<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="7.1.0">
<drawing>
<board>
<plain>
<wire x1="1.5875" y1="-1.27" x2="52.07" y2="-1.27" width="0" layer="20"/>
<wire x1="1.5875" y1="37.7825" x2="1.5875" y2="-1.27" width="0" layer="20"/>
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<text>Nick Sorensen</text>
<text>Rev 1.0</text>
<text>WPI Bot Controller</text>
</plain>
<libraries>
<library name="SparkFun-Capacitors">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find resistors, capacitors, inductors, test points, jumper pads, etc.&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="0603-CAP">
</package>
<package name="1210">
</package>
</packages>
</library>
<library name="wirepad">
<description>&lt;b&gt;Single Pads&lt;/b&gt;&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="SMD2,54-5,08">
<description>&lt;b&gt;SMD PAD&lt;/b&gt;</description>
</package>
</packages>
</library>
<library name="microchip">
<description>&lt;b&gt;Microchip PIC Microcontrollers and other Devices&lt;/b&gt;&lt;p&gt;
Based on the following sources :
&lt;ul&gt;
&lt;li&gt;Microchip Data Book, 1993
&lt;li&gt;THE EMERGING WORLD STANDARD, 1995/1996
&lt;li&gt;Microchip, Technical Library CD-ROM, June 1998
&lt;li&gt;www.microchip.com
&lt;/ul&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="SO-16DW">
<description>&lt;b&gt;Small Outline Integrated Circuit&lt;/b&gt; wide</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="2X3">
</package>
<package name="1X03">
</package>
</packages>
</library>
<library name="transistor-fet">
<description>&lt;b&gt;Field Effect Transistors&lt;/b&gt;&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;&lt;p&gt;
&lt;p&gt;
Symbols changed according to IEC617&lt;p&gt; 
All types, packages and assignment to symbols and pins checked&lt;p&gt;
Package outlines partly checked&lt;p&gt;
&lt;p&gt;
JFET = junction FET&lt;p&gt;
IGBT-x = insulated gate bipolar transistor&lt;p&gt;
x=N: NPN; x=P: PNP&lt;p&gt;
IGFET-mc-nnn; (IGFET=insulated gate field effect transistor)&lt;P&gt;
m=D: depletion mode (Verdr&amp;auml;ngungstyp)&lt;p&gt;
m=E: enhancement mode (Anreicherungstyp)&lt;p&gt;
c: N=N-channel; P=P-Channel&lt;p&gt;
GDSB: gate, drain, source, bulk&lt;p&gt;
&lt;p&gt;
by R. Vogg  15.March.2002</description>
<packages>
<package name="TO252">
<description>&lt;b&gt;SMALL OUTLINE TRANSISTOR&lt;/b&gt;&lt;p&gt;
TS-003</description>
</package>
</packages>
</library>
<library name="SparkFun-DiscreteSemi">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find discrete semiconductors- transistors, diodes, TRIACs, optoisolators, etc.&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="DPAK">
</package>
</packages>
</library>
<library name="SparkFun-Resistors">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find resistors, capacitors, inductors, test points, jumper pads, etc.&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="0603-RES">
</package>
</packages>
</library>
<library name="SparkFun-PowerIC">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find drivers, regulators, and amplifiers.&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="SOT223">
<description>&lt;b&gt;SOT-223&lt;/b&gt;</description>
</package>
</packages>
</library>
<library name="SparkFun-DigitalIC">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find all manner of digital ICs- microcontrollers, memory chips, logic chips, FPGAs, etc.&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="TQFP32-08">
<description>&lt;B&gt;Thin Plasic Quad Flat Package&lt;/B&gt; Grid 0.8 mm</description>
</package>
</packages>
</library>
<library name="SparkFun-FreqCtrl">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find crystals and oscillators and other things that go "tick".&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="CRYSTAL-TXC-7A">
</package>
</packages>
