<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="7.3.0">
<drawing>
<board>
<description>&lt;b&gt;Robot Motor board  version 2&lt;/b&gt;
&lt;p&gt;
Jonathan Valvano / Daniel Valvano / Steven Prickett / Brent Wylie&lt;br/&gt;
December 6, 2015&lt;br/&gt;
EE445M/EE380L.6&lt;br/&gt;
4 mounting holes&lt;br/&gt; 
&amp;nbsp; &amp;nbsp;positioned at (0.19685039,0.19685039) (3.74015748,0.19685039) (3.74015748,2.95275591) (0.19685039,2.95275591)&lt;br/&gt;
&amp;nbsp; &amp;nbsp;4-40  screws &lt;br/&gt;
&amp;nbsp; &amp;nbsp;0.125in holes (specification is 0.112 in)&lt;p&gt;

This PCB implements labs associated with the Embbeded Systems books&lt;br/&gt;&lt;u&gt;Embedded Systems:
Introduction to ARM Cortex-M Microcontrollers&lt;/u&gt;, 2015, ISBN:
978-1477508992, &lt;a target="_blank"
href="http://users.ece.utexas.edu/%7Evalvano/arm/outline1.htm"&gt;&lt;b&gt;http://users.ece.utexas.edu/~valvano/arm/outline1.htm&lt;/b&gt;&lt;/a&gt;&lt;br&gt;
&lt;u&gt;Embedded Systems: Real-Time
Interfacing to ARM
Cortex-M Microcontrollers&lt;/u&gt;, 2015, ISBN: 978-1463590154, &lt;b&gt;&lt;a target="_blank"
href="http://users.ece.utexas.edu/%7Evalvano/arm/outline.htm"&gt;http://users.ece.utexas.edu/~valvano/arm/outline.htm&lt;/a&gt;&lt;/b&gt;&lt;br&gt;
&lt;u&gt;Embedded Systems: Real-Time Operating
Systems for the ARM Cortex-M Microcontrollers &lt;/u&gt;, 2015,
ISBN: 978-1466468863, &lt;b&gt;&lt;a target="_blank"
href="http://users.ece.utexas.edu/%7Evalvano/arm/outline3.htm"&gt;http://users.ece.utexas.edu/~valvano/arm/outline3.htm&lt;/a&gt;&lt;/b&gt;&lt;br&gt;</description>
<plain>
<wire x1="95" y1="80" x2="5" y2="80" width="0" layer="20"/>
<wire x1="5" y1="80" x2="0" y2="74.365" width="0" layer="20" curve="90"/>
<wire x1="0" y1="74.365" x2="0" y2="5" width="0" layer="20"/>
<wire x1="0" y1="5" x2="5" y2="0" width="0" layer="20" curve="90"/>
<wire x1="5" y1="0" x2="95" y2="0" width="0" layer="20"/>
<wire x1="95" y1="0" x2="100" y2="5" width="0" layer="20" curve="90"/>
<wire x1="100" y1="5" x2="100" y2="75" width="0" layer="20"/>
<wire x1="100" y1="75" x2="95" y2="80" width="0" layer="20" curve="90"/>
<text>B+</text>
<text>B-</text>
<text>B+</text>
<text>B-</text>
<text>A-</text>
<text>A+</text>
<text>A+</text>
<text>A-</text>
<text>H</text>
<text>L</text>
<text>+5V</text>
<text>GND</text>
<text>VBAT</text>
<text>PB7: A+  PE4: CAN RX 
PB6: A-  PE5: CAN TX 
PB5: B+  PD0: SERVO A
PB4: B-  PD1: SERVO B</text>
<text>GND</text>
<text>5V</text>
<text>PWM</text>
<text>PWM</text>
<text>5V</text>
<text>GND</text>
<text>+5V</text>
<text>VBAT</text>
<text>Valvano
Prickett
v4 2/2016</text>
<text>VBAT</text>
<text>GND</text>
<text>GND</text>
<text>Valvano
Prickett
v4 2/2016</text>
<text>Motor Board
EE445M</text>
<text>VBAT</text>
<text>GND</text>
<text>Motor Board
EE445M</text>
<text>+5V</text>
<text>GND</text>
</plain>
<libraries>
<library name="EE445L">
<description>&lt;b&gt;EE445L Library&lt;/b&gt;
&lt;p&gt;
This library has been compiled by EE445L professors, TAs,
and students.  It is meant as a service to students,
simplifying the design, manufacturing, and testing of PCBs associated with the 
Cirqoid PCB milling machine in the College of Engineering &lt;b&gt;Makerspace&lt;/b&gt;.
