diff --git a/Hardware/PCB/VestibularH2.brd b/Hardware/PCB/VestibularH2.brd
index e6c2093..e548965 100644
--- a/Hardware/PCB/VestibularH2.brd
+++ b/Hardware/PCB/VestibularH2.brd
@@ -7,10 +7,10 @@
 <setting keepoldvectorfont="yes"/>
 <setting verticaltext="up"/>
 </settings>
-<grid distance="30" unitdist="mil" unit="mil" style="dots" multiple="1" display="yes" altdistance="1" altunitdist="mil" altunit="mm"/>
+<grid distance="10" unitdist="mil" unit="mil" style="dots" multiple="1" display="yes" altdistance="5" altunitdist="mil" altunit="mil"/>
 <layers>
 <layer number="1" name="Top" color="4" fill="1" visible="yes" active="yes"/>
-<layer number="2" name="Route2" color="16" fill="1" visible="no" active="yes"/>
+<layer number="2" name="Route2" color="16" fill="1" visible="yes" active="yes"/>
 <layer number="3" name="Route3" color="17" fill="1" visible="no" active="no"/>
 <layer number="4" name="Route4" color="18" fill="1" visible="no" active="no"/>
 <layer number="5" name="Route5" color="19" fill="1" visible="no" active="no"/>
@@ -23,50 +23,50 @@
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 <layer number="13" name="Route13" color="21" fill="1" visible="no" active="no"/>
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-<layer number="15" name="Route15" color="23" fill="1" visible="no" active="yes"/>
-<layer number="16" name="Bottom" color="1" fill="1" visible="no" active="yes"/>
+<layer number="15" name="Route15" color="23" fill="1" visible="yes" active="yes"/>
+<layer number="16" name="Bottom" color="1" fill="1" visible="yes" active="yes"/>
 <layer number="17" name="Pads" color="2" fill="1" visible="yes" active="yes"/>
 <layer number="18" name="Vias" color="2" fill="1" visible="yes" active="yes"/>
 <layer number="19" name="Unrouted" color="6" fill="1" visible="yes" active="yes"/>
 <layer number="20" name="Dimension" color="24" fill="1" visible="yes" active="yes"/>
 <layer number="21" name="tPlace" color="7" fill="1" visible="yes" active="yes"/>
-<layer number="22" name="bPlace" color="7" fill="1" visible="no" active="yes"/>
+<layer number="22" name="bPlace" color="7" fill="1" visible="yes" active="yes"/>
 <layer number="23" name="tOrigins" color="15" fill="1" visible="yes" active="yes"/>
-<layer number="24" name="bOrigins" color="15" fill="1" visible="no" active="yes"/>
+<layer number="24" name="bOrigins" color="15" fill="1" visible="yes" active="yes"/>
 <layer number="25" name="tNames" color="7" fill="1" visible="yes" active="yes"/>
-<layer number="26" name="bNames" color="7" fill="1" visible="no" active="yes"/>
+<layer number="26" name="bNames" color="7" fill="1" visible="yes" active="yes"/>
 <layer number="27" name="tValues" color="7" fill="1" visible="no" active="yes"/>
 <layer number="28" name="bValues" color="7" fill="1" visible="no" active="yes"/>
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-<layer number="30" name="bStop" color="7" fill="6" visible="no" active="yes"/>
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-<layer number="33" name="tFinish" color="6" fill="3" visible="no" active="yes"/>
-<layer number="34" name="bFinish" color="6" fill="6" visible="no" active="yes"/>
+<layer number="29" name="tStop" color="7" fill="3" visible="yes" active="yes"/>
+<layer number="30" name="bStop" color="7" fill="6" visible="yes" active="yes"/>
+<layer number="31" name="tCream" color="7" fill="4" visible="yes" active="yes"/>
+<layer number="32" name="bCream" color="7" fill="5" visible="yes" active="yes"/>
+<layer number="33" name="tFinish" color="6" fill="3" visible="yes" active="yes"/>
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 <layer number="35" name="tGlue" color="7" fill="4" visible="yes" active="yes"/>
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-<layer number="37" name="tTest" color="7" fill="1" visible="no" active="yes"/>
-<layer number="38" name="bTest" color="7" fill="1" visible="no" active="yes"/>
+<layer number="36" name="bGlue" color="7" fill="5" visible="yes" active="yes"/>
+<layer number="37" name="tTest" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="38" name="bTest" color="7" fill="1" visible="yes" active="yes"/>
 <layer number="39" name="tKeepout" color="4" fill="11" visible="yes" active="yes"/>
-<layer number="40" name="bKeepout" color="1" fill="11" visible="no" active="yes"/>
+<layer number="40" name="bKeepout" color="1" fill="11" visible="yes" active="yes"/>
 <layer number="41" name="tRestrict" color="4" fill="10" visible="yes" active="yes"/>
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-<layer number="43" name="vRestrict" color="2" fill="10" visible="no" active="yes"/>
-<layer number="44" name="Drills" color="7" fill="1" visible="no" active="yes"/>
+<layer number="42" name="bRestrict" color="1" fill="10" visible="yes" active="yes"/>
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 <layer number="45" name="Holes" color="7" fill="1" visible="yes" active="yes"/>
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-<layer number="50" name="dxf" color="7" fill="1" visible="no" active="yes"/>
+<layer number="46" name="Milling" color="3" fill="1" visible="yes" active="yes"/>
+<layer number="47" name="Measures" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="48" name="Document" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="49" name="Reference" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="50" name="dxf" color="7" fill="1" visible="yes" active="yes"/>
 <layer number="51" name="tDocu" color="7" fill="1" visible="yes" active="yes"/>
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-<layer number="59" name="tCarbon" color="7" fill="1" visible="no" active="yes"/>
-<layer number="60" name="bCarbon" color="7" fill="1" visible="no" active="yes"/>
+<layer number="52" name="bDocu" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="53" name="tGND_GNDA" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="54" name="bGND_GNDA" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="56" name="wert" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="57" name="tCAD" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="59" name="tCarbon" color="7" fill="1" visible="yes" active="yes"/>
+<layer number="60" name="bCarbon" color="7" fill="1" visible="yes" active="yes"/>
 <layer number="88" name="SimResults" color="9" fill="1" visible="no" active="no"/>
 <layer number="89" name="SimProbes" color="9" fill="1" visible="no" active="no"/>
 <layer number="90" name="Modules" color="5" fill="1" visible="no" active="no"/>
@@ -79,89 +79,89 @@
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 <layer number="98" name="Guide" color="6" fill="1" visible="no" active="no"/>
 <layer number="99" name="SpiceOrder" color="7" fill="1" visible="no" active="no"/>
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-<layer number="101" name="Patch_Top" color="7" fill="1" visible="no" active="yes"/>
-<layer number="102" name="Vscore" color="7" fill="1" visible="no" active="yes"/>
-<layer number="103" name="fp3" color="7" fill="1" visible="no" active="yes"/>
-<layer number="104" name="Name" color="7" fill="1" visible="no" active="yes"/>
-<layer number="105" name="Beschreib" color="7" fill="1" visible="no" active="yes"/>
-<layer number="106" name="BGA-Top" color="7" fill="1" visible="no" active="yes"/>
-<layer number="107" name="BD-Top" color="7" fill="1" visible="no" active="yes"/>
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-<layer number="113" name="IDFDebug" color="7" fill="1" visible="no" active="yes"/>
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-<layer number="254" name="cooling" color="7" fill="1" visible="no" active="yes"/>
-<layer number="255" name="routoute" color="7" fill="1" visible="no" active="yes"/>
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+<layer number="132" name="bAdjust" color="7" fill="1" visible="yes" active="yes"/>
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@@ -592,14 +592,19 @@ V+</text>
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-END STOP (in)
-BRAKE (out)</text>
+<text x="7.121" y="-5.194" size="0.8128" layer="25" font="vector" ratio="17" distance="10">END
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 <text x="7.248" y="-22.212" size="0.8128" layer="25" font="vector" ratio="17" distance="219">GND
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 IN1
 OUT0
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+<text x="7.121" y="-7.734" size="0.8128" layer="25" font="vector" ratio="17" distance="10">BRAKE 
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+<text x="6.994" y="-2.273" size="0.8128" layer="25" font="vector" ratio="17" distance="0">GND
+</text>
+<text x="0.441" y="-9.553" size="0.8128" layer="25" font="vector" ratio="15" distance="44">EXTRA IOS</text>
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 <libraries>
 <library name="Harp Motor H2-module v1.0">
@@ -1178,6 +1183,8 @@ Source: http://www.onsemi.com/pub/Collateral/MC34164-D.PDF</description>
 <class number="0" name="default" width="0" drill="0">
 <clearance class="0" value="0.205"/>
 </class>
+<class number="1" name="GND class" width="0" drill="0">
+</class>
 </classes>
 <designrules name="my design rules *">
 <description language="de">
@@ -1409,7 +1416,7 @@ Your Eurocircuits Team
 <elements>
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@@ -1433,7 +1440,7 @@ Your Eurocircuits Team
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@@ -1443,11 +1450,11 @@ Your Eurocircuits Team
