)
      (footprint Pin_Headers:Pin_Header_Straight_1x04_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X04))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58AD48F8))
    (comp (ref P5)
      (value CONN_01X02)
      (footprint Pin_Headers:Pin_Header_Straight_1x02_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58AD33D2))
    (comp (ref P6)
      (value CONN_01X06)
      (footprint Pin_Headers:Pin_Header_Straight_1x06_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X06))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B2B386))
    (comp (ref P7)
      (value CONN_01X06)
      (footprint Pin_Headers:Pin_Header_Straight_1x06_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X06))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B2C9E9))
    (comp (ref P8)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B2950F))
    (comp (ref P12)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B29ADD))
    (comp (ref P9)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B29B5E))
    (comp (ref P13)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B29B70))
    (comp (ref P10)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B29C82))
    (comp (ref P14)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B29C94))
    (comp (ref P11)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B29CA6))
    (comp (ref P15)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B29CB8))
    (comp (ref P16)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B2DA4A))
    (comp (ref P17)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B2DAC7))
    (comp (ref P18)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B2F7AB))
    (comp (ref P19)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B2F7B1))
    (comp (ref P1)
      (value CONN_01X04)
      (footprint Pin_Headers:Pin_Header_Straight_1x04_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X04))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58B33488))
    (comp (ref P20)
      (value CONN_01X03)
      (footprint Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm)
      (libsource (lib conn) (part CONN_01X03))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58C659AB))
    (comp (ref P21)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58C7A7D8))
    (comp (ref P22)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58C9FC9E))
    (comp (ref P23)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58C9FCA4))
    (comp (ref P24)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58C9FF1A))
    (comp (ref P25)
      (value CONN_01X02)
      (footprint Terminal_Blocks:TerminalBlock_Pheonix_MKDS1.5-2pol)
      (libsource (lib conn) (part CONN_01X02))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58C9FF20))
    (comp (ref J3)
      (value TEST_1P)
      (footprint Pin_Headers:Pin_Header_Straight_1x01_Pitch2.54mm)
      (libsource (lib conn) (part TEST_1P))
      (sheetpath (names /Sheet_Connectors/) (tstamps /57A0BF17/))
      (tstamp 58CA4309)))
  (libparts
    (libpart (lib conn) (part CONN_01X02)
      (description "Connector, single row, 01x02, pin header")
      (footprints
        (fp Pin_Header_Straight_1X*)
        (fp Pin_Header_Angled_1X*)
        (fp Socket_Strip_Straight_1X*)
        (fp Socket_Strip_Angled_1X*))
      (fields
        (field (name Reference) J)