</library>
<library name="SparkFun-LED">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find 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 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="LED-0603">
</package>
</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<elements>
<element name="C1" library="SparkFun-Capacitors" package="0603-CAP" value="22pF">
<attribute name="PROD_ID" value="CAP-07876"/>
<attribute name="NAME"/>
</element>
<element name="C2" library="SparkFun-Capacitors" package="0603-CAP" value="22pF">
<attribute name="PROD_ID" value="CAP-07876"/>
<attribute name="NAME"/>
</element>
<element name="C3" library="SparkFun-Capacitors" package="1210" value="10uF">
<attribute name="PROD_ID" value="CAP-09824"/>
</element>
<element name="C4" library="SparkFun-Capacitors" package="1210" value="10uF">
<attribute name="PROD_ID" value="CAP-09824"/>
</element>
<element name="GND" library="wirepad" package="SMD2,54-5,08" value="">
<attribute name="VALUE"/>
<attribute name="NAME"/>
</element>
<element name="IC1" library="microchip" package="SO-16DW" value="TC4469OE">
<attribute name="OC_NEWARK" value="92C6158"/>
<attribute name="MPN" value="TC4469COE"/>
<attribute name="MF" value="MICROCHIP"/>
<attribute name="OC_FARNELL" value="1292288"/>
</element>
<element name="ISP" library="SparkFun-Connectors" package="2X3" value="AVR_SPI_PRG_6PTH">
<attribute name="NAME"/>
</element>
<element name="M1" library="wirepad" package="SMD2,54-5,08" value="">
<attribute name="VALUE"/>
<attribute name="NAME"/>
</element>
<element name="M2" library="wirepad" package="SMD2,54-5,08" value="">
<attribute name="VALUE"/>
<attribute name="NAME"/>
</element>
<element name="Q1" library="transistor-fet" package="TO252" value="FDD4141TO252">
<attribute name="NAME"/>
</element>
<element name="Q2" library="transistor-fet" package="TO252" value="FDD4141TO252">
<attribute name="NAME"/>
</element>
<element name="Q3" library="SparkFun-DiscreteSemi" package="DPAK" value="MOSFET-NCHANNELFDD8780">
<attribute name="PROD_ID" value="TRANS-09984"/>
<attribute name="NAME"/>
</element>
<element name="Q4" library="SparkFun-DiscreteSemi" package="DPAK" value="MOSFET-NCHANNELFDD8780">
<attribute name="PROD_ID" value="TRANS-09984"/>
<attribute name="NAME"/>
</element>
<element name="R1" library="SparkFun-Resistors" package="0603-RES" value="10K">
<attribute name="PROD_ID" value="RES-00824"/>
<attribute name="NAME"/>
</element>
<element name="U$1" library="SparkFun-PowerIC" package="SOT223" value="V_REG_MIC2920"/>
<element name="U1" library="SparkFun-DigitalIC" package="TQFP32-08" value="ATMEGA328P_TQFP">
<attribute name="PROD_ID" value="IC-09069"/>
<attribute name="NAME"/>
</element>
<element name="VCC" library="wirepad" package="SMD2,54-5,08" value="">
<attribute name="VALUE"/>
<attribute name="NAME"/>
</element>
<element name="Y1" library="SparkFun-FreqCtrl" package="CRYSTAL-TXC-7A" value="16MHz"/>
<element name="PWMIN" library="SparkFun-Connectors" package="1X03" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="STATUS1" library="SparkFun-LED" package="LED-0603" value=""/>
<element name="R2" library="SparkFun-Resistors" package="0603-RES" value="75">
<attribute name="PROD_ID" value="RES-08272"/>
</element>
<element name="C5" library="SparkFun-Capacitors" package="0603-CAP" value="0.1uF">
<attribute name="PROD_ID" value="CAP-07876"/>
</element>
<element name="C6" library="SparkFun-Capacitors" package="1210" value="1uF">
<attribute name="PROD_ID" value="CAP-09824"/>
</element>
<element name="STATUS2" library="SparkFun-LED" package="LED-0603" value=""/>
<element name="R3" library="SparkFun-Resistors" package="0603-RES" value="120">
<attribute name="PROD_ID" value="RES-08272"/>
</element>
</elements>
<signals>
<signal name="GND">
<contactref element="IC1" pad="7"/>
<contactref element="IC1" pad="8"/>