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+<element name="C28" library="Harp Motor H2-module v1.0" package="C0402K" value="100nF" x="30.4888" y="3.2946" smashed="yes" rot="R270">
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@@ -1457,7 +1464,7 @@ Your Eurocircuits Team
 </element>
 <element name="C29" library="Harp Motor H2-module v1.0" package="C0402K" value="100nF" x="19.4882" y="11.1196" smashed="yes" rot="R90">
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@@ -1481,19 +1488,19 @@ Your Eurocircuits Team
 </element>
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+<attribute name="NAME" x="46.563" y="38.1076" size="0.8128" layer="25" font="vector" ratio="15" rot="R90"/>
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 </element>
@@ -1505,7 +1512,7 @@ Your Eurocircuits Team
 </element>
 <element name="L1" library="Harp Motor H2-module v1.0" package="R0805" value="40R@100MHz" x="41.754" y="39.535" smashed="yes">
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@@ -1523,7 +1530,7 @@ Your Eurocircuits Team
 </element>
 <element name="R3" library="Harp Motor H2-module v1.0" package="R0402" value="1M" x="48.369" y="37.7849" smashed="yes">
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@@ -1535,7 +1542,7 @@ Your Eurocircuits Team
 </element>
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@@ -1547,13 +1554,13 @@ Your Eurocircuits Team
 </element>
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@@ -1582,7 +1589,7 @@ Your Eurocircuits Team
 <attribute name="VALUE" x="40.0498" y="29.71385" size="1.27" layer="27" rot="R90"/>
 </element>
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+<attribute name="NAME" x="20.06653125" y="19.33510625" size="0.8128" layer="25" font="vector" ratio="15"/>
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@@ -1624,7 +1631,7 @@ Your Eurocircuits Team
 </element>
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@@ -1636,7 +1643,7 @@ Your Eurocircuits Team
 </element>
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@@ -1648,7 +1655,7 @@ Your Eurocircuits Team
 </element>
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@@ -1666,7 +1673,7 @@ Your Eurocircuits Team
 </element>
 <element name="R5" library="Harp Motor H2-module v1.0" package="R0402" value="10R" x="23.898" y="40.33" smashed="yes" rot="R180">
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@@ -1678,13 +1685,13 @@ Your Eurocircuits Team
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@@ -1696,13 +1703,13 @@ Your Eurocircuits Team
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@@ -1714,19 +1721,19 @@ Your Eurocircuits Team
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+<via x="16.764" y="-5.461" extent="1-16" drill="0.35"/>
 </signal>
 <signal name="PDI_CLK">
 <contactref element="R34" pad="1"/>
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 <contactref element="C13" pad="1"/>
 <contactref element="SV2" pad="5"/>
 <wire x1="35.55515" y1="29.8028" x2="37.846" y2="29.8028" width="0.2032" layer="1"/>
@@ -2498,6 +2310,7 @@ Your Eurocircuits Team
 <wire x1="32.597" y1="20.8" x2="36.55" y2="20.8" width="0.2032" layer="1"/>
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 <wire x1="36.8808" y1="21.1308" x2="36.8808" y2="28.8376" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="35"/>
 </signal>
 <signal name="+3V3">
 <contactref element="C12" pad="1"/>
@@ -2646,24 +2459,43 @@ Your Eurocircuits Team
 <contactref element="C21" pad="1"/>
 <contactref element="IC18" pad="5"/>
 <contactref element="IC18" pad="1"/>
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+<wire x1="43.85" y1="14.386" x2="40.64" y2="11.176" width="0.3048" layer="2"/>
+<wire x1="40.64" y1="11.176" x2="40.64" y2="-7.366" width="0.3048" layer="2"/>
+<via x="40.64" y="-7.366" extent="1-16" drill="0.35"/>
+<wire x1="11.246" y1="-12.218" x2="13.646" y2="-12.218" width="0.254" layer="1"/>
+<wire x1="11.246" y1="-17.298" x2="13.646" y2="-17.298" width="0.254" layer="1"/>
+<wire x1="11.246" y1="-2.947" x2="13.646" y2="-2.947" width="0.254" layer="1"/>
+<wire x1="13.646" y1="-15.897" x2="13.554" y2="-15.621" width="0.254" layer="1"/>
+<wire x1="13.646" y1="-15.897" x2="13.646" y2="-17.298" width="0.254" layer="1"/>
+<wire x1="13.646" y1="-12.218" x2="13.646" y2="-10.449" width="0.254" layer="1"/>
+<wire x1="13.646" y1="-10.449" x2="13.681" y2="-10.414" width="0.254" layer="1"/>
+<wire x1="13.646" y1="-2.947" x2="13.646" y2="-1.489" width="0.254" layer="1"/>
+<wire x1="13.646" y1="-1.489" x2="13.554" y2="-1.397" width="0.254" layer="1"/>
+<wire x1="14.478" y1="-7.366" x2="13.716" y2="-8.128" width="0.3048" layer="15"/>
+<wire x1="13.716" y1="-9.144" x2="13.716" y2="-8.128" width="0.3048" layer="15"/>
+<wire x1="40.64" y1="-7.366" x2="14.986" y2="-7.366" width="0.3048" layer="15"/>
+<via x="13.716" y="-9.144" extent="1-16" drill="0.35"/>
+<wire x1="14.986" y1="-7.366" x2="14.478" y2="-7.366" width="0.3048" layer="15"/>
+<wire x1="13.681" y1="-10.414" x2="13.681" y2="-9.179" width="0.3048" layer="1"/>
+<wire x1="13.681" y1="-9.179" x2="13.716" y2="-9.144" width="0.3048" layer="1"/>
+<wire x1="13.554" y1="-15.621" x2="14.732" y2="-15.621" width="0.3048" layer="1"/>
+<via x="14.732" y="-15.621" extent="1-16" drill="0.35"/>
+<wire x1="14.732" y1="-15.621" x2="14.732" y2="-7.62" width="0.3048" layer="15"/>
+<wire x1="14.732" y1="-7.62" x2="14.859" y2="-7.493" width="0.3048" layer="15"/>
+<wire x1="14.859" y1="-7.493" x2="14.986" y2="-7.366" width="0.3048" layer="15"/>
+<wire x1="13.554" y1="-1.397" x2="14.605" y2="-1.397" width="0.3048" layer="1"/>
+<via x="14.605" y="-1.397" extent="1-16" drill="0.35"/>
+<wire x1="14.605" y1="-1.397" x2="14.605" y2="-7.239" width="0.3048" layer="15"/>
+<wire x1="14.605" y1="-7.239" x2="14.859" y2="-7.493" width="0.3048" layer="15"/>
 </signal>
 <signal name="OSC2">
-<contactref element="IC8" pad="37"/>
 <contactref element="OSC1" pad="P$3"/>
 <wire x1="30.573" y1="18.724" x2="30.573" y2="24.669609375" width="0.2032" layer="1"/>
 <wire x1="30.573" y1="24.669609375" x2="30.44" y2="24.9178" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="37"/>
 </signal>
 <signal name="FTDI_RXD">
-<contactref element="IC8" pad="33"/>
 <contactref element="IC1" pad="5"/>
 <wire x1="30.777" y1="38.382" x2="30.777" y2="36.623" width="0.2032" layer="1"/>
 <wire x1="30.777" y1="36.623" x2="30.8" y2="36.6" width="0.2032" layer="1"/>
@@ -2675,9 +2507,9 @@ Your Eurocircuits Team
 <wire x1="32.15" y1="16.992" x2="32.218" y2="16.924" width="0.2032" layer="1"/>
 <wire x1="30.8" y1="36.6" x2="29.242" y2="35.042" width="0.2032" layer="16"/>
 <wire x1="29.242" y1="35.042" x2="29.242" y2="17.6" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="33"/>
 </signal>
 <signal name="FTDI_TXD">
-<contactref element="IC8" pad="32"/>
 <contactref element="IC1" pad="1"/>
 <wire x1="28.177" y1="38.382" x2="28.177" y2="37.112" width="0.2032" layer="1"/>
 <wire x1="28.177" y1="37.112" x2="27.9055" y2="36.8405" width="0.2032" layer="1"/>
@@ -2691,9 +2523,9 @@ Your Eurocircuits Team
 <wire x1="27.94" y1="18.612" x2="27.4496" y2="18.1216" width="0.2032" layer="2"/>
 <wire x1="27.4496" y1="18.1216" x2="27.4496" y2="15.6216" width="0.2032" layer="2"/>
 <wire x1="27.94" y1="36.806" x2="27.94" y2="18.612" width="0.2032" layer="2"/>
+<contactref element="IC8" pad="32"/>
 </signal>
 <signal name="FTDI_RTS">
-<contactref element="IC8" pad="28"/>
 <contactref element="IC1" pad="3"/>
 <wire x1="29.477" y1="38.382" x2="29.477" y2="36.604" width="0.2032" layer="1"/>
 <wire x1="29.477" y1="36.604" x2="29.4345" y2="36.5615" width="0.2032" layer="1"/>
@@ -2701,14 +2533,14 @@ Your Eurocircuits Team
 <via x="29.446" y="36.55" extent="1-16" drill="0.35"/>
 <wire x1="29.446" y1="36.55" x2="29.272" y2="36.376" width="0.2032" layer="2"/>
 <wire x1="29.272" y1="36.376" x2="29.271659375" y2="17.853340625" width="0.2032" layer="2"/>
-<via x="30.872" y="12.088" extent="1-16" drill="0.35"/>
-<wire x1="30.872" y1="12.088" x2="31.708" y2="12.924" width="0.2032" layer="1"/>
-<wire x1="31.708" y1="12.924" x2="34.773" y2="12.924" width="0.2032" layer="1"/>
-<wire x1="30.872" y1="16.253" x2="30.872" y2="12.088" width="0.2032" layer="2"/>
+<via x="30.872" y="13.358" extent="1-16" drill="0.35"/>
+<wire x1="30.872" y1="13.358" x2="31.306" y2="12.924" width="0.2032" layer="1"/>
+<wire x1="31.306" y1="12.924" x2="34.773" y2="12.924" width="0.2032" layer="1"/>
+<wire x1="30.872" y1="16.253" x2="30.872" y2="13.358" width="0.2032" layer="2"/>
 <wire x1="30.872" y1="16.253" x2="29.271659375" y2="17.853340625" width="0.2032" layer="2"/>
+<contactref element="IC8" pad="28"/>
 </signal>
 <signal name="LED_STATE">
-<contactref element="IC8" pad="36"/>
 <contactref element="STATE" pad="A"/>
 <wire x1="31.373" y1="18.724" x2="31.373" y2="17.033" width="0.2032" layer="1"/>
 <wire x1="31.373" y1="17.033" x2="30.726" y2="16.386" width="0.2032" layer="1"/>
@@ -2723,9 +2555,9 @@ Your Eurocircuits Team
 <via x="25.222" y="26.646" extent="1-16" drill="0.35"/>
 <wire x1="25.222" y1="26.646" x2="24.478" y2="25.902" width="0.2032" layer="1"/>
 <wire x1="24.478" y1="25.902" x2="22.208" y2="25.902" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="36"/>
 </signal>
 <signal name="FTDI_CTS">
-<contactref element="IC8" pad="29"/>
 <contactref element="IC1" pad="11"/>
 <via x="33.8956" y="36.1416" extent="1-16" drill="0.35"/>
 <wire x1="34.677" y1="38.382" x2="34.677" y2="36.932" width="0.2032" layer="1"/>
@@ -2738,9 +2570,9 @@ Your Eurocircuits Team
 <wire x1="32.754" y1="13.7144" x2="33.504" y2="14.4644" width="0.2032" layer="2"/>
 <wire x1="33.8956" y1="36.1416" x2="33.8956" y2="34.8916" width="0.2032" layer="2"/>