        (field (name Value) CONN_01X02))
      (pins
        (pin (num 1) (name P1) (type passive))
        (pin (num 2) (name P2) (type passive))))
    (libpart (lib conn) (part CONN_01X03)
      (description "Connector, single row, 01x03, pin header")
      (footprints
        (fp Pin_Header_Straight_1X*)
        (fp Pin_Header_Angled_1X*)
        (fp Socket_Strip_Straight_1X*)
        (fp Socket_Strip_Angled_1X*))
      (fields
        (field (name Reference) J)
        (field (name Value) CONN_01X03))
      (pins
        (pin (num 1) (name P1) (type passive))
        (pin (num 2) (name P2) (type passive))
        (pin (num 3) (name P3) (type passive))))
    (libpart (lib conn) (part CONN_01X04)
      (description "Connector, single row, 01x04, pin header")
      (footprints
        (fp Pin_Header_Straight_1X*)
        (fp Pin_Header_Angled_1X*)
        (fp Socket_Strip_Straight_1X*)
        (fp Socket_Strip_Angled_1X*))
      (fields
        (field (name Reference) J)
        (field (name Value) CONN_01X04))
      (pins
        (pin (num 1) (name P1) (type passive))
        (pin (num 2) (name P2) (type passive))
        (pin (num 3) (name P3) (type passive))
        (pin (num 4) (name P4) (type passive))))
    (libpart (lib conn) (part CONN_01X06)
      (description "Connector, single row, 01x06, pin header")
      (footprints
        (fp Pin_Header_Straight_1X*)
        (fp Pin_Header_Angled_1X*)
        (fp Socket_Strip_Straight_1X*)
        (fp Socket_Strip_Angled_1X*))
      (fields
        (field (name Reference) J)
        (field (name Value) CONN_01X06))
      (pins
        (pin (num 1) (name P1) (type passive))
        (pin (num 2) (name P2) (type passive))
        (pin (num 3) (name P3) (type passive))
        (pin (num 4) (name P4) (type passive))
        (pin (num 5) (name P5) (type passive))
        (pin (num 6) (name P6) (type passive))))
    (libpart (lib conn) (part CONN_02X04)
      (description "Connector, double row, 02x04, pin header")
      (footprints
        (fp Pin_Header_Straight_2X*)
        (fp Pin_Header_Angled_2X*)
        (fp Socket_Strip_Straight_2X*)
        (fp Socket_Strip_Angled_2X*)
        (fp IDC_Header_Straight_*))
      (fields
        (field (name Reference) J)
        (field (name Value) CONN_02X04))
      (pins
        (pin (num 1) (name P1) (type passive))
        (pin (num 2) (name P2) (type passive))
        (pin (num 3) (name P3) (type passive))
        (pin (num 4) (name P4) (type passive))
        (pin (num 5) (name P5) (type passive))
        (pin (num 6) (name P6) (type passive))
        (pin (num 7) (name P7) (type passive))
        (pin (num 8) (name P8) (type passive))))
    (libpart (lib device) (part D)
      (description Diode)
      (footprints
        (fp TO-???*)
        (fp *SingleDiode)
        (fp *_Diode_*)
        (fp *SingleDiode*)
        (fp D_*))
      (fields
        (field (name Reference) D)
        (field (name Value) D))
      (pins
        (pin (num 1) (name K) (type passive))
        (pin (num 2) (name A) (type passive))))
    (libpart (lib transistors) (part IRF540N)
      (description "100V Vds, 33A Id, HEXFET N-Channel MOSFET, TO-220")
      (docs http://www.irf.com/product-info/datasheets/data/irf540n.pdf)
      (footprints
        (fp TO-220*))
      (fields
        (field (name Reference) Q)
