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<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="9.0.1">
<drawing>
<board>
<plain>
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<wire x1="76.18" y1="0" x2="76.18" y2="75.87" width="0" layer="20"/>
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<text>Alexander Brown
Lafayette College
July 2018
brownaa@lafayette.edu</text>
<text>pololu PID driver v0.1
</text>
<text>SCL</text>
<text>SDA</text>
<text>5v</text>
<text>GND</text>
<text>i2c</text>
<text>servo pulse</text>
<text>enc a</text>
<text>enc b</text>
<text>5v</text>
<text>gnd</text>
<text>M-</text>
<text>M+</text>
<text>sig</text>
<text>5v</text>
<text>gnd</text>
<text>POWER</text>
<text>BATT-</text>
<text>BATT+</text>
<text>IN1</text>
<text>IN2</text>
<text>PWM</text>
</plain>
<libraries>
<library name="SparkFun">
<packages>
<package name="CRYSTAL-SMD-5X3">
</package>
</packages>
</library>
<library name="Testing">
<packages>
<package name="USB-AB-MICRO-SMD-V03-IN&amp;OUT">
</package>
</packages>
</library>
<library name="SparkFun-IC-Special-Function">
<description>&lt;h3&gt;SparkFun Special Function ICs&lt;/h3&gt;
This library contains ICs that do not really fit into the other, more generic categories.  Basically, anything that serves some function but has a bunch of brains or special bias circuitry that prevents it from being used as a general part qualifies for this category.
&lt;p&gt;Contents:
&lt;ul&gt;&lt;li&gt;555 timers&lt;/li&gt;
&lt;li&gt;LED drivers&lt;/li&gt;
&lt;li&gt;H-Bridge drivers&lt;/li&gt;
&lt;li&gt;Motor drivers&lt;/li&gt;
&lt;li&gt;Waveform generators&lt;/li&gt;
&lt;li&gt;Crypto&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is &lt;b&gt; the end user's responsibility&lt;/b&gt; to ensure correctness and suitablity for a given componet or application. 
&lt;br&gt;
&lt;br&gt;If you enjoy using this library, please buy one of our products at &lt;a href=" www.sparkfun.com"&gt;SparkFun.com&lt;/a&gt;.
&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="MULTIWATT15_6400BGHEATSINK">
</package>
</packages>
</library>
<library name="pinhead">
<description>&lt;b&gt;Pin Header Connectors&lt;/b&gt;&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="1X04">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="1X03">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="2X03">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="1X06">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="1X02">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
</packages>
</library>
<library name="resistor">
<description>&lt;b&gt;Resistors, Capacitors, Inductors&lt;/b&gt;&lt;p&gt;
Based on the previous libraries:
&lt;ul&gt;
&lt;li&gt;r.lbr
&lt;li&gt;cap.lbr 
&lt;li&gt;cap-fe.lbr
&lt;li&gt;captant.lbr
&lt;li&gt;polcap.lbr
&lt;li&gt;ipc-smd.lbr
&lt;/ul&gt;
All SMD packages are defined according to the IPC specifications and  CECC&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;&lt;p&gt;