 <wire x1="33.8956" y1="34.8916" x2="33.504" y2="34.5" width="0.2032" layer="2"/>
+<contactref element="IC8" pad="29"/>
 </signal>
 <signal name="PDI_DATA">
-<contactref element="IC8" pad="34"/>
 <contactref element="SV2" pad="1"/>
 <wire x1="33.381" y1="20.294" x2="32.973" y2="19.886" width="0.2032" layer="1"/>
 <wire x1="32.973" y1="18.724" x2="32.973" y2="19.886" width="0.2032" layer="1"/>
@@ -2748,6 +2580,7 @@ Your Eurocircuits Team
 <wire x1="37.6572" y1="21.6592" x2="38.1572" y2="22.1592" width="0.2032" layer="1"/>
 <wire x1="37.6572" y1="21.6592" x2="37.6572" y2="21.102" width="0.2032" layer="1"/>
 <wire x1="37.6572" y1="21.102" x2="36.8492" y2="20.294" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="34"/>
 </signal>
 <signal name="N$38">
 <contactref element="C7" pad="1"/>
@@ -2844,8 +2677,9 @@ Your Eurocircuits Team
 <wire x1="32.282" y1="49.043" x2="29.8168" y2="49.043" width="0.2032" layer="1"/>
 <wire x1="40.7338" y1="32.9646" x2="40.7338" y2="36.1296" width="0.3048" layer="1"/>
 <wire x1="40.7338" y1="36.1296" x2="40.7534" y2="36.1742" width="0.3048" layer="1"/>
-<wire x1="40.804" y1="39.535" x2="40.904" y2="36.2998" width="0.3048" layer="1"/>
-<wire x1="40.904" y1="36.2998" x2="40.7534" y2="36.1742" width="0.3048" layer="1"/>
+<wire x1="40.804" y1="39.535" x2="40.804" y2="36.050559375" width="0.3048" layer="1"/>
+<wire x1="40.804" y1="36.050559375" x2="40.7534" y2="36.048996875" width="0.3048" layer="1"/>
+<wire x1="40.7534" y1="36.048996875" x2="40.7534" y2="36.1742" width="0.3048" layer="1"/>
 <wire x1="40.735" y1="29.695" x2="40.7338" y2="29.697896875" width="0.3048" layer="1"/>
 <wire x1="40.7338" y1="29.697896875" x2="40.7338" y2="31.218" width="0.3048" layer="1"/>
 <wire x1="40.7338" y1="31.218" x2="40.7338" y2="32.131" width="0.3048" layer="1"/>
@@ -2931,8 +2765,6 @@ Your Eurocircuits Team
 <wire x1="9.449" y1="5.233" x2="11.627" y2="5.233" width="0.2032" layer="1"/>
 <wire x1="11.627" y1="5.233" x2="14.027" y2="5.233" width="0.2032" layer="1"/>
 <wire x1="11.627" y1="9.297" x2="14.027" y2="9.297" width="0.2032" layer="1"/>
-<contactref element="IC15" pad="5"/>
-<contactref element="IC15" pad="1"/>
 <contactref element="IC16" pad="5"/>
 <contactref element="IC16" pad="1"/>
 <contactref element="IC17" pad="5"/>
@@ -2940,24 +2772,42 @@ Your Eurocircuits Team
 <contactref element="C31" pad="1"/>
 <contactref element="C30" pad="1"/>
 <contactref element="C22" pad="1"/>
-<wire x1="-11.776" y1="-111.379" x2="-11.776" y2="-115.316" width="0" layer="19" extent="1-1"/>
-<wire x1="-11.776" y1="-107.442" x2="-11.776" y2="-111.379" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.007" y1="-83.75" x2="-11.776" y2="-107.442" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.007" y1="-81.35" x2="-10.007" y2="-83.75" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.007" y1="-58.223" x2="-10.007" y2="-81.35" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.007" y1="-55.823" x2="-10.007" y2="-58.223" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.007" y1="-48.698" x2="-10.007" y2="-55.823" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.007" y1="-46.298" x2="-10.007" y2="-48.698" width="0" layer="19" extent="1-1"/>
-<wire x1="3.4" y1="3.686" x2="-10.007" y2="-46.298" width="0" layer="19" extent="1-1"/>
+<wire x1="41.402" y1="31.877" x2="41.39929375" y2="31.877" width="0.3048" layer="2"/>
+<wire x1="41.39929375" y1="31.877" x2="41.021" y2="31.49870625" width="0.3048" layer="2"/>
+<wire x1="41.021" y1="31.49870625" x2="41.021" y2="15.90070625" width="0.3048" layer="2"/>
+<wire x1="41.021" y1="15.90070625" x2="36.195" y2="11.07470625" width="0.3048" layer="2"/>
+<wire x1="36.195" y1="11.07470625" x2="36.195" y2="-0.889" width="0.3048" layer="2"/>
+<contactref element="IC15" pad="1"/>
+<contactref element="IC15" pad="5"/>
+<wire x1="36.83" y1="-1.016" x2="36.195" y2="-1.016" width="0.3048" layer="2"/>
+<wire x1="36.195" y1="-1.016" x2="35.687" y2="-1.016" width="0.3048" layer="2"/>
+<wire x1="23.596" y1="-2.229" x2="24.984" y2="-2.229" width="0.254" layer="1"/>
+<wire x1="24.984" y1="-2.229" x2="25.019" y2="-2.194" width="0.254" layer="1"/>
+<wire x1="29.692" y1="-2.483" x2="30.953" y2="-2.483" width="0.254" layer="1"/>
+<wire x1="30.953" y1="-2.483" x2="30.988" y2="-2.448" width="0.254" layer="1"/>
+<wire x1="37.684" y1="-2.483" x2="36.169" y2="-2.483" width="0.254" layer="1"/>
+<wire x1="37.684" y1="-2.483" x2="37.719" y2="-2.448" width="0.254" layer="1"/>
+<wire x1="29.692" y1="-2.483" x2="29.692" y2="-4.883" width="0.254" layer="1"/>
+<wire x1="36.169" y1="-2.483" x2="36.169" y2="-4.883" width="0.254" layer="1"/>
+<wire x1="23.596" y1="-2.229" x2="23.596" y2="-4.629" width="0.254" layer="1"/>
+<wire x1="30.988" y1="-0.889" x2="30.988" y2="-2.448" width="0.254" layer="1"/>
+<via x="30.988" y="-0.889" extent="1-16" drill="0.35"/>
+<wire x1="25.019" y1="-2.194" x2="25.019" y2="-1.27" width="0.254" layer="1"/>
+<via x="25.019" y="-1.27" extent="1-16" drill="0.35"/>
+<wire x1="37.719" y1="-2.448" x2="37.719" y2="-1.905" width="0.254" layer="1"/>
+<wire x1="37.719" y1="-1.905" x2="36.83" y2="-1.016" width="0.254" layer="1"/>
+<via x="36.83" y="-1.016" extent="1-16" drill="0.35"/>
+<wire x1="36.195" y1="-0.889" x2="30.988" y2="-0.889" width="0.3048" layer="2"/>
+<wire x1="25.019" y1="-1.27" x2="25.527" y2="-1.778" width="0.3048" layer="2"/>
+<wire x1="25.527" y1="-1.778" x2="34.925" y2="-1.778" width="0.3048" layer="2"/>
+<wire x1="34.925" y1="-1.778" x2="35.687" y2="-1.016" width="0.3048" layer="2"/>
+<wire x1="36.195" y1="-0.889" x2="36.195" y2="-1.016" width="0.3048" layer="2"/>
 </signal>
 <signal name="V+">
 <contactref element="C28" pad="1"/>
 <contactref element="C26" pad="1"/>
 <contactref element="C27" pad="1"/>
 <contactref element="C29" pad="1"/>
-<contactref element="IC8" pad="9"/>
-<contactref element="IC8" pad="19"/>
-<contactref element="IC8" pad="31"/>
 <contactref element="R34" pad="2"/>
 <contactref element="C25" pad="1"/>
 <contactref element="OSC1" pad="P$4"/>
@@ -2965,7 +2815,7 @@ Your Eurocircuits Team
 <contactref element="SV2" pad="2"/>
 <contactref element="R8" pad="2"/>
 <wire x1="30.573" y1="7.124" x2="30.573" y2="4.0636" width="0.2032" layer="1"/>
-<wire x1="30.573" y1="4.0636" x2="30.5646" y2="4.0552" width="0.2032" layer="1"/>
+<wire x1="30.573" y1="4.0636" x2="30.4888" y2="3.8946" width="0.2032" layer="1"/>
 <wire x1="34.773" y1="15.324" x2="38.0556" y2="15.324" width="0.2032" layer="1"/>
 <wire x1="38.0556" y1="15.324" x2="38.0406" y2="15.3298" width="0.2032" layer="1"/>
 <wire x1="23.173" y1="10.524" x2="19.4926" y2="10.524" width="0.2032" layer="1"/>
@@ -2981,11 +2831,11 @@ Your Eurocircuits Team
 <wire x1="39.116" y1="15.3202" x2="39.5834" y2="15.3202" width="0.2032" layer="1"/>
 <wire x1="39.8374" y1="17.6668" x2="39.8374" y2="15.5742" width="0.2032" layer="1"/>
 <via x="38.916" y="17.396" extent="1-16" drill="0.35"/>
-<wire x1="38.0944" y1="14.9744" x2="38.0944" y2="4.1942" width="0.2032" layer="16"/>
-<wire x1="38.1008" y1="4.1878" x2="38.0944" y2="4.1942" width="0.2032" layer="16"/>
-<via x="38.1008" y="4.1878" extent="1-16" drill="0.35"/>
-<wire x1="38.1008" y1="4.1878" x2="37.9766" y2="4.0636" width="0.2032" layer="1"/>
-<wire x1="37.9766" y1="4.0636" x2="30.573" y2="4.0636" width="0.2032" layer="1"/>
+<wire x1="38.0944" y1="14.9744" x2="38.0944" y2="4.0672" width="0.2032" layer="16"/>
+<wire x1="38.1008" y1="4.0608" x2="38.0944" y2="4.0672" width="0.2032" layer="16"/>
+<via x="38.1008" y="4.0608" extent="1-16" drill="0.35"/>
+<wire x1="38.1008" y1="4.0608" x2="38.098" y2="4.0636" width="0.2032" layer="1"/>
+<wire x1="38.098" y1="4.0636" x2="30.573" y2="4.0636" width="0.2032" layer="1"/>
 <wire x1="35.6172" y1="22.1592" x2="35.19664375" y2="21.985" width="0.2032" layer="1"/>
 <wire x1="35.19664375" y1="21.985" x2="32.7974" y2="21.985" width="0.2032" layer="1"/>
 <wire x1="10.17" y1="46.158" x2="10.17" y2="44.083" width="0.2032" layer="16"/>
@@ -3068,37 +2918,40 @@ Your Eurocircuits Team
 <wire x1="10.97" y1="46.958" x2="10.17" y2="46.158" width="0.2032" layer="15"/>
 <wire x1="27.3" y1="25.25" x2="27.25" y2="25.3" width="0.2032" layer="16"/>
 <wire x1="27.3" y1="22.1" x2="27.3" y2="25.25" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="9"/>
+<contactref element="IC8" pad="19"/>
+<contactref element="IC8" pad="31"/>
 </signal>
 <signal name="N$11">
-<contactref element="IC8" pad="44"/>
 <contactref element="TP4" pad="TP"/>
 <wire x1="24.973" y1="18.724" x2="24.973" y2="19.4132" width="0.2032" layer="1"/>
 <wire x1="24.973" y1="19.4132" x2="24.6296" y2="19.7566" width="0.2032" layer="1"/>
 <wire x1="24.6296" y1="19.7566" x2="23.1056" y2="19.7566" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="44"/>
 </signal>
 <signal name="N$12">
 <contactref element="TP5" pad="TP"/>
-<contactref element="IC8" pad="1"/>
 <wire x1="23.173" y1="16.924" x2="21.002" y2="16.924" width="0.2032" layer="1"/>
 <wire x1="21.002" y1="16.924" x2="20.9888" y2="16.9372" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="1"/>
 </signal>
 <signal name="N$13">
 <contactref element="TP6" pad="TP"/>
-<contactref element="IC8" pad="6"/>
 <wire x1="18.525" y1="12.924" x2="23.173" y2="12.924" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="6"/>
 </signal>
 <signal name="N$17">
 <contactref element="TP8" pad="TP"/>
-<contactref element="IC8" pad="11"/>
 <wire x1="23.173" y1="8.924" x2="21.3154" y2="8.924" width="0.2032" layer="1"/>
 <wire x1="21.3154" y1="8.924" x2="20.7942" y2="8.4028" width="0.2032" layer="1"/>