        (field (name Value) IRF540N)
        (field (name Footprint) TO_SOT_Packages_THT:TO-220_Vertical))
      (pins
        (pin (num 1) (name G) (type input))
        (pin (num 2) (name D) (type passive))
        (pin (num 3) (name S) (type passive))))
    (libpart (lib bot_parts) (part MCP100-D)
      (fields
        (field (name Reference) U)
        (field (name Value) MCP100-D))
      (pins
        (pin (num 1) (name /RST) (type output))
        (pin (num 2) (name Vdd) (type power_in))
        (pin (num 3) (name Vss) (type power_out))))
    (libpart (lib device) (part R)
      (description Resistor)
      (footprints
        (fp R_*)
        (fp R_*))
      (fields
        (field (name Reference) R)
        (field (name Value) R))
      (pins
        (pin (num 1) (name ~) (type passive))
        (pin (num 2) (name ~) (type passive))))
    (libpart (lib conn) (part TEST_1P)
      (description point)
      (fields
        (field (name Reference) J)
        (field (name Value) TEST_1P))
      (pins
        (pin (num 1) (name 1) (type passive))))
    (libpart (lib bot_parts) (part socket_ams1117-3V3_mod)
      (fields
        (field (name Reference) U)
        (field (name Value) socket_ams1117-3V3_mod))
      (pins
        (pin (num 1) (name IN+) (type input))
        (pin (num 2) (name IN-) (type input))
        (pin (num 3) (name OUT+) (type input))
        (pin (num 4) (name OUT-) (type input))))
    (libpart (lib bot_parts) (part socket_leon_x3_dil64)
      (fields
        (field (name Reference) U)
        (field (name Value) socket_leon_x3_dil64))
      (pins
        (pin (num 1) (name A3) (type BiDi))
        (pin (num 2) (name A4) (type BiDi))
        (pin (num 3) (name A5) (type BiDi))
        (pin (num 4) (name A6) (type BiDi))
        (pin (num 5) (name A7) (type BiDi))
        (pin (num 6) (name B0) (type BiDi))
        (pin (num 7) (name B1) (type BiDi))
        (pin (num 8) (name B2) (type BiDi))
        (pin (num 9) (name B3) (type BiDi))
        (pin (num 10) (name B4) (type BiDi))
        (pin (num 11) (name B5) (type BiDi))
        (pin (num 12) (name B6) (type BiDi))
        (pin (num 13) (name B7) (type BiDi))
        (pin (num 14) (name GND) (type BiDi))
        (pin (num 15) (name 3V3) (type BiDi))
        (pin (num 16) (name C0) (type BiDi))
        (pin (num 17) (name C1) (type BiDi))
        (pin (num 18) (name C2) (type BiDi))
        (pin (num 19) (name C3) (type BiDi))
        (pin (num 20) (name C4) (type BiDi))
        (pin (num 21) (name C5) (type BiDi))
        (pin (num 22) (name C6) (type BiDi))
        (pin (num 23) (name C7) (type BiDi))
        (pin (num 24) (name GND) (type BiDi))
        (pin (num 25) (name 3V3) (type BiDi))
        (pin (num 26) (name D0) (type BiDi))
        (pin (num 27) (name D1) (type BiDi))
        (pin (num 28) (name D2) (type BiDi))
        (pin (num 29) (name D3) (type BiDi))
        (pin (num 30) (name D4) (type BiDi))
        (pin (num 31) (name D5) (type BiDi))
        (pin (num 32) (name D6) (type BiDi))
        (pin (num 33) (name D7) (type BiDi))
        (pin (num 34) (name GND) (type BiDi))
        (pin (num 35) (name 3V3) (type BiDi))
        (pin (num 36) (name E0) (type BiDi))
        (pin (num 37) (name E1) (type BiDi))
        (pin (num 38) (name E2) (type BiDi))
        (pin (num 39) (name E3) (type BiDi))
