<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="8.3.1">
<drawing>
<board>
<plain>
<wire x1="76.2" y1="2.54" x2="76.2" y2="67.31" width="0" layer="20"/>
<wire x1="73.66" y1="69.85" x2="2.54" y2="69.85" width="0" layer="20"/>
<wire x1="73.66" y1="0" x2="76.2" y2="2.54" width="0" layer="20"/>
<wire x1="73.66" y1="69.85" x2="76.2" y2="67.31" width="0" layer="20"/>
<wire x1="2.54" y1="69.85" x2="0" y2="67.31" width="0" layer="20"/>
<wire x1="0" y1="2.54" x2="2.54" y2="0" width="0" layer="20"/>
<wire x1="2.54" y1="0" x2="73.66" y2="0" width="0" layer="20"/>
<wire x1="0" y1="2.54" x2="0" y2="67.31" width="0" layer="20"/>
<hole x="72.39" y="66.04" drill="3"/>
<hole x="3.81" y="66.04" drill="3"/>
<hole x="3.81" y="3.81" drill="3"/>
<hole x="72.39" y="3.81" drill="3"/>
<text>SelfBalance V3</text>
<text>5V Pro Mini</text>
<text>Based off Joop Brokkings
YABR Youtube Video</text>
<text>Not Identical to his Schematic!
You need to change the code or
use my modified code</text>
<text>Board By Richard Firth</text>
<text>100uF</text>
<text>Save PID to EEPROM</text>
</plain>
<libraries>
<library name="Richard_Micros">
<packages>
<package name="ARDUINO_PRO_MINI">
<description>&lt;h3&gt;Arduino Pro Mini Footprint&lt;/h3&gt;
&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count: 34&lt;/li&gt;
&lt;li&gt;Area: 1.7 x 0.3 in&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;Arduino Pro Mini&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;</description>
</package>
</packages>
</library>
<library name="Richard_Components">
<packages>
<package name="SOT223">
<description>&lt;b&gt;SOT-23&lt;/b&gt;</description>
</package>
<package name="LED_SMD">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;</description>
</package>
<package name="R1206">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;</description>
</package>
<package name="CAP_E">
<description>&lt;b&gt;ELECTROLYTIC CAPACITOR&lt;/b&gt;&lt;p&gt;
grid 2.54 mm, diameter 5 mm</description>
</package>
<package name="C1206">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;</description>
</package>
<package name="BUTTON_6MM">
<description>&lt;h3&gt;Momentary Switch (Pushbutton) - SPST - PTH, 6.0mm Square&lt;/h3&gt;
&lt;p&gt;Normally-open (NO) SPST momentary switches (buttons, pushbuttons).&lt;/p&gt;
&lt;p&gt;&lt;a href="https://www.omron.com/ecb/products/pdf/en-b3f.pdf"&gt;Datasheet&lt;/a&gt; (B3F-1000)&lt;/p&gt;</description>
</package>
<package name="DEANS_MALE">
<description>&lt;h3&gt;Deans Connector&lt;/h3&gt;
&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count:2&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;&lt;a href=”http://cdn.sparkfun.com/datasheets/Prototyping/deans_connector_PRT-11864.pdf”&gt;Datasheet referenced for footprint&lt;/a&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;BATTERY_CONN&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;</description>
</package>
</packages>
</library>
<library name="Richard">
<packages>
<package name="2X4">
<description>&lt;h3&gt;Plated Through Hole - 2x4&lt;/h3&gt;
&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count:8&lt;/li&gt;
&lt;li&gt;Pin pitch:0.1"&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;CONN_04x2&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;</description>
</package>
</packages>
</library>
<library name="Richard_Boards">
<packages>
<package name="DRV8825">
</package>
<package name="GY-521">
</package>
<package name="XBEE_BOUT">
</package>