 <wire x1="20.7942" y1="8.4028" x2="20.7942" y2="6.2438" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="11"/>
 </signal>
 <signal name="N$18">
-<contactref element="IC8" pad="21"/>
 <contactref element="TP9" pad="TP"/>
 <wire x1="32.173" y1="7.124" x2="32.164" y2="7.115" width="0.2032" layer="1"/>
 <wire x1="32.164" y1="7.115" x2="32.164" y2="4.954" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="21"/>
 </signal>
 <signal name="N$9">
 <contactref element="STATE" pad="C"/>
@@ -3127,7 +2980,6 @@ Your Eurocircuits Team
 <wire x1="21.956" y1="35.374" x2="21.956" y2="7.1374" width="0.2032" layer="2"/>
 <wire x1="21.956" y1="7.1374" x2="21.936" y2="7.1174" width="0.2032" layer="2"/>
 <via x="21.936" y="7.1174" extent="1-16" drill="0.35"/>
-<contactref element="IC8" pad="12"/>
 <wire x1="24.973" y1="7.124" x2="21.9426" y2="7.124" width="0.2032" layer="1"/>
 <wire x1="21.936" y1="7.1174" x2="21.9426" y2="7.124" width="0.2032" layer="1"/>
 <wire x1="21.956" y1="35.374" x2="22.1866" y2="35.1434" width="0.2032" layer="15"/>
@@ -3139,6 +2991,7 @@ Your Eurocircuits Team
 <wire x1="39.7986" y1="33.0294" x2="39.7986" y2="34.72" width="0.2032" layer="16"/>
 <wire x1="39.7986" y1="34.72" x2="39.4158" y2="35.1028" width="0.2032" layer="16"/>
 <wire x1="39.37" y1="35.1028" x2="39.4158" y2="35.1028" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="12"/>
 </signal>
 <signal name="N$103">
 <contactref element="X8" pad="1"/>
@@ -3160,7 +3013,6 @@ Your Eurocircuits Team
 <contactref element="IC9" pad="5"/>
 </signal>
 <signal name="EMERGENCY_INPUT">
-<contactref element="IC8" pad="4"/>
 <contactref element="R8" pad="1"/>
 <wire x1="7.365996875" y1="42.830003125" x2="7.365990625" y2="16.975009375" width="0.2032" layer="2"/>
 <via x="7.365990625" y="16.975009375" extent="1-16" drill="0.35"/>
@@ -3175,32 +3027,37 @@ Your Eurocircuits Team
 <wire x1="3.226" y1="43.83" x2="3.2" y2="43.804" width="0.2032" layer="16"/>
 <wire x1="8.717" y1="43.93" x2="8.617" y2="43.83" width="0.2032" layer="16"/>
 <wire x1="8.617" y1="43.83" x2="3.226" y2="43.83" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="4"/>
 </signal>
 <signal name="HARP_H2_TX">
-<via x="40.547" y="9.678" extent="1-16" drill="0.35"/>
-<wire x1="40.547" y1="22.996" x2="40.547" y2="9.678" width="0.2032" layer="16"/>
-<contactref element="IC8" pad="23"/>
-<wire x1="38.5438625" y1="9.678" x2="40.547" y2="9.678" width="0.2032" layer="1"/>
+<via x="39.658" y="9.424" extent="1-16" drill="0.35"/>
+<wire x1="38.2898625" y1="9.424" x2="39.658" y2="9.424" width="0.2032" layer="1"/>
 <wire x1="37.7792625" y1="8.9134" x2="34.7836" y2="8.9134" width="0.2032" layer="1"/>
 <wire x1="34.773" y1="8.924" x2="34.7836" y2="8.9134" width="0.2032" layer="1"/>
-<wire x1="37.7792625" y1="8.9134" x2="38.5438625" y2="9.678" width="0.2032" layer="1"/>
+<wire x1="37.7792625" y1="8.9134" x2="38.2898625" y2="9.424" width="0.2032" layer="1"/>
+<wire x1="48.19" y1="24.36" x2="41.911" y2="24.36" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="23"/>
 <contactref element="X1" pad="3"/>
-<wire x1="41.911" y1="24.36" x2="48.19" y2="24.36" width="0.2032" layer="16"/>
-<wire x1="40.547" y1="22.996" x2="41.911" y2="24.36" width="0.2032" layer="16"/>
+<wire x1="39.658" y1="11.9891375" x2="39.658" y2="9.424" width="0.2032" layer="16"/>
+<wire x1="40.5066" y1="22.9556" x2="40.5066" y2="12.8377375" width="0.2032" layer="16"/>
+<wire x1="40.5066" y1="12.8377375" x2="39.658" y2="11.9891375" width="0.2032" layer="16"/>
+<wire x1="41.911" y1="24.36" x2="40.5066" y2="22.9556" width="0.2032" layer="16"/>
 </signal>
 <signal name="HARP_H2_RX">
-<via x="39.599" y="7.095" extent="1-16" drill="0.35"/>
+<via x="38.837" y="7.095" extent="1-16" drill="0.35"/>
+<wire x1="38.837" y1="7.095" x2="38.808" y2="7.124" width="0.2032" layer="1"/>
+<wire x1="38.808" y1="7.124" x2="32.973" y2="7.124" width="0.2032" layer="1"/>
+<wire x1="42.577" y1="20.86" x2="48.19" y2="20.86" width="0.2032" layer="16"/>
+<wire x1="42.577" y1="20.86" x2="41.402" y2="19.685" width="0.2032" layer="16"/>
 <contactref element="IC8" pad="22"/>
-<wire x1="39.599" y1="7.095" x2="39.57" y2="7.124" width="0.2032" layer="1"/>
-<wire x1="39.57" y1="7.124" x2="32.973" y2="7.124" width="0.2032" layer="1"/>
 <contactref element="X1" pad="2"/>
-<wire x1="42.577" y1="20.86" x2="48.19" y2="20.86" width="0.2032" layer="16"/>
-<wire x1="39.599" y1="7.095" x2="42.037" y2="9.533" width="0.2032" layer="16"/>
-<wire x1="42.037" y1="9.533" x2="42.037" y2="20.32" width="0.2032" layer="16"/>
-<wire x1="42.037" y1="20.32" x2="42.577" y2="20.86" width="0.2032" layer="16"/>
+<wire x1="40.3916" y1="11.6896" x2="40.3916" y2="8.5177375" width="0.2032" layer="16"/>
+<wire x1="40.3916" y1="8.5177375" x2="38.9688625" y2="7.095" width="0.2032" layer="16"/>
+<wire x1="38.837" y1="7.095" x2="38.9688625" y2="7.095" width="0.2032" layer="16"/>
+<wire x1="41.402" y1="19.685" x2="41.402" y2="12.7" width="0.2032" layer="16"/>
+<wire x1="41.402" y1="12.7" x2="40.3916" y2="11.6896" width="0.2032" layer="16"/>
 </signal>
 <signal name="HARP_H2_CLOCK_OUT">
-<contactref element="X1" pad="4"/>
 <wire x1="46.054" y1="27.86" x2="45.466" y2="28.448" width="0.2032" layer="16"/>
 <wire x1="45.466" y1="28.448" x2="45.466" y2="30.099" width="0.2032" layer="16"/>
 <wire x1="45.466" y1="30.099" x2="44.98785" y2="30.57715" width="0.2032" layer="16"/>
@@ -3208,6 +3065,7 @@ Your Eurocircuits Team
 <contactref element="IC12" pad="4"/>
 <wire x1="44.98785" y1="30.57715" x2="40.868" y2="30.57715" width="0.2032" layer="16"/>
 <wire x1="40.868" y1="30.57715" x2="40.868" y2="30.55" width="0.2032" layer="16"/>
+<contactref element="X1" pad="4"/>
 </signal>
 <signal name="HALL_EFFCT_IN">
 <contactref element="R20" pad="2"/>
@@ -3218,13 +3076,13 @@ Your Eurocircuits Team
 <wire x1="6.156" y1="33.732" x2="3.356" y2="33.732" width="0.2032" layer="16"/>
 </signal>
 <signal name="U_HALL_EFFCT_IN">
-<contactref element="IC8" pad="41"/>
 <wire x1="27.373" y1="18.724" x2="27.373" y2="17.123" width="0.2032" layer="1"/>
 <wire x1="27.373" y1="17.123" x2="26.946" y2="16.696" width="0.2032" layer="1"/>
 <wire x1="26.946" y1="16.696" x2="26.6" y2="16.696" width="0.2032" layer="1"/>
 <contactref element="R19" pad="2"/>
 <contactref element="C42" pad="2"/>
-<wire x1="23" y1="35.05" x2="24.9" y2="35.1" width="0.2032" layer="16"/>
+<wire x1="23" y1="35.05" x2="24.85" y2="35.05" width="0.2032" layer="16"/>
+<wire x1="24.85" y1="35.05" x2="24.9" y2="35.1" width="0.2032" layer="16"/>
 <via x="26.6" y="16.696" extent="1-16" drill="0.35"/>
 <wire x1="26.6" y1="16.696" x2="26.6" y2="32.9" width="0.2032" layer="2"/>
 <wire x1="26.6" y1="32.9" x2="26" y2="33.5" width="0.2032" layer="2"/>
@@ -3232,56 +3090,58 @@ Your Eurocircuits Team
 <via x="26" y="34.4" extent="1-16" drill="0.35"/>
 <wire x1="26" y1="34.4" x2="25.55" y2="34.4" width="0.2032" layer="16"/>
 <wire x1="25.55" y1="34.4" x2="24.9" y2="35.1" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="41"/>
 </signal>
 <signal name="U_PH_A">
 <via x="16.85" y="24.004" extent="1-16" drill="0.35"/>
-<via x="18.374" y="4.804" extent="1-16" drill="0.35"/>
+<via x="19.39" y="4.804" extent="1-16" drill="0.35"/>
 <wire x1="16.85" y1="24.004" x2="16.856" y2="23.998" width="0.2032" layer="16"/>
 <wire x1="16.856" y1="23.998" x2="16.856" y2="5.43208125" width="0.2032" layer="16"/>
-<wire x1="18.374" y1="4.804" x2="17.484734375" y2="4.804" width="0.2032" layer="16"/>
+<wire x1="19.39" y1="4.804" x2="17.484734375" y2="4.804" width="0.2032" layer="16"/>
 <wire x1="17.484734375" y1="4.804" x2="16.856" y2="5.43208125" width="0.2032" layer="16"/>
-<contactref element="IC8" pad="14"/>
-<wire x1="18.374" y1="4.804" x2="26.404" y2="4.804" width="0.2032" layer="1"/>
+<wire x1="19.39" y1="4.804" x2="26.404" y2="4.804" width="0.2032" layer="1"/>
 <wire x1="26.573" y1="4.973" x2="26.573" y2="7.124" width="0.2032" layer="1"/>
 <wire x1="26.404" y1="4.804" x2="26.573" y2="4.973" width="0.2032" layer="1"/>
 <contactref element="IC2" pad="4"/>
 <wire x1="16.85" y1="24.004" x2="16.748" y2="23.902" width="0.2032" layer="1"/>
 <wire x1="16.748" y1="23.902" x2="14.027" y2="23.902" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="14"/>
 </signal>
 <signal name="U_STEP_ENABLE">
 <contactref element="R6" pad="2"/>
-<contactref element="IC8" pad="13"/>
-<wire x1="25.773" y1="7.124" x2="25.773" y2="14.343" width="0.2032" layer="1"/>
-<wire x1="25.773" y1="14.343" x2="25.781" y2="14.351" width="0.2032" layer="1"/>
-<via x="25.781" y="14.351" extent="1-16" drill="0.35"/>
-<wire x1="25.781" y1="14.351" x2="18.288" y2="14.351" width="0.2032" layer="15"/>
-<via x="18.288" y="14.351" extent="1-16" drill="0.35"/>
-<wire x1="18.288" y1="14.351" x2="17.907" y2="14.732" width="0.2032" layer="1"/>
+<wire x1="25.773" y1="7.124" x2="25.773" y2="13.073" width="0.2032" layer="1"/>
+<wire x1="25.773" y1="13.073" x2="25.781" y2="13.081" width="0.2032" layer="1"/>
+<via x="25.781" y="13.081" extent="1-16" drill="0.35"/>
+<wire x1="25.781" y1="13.081" x2="19.558" y2="13.081" width="0.2032" layer="15"/>
+<wire x1="19.558" y1="13.081" x2="18.542" y2="14.097" width="0.2032" layer="15"/>
+<via x="18.542" y="14.097" extent="1-16" drill="0.35"/>
+<wire x1="18.542" y1="14.097" x2="17.907" y2="14.732" width="0.2032" layer="1"/>
 <wire x1="17.907" y1="14.732" x2="17.0068" y2="14.732" width="0.2032" layer="1"/>
 <wire x1="17.0068" y1="14.732" x2="16.6258" y2="14.732" width="0.2032" layer="1"/>
 <wire x1="16.6138" y1="14.744" x2="16.6258" y2="14.732" width="0.2032" layer="1"/>