&lt;p&gt;
for Electrolyt Capacitors see also :&lt;p&gt;
www.bccomponents.com &lt;p&gt;
www.panasonic.com&lt;p&gt;
www.kemet.com&lt;p&gt;
&lt;p&gt;
for trimmer refence see : &lt;u&gt;www.electrospec-inc.com/cross_references/trimpotcrossref.asp&lt;/u&gt;&lt;p&gt;

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    &lt;/TD&gt;
    &lt;TD BGCOLOR="#cccccc" ALIGN=CENTER&gt;&lt;FONT FACE=ARIAL SIZE=3&gt;
      23B&lt;BR&gt;
      23A&lt;BR&gt;
      21X&lt;BR&gt;
      21W&lt;BR&gt;
      -&lt;BR&gt;
      22B&lt;BR&gt;
      22A&lt;BR&gt;&lt;/FONT&gt;
    &lt;/TD&gt;
    &lt;TD BGCOLOR="#cccccc" ALIGN=CENTER&gt;&lt;FONT FACE=ARIAL SIZE=3&gt;
      ST5YL/ST53YL&lt;BR&gt;
      ST5YJ/5T53YJ&lt;BR&gt;
      ST-23A&lt;BR&gt;
      ST-22B&lt;BR&gt;
      ST-22&lt;BR&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;&lt;/FONT&gt;
    &lt;/TD&gt;
    &lt;TD BGCOLOR="#cccccc" ALIGN=CENTER&gt;&lt;FONT FACE=ARIAL SIZE=3&gt;
      ST-4B&lt;BR&gt;
      ST-4A&lt;BR&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;
      ST-3B&lt;BR&gt;
      ST-3A&lt;BR&gt;&lt;/FONT&gt;
    &lt;/TD&gt;
    &lt;TD BGCOLOR="#cccccc" ALIGN=CENTER&gt;&lt;FONT FACE=ARIAL SIZE=3&gt;
      -&lt;BR&gt;
      EVM-6YS&lt;BR&gt;
      EVM-1E&lt;BR&gt;
      EVM-1G&lt;BR&gt;
      EVM-1D&lt;BR&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;&lt;/FONT&gt;
    &lt;/TD&gt;
    &lt;TD BGCOLOR="#cccccc" ALIGN=CENTER&gt;&lt;FONT FACE=ARIAL SIZE=3&gt;
      G4B&lt;BR&gt;
      G4A&lt;BR&gt;
      TR04-3S1&lt;BR&gt;
      TRG04-2S1&lt;BR&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;&lt;/FONT&gt;
    &lt;/TD&gt;
    &lt;TD BGCOLOR="#cccccc" ALIGN=CENTER&gt;&lt;FONT FACE=ARIAL SIZE=3&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;
      DVR-43A&lt;BR&gt;
      CVR-42C&lt;BR&gt;
      CVR-42A/C&lt;BR&gt;
      -&lt;BR&gt;
      -&lt;BR&gt;&lt;/FONT&gt;
    &lt;/TD&gt;
  &lt;/TR&gt;
&lt;/TABLE&gt;
&lt;P&gt;
&lt;FONT SIZE=4 FACE=ARIAL&gt;&lt;B&gt;ALT =&amp;nbsp;ALTERNATE&lt;/B&gt;&lt;/FONT&gt;
&lt;P&gt;

&amp;nbsp;
&lt;P&gt;
&lt;/td&gt;
&lt;/tr&gt;
&lt;/table&gt;
&lt;/BODY&gt;&lt;/HTML&gt;</description>
<packages>
<package name="M0805">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;&lt;p&gt;
MELF 0.10 W</description>
</package>
<package name="C0805">
<description>&lt;b&gt;CAPACITOR&lt;/b&gt;&lt;p&gt;</description>
</package>
</packages>
</library>
<library name="SparkFun-Connectors">
<description>&lt;h3&gt;SparkFun Connectors&lt;/h3&gt;
This library contains electrically-functional connectors. 
&lt;br&gt;
&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is &lt;b&gt; the end user's responsibility&lt;/b&gt; to ensure correctness and suitablity for a given componet or application. 
&lt;br&gt;
&lt;br&gt;If you enjoy using this library, please buy one of our products at &lt;a href=" www.sparkfun.com"&gt;SparkFun.com&lt;/a&gt;.