For more information about the PCB mill see &lt;b&gt;http://cirqoid.com/&lt;/b&gt;.
There are a number of restrictions that we will need to follow to simplify the PCB construction.
&lt;p&gt;
&lt;b&gt;PCB size.&lt;/b&gt; There are two standard sizes of the PCB material one can order from Cirqoid: 100 by 75 mm, and 100 by 160 mm. The smaller size allows you to design the  PCB in the freeware version of Eagle. You can of course, set the board size to be less than 100 by 75 mm.
&lt;p&gt;
&lt;b&gt;Number of layers.&lt;/b&gt; You can create single or double layer PCBs with the Cirqoid PCB mill.
&lt;p&gt;
&lt;b&gt;Drill sizes.&lt;/b&gt; The Makerspace only has specific drill sizes. This library will restrict drill sizes to these four:
 0.0157in=0.4mm,
 0.0315in=0.8mm,
 0.0433in=1.1mm, and
 0.120in=3.0mm. You can only drill holes of a certain size, if you have a drill of that size. Second, the fewer drill sizes you use the faster it will be to manufacture the board.
&lt;p&gt;
&lt;b&gt;Placement of vias.&lt;/b&gt; The Cirqoid PCB mill will not pour copper into vias which run from the top to bottom layers. Therefore you will need to place wire into the vias and solder on both sides. This means one must be careful where the vias are located (e.g., not under chips_ so you will have access to solder both layers.&lt;p&gt;
Use the &lt;b&gt;ADD&lt;/b&gt; command in the Schematic Editor or Layout Editor
window to search for a certain device or package!
&lt;p&gt;
If you are going to create new parts, please do not add them to this library. This is because we routinely make updates to the this library, and if you add your part to this library, it will/may be lost when you install a newer version of the EE445L library.
&lt;p&gt;
Please let me know if you find any mistakes at &lt;b&gt;valvano@mail.utexas.edu&lt;/b&gt;. Thank you and have fun,&lt;p&gt;
Jonathan Valvano, University of Texas at Austin, 
UTA7.343, 1616 Guadalupe Street, Austin, TX, 78701</description>
<packages>
<package name="CAP100MIL">
<description>&lt;b&gt;CAPACITOR&lt;/b&gt;&lt;p&gt;
grid 2.54 mm = 100mil, 0.8mm holes</description>
</package>
<package name="CAP200MILPOLARIZED">
<description>&lt;b&gt;POLARIZED CAPACITOR&lt;/b&gt;&lt;p&gt;
grid 5.08 mm = 200mil, 0.8mm holes</description>
</package>
<package name="TM4C123LAUNCHPAD">
<description>&lt;B&gt;Two Dual In Line&lt;/B&gt;&lt;br&gt;
Samtec ESW-110-37-L-D&lt;br&gt;
or FCI 67997-210HLF, Digikey 609-3236-ND</description>
</package>
<package name="1X03">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="1X01">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="LED5MM">
<description>&lt;B&gt;LED&lt;/B&gt;&lt;p&gt;
5 mm, round, 0.8mm holes, 100 mil spacing</description>
</package>
<package name="TO92">
<description>&lt;b&gt;TO 92&lt;/b&gt; 0.8mm holes</description>
</package>
<package name="RES300MIL">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;&lt;p&gt;
type 0204, grid 7.5 mm</description>
</package>
<package name="KK-156-2">
<description>&lt;b&gt;KK 156 HEADER&lt;/b&gt;&lt;p&gt;
Source: http://www.molex.com/pdm_docs/sd/026604100_sd.pdf</description>
</package>
<package name="C0805K">
<description>&lt;b&gt;Ceramic Chip Capacitor KEMET 0805 Reflow solder&lt;/b&gt;&lt;p&gt;
Metric Code Size 2012</description>
</package>
<package name="1X02">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="SOP65P640X120-17N">