        (pin (num 40) (name E4) (type BiDi))
        (pin (num 41) (name E5) (type BiDi))
        (pin (num 42) (name E6) (type BiDi))
        (pin (num 43) (name E7) (type BiDi))
        (pin (num 44) (name GND) (type BiDi))
        (pin (num 45) (name 3V3) (type BiDi))
        (pin (num 46) (name F0) (type BiDi))
        (pin (num 47) (name F1) (type BiDi))
        (pin (num 48) (name F2) (type BiDi))
        (pin (num 49) (name F3) (type BiDi))
        (pin (num 50) (name F4) (type BiDi))
        (pin (num 51) (name F5) (type BiDi))
        (pin (num 52) (name GND) (type BiDi))
        (pin (num 53) (name 3V3) (type BiDi))
        (pin (num 54) (name F6) (type BiDi))
        (pin (num 55) (name F7) (type BiDi))
        (pin (num 56) (name PDI) (type BiDi))
        (pin (num 57) (name RST) (type BiDi))
        (pin (num 58) (name R0) (type BiDi))
        (pin (num 59) (name R1) (type BiDi))
        (pin (num 60) (name GND) (type BiDi))
        (pin (num 61) (name 3V3) (type BiDi))
        (pin (num 62) (name A0) (type BiDi))
        (pin (num 63) (name A1) (type BiDi))
        (pin (num 64) (name A2) (type BiDi))))
    (libpart (lib bot_parts) (part socket_lm2596_mod)
      (fields
        (field (name Reference) U)
        (field (name Value) socket_lm2596_mod))
      (pins
        (pin (num 1) (name IN+) (type input))
        (pin (num 2) (name GND) (type input))
        (pin (num 3) (name OUT+) (type input))
        (pin (num 4) (name GND) (type input))))
    (libpart (lib bot_parts) (part socket_pololu_24v12)
      (fields
        (field (name Reference) U)
        (field (name Value) socket_pololu_24v12))
      (pins
        (pin (num 1) (name V+) (type input))
        (pin (num 2) (name V+) (type input))
        (pin (num 3) (name OUTA) (type output))
        (pin (num 4) (name OUTA) (type output))
        (pin (num 5) (name OUTB) (type output))
        (pin (num 6) (name OUTB) (type output))
        (pin (num 7) (name GND) (type power_in))
        (pin (num 8) (name GND) (type power_in))
        (pin (num 9) (name GND) (type power_in))
        (pin (num 10) (name DIR) (type input))
        (pin (num 11) (name PWM) (type input))
        (pin (num 12) (name /RST) (type input))
        (pin (num 13) (name FF1) (type output))
        (pin (num 14) (name FF2) (type output))
        (pin (num 15) (name 5V) (type output))
        (pin (num 16) (name V+) (type input)))))
  (libraries
    (library (logical device)
      (uri /usr/share/kicad/library/device.lib))
    (library (logical transistors)
      (uri /usr/share/kicad/library/transistors.lib))
    (library (logical conn)
      (uri /usr/share/kicad/library/conn.lib))
    (library (logical bot_parts)
      (uri libs/bot_parts.lib)))
  (nets
    (net (code 1) (name OUTA_L)
      (node (ref U2) (pin 3))
      (node (ref U2) (pin 4))
      (node (ref P17) (pin 1)))
    (net (code 2) (name OUTN_ARMMOTOR_L)
      (node (ref Q1) (pin 2))
      (node (ref D1) (pin 2))
      (node (ref P18) (pin 1)))
    (net (code 3) (name OUTN_ARMMOTOR_R)
      (node (ref Q2) (pin 2))
      (node (ref D2) (pin 2))
      (node (ref P19) (pin 1)))
    (net (code 4) (name OUTN_PUMP_TL)
      (node (ref P22) (pin 1))
      (node (ref Q3) (pin 2))
      (node (ref D3) (pin 2)))
    (net (code 5) (name OUTN_PUMP_TR)
      (node (ref Q4) (pin 2))