&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">
<description>&lt;h3&gt;Screw Terminal  3.5mm Pitch - 2 Pin PTH&lt;/h3&gt;
&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count: 2&lt;/li&gt;
&lt;li&gt;Pin pitch: 3.5mm/138mil&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;&lt;a href=”https://www.sparkfun.com/datasheets/Prototyping/Screw-Terminal-3.5mm.pdf”&gt;Datasheet referenced for footprint&lt;/a&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;CONN_02&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;</description>
</package>
</packages>
</library>
<library name="diode">
<description>&lt;b&gt;Diodes&lt;/b&gt;&lt;p&gt;
Based on the following sources:
&lt;ul&gt;
&lt;li&gt;Motorola : www.onsemi.com
&lt;li&gt;Fairchild : www.fairchildsemi.com
&lt;li&gt;Philips : www.semiconductors.com
&lt;li&gt;Vishay : www.vishay.de
&lt;/ul&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="SMB">
<description>&lt;B&gt;DIODE&lt;/B&gt;</description>
</package>
</packages>
</library>
<library name="rc-master-smd">
<description>&lt;b&gt;R/C MASTER-SMD! - v1.01 (07/03/2007)&lt;/b&gt;&lt;p&gt;
&lt;p&gt;This library is a collection of SMD ONLY resistors and capacitors by various manufacturers. The pad sizes, spacing and silkscreen widths have been tweaked for use in dense fine pitch layouts where space, alignment and precision are critical. In general these components are designed for routing in grid increments of 5 mils&lt;/p&gt;
&lt;p&gt;* Silkscreen line elements are a minimum of 8 mils in width. All components have text sizes of 0.032"  or 0.04".&lt;/p&gt;
&lt;p&gt;* A silkscreen text values use a ratio of 18 in all cases.&lt;/p&gt;
&lt;p&gt;* ALL PADS AND PART OUTLINES ARE SNAPPED TO A 5 MIL GRID!&lt;/p&gt;
&lt;p&gt;&lt;h4&gt;All components are prefixed using the following conventions:&lt;/h4&gt;&lt;/p&gt;
&lt;table width="380" border="1" bordercolor="#000000"&gt;
  &lt;tr&gt; 
    &lt;td width="81" bgcolor="#33CCFF"&gt;&lt;div align="center"&gt;&lt;strong&gt;Prefix&lt;/strong&gt;&lt;/div&gt;&lt;/td&gt;
    &lt;td width="289" bgcolor="#33CCFF"&gt;&lt;div align="center"&gt;&lt;strong&gt;Description&lt;/strong&gt;&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
  &lt;tr&gt; 
    &lt;td&gt;&lt;div align="center"&gt;CBP_&lt;/div&gt;&lt;/td&gt;
    &lt;td&gt;&lt;div align="center"&gt;Bipolar Electrolytic Types&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
  &lt;tr&gt; 
    &lt;td&gt;&lt;div align="center"&gt;CCA_&lt;/div&gt;&lt;/td&gt;
    &lt;td&gt;&lt;div align="center"&gt;Chip Cap Array Types&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
  &lt;tr&gt; 
    &lt;td&gt;&lt;div align="center"&gt;CP_&lt;/div&gt;&lt;/td&gt;
    &lt;td&gt;&lt;div align="center"&gt;Polarized Electrolytic/Tantalum Types&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
  &lt;tr&gt; 
    &lt;td&gt;&lt;div align="center"&gt;C_&lt;/div&gt;&lt;/td&gt;
    &lt;td&gt;&lt;div align="center"&gt;Non-Polarized Film / Chip Types&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
  &lt;tr&gt; 
    &lt;td&gt;&lt;div align="center"&gt;FB_&lt;/div&gt;&lt;/td&gt;
    &lt;td&gt;&lt;div align="center"&gt;Simple Ferrite Bead Types&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
  &lt;tr&gt; 
    &lt;td&gt;&lt;div align="center"&gt;L_&lt;/div&gt;&lt;/td&gt;
    &lt;td&gt;&lt;div align="center"&gt;Simple Chip Inductors&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
  &lt;tr&gt; 
    &lt;td&gt;&lt;div align="center"&gt;R_&lt;/div&gt;&lt;/td&gt;
    &lt;td&gt;&lt;div align="center"&gt;Resistor Types&lt;/div&gt;&lt;/td&gt;
  &lt;/tr&gt;
&lt;/table&gt;
&lt;p&gt;&lt;author&gt;THIS LIBRARY IS PROVIDED AS IS AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED.&lt;br&gt;Copyright (C) 2007, Bob Starr&lt;br&gt; http://www.bobstarr.net&lt;br&gt;
&lt;/author&gt;</description>
<packages>
<package name="CSV-G">
<description>&lt;b&gt;SMD ELECTROLYTIC&lt;/b&gt; - Panasonic G&lt;p&gt; 
10 mm dia</description>
</package>
</packages>
</library>
<library name="v-reg-micrel">
<description>&lt;b&gt;Micrel Voltage Regulator&lt;/b&gt;&lt;p&gt;
Micrel Semiconductor, Inc.&lt;br&gt;
http://www.micrel.com&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="SOT23-5">
<description>&lt;b&gt;Small Outline Transistor&lt;/b&gt;</description>
</package>
</packages>
</library>
<library name="SparkFun-Switches">
<description>&lt;h3&gt;SparkFun Switches, Buttons, Encoders&lt;/h3&gt;
In this library you'll find switches, buttons, joysticks, and anything that moves to create or disrupt an electrical connection.