</package>
<package name="DIL08">
<description>&lt;b&gt;Dual In Line&lt;/b&gt; 0.8mm holes, 2.54mm=100mil spacing</description>
</package>
<package name="KK-100-2">
<description>&lt;b&gt;2-pin header&lt;/b&gt; solder connections for 18 gauge wire, holes are 0.065in, with 0.15in separation, 18 ga wire needs a hole at least 0.04030 in</description>
</package>
<package name="TO220BV">
<description>&lt;b&gt;Molded Package&lt;/b&gt;&lt;p&gt;
grid 2.54 mm</description>
</package>
<package name="TO220-4">
<description>&lt;b&gt;TO220&lt;/b&gt;&lt;br&gt;
with thermal pad</description>
</package>
</packages>
</library>
<library name="SparkFun-Connectors">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find connectors and sockets- basically anything that can be plugged into or onto.&lt;br&gt;&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
&lt;br&gt;&lt;br&gt;
&lt;b&gt;Licensing:&lt;/b&gt; Creative Commons ShareAlike 4.0 International - https://creativecommons.org/licenses/by-sa/4.0/ 
&lt;br&gt;&lt;br&gt;
You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
<packages>
<package name="SCREWTERMINAL-3.5MM-2">
</package>
</packages>
</library>
<library name="transistor-power">
<description>&lt;b&gt;Power Transistors&lt;/b&gt;&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="TO220BV">
<description>&lt;b&gt;Molded Package&lt;/b&gt;&lt;p&gt;
grid 2.54 mm</description>
</package>
</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<elements>
<element name="5V_OUT" library="SparkFun-Connectors" package="SCREWTERMINAL-3.5MM-2" value="+5V">
<attribute name="PROD_ID" value="CONN-08399"/>
</element>
<element name="C9" library="EE445L" package="CAP200MILPOLARIZED" value="1uF">
<attribute name="NAME"/>
</element>
<element name="C8" library="EE445L" package="CAP200MILPOLARIZED" value="1uF">
<attribute name="NAME"/>
</element>
<element name="C10" library="EE445L" package="CAP100MIL" value="0.1uF">
<attribute name="NAME"/>
</element>
<element name="LAUNCHPAD" library="EE445L" package="TM4C123LAUNCHPAD" value="EK-TM4C123GXLP"/>
<element name="SERVO_B" library="EE445L" package="1X03" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="+5V" library="EE445L" package="1X01" value="">
<attribute name="VALUE"/>
</element>
<element name="+11.1V" library="EE445L" package="1X01" value="">
<attribute name="VALUE"/>
</element>
<element name="LED1" library="EE445L" package="LED5MM" value="Green"/>
<element name="LED2" library="EE445L" package="LED5MM" value="Green"/>
<element name="CAN" library="SparkFun-Connectors" package="SCREWTERMINAL-3.5MM-2" value="CAN">
<attribute name="NAME"/>
<attribute name="PROD_ID" value="CONN-08399"/>
</element>
<element name="Q1" library="EE445L" package="TO92" value="PN2222">
<attribute name="NAME"/>
</element>
<element name="Q2" library="EE445L" package="TO92" value="PN2222">
<attribute name="NAME"/>
</element>
<element name="Q3" library="EE445L" package="TO92" value="PN2222">
<attribute name="NAME"/>
</element>
<element name="Q4" library="EE445L" package="TO92" value="PN2222">
<attribute name="NAME"/>
</element>
<element name="R11" library="EE445L" package="RES300MIL" value="10k">
<attribute name="NAME"/>
</element>
<element name="R9" library="EE445L" package="RES300MIL" value="10k">
<attribute name="NAME"/>
</element>
<element name="R10" library="EE445L" package="RES300MIL" value="1k">
<attribute name="NAME"/>