<package name="STEPDOWN">
</package>
</packages>
</library>
<library name="SparkFun-Aesthetics">
<description>&lt;h3&gt;SparkFun Aesthetics&lt;/h3&gt;
This library contiains non-functional items such as logos, build/ordering notes, frame blocks, 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 &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="OSHW-LOGO-L">
<description>&lt;h3&gt;Open-Source Hardware (OSHW) Logo - Large - Silkscreen&lt;/h3&gt;
&lt;p&gt;Silkscreen logo for open-source hardware designs.&lt;/p&gt;
&lt;p&gt;Devices using:
&lt;ul&gt;&lt;li&gt;OSHW_LOGO&lt;/li&gt;&lt;/ul&gt;&lt;/p&gt;</description>
</package>
</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<elements>
<element name="B1" library="Richard_Micros" package="ARDUINO_PRO_MINI" value="ARDUINO_PRO_MINI">
<attribute name="NAME"/>
</element>
<element name="C1" library="Richard_Components" package="CAP_E" value="100uF">
<attribute name="VALUE"/>
</element>
<element name="C2" library="Richard_Components" package="CAP_E" value="100uF"/>
<element name="R1" library="Richard_Components" package="R1206" value="4.7K">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R2" library="Richard_Components" package="R1206" value="10K">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="LEFT" library="Richard_Boards" package="DRV8825" value="DRV8825">
<attribute name="NAME"/>
</element>
<element name="RIGHT" library="Richard_Boards" package="DRV8825" value="DRV8825">
<attribute name="NAME"/>
</element>
<element name="U$5" library="Richard_Boards" package="GY-521" value="GY-521"/>
<element name="U$6" library="Richard_Boards" package="XBEE_BOUT" value="XBEE_BOUT"/>
<element name="R3" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R4" library="Richard_Components" package="R1206" value="330">
<attribute name="VALUE"/>
</element>
<element name="R5" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U$14" library="Richard" package="2X4" value="STEPPER"/>
<element name="U$15" library="Richard" package="2X4" value="STEPPER"/>
<element name="U$4" library="Richard_Boards" package="STEPDOWN" value="STEPDOWNGREEN"/>
<element name="R7" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U$3" library="Richard_Components" package="LED_SMD" value="LEDSMD"/>
<element name="LOGO1" library="SparkFun-Aesthetics" package="OSHW-LOGO-L" value="OSHW-LOGOL"/>
<element name="U$1" library="Richard_Components" package="SOT223" value="LD33SMD">
<attribute name="VALUE"/>
</element>
<element name="U$2" library="Richard_Components" package="C1206" value=""/>
<element name="U$8" library="Richard_Components" package="C1206" value=""/>
<element name="P_CONST" library="Richard_Components" package="LED_SMD" value="330">
<attribute name="NAME"/>
</element>
<element name="I_CONST" library="Richard_Components" package="LED_SMD" value="330">
<attribute name="NAME"/>
</element>
<element name="D_CONST" library="Richard_Components" package="LED_SMD" value="330">
<attribute name="NAME"/>
</element>
<element name="CAL" library="Richard_Components" package="LED_SMD" value="330">
<attribute name="NAME"/>
</element>
<element name="U$12" library="Richard_Components" package="LED_SMD" value="LEDSMD"/>
<element name="U$13" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U$16" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U$17" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U$18" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U$19" library="Richard_Components" package="R1206" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U$7" library="Richard_Components" package="R1206" value="10K">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="S1" library="Richard_Components" package="BUTTON_6MM" value="PUSH_BUTTON6MM">