&lt;br&gt;
&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is &lt;b&gt; the end user's responsibility&lt;/b&gt; to ensure correctness and suitablity for a given componet or application. 
&lt;br&gt;
&lt;br&gt;If you enjoy using this library, please buy one of our products at &lt;a href=" www.sparkfun.com"&gt;SparkFun.com&lt;/a&gt;.
&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="SWITCH_SPST_SMD_A">
<description>&lt;h3&gt;SPDT Slide Switch - SMD&lt;/h3&gt;
&lt;p&gt;Single-pole, double-throw (SPDT) switch.&lt;/p&gt;
&lt;p&gt;&lt;a href="http://cdn.sparkfun.com/datasheets/Components/Switches/SLIDE.pdf"&gt;Datasheet&lt;/a&gt;&lt;/p&gt;</description>
</package>
</packages>
</library>
<library name="mega32U4">
<packages>
<package name="TQFP44">
<description>&lt;B&gt;Thin Plasic Quad Flat Package&lt;/B&gt;</description>
</package>
</packages>
</library>
<library name="SparkFun-LED">
<description>&lt;h3&gt;SparkFun LEDs&lt;/h3&gt;
This library contains discrete LEDs for illumination or indication, but no displays.
&lt;br&gt;
&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is &lt;b&gt; the end user's responsibility&lt;/b&gt; to ensure correctness and suitablity for a given componet or application. 
&lt;br&gt;
&lt;br&gt;If you enjoy using this library, please buy one of our products at &lt;a href=" www.sparkfun.com"&gt;SparkFun.com&lt;/a&gt;.
&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="LED-1206">
<description>&lt;h3&gt;LED 1206 SMT&lt;/h3&gt;

1206, surface mount. 

&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count: 2&lt;/li&gt;
&lt;li&gt;Pin pitch: &lt;/li&gt;
&lt;li&gt;Area: 0.125" x 0.06"&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;LED&lt;/li&gt;&lt;/ul&gt;</description>
</package>
</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<elements>
<element name="R5" library="resistor" package="M0805" value="22"/>
<element name="R7" library="resistor" package="M0805" value="22"/>
<element name="X1" library="Testing" package="USB-AB-MICRO-SMD-V03-IN&amp;OUT" value=""/>
<element name="U1" library="SparkFun-IC-Special-Function" package="MULTIWATT15_6400BGHEATSINK" value="L298HEATSINK"/>
<element name="I2C_IN" library="pinhead" package="1X04" value=""/>
<element name="SERVO_IN" library="pinhead" package="1X03" value=""/>
<element name="JP4" library="pinhead" package="2X03" value=""/>
<element name="POLOLU" library="pinhead" package="1X06" value=""/>
<element name="LIM1" library="pinhead" package="1X02" value=""/>
<element name="LIM2" library="pinhead" package="1X02" value=""/>
<element name="J1" library="SparkFun-Connectors" package="SCREWTERMINAL-3.5MM-2" value="">
<attribute name="PROD_ID" value="CONN-08399"/>
</element>
<element name="D2" library="diode" package="SMB" value="ES2D"/>
<element name="D4" library="diode" package="SMB" value="ES2D"/>
<element name="D5" library="diode" package="SMB" value="ES2D"/>
<element name="D6" library="diode" package="SMB" value="ES2D"/>
<element name="C3" library="rc-master-smd" package="CSV-G" value=""/>
<element name="C7" library="rc-master-smd" package="CSV-G" value=""/>
<element name="R1" library="resistor" package="M0805" value="10K"/>
<element name="R3" library="resistor" package="M0805" value="10K"/>