</element>
<element name="R8" library="EE445L" package="RES300MIL" value="1k">
<attribute name="NAME"/>
</element>
<element name="R7" library="EE445L" package="RES300MIL" value="10k">
<attribute name="NAME"/>
</element>
<element name="R5" library="EE445L" package="RES300MIL" value="10k">
<attribute name="NAME"/>
</element>
<element name="R6" library="EE445L" package="RES300MIL" value="1k">
<attribute name="NAME"/>
</element>
<element name="R4" library="EE445L" package="RES300MIL" value="1k">
<attribute name="NAME"/>
</element>
<element name="R12" library="EE445L" package="RES300MIL" value="120">
<attribute name="NAME"/>
</element>
<element name="R2" library="EE445L" package="RES300MIL" value="2k">
<attribute name="NAME"/>
</element>
<element name="R3" library="EE445L" package="RES300MIL" value="680">
<attribute name="NAME"/>
</element>
<element name="Q7" library="transistor-power" package="TO220BV" value="IRF540">
<attribute name="VALUE"/>
</element>
<element name="Q8" library="transistor-power" package="TO220BV" value="IRF540">
<attribute name="VALUE"/>
</element>
<element name="Q12" library="transistor-power" package="TO220BV" value="IRF9530">
<attribute name="VALUE"/>
</element>
<element name="Q11" library="EE445L" package="TO220BV" value="IRF9530">
<attribute name="VALUE"/>
</element>
<element name="Q5" library="transistor-power" package="TO220BV" value="IRF540">
<attribute name="VALUE"/>
</element>
<element name="Q6" library="transistor-power" package="TO220BV" value="IRF540">
<attribute name="VALUE"/>
</element>
<element name="Q10" library="transistor-power" package="TO220BV" value="IRF9530">
<attribute name="VALUE"/>
</element>
<element name="Q9" library="transistor-power" package="TO220BV" value="IRF9530">
<attribute name="VALUE"/>
</element>
<element name="X1" library="EE445L" package="KK-156-2" value="">
<attribute name="OC_NEWARK" value="unknown"/>
<attribute name="MPN" value=""/>
<attribute name="MF" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
<attribute name="VALUE"/>
</element>
<element name="X2" library="EE445L" package="KK-156-2" value="">
<attribute name="OC_NEWARK" value="unknown"/>
<attribute name="MPN" value=""/>
<attribute name="MF" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
<attribute name="VALUE"/>
</element>
<element name="X3" library="EE445L" package="KK-156-2" value="">
<attribute name="OC_NEWARK" value="unknown"/>
<attribute name="MPN" value=""/>
<attribute name="MF" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
<attribute name="VALUE"/>
</element>
<element name="X4" library="EE445L" package="KK-156-2" value="">
<attribute name="OC_NEWARK" value="unknown"/>
<attribute name="MPN" value=""/>
<attribute name="MF" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
<attribute name="VALUE"/>
</element>
<element name="SERVO_A" library="EE445L" package="1X03" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="+3.3V" library="EE445L" package="1X01" value="+3.3V">
<attribute name="VALUE"/>
</element>
<element name="JP2" library="EE445L" package="1X02" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U1" library="EE445L" package="SOP65P640X120-17N" value="DRV8848">
<attribute name="PACKAGE" value="TSSOP-16"/>
<attribute name="SUPPLIER" value="Texas Instruments"/>
<attribute name="MPN" value="DRV8848"/>