 <wire x1="17.0068" y1="14.732" x2="17.1338" y2="14.605" width="0.2032" layer="1"/>
 <contactref element="IC6" pad="2"/>
 <wire x1="14.027" y1="14.605" x2="17.1338" y2="14.605" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="13"/>
 </signal>
 <signal name="U_STEP_DIRECTION">
-<contactref element="IC8" pad="16"/>
 <via x="15.358" y="10.2478" extent="1-16" drill="0.35"/>
-<wire x1="28.194" y1="9.7296" x2="28.1838" y2="9.7398" width="0.2032" layer="15"/>
-<wire x1="28.1838" y1="9.7398" x2="15.866" y2="9.7398" width="0.2032" layer="15"/>
+<wire x1="26.924" y1="9.7296" x2="26.9138" y2="9.7398" width="0.2032" layer="15"/>
+<wire x1="26.9138" y1="9.7398" x2="15.866" y2="9.7398" width="0.2032" layer="15"/>
 <wire x1="15.358" y1="10.2478" x2="15.866" y2="9.7398" width="0.2032" layer="15"/>
-<via x="28.194" y="9.7296" extent="1-16" drill="0.35"/>
-<wire x1="28.194" y1="9.7296" x2="28.194" y2="7.1747" width="0.2032" layer="1"/>
-<wire x1="28.194" y1="7.1747" x2="28.173" y2="7.124" width="0.2032" layer="1"/>
+<via x="26.924" y="9.7296" extent="1-16" drill="0.35"/>
+<wire x1="28.173" y1="7.124" x2="28.173" y2="8.648" width="0.2032" layer="1"/>
+<wire x1="28.173" y1="8.648" x2="27.0914" y2="9.7296" width="0.2032" layer="1"/>
+<wire x1="26.924" y1="9.7296" x2="27.0914" y2="9.7296" width="0.2032" layer="1"/>
 <contactref element="R13" pad="2"/>
 <wire x1="16.9948" y1="10.2355" x2="16.9825" y2="10.2478" width="0.2032" layer="1"/>
 <wire x1="15.358" y1="10.2478" x2="16.9825" y2="10.2478" width="0.2032" layer="1"/>
 <contactref element="IC5" pad="2"/>
 <wire x1="15.358" y1="10.2478" x2="14.0662" y2="10.2478" width="0.2032" layer="1"/>
 <wire x1="14.0662" y1="10.2478" x2="14.027" y2="10.287" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="16"/>
 </signal>
 <signal name="U_STEP_PULSE">
-<contactref element="IC8" pad="10"/>
 <contactref element="R12" pad="2"/>
 <wire x1="20.0579875" y1="9.132" x2="20.6425875" y2="9.7166" width="0.2032" layer="1"/>
 <wire x1="23.173" y1="9.724" x2="23.1656" y2="9.7166" width="0.2032" layer="1"/>
@@ -3294,6 +3154,7 @@ Your Eurocircuits Team
 <contactref element="IC4" pad="2"/>
 <wire x1="17.1458" y1="6.211" x2="14.039" y2="6.211" width="0.2032" layer="1"/>
 <wire x1="14.027" y1="6.223" x2="14.039" y2="6.211" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="10"/>
 </signal>
 <signal name="STEP_DIRECTION">
 <contactref element="X5" pad="3"/>
@@ -3313,21 +3174,19 @@ Your Eurocircuits Team
 <wire x1="6.096" y1="6.223" x2="7.086" y2="7.213" width="0.2032" layer="1"/>
 </signal>
 <signal name="VDD">
-<contactref element="X1" pad="1"/>
 <contactref element="X7" pad="P1"/>
-<wire x1="48.19" y1="17.36" x2="47.89" y2="17.36" width="0.3556" layer="16"/>
-<wire x1="47.89" y1="17.36" x2="45.69" y2="15.16" width="0.3556" layer="16"/>
-<wire x1="45.69" y1="15.16" x2="44.258" y2="15.16" width="0.3556" layer="16"/>
-<wire x1="44.258" y1="15.16" x2="43.434" y2="14.336" width="0.3556" layer="16"/>
-<wire x1="43.434" y1="14.336" x2="43.434" y2="7.468" width="0.3556" layer="16"/>
-<wire x1="43.434" y1="7.468" x2="44.538" y2="6.364" width="0.3556" layer="16"/>
+<contactref element="X1" pad="1"/>
+<wire x1="44.538" y1="6.364" x2="44.538" y2="7.278" width="0.508" layer="16"/>
+<wire x1="44.538" y1="7.278" x2="43.434" y2="8.382" width="0.508" layer="16"/>
+<wire x1="43.434" y1="8.382" x2="43.434" y2="13.62" width="0.508" layer="16"/>
+<wire x1="47.174" y1="17.36" x2="48.19" y2="17.36" width="0.508" layer="16"/>
+<wire x1="47.174" y1="17.36" x2="43.434" y2="13.62" width="0.508" layer="16"/>
 </signal>
 <signal name="VCC">
 </signal>
 <signal name="AREF">
 <contactref element="R7" pad="2"/>
 <contactref element="R4" pad="1"/>
-<contactref element="IC8" pad="40"/>
 <wire x1="28.194" y1="20.46" x2="28.194" y2="18.745" width="0.2032" layer="1"/>
 <wire x1="28.194" y1="18.745" x2="28.173" y2="18.724" width="0.2032" layer="1"/>
 <wire x1="28.194" y1="20.46" x2="27.778" y2="20.876" width="0.2032" layer="1"/>
@@ -3338,6 +3197,7 @@ Your Eurocircuits Team
 <wire x1="24.872" y1="21.622" x2="24.8772" y2="21.6272" width="0.2032" layer="16"/>
 <wire x1="25.878" y1="21.576" x2="24.918" y2="21.576" width="0.2032" layer="16"/>
 <wire x1="24.918" y1="21.576" x2="24.872" y2="21.622" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="40"/>
 </signal>
 <signal name="N$4">
 </signal>
@@ -3419,7 +3279,6 @@ Your Eurocircuits Team
 <via x="16.05" y="18.627" extent="1-16" drill="0.35"/>
 <wire x1="16.05" y1="18.627" x2="16.05" y2="3.123" width="0.2032" layer="16"/>
 <via x="16.05" y="3.123" extent="1-16" drill="0.35"/>
-<contactref element="IC8" pad="15"/>
 <wire x1="27.373" y1="3.492" x2="27.373" y2="7.124" width="0.2032" layer="1"/>
 <wire x1="16.05" y1="3.123" x2="16.0646" y2="3.1376" width="0.2032" layer="1"/>
 <wire x1="27.0186" y1="3.1376" x2="16.0646" y2="3.1376" width="0.2032" layer="1"/>
@@ -3427,6 +3286,7 @@ Your Eurocircuits Team
 <contactref element="IC11" pad="4"/>
 <wire x1="16.05" y1="18.627" x2="15.991" y2="18.568" width="0.2032" layer="1"/>
 <wire x1="15.991" y1="18.568" x2="14.027" y2="18.568" width="0.2032" layer="1"/>
+<contactref element="IC8" pad="15"/>
 </signal>
 <signal name="N$62">
 <contactref element="R9" pad="1"/>
@@ -3442,7 +3302,6 @@ Your Eurocircuits Team
 <signal name="N$63">
 <contactref element="L3" pad="1"/>
 <contactref element="C16" pad="1"/>
-<contactref element="IC8" pad="39"/>
 <wire x1="28.973" y1="18.724" x2="28.973" y2="16.873" width="0.2032" layer="1"/>
 <wire x1="28.973" y1="16.873" x2="28.4" y2="16.3" width="0.2032" layer="1"/>
 <via x="28.4" y="16.3" extent="1-16" drill="0.35"/>
@@ -3450,13 +3309,16 @@ Your Eurocircuits Team
 <wire x1="29" y1="15.7" x2="28.4" y2="16.3" width="0.2032" layer="16"/>
 <wire x1="29" y1="14.9" x2="30.65" y2="14.9" width="0.2032" layer="16"/>
 <wire x1="30.65" y1="14.9" x2="30.95" y2="15.2" width="0.2032" layer="16"/>
+<contactref element="IC8" pad="39"/>
 </signal>
 <signal name="N$50">
 <contactref element="R17" pad="2"/>
 <contactref element="R19" pad="1"/>
 <contactref element="C41" pad="2"/>
-<wire x1="18.4" y1="36.35" x2="20.8" y2="36.3" width="0.2032" layer="16"/>
-<wire x1="20.8" y1="36.3" x2="23" y2="36.35" width="0.2032" layer="16"/>
+<wire x1="18.4" y1="36.35" x2="18.45" y2="36.3" width="0.2032" layer="16"/>
+<wire x1="18.45" y1="36.3" x2="20.8" y2="36.3" width="0.2032" layer="16"/>
+<wire x1="20.8" y1="36.3" x2="22.95" y2="36.3" width="0.2032" layer="16"/>
+<wire x1="22.95" y1="36.3" x2="23" y2="36.35" width="0.2032" layer="16"/>
 </signal>
 <signal name="N$64">
 <contactref element="R17" pad="1"/>
@@ -3539,64 +3401,201 @@ Your Eurocircuits Team
 <signal name="X5">
 </signal>
 <signal name="OUTPUT0">
-<contactref element="X9" pad="4"/>
 <contactref element="IC16" pad="4"/>
-<wire x1="3.4" y1="-19.177" x2="-8.027" y2="-55.823" width="0" layer="19" extent="1-1"/>
+<contactref element="X9" pad="4"/>
+<wire x1="27.178" y1="-20.574" x2="8.607" y2="-20.574" width="0.254" layer="1"/>
+<wire x1="8.607" y1="-20.574" x2="7.21" y2="-19.177" width="0.254" layer="1"/>
+<wire x1="7.21" y1="-19.177" x2="3.4" y2="-19.177" width="0.254" layer="1"/>
+<wire x1="27.712" y1="-4.883" x2="27.712" y2="-20.04" width="0.254" layer="1"/>
+<wire x1="27.712" y1="-20.04" x2="27.178" y2="-20.574" width="0.254" layer="1"/>
 </signal>
 <signal name="OUTPUT1">
+<wire x1="33.655" y1="-21.717" x2="3.4" y2="-21.717" width="0.254" layer="1"/>
+<wire x1="34.189" y1="-21.183" x2="33.655" y2="-21.717" width="0.254" layer="1"/>
 <contactref element="X9" pad="5"/>
 <contactref element="IC15" pad="4"/>
-<wire x1="3.4" y1="-21.717" x2="-8.027" y2="-46.298" width="0" layer="19" extent="1-1"/>
+<wire x1="34.189" y1="-4.883" x2="34.189" y2="-21.183" width="0.254" layer="1"/>
 </signal>
 <signal name="UC_OUTPUT0">
 <contactref element="R10" pad="2"/>
 <contactref element="IC16" pad="2"/>
-<wire x1="-9.017" y1="-58.223" x2="-10.018" y2="-64.008" width="0" layer="19" extent="1-1"/>
+<wire x1="28.702" y1="-2.483" x2="28.59" y2="-2.371" width="0.254" layer="1"/>
+<wire x1="28.59" y1="-2.371" x2="28.59" y2="-0.635" width="0.254" layer="1"/>
+<contactref element="IC8" pad="5"/>
+<wire x1="29.972" y1="-0.508" x2="28.717" y2="-0.508" width="0.254" layer="1"/>
+<wire x1="28.59" y1="-0.635" x2="28.717" y2="-0.508" width="0.254" layer="1"/>
+<via x="29.972" y="-0.508" extent="1-16" drill="0.35"/>
+<wire x1="27.562" y1="12.824" x2="27.562" y2="-0.13" width="0.2032" layer="2"/>
+<wire x1="29.972" y1="-0.508" x2="27.94" y2="-0.508" width="0.2032" layer="2"/>
+<wire x1="27.94" y1="-0.508" x2="27.562" y2="-0.13" width="0.2032" layer="2"/>
+<wire x1="27.562" y1="12.824" x2="26.67" y2="13.716" width="0.2032" layer="2"/>
+<via x="26.67" y="13.716" extent="1-16" drill="0.35"/>
+<wire x1="26.67" y1="13.716" x2="26.67" y2="13.6876" width="0.2032" layer="1"/>
+<wire x1="23.2094" y1="13.6876" x2="23.173" y2="13.724" width="0.2032" layer="1"/>
+<wire x1="26.67" y1="13.6876" x2="23.2094" y2="13.6876" width="0.2032" layer="1"/>
 </signal>
 <signal name="UC_OUTPUT1">
 <contactref element="R11" pad="2"/>
 <contactref element="IC15" pad="2"/>
-<wire x1="-9.017" y1="-48.698" x2="-5.319" y2="-64.008" width="0" layer="19" extent="1-1"/>
+<wire x1="35.179" y1="-2.483" x2="35.179" y2="-0.523" width="0.254" layer="1"/>
+<wire x1="35.179" y1="-0.523" x2="35.194" y2="-0.508" width="0.254" layer="1"/>
+<contactref element="IC8" pad="3"/>
+<wire x1="35.179" y1="0.889" x2="35.194" y2="0.874" width="0.2032" layer="1"/>
+<wire x1="35.194" y1="0.874" x2="35.194" y2="-0.508" width="0.2032" layer="1"/>