<attribute name="PROD_ID" value=" SWCH-08441"/>
<attribute name="SF_SKU" value="COM-00097"/>
</element>
<element name="U$9" library="Richard_Components" package="R1206" value="330"/>
<element name="EN" library="Richard_Components" package="LED_SMD" value=""/>
<element name="J1" library="Richard_Components" package="DEANS_MALE" value=""/>
</elements>
<signals>
<signal name="RAW">
<contactref element="B1" pad="24"/>
</signal>
<signal name="VMOT">
<contactref element="RIGHT" pad="VMOT"/>
<contactref element="C1" pad="+"/>
<contactref element="C2" pad="+"/>
<contactref element="R2" pad="2"/>
<contactref element="LEFT" pad="VMOT"/>
<contactref element="U$4" pad="VIN1"/>
<contactref element="U$4" pad="VIN2"/>
<contactref element="J1" pad="+"/>
</signal>
<signal name="GND">
<contactref element="LEFT" pad="GND"/>
<contactref element="LEFT" pad="GND2"/>
<contactref element="RIGHT" pad="GND"/>
<contactref element="RIGHT" pad="GND2"/>
<contactref element="B1" pad="4"/>
<contactref element="B1" pad="23"/>
<contactref element="U$6" pad="GND"/>
<contactref element="U$5" pad="GND"/>
<contactref element="C1" pad="-"/>
<contactref element="C2" pad="-"/>
<contactref element="R1" pad="1"/>
<contactref element="R5" pad="1"/>
<contactref element="U$4" pad="GND4"/>
<contactref element="U$4" pad="GND3"/>
<contactref element="U$4" pad="GND"/>
<contactref element="U$4" pad="GND2"/>
<contactref element="LEFT" pad="M0"/>
<contactref element="LEFT" pad="M2"/>
<contactref element="RIGHT" pad="M2"/>
<contactref element="RIGHT" pad="M0"/>
<contactref element="U$3" pad="C"/>
<contactref element="U$1" pad="1"/>
<contactref element="U$2" pad="2"/>
<contactref element="U$8" pad="2"/>
<contactref element="U$13" pad="1"/>
<contactref element="U$16" pad="1"/>
<contactref element="U$17" pad="1"/>
<contactref element="U$18" pad="1"/>
<contactref element="U$19" pad="1"/>
<contactref element="U$7" pad="1"/>
<contactref element="U$9" pad="1"/>
<contactref element="J1" pad="-"/>
</signal>
<signal name="SCL">
<contactref element="U$5" pad="SCL"/>
<contactref element="B1" pad="A5"/>
</signal>
<signal name="SDA">
<contactref element="U$5" pad="SDA"/>
<contactref element="B1" pad="A4"/>
</signal>
<signal name="5V">
<contactref element="B1" pad="21"/>
<contactref element="U$5" pad="VCC"/>
<contactref element="U$4" pad="VOUT2"/>
<contactref element="U$4" pad="VOUT1"/>
<contactref element="R7" pad="2"/>
<contactref element="LEFT" pad="M1"/>
<contactref element="LEFT" pad="SLP"/>
<contactref element="LEFT" pad="RST"/>
<contactref element="RIGHT" pad="M1"/>
<contactref element="RIGHT" pad="RST"/>
<contactref element="RIGHT" pad="SLP"/>
<contactref element="U$1" pad="3"/>
<contactref element="U$2" pad="1"/>
<contactref element="S1" pad="3"/>
</signal>
<signal name="3.3V">
<contactref element="U$6" pad="3.3V"/>
<contactref element="U$1" pad="4"/>
<contactref element="U$1" pad="2"/>
<contactref element="U$8" pad="1"/>
</signal>
<signal name="N$7">
<contactref element="LEFT" pad="1A"/>
<contactref element="U$14" pad="U1"/>
<contactref element="U$14" pad="U2"/>
</signal>
<signal name="N$8">
<contactref element="LEFT" pad="2A"/>
<contactref element="U$14" pad="R2"/>
<contactref element="U$14" pad="R1"/>
</signal>
<signal name="N$9">