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C7" library="EE445L" package="CAP200MILPOLARIZED" value="2.2uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="PC6" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="PC7" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="PC5" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="PC4" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="GND" library="EE445L" package="1X01" value="GND">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="GND1" library="EE445L" package="1X01" value="GND">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R1" library="EE445L" package="RES300MIL" value="10k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="FAULT" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="CANL" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="CANH" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C11" library="EE445L" package="CAP200MILPOLARIZED" value="10uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C12" library="EE445L" package="CAP200MILPOLARIZED" value="10uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C6" library="EE445L" package="C0805K" value="10uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C5" library="EE445L" package="C0805K" value="0.1uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="SERVOB" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="SERVOA" library="EE445L" package="1X01" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U3" library="EE445L" package="DIL08" value="MCP2551P">
<attribute name="VALUE"/>
<attribute name="NAME"/>
</element>
<element name="J7" library="EE445L" package="KK-100-2" value="KK-100-2">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="BAT" library="EE445L" package="1X02" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C1" library="EE445L" package="CAP200MILPOLARIZED" value="4.7uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C2" library="EE445L" package="CAP200MILPOLARIZED" value="1uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C3" library="EE445L" package="CAP200MILPOLARIZED" value="4.7uF">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U2" library="EE445L" package="TO220-4" value="LM78XX_HOR">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U4" library="EE445L" package="TO220-4" value="LM78XX_HOR">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
</elements>
<signals>
<signal name="+3V3">
<contactref element="LAUNCHPAD" pad="1"/>
<contactref element="+3.3V" pad="1"/>
<contactref element="R1" pad="2"/>
</signal>
<signal name="GND">
<contactref element="LAUNCHPAD" pad="22"/>
<contactref element="LAUNCHPAD" pad="20"/>
<contactref element="C10" pad="2"/>
<contactref element="5V_OUT" pad="1"/>
<contactref element="SERVO_B" pad="3"/>
<contactref element="Q1" pad="1"/>
<contactref element="Q5" pad="S"/>
<contactref element="Q6" pad="S"/>
<contactref element="Q2" pad="1"/>
<contactref element="C9" pad="-"/>
<contactref element="Q3" pad="1"/>
<contactref element="Q7" pad="S"/>
<contactref element="Q8" pad="S"/>
<contactref element="Q4" pad="1"/>
<contactref element="C8" pad="-"/>
<contactref element="LED1" pad="K"/>
<contactref element="LED2" pad="K"/>
<contactref element="SERVO_A" pad="3"/>
<contactref element="C7" pad="-"/>
<contactref element="GND" pad="1"/>
<contactref element="GND1" pad="1"/>
<contactref element="C12" pad="-"/>
<contactref element="C11" pad="-"/>
<contactref element="U3" pad="8"/>
<contactref element="U3" pad="2"/>