      (node (ref D4) (pin 2))
      (node (ref P24) (pin 1)))
    (net (code 6) (name OUTN_PUMP_BL)
      (node (ref D5) (pin 2))
      (node (ref Q5) (pin 2))
      (node (ref P23) (pin 1)))
    (net (code 7) (name OUTP_ARMMOTOR_L)
      (node (ref P19) (pin 2))
      (node (ref D5) (pin 1))
      (node (ref D1) (pin 1))
      (node (ref D2) (pin 1))
      (node (ref P18) (pin 2))
      (node (ref D6) (pin 1))
      (node (ref P21) (pin 2))
      (node (ref P22) (pin 2))
      (node (ref D3) (pin 1))
      (node (ref D4) (pin 1))
      (node (ref P23) (pin 2))
      (node (ref P24) (pin 2))
      (node (ref P25) (pin 2)))
    (net (code 8) (name OUTN_PUMP_BR)
      (node (ref Q6) (pin 2))
      (node (ref D6) (pin 2))
      (node (ref P25) (pin 1)))
    (net (code 9) (name OUTB_R)
      (node (ref U3) (pin 5))
      (node (ref P16) (pin 2))
      (node (ref U3) (pin 6)))
    (net (code 10) (name OUTA_R)
      (node (ref U3) (pin 3))
      (node (ref U3) (pin 4))
      (node (ref P16) (pin 1)))
    (net (code 11) (name OUTB_L)
      (node (ref U2) (pin 6))
      (node (ref P17) (pin 2))
      (node (ref U2) (pin 5)))
    (net (code 12) (name /Sheet_MCU/CMD_PUMP_TL)
      (node (ref R4) (pin 1))
      (node (ref U1) (pin 11)))
    (net (code 13) (name /Sheet_MCU/CMD_PUMP_TR)
      (node (ref U1) (pin 10))
      (node (ref R5) (pin 1)))
    (net (code 14) (name /Sheet_MCU/CMD_PUMP_BL)
      (node (ref R6) (pin 1))
      (node (ref U1) (pin 9)))
    (net (code 15) (name /Sheet_MCU/CMD_PUMP_BR)
      (node (ref R7) (pin 1))
      (node (ref U1) (pin 8)))
    (net (code 16) (name /Sheet_Connectors/UART_DBG_TXD)
      (node (ref P1) (pin 2))
      (node (ref U1) (pin 18)))
    (net (code 17) (name /Sheet_Connectors/UART_DBG_RXD)
      (node (ref P1) (pin 3))
      (node (ref U1) (pin 19)))
    (net (code 18) (name ENCB_L)
      (node (ref U1) (pin 41))
      (node (ref P2) (pin 1)))
    (net (code 19) (name ENCA_L)
      (node (ref P2) (pin 3))
      (node (ref U1) (pin 40)))
    (net (code 20) (name /Sheet_MCU/CMD_ARMMOTOR_L)
      (node (ref U1) (pin 7))
      (node (ref R2) (pin 1)))
    (net (code 21) (name IR_VIN_3)
      (node (ref U1) (pin 1))
      (node (ref P11) (pin 1)))
    (net (code 22) (name IR_VIN_5)
      (node (ref U1) (pin 3))
      (node (ref P13) (pin 1)))
    (net (code 23) (name IR_VIN_6)
      (node (ref U1) (pin 4))
      (node (ref P14) (pin 1)))
    (net (code 24) (name IR_VIN_7)
      (node (ref P15) (pin 1))
      (node (ref U1) (pin 5)))
    (net (code 25) (name ENCB_R)
      (node (ref U1) (pin 46))
      (node (ref P2) (pin 2)))
    (net (code 26) (name /Sheet_MCU/CMD_ARMMOTOR_R)
      (node (ref R3) (pin 1))
      (node (ref U1) (pin 6)))
    (net (code 27) (name ENCA_R)
      (node (ref P2) (pin 4))
      (node (ref U1) (pin 47)))
    (net (code 28) (name /Sheet_Connectors/SDA_D)
      (node (ref P7) (pin 4))
      (node (ref U1) (pin 26)))
    (net (code 29) (name /Sheet_Connectors/SCL_D)
      (node (ref U1) (pin 27))
      (node (ref P7) (pin 3)))
    (net (code 30) (name /Sheet_MCU/DIR_L)
      (node (ref U1) (pin 31))
      (node (ref U2) (pin 10)))
    (net (code 31) (name /Sheet_MCU/DIR_R)
      (node (ref U1) (pin 30))
      (node (ref U3) (pin 10)))
    (net (code 32) (name /Sheet_MCU/PWM_R)
      (node (ref U1) (pin 28))