+<via x="35.179" y="0.889" extent="1-16" drill="0.35"/>
+<wire x1="29.8166" y1="1.4254" x2="29.8166" y2="13.3634" width="0.2032" layer="2"/>
+<wire x1="35.179" y1="0.889" x2="30.353" y2="0.889" width="0.2032" layer="2"/>
+<wire x1="30.353" y1="0.889" x2="29.8166" y2="1.4254" width="0.2032" layer="2"/>
+<wire x1="29.8166" y1="13.3634" x2="29.21" y2="13.97" width="0.2032" layer="2"/>
+<wire x1="29.21" y1="13.97" x2="27.686" y2="13.97" width="0.2032" layer="2"/>
+<via x="27.686" y="13.97" extent="1-16" drill="0.35"/>
+<wire x1="27.686" y1="13.97" x2="26.332" y2="15.324" width="0.2032" layer="1"/>
+<wire x1="26.332" y1="15.324" x2="23.173" y2="15.324" width="0.2032" layer="1"/>
 </signal>
 <signal name="BRAKE">
 <contactref element="IC17" pad="4"/>
 <contactref element="X10" pad="3"/>
-<wire x1="3.4" y1="-6.477" x2="-8.027" y2="-81.35" width="0" layer="19" extent="1-1"/>
+<wire x1="21.038" y1="-6.477" x2="3.4" y2="-6.477" width="0.254" layer="1"/>
+<wire x1="21.616" y1="-4.629" x2="21.616" y2="-5.899" width="0.254" layer="1"/>
+<wire x1="21.616" y1="-5.899" x2="21.038" y2="-6.477" width="0.254" layer="1"/>
 </signal>
 <signal name="ENDSTOP">
 <contactref element="IC18" pad="2"/>
 <contactref element="X10" pad="2"/>
-<wire x1="3.4" y1="-3.937" x2="-9.017" y2="-98.355" width="0" layer="19" extent="1-1"/>
+<wire x1="3.4" y1="-3.937" x2="11.246" y2="-3.937" width="0.254" layer="1"/>
 </signal>
 <signal name="UC_BRAKE">
 <contactref element="R14" pad="2"/>
 <contactref element="IC17" pad="2"/>
-<wire x1="-9.017" y1="-83.75" x2="-10.018" y2="-89.535" width="0" layer="19" extent="1-1"/>
+<wire x1="22.606" y1="-2.229" x2="22.606" y2="-0.396" width="0.254" layer="1"/>
+<wire x1="22.606" y1="-0.396" x2="22.621" y2="-0.381" width="0.254" layer="1"/>
+<contactref element="IC8" pad="7"/>
+<wire x1="24.257" y1="-0.381" x2="22.621" y2="-0.381" width="0.254" layer="1"/>
+<via x="24.257" y="-0.381" extent="1-16" drill="0.35"/>
+<wire x1="24.251" y1="11.424" x2="24.251" y2="-0.375" width="0.2032" layer="2"/>
+<wire x1="24.257" y1="-0.381" x2="24.251" y2="-0.375" width="0.254" layer="2"/>
+<wire x1="24.251" y1="11.424" x2="24.892" y2="12.065" width="0.2032" layer="2"/>
+<via x="24.892" y="12.065" extent="1-16" drill="0.35"/>
+<wire x1="24.892" y1="12.065" x2="23.232" y2="12.065" width="0.2032" layer="1"/>
+<wire x1="23.232" y1="12.065" x2="23.173" y2="12.124" width="0.254" layer="1"/>
 </signal>
 <signal name="UC_ENDSTOP">
 <contactref element="IC18" pad="4"/>
 <contactref element="IC8" pad="17"/>
-<wire x1="28.973" y1="7.124" x2="-8.027" y2="-95.955" width="0" layer="19" extent="1-1"/>
+<wire x1="16.383" y1="1.651" x2="16.129" y2="1.397" width="0.3048" layer="1"/>
+<wire x1="16.129" y1="1.397" x2="16.129" y2="-4.476" width="0.3048" layer="1"/>
+<wire x1="16.129" y1="-4.476" x2="15.678" y2="-4.927" width="0.3048" layer="1"/>
+<wire x1="13.646" y1="-4.927" x2="15.678" y2="-4.927" width="0.3048" layer="1"/>
+<wire x1="28.973" y1="7.124" x2="29.009" y2="7.088" width="0.254" layer="1"/>
+<wire x1="29.009" y1="7.088" x2="29.009" y2="2.593" width="0.3048" layer="1"/>
+<wire x1="29.009" y1="2.593" x2="28.067" y2="1.651" width="0.3048" layer="1"/>
+<wire x1="28.067" y1="1.651" x2="16.383" y2="1.651" width="0.3048" layer="1"/>
 </signal>
 <signal name="UC_INPUT1">
 <contactref element="IC14" pad="4"/>
 <contactref element="IC8" pad="26"/>
-<wire x1="-8.027" y1="-32.836" x2="34.773" y2="11.324" width="0" layer="19" extent="1-1"/>
+<wire x1="13.646" y1="-19.278" x2="26.95" y2="-19.278" width="0.254" layer="1"/>
+<wire x1="28.982" y1="11.277" x2="28.982" y2="-18.77" width="0.2032" layer="16"/>
+<wire x1="28.982" y1="-18.77" x2="28.474" y2="-19.278" width="0.254" layer="16"/>
+<wire x1="26.95" y1="-19.278" x2="28.474" y2="-19.278" width="0.254" layer="16"/>
+<via x="26.95" y="-19.278" extent="1-16" drill="0.35"/>
+<wire x1="34.773" y1="11.324" x2="28.977" y2="11.324" width="0.2032" layer="1"/>
+<wire x1="28.977" y1="11.324" x2="28.956" y2="11.303" width="0.254" layer="1"/>
+<via x="28.956" y="11.303" extent="1-16" drill="0.35"/>
+<wire x1="28.956" y1="11.303" x2="28.982" y2="11.277" width="0.254" layer="16"/>
 </signal>
 <signal name="UC_INPUT0">
-<contactref element="IC8" pad="25"/>
 <contactref element="IC13" pad="4"/>
-<wire x1="-8.027" y1="-23.311" x2="34.773" y2="10.524" width="0" layer="19" extent="1-1"/>
+<contactref element="IC8" pad="25"/>
+<wire x1="13.646" y1="-14.198" x2="26.95" y2="-14.198" width="0.3048" layer="1"/>
+<wire x1="26.95" y1="-14.198" x2="28.194" y2="-12.954" width="0.2032" layer="16"/>
+<wire x1="28.194" y1="-12.954" x2="28.194" y2="9.906" width="0.2032" layer="16"/>
+<via x="26.95" y="-14.198" extent="1-16" drill="0.35"/>
+<wire x1="34.773" y1="10.524" x2="33.638" y2="10.524" width="0.2032" layer="1"/>
+<wire x1="33.638" y1="10.524" x2="33.02" y2="9.906" width="0.2032" layer="1"/>
+<wire x1="33.02" y1="9.906" x2="28.194" y2="9.906" width="0.2032" layer="1"/>
+<via x="28.194" y="9.906" extent="1-16" drill="0.35"/>
 </signal>
 <signal name="IN0">
-<contactref element="X9" pad="2"/>
 <contactref element="IC13" pad="2"/>
-<wire x1="3.4" y1="-14.097" x2="-9.017" y2="-25.711" width="0" layer="19" extent="1-1"/>
+<wire x1="3.4" y1="-14.097" x2="6.985" y2="-14.097" width="0.254" layer="1"/>
+<wire x1="7.874" y1="-13.208" x2="11.246" y2="-13.208" width="0.254" layer="1"/>
+<wire x1="6.985" y1="-14.097" x2="7.874" y2="-13.208" width="0.254" layer="1"/>
+<contactref element="X9" pad="2"/>
 </signal>
 <signal name="IN1">
-<contactref element="X9" pad="3"/>
 <contactref element="IC14" pad="2"/>
-<wire x1="3.4" y1="-16.637" x2="-9.017" y2="-35.236" width="0" layer="19" extent="1-1"/>
+<wire x1="3.4" y1="-16.637" x2="6.985" y2="-16.637" width="0.254" layer="1"/>
+<wire x1="8.636" y1="-18.288" x2="11.246" y2="-18.288" width="0.254" layer="1"/>
+<wire x1="6.985" y1="-16.637" x2="8.636" y2="-18.288" width="0.254" layer="1"/>
+<contactref element="X9" pad="3"/>
+</signal>
+<signal name="N$73">
+<via x="38.608" y="0.762" extent="1-16" drill="0.35"/>
+</signal>
+<signal name="N$51">
+<polygon width="0.3048" layer="15" pour="cutout">
+<vertex x="1.27" y="-11.938"/>
+<vertex x="1.27" y="-23.876"/>
+<vertex x="5.334" y="-23.876"/>
+<vertex x="5.334" y="-11.938"/>
+</polygon>
+</signal>
+<signal name="N$59">
+<polygon width="0.3048" layer="16" pour="cutout">
+<vertex x="1.27" y="-11.938"/>
+<vertex x="1.27" y="-23.876"/>
+<vertex x="5.334" y="-23.876"/>
+<vertex x="5.334" y="-11.938"/>
+</polygon>
+</signal>
+<signal name="N$61">
+<polygon width="0.3048" layer="1" pour="cutout">
+<vertex x="1.27" y="-11.938"/>
+<vertex x="1.27" y="-23.876"/>
+<vertex x="5.334" y="-23.876"/>
+<vertex x="5.334" y="-11.938"/>
+</polygon>
+</signal>
+<signal name="N$67">
+<polygon width="0.3048" layer="2" pour="cutout">
+<vertex x="1.27" y="-11.938"/>
+<vertex x="1.27" y="-23.876"/>
+<vertex x="5.334" y="-23.876"/>
+<vertex x="5.334" y="-11.938"/>
+</polygon>
+</signal>
+<signal name="N$71">
+<polygon width="0.3048" layer="16" pour="cutout">
+<vertex x="1.27" y="-2.286"/>
+<vertex x="1.27" y="-7.62"/>
+<vertex x="5.334" y="-7.62"/>
+<vertex x="5.334" y="-2.286"/>
+</polygon>
+</signal>
+<signal name="N$68">
+<polygon width="0.3048" layer="1" pour="cutout">
+<vertex x="1.27" y="-2.286"/>
+<vertex x="1.27" y="-7.62"/>
+<vertex x="5.334" y="-7.62"/>
+<vertex x="5.334" y="-2.286"/>
+</polygon>
+</signal>
+<signal name="N$69">
+<polygon width="0.3048" layer="2" pour="cutout">
+<vertex x="1.27" y="-2.286"/>
+<vertex x="1.27" y="-7.62"/>
+<vertex x="5.334" y="-7.62"/>
+<vertex x="5.334" y="-2.286"/>
+</polygon>
+</signal>
+<signal name="N$70">
+<polygon width="0.3048" layer="15" pour="cutout">
+<vertex x="1.27" y="-2.286"/>
+<vertex x="1.27" y="-7.62"/>
+<vertex x="5.334" y="-7.62"/>
+<vertex x="5.334" y="-2.286"/>
+</polygon>
 </signal>
 </signals>
 <mfgpreviewcolors>
diff --git a/Hardware/PCB/VestibularH2.sch b/Hardware/PCB/VestibularH2.sch
index 0dac100..fce284a 100644
--- a/Hardware/PCB/VestibularH2.sch
+++ b/Hardware/PCB/VestibularH2.sch
@@ -1790,6 +1790,8 @@ DIN A3, landscape with location and doc. field</description>
 <class number="0" name="default" width="0" drill="0">
 <clearance class="0" value="0.205"/>
 </class>
+<class number="1" name="GND class" width="0" drill="0">
+</class>
 </classes>
 <parts>
 <part name="IC1" library="Harp Motor H2-module v1.0" deviceset="FT232R" device="L">
@@ -2314,6 +2316,7 @@ DIN A3, landscape with location and doc. field</description>
 <attribute name="OEPS" value="OEPS010004"/>
 </part>
 <part name="GND67" library="Harp Motor H2-module v1.0" deviceset="GND" device=""/>
+<part name="FRAME2" library="Harp Motor H2-module v1.0" deviceset="A3L-LOC" device="" value="Harp Motor H2-module v1.0"/>
 </parts>
 <sheets>
 <sheet>
@@ -2340,11 +2343,8 @@ WINGONEER JT0701</text>
 Rotary Joint = H1 module</text>
 <text x="66.04" y="68.58" size="1.778" layer="97">2nd Order LPF: 1.061 kHz </text>
 <text x="223.52" y="86.36" size="1.778" layer="94" font="vector" ratio="15" distance="54">LDO 5V -&gt; 3V3</text>
-<text x="414.274" y="179.07" size="1.778" layer="94" font="vector" ratio="15">extra digital ios</text>
-<text x="411.734" y="118.11" size="1.778" layer="94" font="vector" ratio="15">extra motor control</text>
-<text x="520.954" y="105.41" size="3.81" layer="91" font="vector" ratio="15">ligar no uc onde der jeito</text>
-<text x="518.414" y="234.95" size="3.81" layer="91" font="vector" ratio="15">ligar no uc onde der jeito</text>
-<text x="520.954" y="207.01" size="3.81" layer="91" font="vector" ratio="15">ligar no uc onde der jeito</text>