<element name="IC1" library="v-reg-micrel" package="SOT23-5" value="MIC5219BM5">
<attribute name="MF" value="ALTERA CORPORATION"/>
<attribute name="MPN" value="MIC5219BM5 TR"/>
<attribute name="OC_FARNELL" value="1100656"/>
<attribute name="OC_NEWARK" value="09J8939"/>
</element>
<element name="POWER" library="SparkFun-Switches" package="SWITCH_SPST_SMD_A" value="">
<attribute name="PROD_ID" value="SWCH-10651"/>
<attribute name="SF_SKU" value="COM-10860"/>
</element>
<element name="D7" library="diode" package="SMB" value="ES2D"/>
<element name="U$1" library="mega32U4" package="TQFP44" value="ATMEGA32U4-AU"/>
<element name="Y2" library="SparkFun" package="CRYSTAL-SMD-5X3" value="16MHz"/>
<element name="C8" library="resistor" package="C0805" value="22pF"/>
<element name="C9" library="resistor" package="C0805" value="22pF"/>
<element name="C10" library="resistor" package="C0805" value="1uF"/>
<element name="R8" library="resistor" package="M0805" value="10K"/>
<element name="C11" library="resistor" package="C0805" value="0.1uF"/>
<element name="R9" library="resistor" package="M0805" value="330"/>
<element name="D8" library="SparkFun-LED" package="LED-1206" value="GREEN">
<attribute name="PROD_ID" value="DIO-00862"/>
<attribute name="VALUE" value="GREEN"/>
</element>
<element name="R10" library="resistor" package="M0805" value="330"/>
<element name="D9" library="SparkFun-LED" package="LED-1206" value="Yellow">
<attribute name="PROD_ID" value="DIO-09909"/>
<attribute name="VALUE" value="Yellow"/>
</element>
<element name="R11" library="resistor" package="M0805" value="330"/>
<element name="D10" library="SparkFun-LED" package="LED-1206" value="RED">
<attribute name="PROD_ID" value="DIO-09912"/>
<attribute name="VALUE" value="RED"/>
</element>
<element name="R12" library="resistor" package="M0805" value="330"/>
<element name="D11" library="SparkFun-LED" package="LED-1206" value="RED">
<attribute name="PROD_ID" value="DIO-09912"/>
<attribute name="VALUE" value="RED"/>
</element>
<element name="R13" library="resistor" package="M0805" value="330"/>
<element name="D12" library="SparkFun-LED" package="LED-1206" value="BLUE">
<attribute name="PROD_ID" value="DIO-09911"/>
<attribute name="VALUE" value="BLUE"/>
</element>
<element name="I2C/PULSE" library="SparkFun-Switches" package="SWITCH_SPST_SMD_A" value="">
<attribute name="PROD_ID" value="SWCH-10651"/>
<attribute name="SF_SKU" value="COM-10860"/>
</element>
<element name="R2" library="resistor" package="M0805" value="10K"/>
<element name="R4" library="resistor" package="M0805" value="47k"/>
<element name="R6" library="resistor" package="M0805" value="47k"/>
</elements>
<signals>
<signal name="GND">
<contactref element="X1" pad="GND1"/>
<contactref element="I2C_IN" pad="2"/>
<contactref element="SERVO_IN" pad="1"/>
<contactref element="J1" pad="2"/>
<contactref element="C3" pad="-"/>
<contactref element="C7" pad="-"/>
<contactref element="R1" pad="1"/>
<contactref element="R3" pad="1"/>
<contactref element="IC1" pad="2"/>
<contactref element="POWER" pad="1"/>
<contactref element="D2" pad="A"/>
<contactref element="D4" pad="A"/>
<contactref element="POLOLU" pad="3"/>
<contactref element="JP4" pad="6"/>
<contactref element="C8" pad="2"/>
<contactref element="C9" pad="2"/>
<contactref element="C10" pad="1"/>