      (node (ref U3) (pin 11)))
    (net (code 33) (name /Sheet_Connectors/SDA_C)
      (node (ref U1) (pin 16))
      (node (ref P4) (pin 3))
      (node (ref P6) (pin 4)))
    (net (code 34) (name /Sheet_Connectors/SCL_C)
      (node (ref P4) (pin 2))
      (node (ref U1) (pin 17))
      (node (ref P6) (pin 3)))
    (net (code 35) (name /Sheet_Connectors/RGB_LEDEN_R)
      (node (ref U1) (pin 23))
      (node (ref P7) (pin 6)))
    (net (code 36) (name IR_VIN_1)
      (node (ref U1) (pin 63))
      (node (ref P9) (pin 1)))
    (net (code 37) (name /Sheet_MCU/PWM_L)
      (node (ref U1) (pin 29))
      (node (ref U2) (pin 11)))
    (net (code 38) (name IR_VIN_4)
      (node (ref U1) (pin 2))
      (node (ref P12) (pin 1)))
    (net (code 39) (name IR_VIN_0)
      (node (ref P8) (pin 1))
      (node (ref U1) (pin 62)))
    (net (code 40) (name IR_VIN_2)
      (node (ref P10) (pin 1))
      (node (ref U1) (pin 64)))
    (net (code 41) (name /Sheet_Connectors/RGB_LEDEN_L)
      (node (ref U1) (pin 20))
      (node (ref P6) (pin 6)))
    (net (code 42) (name +3V3)
      (node (ref U1) (pin 45))
      (node (ref P1) (pin 1))
      (node (ref P6) (pin 2))
      (node (ref U1) (pin 61))
      (node (ref U6) (pin 2))
      (node (ref U1) (pin 53))
      (node (ref U1) (pin 15))
      (node (ref U1) (pin 25))
      (node (ref U1) (pin 35))
      (node (ref P4) (pin 4))
      (node (ref P20) (pin 1))
      (node (ref P2) (pin 7))
      (node (ref P2) (pin 8))
      (node (ref P7) (pin 2))
      (node (ref U5) (pin 3)))
    (net (code 43) (name GND)
      (node (ref P21) (pin 1))
      (node (ref P14) (pin 2))
      (node (ref U5) (pin 2))
      (node (ref U5) (pin 4))
      (node (ref P8) (pin 2))
      (node (ref P2) (pin 6))
      (node (ref P2) (pin 5))
      (node (ref P3) (pin 1))
      (node (ref P4) (pin 1))
      (node (ref J3) (pin 1))
      (node (ref U4) (pin 2))
      (node (ref U4) (pin 4))
      (node (ref P6) (pin 1))
      (node (ref P1) (pin 4))
      (node (ref P5) (pin 1))
      (node (ref P7) (pin 1))
      (node (ref U2) (pin 8))
      (node (ref U2) (pin 9))
      (node (ref Q4) (pin 3))
      (node (ref U1) (pin 60))
      (node (ref Q1) (pin 3))
      (node (ref U1) (pin 44))
      (node (ref U1) (pin 34))
      (node (ref U2) (pin 7))
      (node (ref U1) (pin 24))
      (node (ref Q2) (pin 3))
      (node (ref U1) (pin 52))
      (node (ref U1) (pin 14))
      (node (ref Q5) (pin 3))
      (node (ref Q6) (pin 3))
      (node (ref Q3) (pin 3))
      (node (ref P15) (pin 2))
      (node (ref U3) (pin 7))
      (node (ref U3) (pin 8))
      (node (ref U3) (pin 9))
      (node (ref P11) (pin 2))
      (node (ref P12) (pin 2))
      (node (ref P10) (pin 2))
      (node (ref P9) (pin 2))
      (node (ref U6) (pin 3))
      (node (ref P13) (pin 2)))
    (net (code 44) (name "Net-(R1-Pad2)")
      (node (ref U6) (pin 1))
      (node (ref R1) (pin 2)))
    (net (code 45) (name "Net-(R1-Pad1)")
      (node (ref R1) (pin 1))
      (node (ref U1) (pin 57)))
    (net (code 46) (name "Net-(U1-Pad42)")
      (node (ref U1) (pin 42)))
    (net (code 47) (name "Net-(U1-Pad22)")
      (node (ref U1) (pin 22)))
    (net (code 48) (name "Net-(U1-Pad32)")
      (node (ref U1) (pin 32)))
    (net (code 49) (name "Net-(U1-Pad13)")
      (node (ref U1) (pin 13)))