<contactref element="Q3" pad="3"/>
<contactref element="Q4" pad="3"/>
<contactref element="U1" pad="3"/>
<contactref element="U1" pad="5"/>
<contactref element="U1" pad="21"/>
<contactref element="ISP" pad="6"/>
<contactref element="C1" pad="2"/>
<contactref element="C2" pad="2"/>
<contactref element="U$1" pad="2"/>
<contactref element="C4" pad="2"/>
<contactref element="C3" pad="2"/>
<contactref element="GND" pad="1"/>
<contactref element="PWMIN" pad="1"/>
<contactref element="R2" pad="2"/>
<contactref element="C6" pad="2"/>
<contactref element="C5" pad="2"/>
<contactref element="R3" pad="2"/>
</signal>
<signal name="M1">
<contactref element="Q3" pad="4"/>
<contactref element="Q1" pad="3"/>
<contactref element="M1" pad="1"/>
</signal>
<signal name="M2">
<contactref element="Q2" pad="3"/>
<contactref element="Q4" pad="4"/>
<contactref element="M2" pad="1"/>
</signal>
<signal name="VCC">
<contactref element="Q1" pad="2"/>
<contactref element="Q2" pad="2"/>
<contactref element="U$1" pad="1"/>
<contactref element="C4" pad="1"/>
<contactref element="VCC" pad="1"/>
<contactref element="IC1" pad="1"/>
<contactref element="IC1" pad="3"/>
<contactref element="IC1" pad="16"/>
<contactref element="IC1" pad="15"/>
<contactref element="C6" pad="1"/>
<contactref element="C5" pad="1"/>
</signal>
<signal name="5V">
<contactref element="U1" pad="20"/>
<contactref element="U1" pad="6"/>
<contactref element="U1" pad="4"/>
<contactref element="U1" pad="18"/>
<contactref element="R1" pad="1"/>
<contactref element="ISP" pad="2"/>
<contactref element="U$1" pad="3"/>
<contactref element="C3" pad="1"/>
<contactref element="PWMIN" pad="2"/>
</signal>
<signal name="MISO">
<contactref element="U1" pad="16"/>
<contactref element="ISP" pad="1"/>
</signal>
<signal name="MOSI">
<contactref element="U1" pad="15"/>
<contactref element="ISP" pad="4"/>
</signal>
<signal name="SCK">
<contactref element="U1" pad="17"/>
<contactref element="ISP" pad="3"/>
</signal>
<signal name="N$2">
<contactref element="Y1" pad="P$2"/>
<contactref element="U1" pad="7"/>
<contactref element="C1" pad="1"/>
</signal>
<signal name="N$3">
<contactref element="U1" pad="8"/>
<contactref element="Y1" pad="P$1"/>
<contactref element="C2" pad="1"/>
</signal>
<signal name="RESET">
<contactref element="U1" pad="29"/>
<contactref element="R1" pad="2"/>
<contactref element="ISP" pad="5"/>
</signal>
<signal name="Q1G">
<contactref element="Q1" pad="1"/>
<contactref element="IC1" pad="14"/>
<contactref element="IC1" pad="4"/>
<contactref element="IC1" pad="10"/>
</signal>
<signal name="Q3G">
<contactref element="Q3" pad="1"/>
<contactref element="IC1" pad="12"/>
</signal>
<signal name="Q4G">
<contactref element="Q4" pad="1"/>
<contactref element="IC1" pad="11"/>
</signal>
<signal name="Q2G">
<contactref element="Q2" pad="1"/>
<contactref element="IC1" pad="13"/>
<contactref element="IC1" pad="6"/>
</signal>
<signal name="DIRECTION">
<contactref element="IC1" pad="2"/>
<contactref element="U1" pad="11"/>
</signal>
<signal name="SPEED">
<contactref element="IC1" pad="5"/>
<contactref element="IC1" pad="9"/>
<contactref element="U1" pad="13"/>
</signal>
<signal name="PWMIN">
<contactref element="PWMIN" pad="3"/>
<contactref element="U1" pad="32"/>
</signal>
<signal name="N$1">
</signal>
<signal name="N$4">
</signal>
<signal name="N$5">
<contactref element="R2" pad="1"/>
<contactref element="STATUS1" pad="C"/>
</signal>
<signal name="N$6">
<contactref element="R3" pad="1"/>
<contactref element="STATUS2" pad="C"/>
</signal>
<signal name="N$8">
<contactref element="STATUS2" pad="A"/>
<contactref element="U1" pad="2"/>
</signal>
<signal name="N$7">
<contactref element="STATUS1" pad="A"/>
<contactref element="U1" pad="9"/>
</signal>
<signal name="N$9">
</signal>
<signal name="N$10">
</signal>
</signals>
</board>
</drawing>
</eagle>