<contactref element="U$1" pad="5"/>
<contactref element="U$1" pad="15"/>
<contactref element="U$1" pad="23"/>
<contactref element="U$1" pad="35"/>
<contactref element="U$1" pad="43"/>
<contactref element="C11" pad="1"/>
<contactref element="R2" pad="1"/>
</signal>
<signal name="AREF">
<contactref element="C11" pad="2"/>
<contactref element="U$1" pad="42"/>
</signal>
<signal name="RESET">
<contactref element="JP4" pad="5"/>
<contactref element="U$1" pad="13"/>
<contactref element="R8" pad="1"/>
</signal>
<signal name="SCK">
<contactref element="JP4" pad="3"/>
<contactref element="U$1" pad="9"/>
</signal>
<signal name="MISO">
<contactref element="JP4" pad="1"/>
<contactref element="U$1" pad="8"/>
</signal>
<signal name="MOSI">
<contactref element="JP4" pad="4"/>
<contactref element="U$1" pad="10"/>
</signal>
<signal name="VCC">
<contactref element="I2C_IN" pad="1"/>
<contactref element="SERVO_IN" pad="2"/>
<contactref element="LIM2" pad="1"/>
<contactref element="LIM1" pad="1"/>
<contactref element="IC1" pad="5"/>
<contactref element="POLOLU" pad="4"/>
<contactref element="JP4" pad="2"/>
<contactref element="U1" pad="9"/>
<contactref element="U$1" pad="7"/>
<contactref element="R8" pad="2"/>
<contactref element="U$1" pad="14"/>
<contactref element="U$1" pad="34"/>
<contactref element="U$1" pad="24"/>
<contactref element="U$1" pad="44"/>
<contactref element="U$1" pad="2"/>
<contactref element="X1" pad="VBUS1"/>
<contactref element="D8" pad="A"/>
<contactref element="D9" pad="A"/>
<contactref element="D10" pad="A"/>
<contactref element="D11" pad="A"/>
<contactref element="D12" pad="A"/>
<contactref element="I2C/PULSE" pad="2"/>
<contactref element="R4" pad="2"/>
<contactref element="R6" pad="2"/>
</signal>
<signal name="D-">
<contactref element="R7" pad="1"/>
<contactref element="U$1" pad="3"/>
</signal>
<signal name="D+">
<contactref element="U$1" pad="4"/>
<contactref element="R5" pad="1"/>
</signal>
<signal name="N$6">
<contactref element="R7" pad="2"/>
<contactref element="X1" pad="D-1"/>
</signal>
<signal name="N$8">
<contactref element="R5" pad="2"/>
<contactref element="X1" pad="D+1"/>
</signal>
<signal name="SDA">
<contactref element="I2C_IN" pad="3"/>
<contactref element="U$1" pad="19"/>
<contactref element="R4" pad="1"/>
</signal>
<signal name="SCL">
<contactref element="I2C_IN" pad="4"/>
<contactref element="U$1" pad="18"/>
<contactref element="R6" pad="1"/>
</signal>
<signal name="SERVO_IN">
<contactref element="SERVO_IN" pad="3"/>
<contactref element="U$1" pad="1"/>
</signal>
<signal name="BATT">
<contactref element="J1" pad="1"/>
<contactref element="D6" pad="C"/>
<contactref element="D5" pad="C"/>
<contactref element="D7" pad="A"/>
<contactref element="U1" pad="4"/>
</signal>
<signal name="LIM1">
<contactref element="LIM1" pad="2"/>
<contactref element="R1" pad="2"/>
<contactref element="U$1" pad="30"/>
</signal>
<signal name="LIM2">
<contactref element="LIM2" pad="2"/>
<contactref element="R3" pad="2"/>
<contactref element="U$1" pad="28"/>
</signal>
<signal name="N$3">
<contactref element="POWER" pad="2"/>
<contactref element="IC1" pad="3"/>
</signal>
<signal name="IN1">
<contactref element="U1" pad="5"/>
<contactref element="U1" pad="12"/>
<contactref element="U$1" pad="25"/>
<contactref element="R11" pad="1"/>