    (net (code 50) (name "Net-(U1-Pad33)")
      (node (ref U1) (pin 33)))
    (net (code 51) (name "Net-(U1-Pad43)")
      (node (ref U1) (pin 43)))
    (net (code 52) (name "Net-(U1-Pad12)")
      (node (ref U1) (pin 12)))
    (net (code 53) (name "Net-(U1-Pad54)")
      (node (ref U1) (pin 54)))
    (net (code 54) (name "Net-(U1-Pad55)")
      (node (ref U1) (pin 55)))
    (net (code 55) (name "Net-(U1-Pad50)")
      (node (ref U1) (pin 50)))
    (net (code 56) (name "Net-(U1-Pad21)")
      (node (ref U1) (pin 21)))
    (net (code 57) (name "Net-(U1-Pad51)")
      (node (ref U1) (pin 51)))
    (net (code 60) (name "Net-(U1-Pad36)")
      (node (ref U1) (pin 36)))
    (net (code 61) (name "Net-(U1-Pad56)")
      (node (ref U1) (pin 56)))
    (net (code 62) (name "Net-(U1-Pad37)")
      (node (ref U1) (pin 37)))
    (net (code 63) (name "Net-(U1-Pad38)")
      (node (ref U1) (pin 38)))
    (net (code 64) (name "Net-(U1-Pad59)")
      (node (ref U1) (pin 59)))
    (net (code 65) (name "Net-(U1-Pad49)")
      (node (ref U1) (pin 49)))
    (net (code 66) (name "Net-(U1-Pad39)")
      (node (ref U1) (pin 39)))
    (net (code 67) (name "Net-(U1-Pad58)")
      (node (ref U1) (pin 58)))
    (net (code 68) (name "Net-(U1-Pad48)")
      (node (ref U1) (pin 48)))
    (net (code 69) (name "Net-(Q3-Pad1)")
      (node (ref R4) (pin 2))
      (node (ref Q3) (pin 1)))
    (net (code 70) (name "Net-(Q4-Pad1)")
      (node (ref Q4) (pin 1))
      (node (ref R5) (pin 2)))
    (net (code 72) (name "Net-(J1-Pad1)")
      (node (ref U2) (pin 12))
      (node (ref J1) (pin 1)))
    (net (code 73) (name "Net-(J2-Pad1)")
      (node (ref U3) (pin 12))
      (node (ref J2) (pin 1)))
    (net (code 74) (name "Net-(Q5-Pad1)")
      (node (ref R6) (pin 2))
      (node (ref Q5) (pin 1)))
    (net (code 75) (name "Net-(Q6-Pad1)")
      (node (ref Q6) (pin 1))
      (node (ref R7) (pin 2)))
    (net (code 76) (name +24V)
      (node (ref U2) (pin 15))
      (node (ref U2) (pin 16))
      (node (ref U4) (pin 1))
      (node (ref U3) (pin 15))
      (node (ref U3) (pin 16))
      (node (ref P3) (pin 2))
      (node (ref U3) (pin 1))
      (node (ref U3) (pin 2))
      (node (ref U2) (pin 1))
      (node (ref U2) (pin 2)))
    (net (code 77) (name "Net-(U3-Pad13)")
      (node (ref U3) (pin 13)))
    (net (code 78) (name "Net-(U2-Pad14)")
      (node (ref U2) (pin 14)))
    (net (code 79) (name "Net-(U2-Pad13)")
      (node (ref U2) (pin 13)))
    (net (code 80) (name "Net-(Q2-Pad1)")
      (node (ref Q2) (pin 1))
      (node (ref R3) (pin 2)))
    (net (code 81) (name "Net-(Q1-Pad1)")
      (node (ref Q1) (pin 1))
      (node (ref R2) (pin 2)))
    (net (code 82) (name "Net-(U3-Pad14)")
      (node (ref U3) (pin 14)))
    (net (code 83) (name IR_VCC)
      (node (ref P15) (pin 3))
      (node (ref P11) (pin 3))
      (node (ref P13) (pin 3))
      (node (ref P9) (pin 3))
      (node (ref P12) (pin 3))
      (node (ref P10) (pin 3))
      (node (ref P14) (pin 3))
      (node (ref P20) (pin 2))
      (node (ref P8) (pin 3)))
    (net (code 89) (name +5V)
      (node (ref P20) (pin 3))
      (node (ref U5) (pin 1))
      (node (ref P5) (pin 2))
      (node (ref U4) (pin 3)))
    (net (code 92) (name "Net-(P6-Pad5)")
      (node (ref P6) (pin 5)))
    (net (code 96) (name "Net-(P7-Pad5)")
      (node (ref P7) (pin 5)))))