+<text x="485.394" y="161.29" size="1.778" layer="94" font="vector" ratio="15">extra digital ios</text>
+<text x="482.854" y="100.33" size="1.778" layer="94" font="vector" ratio="15">extra motor control</text>
 </plain>
 <instances>
 <instance part="IC1" gate="1" x="322.58" y="88.9" smashed="yes" rot="MR0">
@@ -3125,216 +3125,221 @@ Rotary Joint = H1 module</text>
 <attribute name="MPN" x="127" y="22.86" size="1.778" layer="96" display="off"/>
 <attribute name="DIGIKEY_PN" x="127" y="22.86" size="1.778" layer="96" display="off"/>
 </instance>
-<instance part="GND10" gate="1" x="426.72" y="139.7" smashed="yes" rot="MR0">
-<attribute name="VALUE" x="429.26" y="137.16" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
-<attribute name="DIGKEYPN" x="430.53" y="139.7" size="1.778" layer="96" rot="MR0" display="off"/>
-</instance>
-<instance part="X9" gate="-1" x="421.64" y="144.78" smashed="yes" rot="R180">
-<attribute name="NAME" x="419.1" y="145.542" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
-<attribute name="VALUE" x="425.45" y="142.367" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
-<attribute name="OEPS" x="421.64" y="144.78" size="1.778" layer="96" rot="R180" display="off"/>
-</instance>
-<instance part="X9" gate="-2" x="421.64" y="149.86" smashed="yes" rot="R180">
-<attribute name="NAME" x="419.1" y="150.622" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
-<attribute name="MPN" x="421.64" y="149.86" size="1.778" layer="96" rot="R180" display="off"/>
-</instance>
-<instance part="X9" gate="-3" x="421.64" y="157.48" smashed="yes" rot="R180">
-<attribute name="NAME" x="419.1" y="158.242" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
-</instance>
-<instance part="X9" gate="-4" x="421.64" y="162.56" smashed="yes" rot="R180">
-<attribute name="NAME" x="419.1" y="163.322" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
-</instance>
-<instance part="X9" gate="-5" x="421.64" y="167.64" smashed="yes" rot="R180">
-<attribute name="NAME" x="419.1" y="168.402" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
-</instance>
-<instance part="GND15" gate="1" x="495.3" y="132.08" smashed="yes" rot="MR0">
-<attribute name="VALUE" x="501.904" y="131.572" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
-</instance>
-<instance part="C19" gate="G$1" x="502.92" y="152.4" smashed="yes" rot="R90">
-<attribute name="NAME" x="506.476" y="156.845" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
-<attribute name="VALUE" x="513.588" y="155.321" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
-<attribute name="MPN" x="502.92" y="152.4" size="1.778" layer="96" rot="R90" display="off"/>
-<attribute name="OEPS" x="502.92" y="152.4" size="1.778" layer="96" rot="R90" display="off"/>
-</instance>
-<instance part="GND22" gate="1" x="510.54" y="149.86" smashed="yes" rot="MR0">
-<attribute name="VALUE" x="516.382" y="150.622" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
-</instance>
-<instance part="GND23" gate="1" x="495.3" y="165.1" smashed="yes" rot="MR0">
-<attribute name="VALUE" x="497.84" y="162.56" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
-</instance>
-<instance part="C20" gate="G$1" x="502.92" y="185.42" smashed="yes" rot="R90">
-<attribute name="NAME" x="506.222" y="189.865" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
-<attribute name="VALUE" x="513.08" y="187.833" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
-<attribute name="MPN" x="502.92" y="185.42" size="1.778" layer="96" rot="R90" display="off"/>
-<attribute name="OEPS" x="502.92" y="185.42" size="1.778" layer="96" rot="R90" display="off"/>
-</instance>
-<instance part="GND26" gate="1" x="510.54" y="182.88" smashed="yes" rot="MR0">
-<attribute name="VALUE" x="515.366" y="183.388" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
-</instance>
-<instance part="+3V1" gate="G$1" x="495.3" y="157.48" smashed="yes" rot="MR0">
-<attribute name="VALUE" x="492.506" y="158.496" size="1.4224" layer="96" font="vector" ratio="12"/>
-</instance>
-<instance part="+3V8" gate="G$1" x="495.3" y="190.5" smashed="yes" rot="MR0">
-<attribute name="VALUE" x="492.506" y="191.516" size="1.4224" layer="96" font="vector" ratio="12"/>
-</instance>
-<instance part="IC13" gate="G$1" x="495.3" y="142.24" smashed="yes">
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+<attribute name="DIGKEYPN" x="588.01" y="208.28" size="1.778" layer="96" rot="MR0" display="off"/>
+</instance>
+<instance part="IC15" gate="G$1" x="566.42" y="223.52" smashed="yes" rot="MR0">
+<attribute name="NAME" x="561.34" y="226.695" size="1.778" layer="95" rot="MR0"/>
+<attribute name="VALUE" x="561.34" y="220.98" size="1.778" layer="96" rot="MR0"/>
+<attribute name="DIGIKEY_PN" x="566.42" y="223.52" size="1.778" layer="96" rot="MR0" display="off"/>
+<attribute name="MPN" x="566.42" y="223.52" size="1.778" layer="96" rot="MR0" display="off"/>
+<attribute name="OEPS" x="566.42" y="223.52" size="1.778" layer="96" rot="MR0" display="off"/>
+</instance>
+<instance part="IC16" gate="G$1" x="566.42" y="195.58" smashed="yes" rot="MR0">
+<attribute name="NAME" x="561.34" y="198.755" size="1.778" layer="95" rot="MR0"/>
+<attribute name="VALUE" x="561.34" y="193.04" size="1.778" layer="96" rot="MR0"/>
+<attribute name="DIGIKEY_PN" x="566.42" y="195.58" size="1.778" layer="96" rot="MR0" display="off"/>
+<attribute name="MPN" x="566.42" y="195.58" size="1.778" layer="96" rot="MR0" display="off"/>
+<attribute name="OEPS" x="566.42" y="195.58" size="1.778" layer="96" rot="MR0" display="off"/>
+</instance>
+<instance part="X10" gate="-1" x="492.76" y="88.9" smashed="yes" rot="R180">
+<attribute name="NAME" x="490.22" y="89.662" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="VALUE" x="495.554" y="86.487" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
+<attribute name="MPN" x="492.76" y="88.9" size="1.778" layer="96" rot="R180" display="off"/>
+</instance>
+<instance part="X10" gate="-2" x="492.76" y="91.44" smashed="yes" rot="R180">
+<attribute name="NAME" x="490.22" y="92.202" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="MPN" x="492.76" y="91.44" size="1.778" layer="96" rot="R180" display="off"/>
+</instance>
+<instance part="X10" gate="-3" x="492.76" y="93.98" smashed="yes" rot="R180">
+<attribute name="NAME" x="490.22" y="94.742" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="OEPS" x="530.86" y="111.76" size="1.778" layer="96" rot="R180" display="off"/>
+<attribute name="MPN" x="492.76" y="93.98" size="1.778" layer="96" rot="R180" display="off"/>
+</instance>
+<instance part="GND59" gate="1" x="497.84" y="83.82" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="500.38" y="81.28" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+<attribute name="DIGKEYPN" x="501.65" y="83.82" size="1.778" layer="96" rot="MR0" display="off"/>
+</instance>
+<instance part="R14" gate="G$1" x="584.2" y="86.36" smashed="yes" rot="R90">
+<attribute name="NAME" x="582.422" y="86.8934" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="VALUE" x="582.422" y="84.582" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
+<attribute name="MPN" x="591.82" y="109.22" size="1.778" layer="96" rot="R90" display="off"/>
+<attribute name="OEPS" x="591.82" y="109.22" size="1.778" layer="96" rot="R90" display="off"/>
+</instance>
+<instance part="GND60" gate="1" x="566.42" y="83.82" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="568.96" y="81.28" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+<attribute name="DIGKEYPN" x="570.23" y="83.82" size="1.778" layer="96" rot="MR0" display="off"/>
+</instance>
+<instance part="P+10" gate="1" x="566.42" y="104.14" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="567.944" y="104.14" size="1.4224" layer="96" font="vector" ratio="12" rot="MR180"/>
+</instance>
+<instance part="GND62" gate="1" x="584.2" y="78.74" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="583.184" y="79.248" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+<attribute name="DIGKEYPN" x="588.01" y="78.74" size="1.778" layer="96" rot="MR0" display="off"/>
+</instance>
+<instance part="IC17" gate="G$1" x="566.42" y="93.98" smashed="yes" rot="MR0">
+<attribute name="NAME" x="561.34" y="97.155" size="1.778" layer="95" rot="MR0"/>
+<attribute name="VALUE" x="561.34" y="91.44" size="1.778" layer="96" rot="MR0"/>
+<attribute name="DIGIKEY_PN" x="566.42" y="93.98" size="1.778" layer="96" rot="MR0" display="off"/>
+<attribute name="MPN" x="566.42" y="93.98" size="1.778" layer="96" rot="MR0" display="off"/>
+<attribute name="OEPS" x="566.42" y="93.98" size="1.778" layer="96" rot="MR0" display="off"/>
+</instance>
+<instance part="GND61" gate="1" x="566.42" y="48.26" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="573.024" y="47.752" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+</instance>
+<instance part="C21" gate="G$1" x="574.04" y="68.58" smashed="yes" rot="R90">
+<attribute name="NAME" x="577.596" y="73.025" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="VALUE" x="584.708" y="71.501" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
+<attribute name="MPN" x="574.04" y="68.58" size="1.778" layer="96" rot="R90" display="off"/>
+<attribute name="OEPS" x="574.04" y="68.58" size="1.778" layer="96" rot="R90" display="off"/>
+</instance>
+<instance part="GND63" gate="1" x="581.66" y="66.04" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="587.502" y="66.802" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+</instance>