<contactref element="U1" pad="3"/>
<contactref element="U1" pad="6"/>
<contactref element="C5" pad="2"/>
<contactref element="U1" pad="13"/>
<contactref element="U1" pad="17"/>
<contactref element="C6" pad="2"/>
<contactref element="U2" pad="2"/>
<contactref element="U2" pad="4"/>
<contactref element="U4" pad="2"/>
<contactref element="C3" pad="-"/>
<contactref element="U4" pad="4"/>
<contactref element="C2" pad="-"/>
<contactref element="BAT" pad="1"/>
<contactref element="J7" pad="P$1"/>
<contactref element="C1" pad="-"/>
</signal>
<signal name="+11.1V">
<contactref element="Q9" pad="S"/>
<contactref element="Q10" pad="S"/>
<contactref element="R9" pad="2"/>
<contactref element="R11" pad="2"/>
<contactref element="C9" pad="+"/>
<contactref element="Q11" pad="S"/>
<contactref element="Q12" pad="S"/>
<contactref element="R5" pad="2"/>
<contactref element="R7" pad="2"/>
<contactref element="C8" pad="+"/>
<contactref element="R2" pad="2"/>
<contactref element="+11.1V" pad="1"/>
<contactref element="U1" pad="12"/>
<contactref element="C6" pad="1"/>
<contactref element="C5" pad="1"/>
<contactref element="J7" pad="P$2"/>
<contactref element="BAT" pad="2"/>
<contactref element="U4" pad="1"/>
<contactref element="C2" pad="+"/>
<contactref element="U2" pad="1"/>
</signal>
<signal name="M_PB7">
<contactref element="LAUNCHPAD" pad="15"/>
<contactref element="R4" pad="2"/>
<contactref element="U1" pad="16"/>
</signal>
<signal name="M_PB6">
<contactref element="LAUNCHPAD" pad="14"/>
<contactref element="R6" pad="1"/>
<contactref element="U1" pad="15"/>
</signal>
<signal name="M_PB4">
<contactref element="LAUNCHPAD" pad="7"/>
<contactref element="R10" pad="1"/>
<contactref element="U1" pad="10"/>
</signal>
<signal name="M_PB5">
<contactref element="LAUNCHPAD" pad="2"/>
<contactref element="R8" pad="2"/>
<contactref element="U1" pad="9"/>
</signal>
<signal name="M_PE4">
<contactref element="LAUNCHPAD" pad="5"/>
<contactref element="U3" pad="4"/>
</signal>
<signal name="M_PE5">
<contactref element="LAUNCHPAD" pad="6"/>
<contactref element="U3" pad="1"/>
</signal>
<signal name="M_PD0">
<contactref element="LAUNCHPAD" pad="23"/>
<contactref element="SERVO_A" pad="1"/>
<contactref element="SERVOA" pad="1"/>
</signal>
<signal name="HB_GATE_B+">
<contactref element="Q1" pad="3"/>
<contactref element="R9" pad="1"/>
<contactref element="Q9" pad="G"/>
<contactref element="Q5" pad="G"/>
</signal>
<signal name="HB_GATE_B-">
<contactref element="Q2" pad="3"/>
<contactref element="R11" pad="1"/>
<contactref element="Q10" pad="G"/>
<contactref element="Q6" pad="G"/>
</signal>
<signal name="HB_BASE_B-">
<contactref element="Q2" pad="2"/>
<contactref element="R10" pad="2"/>
</signal>
<signal name="HB_BASE_B+">
<contactref element="Q1" pad="2"/>
<contactref element="R8" pad="1"/>
</signal>
<signal name="HB_GATE_A+">
<contactref element="Q3" pad="3"/>
<contactref element="R5" pad="1"/>
<contactref element="Q11" pad="G"/>
<contactref element="Q7" pad="G"/>
</signal>
<signal name="HB_GATE_A-">
<contactref element="Q4" pad="3"/>
<contactref element="R7" pad="1"/>
<contactref element="Q12" pad="G"/>
<contactref element="Q8" pad="G"/>
</signal>
<signal name="HB_BASE_A-">
<contactref element="Q4" pad="2"/>
<contactref element="R6" pad="2"/>
</signal>
<signal name="HB_BASE_A+">
<contactref element="Q3" pad="2"/>
<contactref element="R4" pad="1"/>
</signal>