<contactref element="RIGHT" pad="2B"/>
<contactref element="U$15" pad="R2"/>
<contactref element="U$15" pad="R1"/>
</signal>
<signal name="N$10">
<contactref element="RIGHT" pad="1B"/>
<contactref element="U$15" pad="U1"/>
<contactref element="U$15" pad="U2"/>
</signal>
<signal name="N$11">
<contactref element="RIGHT" pad="1A"/>
<contactref element="U$15" pad="G2"/>
<contactref element="U$15" pad="G1"/>
</signal>
<signal name="N$12">
<contactref element="RIGHT" pad="2A"/>
<contactref element="U$15" pad="B2"/>
<contactref element="U$15" pad="B1"/>
</signal>
<signal name="DIR1">
<contactref element="B1" pad="7"/>
<contactref element="LEFT" pad="DIR"/>
</signal>
<signal name="STP1">
<contactref element="B1" pad="8"/>
<contactref element="LEFT" pad="STP"/>
</signal>
<signal name="DIR2">
<contactref element="B1" pad="9"/>
<contactref element="RIGHT" pad="DIR"/>
</signal>
<signal name="STP2">
<contactref element="B1" pad="10"/>
<contactref element="RIGHT" pad="STP"/>
</signal>
<signal name="VBAT">
<contactref element="R2" pad="1"/>
<contactref element="R1" pad="2"/>
<contactref element="B1" pad="17"/>
</signal>
<signal name="DOUT">
<contactref element="U$6" pad="DOUT"/>
<contactref element="B1" pad="5"/>
</signal>
<signal name="DIN">
<contactref element="B1" pad="6"/>
<contactref element="R3" pad="2"/>
</signal>
<signal name="N$13">
<contactref element="R5" pad="2"/>
<contactref element="R4" pad="1"/>
</signal>
<signal name="N$14">
<contactref element="R4" pad="2"/>
<contactref element="R3" pad="1"/>
<contactref element="U$6" pad="DIN"/>
</signal>
<signal name="EN">
<contactref element="LEFT" pad="EN"/>
<contactref element="RIGHT" pad="EN"/>
<contactref element="B1" pad="11"/>
<contactref element="EN" pad="A"/>
</signal>
<signal name="N$2">
<contactref element="LEFT" pad="2B"/>
<contactref element="U$14" pad="B2"/>
<contactref element="U$14" pad="B1"/>
</signal>
<signal name="N$18">
<contactref element="LEFT" pad="1B"/>
<contactref element="U$14" pad="G2"/>
<contactref element="U$14" pad="G1"/>
</signal>
<signal name="N$3">
<contactref element="R7" pad="1"/>
<contactref element="U$3" pad="A"/>
</signal>
<signal name="N$1">
<contactref element="P_CONST" pad="C"/>
<contactref element="U$13" pad="2"/>
</signal>
<signal name="N$4">
<contactref element="I_CONST" pad="C"/>
<contactref element="U$16" pad="2"/>
</signal>
<signal name="N$5">
<contactref element="D_CONST" pad="C"/>
<contactref element="U$17" pad="2"/>
</signal>
<signal name="N$6">
<contactref element="CAL" pad="C"/>
<contactref element="U$18" pad="2"/>
</signal>
<signal name="N$15">
<contactref element="U$12" pad="C"/>
<contactref element="U$19" pad="2"/>
</signal>
<signal name="IGAIN">
<contactref element="I_CONST" pad="A"/>
<contactref element="B1" pad="15"/>
</signal>
<signal name="CALIB">
<contactref element="CAL" pad="A"/>
<contactref element="B1" pad="18"/>
</signal>
<signal name="DGAIN">
<contactref element="D_CONST" pad="A"/>
<contactref element="B1" pad="14"/>
</signal>
<signal name="PGAIN">
<contactref element="P_CONST" pad="A"/>
<contactref element="B1" pad="16"/>
</signal>
<signal name="EDITMODE">
<contactref element="B1" pad="13"/>
<contactref element="U$12" pad="A"/>
</signal>
<signal name="PUSHBUTTON">
<contactref element="U$7" pad="2"/>
<contactref element="S1" pad="1"/>
<contactref element="B1" pad="12"/>
</signal>
<signal name="N$16">
<contactref element="U$9" pad="2"/>
<contactref element="EN" pad="C"/>
</signal>
</signals>
</board>
</drawing>
</eagle>