</signal>
<signal name="IN2">
<contactref element="U1" pad="7"/>
<contactref element="U1" pad="10"/>
<contactref element="U$1" pad="31"/>
<contactref element="R12" pad="1"/>
</signal>
<signal name="OUT1">
<contactref element="U1" pad="2"/>
<contactref element="U1" pad="14"/>
<contactref element="D6" pad="A"/>
<contactref element="D4" pad="C"/>
<contactref element="POLOLU" pad="1"/>
</signal>
<signal name="OUT2">
<contactref element="U1" pad="3"/>
<contactref element="U1" pad="13"/>
<contactref element="D2" pad="C"/>
<contactref element="D5" pad="A"/>
<contactref element="POLOLU" pad="2"/>
</signal>
<signal name="PWM">
<contactref element="U1" pad="6"/>
<contactref element="U1" pad="11"/>
<contactref element="U$1" pad="27"/>
<contactref element="R13" pad="1"/>
</signal>
<signal name="N$10">
<contactref element="C3" pad="+"/>
<contactref element="D7" pad="C"/>
<contactref element="C7" pad="+"/>
<contactref element="IC1" pad="1"/>
</signal>
<signal name="ENC_A">
<contactref element="POLOLU" pad="5"/>
<contactref element="U$1" pad="20"/>
</signal>
<signal name="ENC_B">
<contactref element="POLOLU" pad="6"/>
<contactref element="U$1" pad="21"/>
</signal>
<signal name="N$11">
<contactref element="U1" pad="1"/>
<contactref element="U1" pad="15"/>
<contactref element="U1" pad="8"/>
</signal>
<signal name="N$12">
<contactref element="Y2" pad="1"/>
<contactref element="C9" pad="1"/>
<contactref element="U$1" pad="16"/>
</signal>
<signal name="N$13">
<contactref element="Y2" pad="3"/>
<contactref element="C8" pad="1"/>
<contactref element="U$1" pad="17"/>
</signal>
<signal name="N$9">
<contactref element="C10" pad="2"/>
<contactref element="U$1" pad="6"/>
</signal>
<signal name="N$18">
<contactref element="U$1" pad="33"/>
</signal>
<signal name="N$20">
<contactref element="U$1" pad="41"/>
</signal>
<signal name="N$21">
<contactref element="U$1" pad="40"/>
</signal>
<signal name="N$22">
<contactref element="U$1" pad="39"/>
</signal>
<signal name="N$23">
<contactref element="U$1" pad="38"/>
</signal>
<signal name="N$24">
<contactref element="U$1" pad="37"/>
</signal>
<signal name="N$25">
<contactref element="U$1" pad="36"/>
</signal>
<signal name="N$32">
<contactref element="U$1" pad="29"/>
</signal>
<signal name="N$34">
<contactref element="U$1" pad="12"/>
</signal>
<signal name="N$37">
<contactref element="U$1" pad="32"/>
</signal>
<signal name="PB3">
<contactref element="R10" pad="1"/>
<contactref element="U$1" pad="11"/>
</signal>
<signal name="PD5">
<contactref element="R9" pad="1"/>
<contactref element="U$1" pad="22"/>
</signal>
<signal name="N$17">
<contactref element="R10" pad="2"/>
<contactref element="D9" pad="C"/>
</signal>
<signal name="N$19">
<contactref element="R9" pad="2"/>
<contactref element="D8" pad="C"/>
</signal>
<signal name="N$15">
<contactref element="R12" pad="2"/>
<contactref element="D11" pad="C"/>
</signal>
<signal name="N$26">
<contactref element="R11" pad="2"/>
<contactref element="D10" pad="C"/>
</signal>
<signal name="N$30">
<contactref element="R13" pad="2"/>
<contactref element="D12" pad="C"/>
</signal>
<signal name="PD6">
<contactref element="U$1" pad="26"/>
<contactref element="R2" pad="2"/>
<contactref element="I2C/PULSE" pad="1"/>
</signal>
</signals>
</board>
</drawing>
</eagle>