<signal name="DRV_MOTOR_A-">
<contactref element="U1" pad="4"/>
<contactref element="X1" pad="2"/>
</signal>
<signal name="DRV_MOTOR_B+">
<contactref element="U1" pad="7"/>
<contactref element="X2" pad="1"/>
</signal>
<signal name="VLED1">
<contactref element="R2" pad="1"/>
<contactref element="LED1" pad="A"/>
</signal>
<signal name="VLED3">
<contactref element="LED2" pad="A"/>
<contactref element="R3" pad="1"/>
</signal>
<signal name="CANL">
<contactref element="CAN" pad="1"/>
<contactref element="R12" pad="1"/>
<contactref element="CANL" pad="1"/>
<contactref element="U3" pad="6"/>
</signal>
<signal name="CANH">
<contactref element="CAN" pad="2"/>
<contactref element="R12" pad="2"/>
<contactref element="CANH" pad="1"/>
<contactref element="U3" pad="7"/>
</signal>
<signal name="HB_MOTOR_B+">
<contactref element="Q9" pad="D"/>
<contactref element="Q5" pad="D"/>
<contactref element="X4" pad="1"/>
</signal>
<signal name="HB_MOTOR_B-">
<contactref element="Q10" pad="D"/>
<contactref element="Q6" pad="D"/>
<contactref element="X4" pad="2"/>
</signal>
<signal name="HB_MOTOR_A-">
<contactref element="Q12" pad="D"/>
<contactref element="Q8" pad="D"/>
<contactref element="X3" pad="2"/>
</signal>
<signal name="HB_MOTOR_A+">
<contactref element="Q11" pad="D"/>
<contactref element="Q7" pad="D"/>
<contactref element="X3" pad="1"/>
</signal>
<signal name="DRV_MOTOR_B-">
<contactref element="U1" pad="5"/>
<contactref element="X2" pad="2"/>
</signal>
<signal name="DRV_MOTOR_A+">
<contactref element="U1" pad="2"/>
<contactref element="X1" pad="1"/>
</signal>
<signal name="N$1">
</signal>
<signal name="N$2">
</signal>
<signal name="N$3">
</signal>
<signal name="N$4">
</signal>
<signal name="M_PD1">
<contactref element="LAUNCHPAD" pad="24"/>
<contactref element="SERVO_B" pad="1"/>
<contactref element="SERVOB" pad="1"/>
</signal>
<signal name="N$5">
</signal>
<signal name="+5V">
<contactref element="C10" pad="1"/>
<contactref element="LAUNCHPAD" pad="21"/>
<contactref element="5V_OUT" pad="2"/>
<contactref element="R3" pad="2"/>
<contactref element="+5V" pad="1"/>
<contactref element="JP2" pad="2"/>
<contactref element="U3" pad="3"/>
</signal>
<signal name="BAT5">
<contactref element="JP2" pad="1"/>
<contactref element="U2" pad="3"/>
<contactref element="C1" pad="+"/>
</signal>
<signal name="VINT">
<contactref element="U1" pad="11"/>
<contactref element="U1" pad="14"/>
<contactref element="C7" pad="+"/>
</signal>
<signal name="M_PC4">
<contactref element="LAUNCHPAD" pad="37"/>
<contactref element="PC4" pad="1"/>
</signal>
<signal name="M_PC5">
<contactref element="LAUNCHPAD" pad="36"/>
<contactref element="PC5" pad="1"/>
</signal>
<signal name="M_PC6">
<contactref element="LAUNCHPAD" pad="35"/>
<contactref element="PC6" pad="1"/>
</signal>
<signal name="M_PC7">
<contactref element="LAUNCHPAD" pad="34"/>
<contactref element="PC7" pad="1"/>
</signal>
<signal name="M_PB0">
<contactref element="LAUNCHPAD" pad="3"/>
<contactref element="U1" pad="8"/>
<contactref element="R1" pad="1"/>
<contactref element="FAULT" pad="1"/>
</signal>
<signal name="SERVO5">
<contactref element="U4" pad="3"/>
<contactref element="C11" pad="+"/>
<contactref element="C12" pad="+"/>
<contactref element="C3" pad="+"/>
<contactref element="SERVO_B" pad="2"/>
<contactref element="SERVO_A" pad="2"/>
<contactref element="U1" pad="1"/>
</signal>
</signals>
</board>
</drawing>
</eagle>