+<instance part="+3V9" gate="G$1" x="566.42" y="73.66" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="563.626" y="74.676" size="1.4224" layer="96" font="vector" ratio="12"/>
+</instance>
+<instance part="IC18" gate="G$1" x="566.42" y="58.42" smashed="yes">
+<attribute name="NAME" x="571.5" y="61.595" size="1.778" layer="95"/>
+<attribute name="VALUE" x="571.5" y="55.88" size="1.778" layer="96"/>
+<attribute name="DIGIKEY_PN" x="566.42" y="58.42" size="1.778" layer="96" display="off"/>
+<attribute name="MPN" x="566.42" y="58.42" size="1.778" layer="96" display="off"/>
+<attribute name="OEPS" x="566.42" y="58.42" size="1.778" layer="96" display="off"/>
+</instance>
+<instance part="C22" gate="G$1" x="576.58" y="101.6" smashed="yes" rot="R90">
+<attribute name="NAME" x="580.136" y="106.045" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="VALUE" x="587.248" y="104.521" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
+<attribute name="MPN" x="576.58" y="101.6" size="1.778" layer="96" rot="R90" display="off"/>
+<attribute name="OEPS" x="576.58" y="101.6" size="1.778" layer="96" rot="R90" display="off"/>
+</instance>
+<instance part="GND64" gate="1" x="584.2" y="99.06" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="590.042" y="99.822" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+</instance>
+<instance part="C30" gate="G$1" x="576.58" y="203.2" smashed="yes" rot="R90">
+<attribute name="NAME" x="580.136" y="207.645" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="VALUE" x="587.248" y="206.121" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
+<attribute name="MPN" x="576.58" y="203.2" size="1.778" layer="96" rot="R90" display="off"/>
+<attribute name="OEPS" x="576.58" y="203.2" size="1.778" layer="96" rot="R90" display="off"/>
+</instance>
+<instance part="GND66" gate="1" x="584.2" y="200.66" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="590.042" y="201.422" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+</instance>
+<instance part="C31" gate="G$1" x="576.58" y="231.14" smashed="yes" rot="R90">
+<attribute name="NAME" x="580.136" y="235.585" size="1.4224" layer="95" font="vector" ratio="12" rot="R180"/>
+<attribute name="VALUE" x="587.248" y="234.061" size="1.4224" layer="96" font="vector" ratio="12" rot="R180"/>
+<attribute name="MPN" x="576.58" y="231.14" size="1.778" layer="96" rot="R90" display="off"/>
+<attribute name="OEPS" x="576.58" y="231.14" size="1.778" layer="96" rot="R90" display="off"/>
+</instance>
+<instance part="GND67" gate="1" x="584.2" y="228.6" smashed="yes" rot="MR0">
+<attribute name="VALUE" x="590.042" y="229.362" size="1.4224" layer="96" font="vector" ratio="12" rot="MR0"/>
+</instance>
+<instance part="FRAME2" gate="G$1" x="388.62" y="0" smashed="yes">
+<attribute name="DRAWING_NAME" x="732.79" y="15.24" size="1.4224" layer="94" font="vector" ratio="12"/>
+<attribute name="LAST_DATE_TIME" x="732.79" y="10.16" size="1.4224" layer="94" font="vector" ratio="12"/>
+<attribute name="SHEET" x="746.125" y="5.08" size="1.4224" layer="94" font="vector" ratio="12"/>
 </instance>
 </instances>
 <busses>
 </busses>
 <nets>
-<net name="GND" class="0">
+<net name="GND" class="1">
 <segment>
 <pinref part="GND65" gate="1" pin="GND"/>
 <wire x1="248.92" y1="218.44" x2="256.54" y2="218.44" width="0.1524" layer="91"/>
@@ -3663,19 +3668,19 @@ Rotary Joint = H1 module</text>
 </segment>
 <segment>
 <pinref part="GND10" gate="1" pin="GND"/>
-<wire x1="424.18" y1="144.78" x2="426.72" y2="144.78" width="0.1524" layer="91"/>
-<wire x1="426.72" y1="144.78" x2="426.72" y2="142.24" width="0.1524" layer="91"/>
+<wire x1="495.3" y1="127" x2="497.84" y2="127" width="0.1524" layer="91"/>
+<wire x1="497.84" y1="127" x2="497.84" y2="124.46" width="0.1524" layer="91"/>
 <pinref part="X9" gate="-1" pin="S"/>
 </segment>
 <segment>
 <pinref part="GND22" gate="1" pin="GND"/>
 <pinref part="C19" gate="G$1" pin="2"/>
-<wire x1="508" y1="152.4" x2="510.54" y2="152.4" width="0.1524" layer="91"/>
+<wire x1="579.12" y1="134.62" x2="581.66" y2="134.62" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="GND26" gate="1" pin="GND"/>
 <pinref part="C20" gate="G$1" pin="2"/>
-<wire x1="510.54" y1="185.42" x2="508" y2="185.42" width="0.1524" layer="91"/>
+<wire x1="581.66" y1="167.64" x2="579.12" y2="167.64" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="GND15" gate="1" pin="GND"/>
@@ -3703,8 +3708,8 @@ Rotary Joint = H1 module</text>
 </segment>
 <segment>
 <pinref part="GND59" gate="1" pin="GND"/>
-<wire x1="424.18" y1="106.68" x2="426.72" y2="106.68" width="0.1524" layer="91"/>
-<wire x1="426.72" y1="106.68" x2="426.72" y2="104.14" width="0.1524" layer="91"/>
+<wire x1="495.3" y1="88.9" x2="497.84" y2="88.9" width="0.1524" layer="91"/>
+<wire x1="497.84" y1="88.9" x2="497.84" y2="86.36" width="0.1524" layer="91"/>
 <pinref part="X10" gate="-1" pin="S"/>
 </segment>
 <segment>
@@ -3718,7 +3723,7 @@ Rotary Joint = H1 module</text>
 <segment>
 <pinref part="GND63" gate="1" pin="GND"/>
 <pinref part="C21" gate="G$1" pin="2"/>
-<wire x1="508" y1="86.36" x2="510.54" y2="86.36" width="0.1524" layer="91"/>
+<wire x1="579.12" y1="68.58" x2="581.66" y2="68.58" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="GND61" gate="1" pin="GND"/>
@@ -3727,17 +3732,17 @@ Rotary Joint = H1 module</text>
 <segment>
 <pinref part="GND64" gate="1" pin="GND"/>
 <pinref part="C22" gate="G$1" pin="2"/>
-<wire x1="510.54" y1="119.38" x2="513.08" y2="119.38" width="0.1524" layer="91"/>
+<wire x1="581.66" y1="101.6" x2="584.2" y2="101.6" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="GND66" gate="1" pin="GND"/>
 <pinref part="C30" gate="G$1" pin="2"/>
-<wire x1="510.54" y1="220.98" x2="513.08" y2="220.98" width="0.1524" layer="91"/>
+<wire x1="581.66" y1="203.2" x2="584.2" y2="203.2" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="GND67" gate="1" pin="GND"/>
 <pinref part="C31" gate="G$1" pin="2"/>
-<wire x1="510.54" y1="248.92" x2="513.08" y2="248.92" width="0.1524" layer="91"/>
+<wire x1="581.66" y1="231.14" x2="584.2" y2="231.14" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="PDI_CLK" class="0">
@@ -3907,43 +3912,43 @@ Rotary Joint = H1 module</text>
 <pinref part="IC12" gate="G$1" pin="OE"/>
 </segment>
 <segment>
-<wire x1="495.3" y1="152.4" x2="495.3" y2="149.86" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="134.62" x2="566.42" y2="132.08" width="0.1524" layer="91"/>
 <pinref part="C19" gate="G$1" pin="1"/>
-<wire x1="500.38" y1="152.4" x2="497.84" y2="152.4" width="0.1524" layer="91"/>
-<wire x1="497.84" y1="152.4" x2="495.3" y2="152.4" width="0.1524" layer="91"/>
-<wire x1="495.3" y1="152.4" x2="495.3" y2="154.94" width="0.1524" layer="91"/>
-<junction x="495.3" y="152.4"/>
+<wire x1="571.5" y1="134.62" x2="568.96" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="568.96" y1="134.62" x2="566.42" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="134.62" x2="566.42" y2="137.16" width="0.1524" layer="91"/>
+<junction x="566.42" y="134.62"/>
 <pinref part="+3V1" gate="G$1" pin="+3V3"/>
 <pinref part="IC13" gate="G$1" pin="VCC"/>
 <pinref part="IC13" gate="G$1" pin="OE"/>
-<wire x1="497.84" y1="147.32" x2="497.84" y2="152.4" width="0.1524" layer="91"/>
-<junction x="497.84" y="152.4"/>
+<wire x1="568.96" y1="129.54" x2="568.96" y2="134.62" width="0.1524" layer="91"/>
+<junction x="568.96" y="134.62"/>
 </segment>
 <segment>
-<wire x1="495.3" y1="185.42" x2="495.3" y2="182.88" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="167.64" x2="566.42" y2="165.1" width="0.1524" layer="91"/>
 <pinref part="C20" gate="G$1" pin="1"/>
-<wire x1="500.38" y1="185.42" x2="497.84" y2="185.42" width="0.1524" layer="91"/>
-<wire x1="497.84" y1="185.42" x2="495.3" y2="185.42" width="0.1524" layer="91"/>
-<wire x1="495.3" y1="187.96" x2="495.3" y2="185.42" width="0.1524" layer="91"/>
-<junction x="495.3" y="185.42"/>
+<wire x1="571.5" y1="167.64" x2="568.96" y2="167.64" width="0.1524" layer="91"/>
+<wire x1="568.96" y1="167.64" x2="566.42" y2="167.64" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="170.18" x2="566.42" y2="167.64" width="0.1524" layer="91"/>
+<junction x="566.42" y="167.64"/>
 <pinref part="+3V8" gate="G$1" pin="+3V3"/>
 <pinref part="IC14" gate="G$1" pin="VCC"/>
 <pinref part="IC14" gate="G$1" pin="OE"/>
-<wire x1="497.84" y1="180.34" x2="497.84" y2="185.42" width="0.1524" layer="91"/>
-<junction x="497.84" y="185.42"/>
+<wire x1="568.96" y1="162.56" x2="568.96" y2="167.64" width="0.1524" layer="91"/>
+<junction x="568.96" y="167.64"/>
 </segment>
 <segment>
-<wire x1="495.3" y1="86.36" x2="495.3" y2="83.82" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="68.58" x2="566.42" y2="66.04" width="0.1524" layer="91"/>
 <pinref part="C21" gate="G$1" pin="1"/>
-<wire x1="500.38" y1="86.36" x2="497.84" y2="86.36" width="0.1524" layer="91"/>
-<wire x1="497.84" y1="86.36" x2="495.3" y2="86.36" width="0.1524" layer="91"/>
-<wire x1="495.3" y1="86.36" x2="495.3" y2="88.9" width="0.1524" layer="91"/>
-<junction x="495.3" y="86.36"/>
+<wire x1="571.5" y1="68.58" x2="568.96" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="568.96" y1="68.58" x2="566.42" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="68.58" x2="566.42" y2="71.12" width="0.1524" layer="91"/>
+<junction x="566.42" y="68.58"/>
 <pinref part="+3V9" gate="G$1" pin="+3V3"/>
 <pinref part="IC18" gate="G$1" pin="VCC"/>
 <pinref part="IC18" gate="G$1" pin="OE"/>
-<wire x1="497.84" y1="81.28" x2="497.84" y2="86.36" width="0.1524" layer="91"/>
-<junction x="497.84" y="86.36"/>
+<wire x1="568.96" y1="63.5" x2="568.96" y2="68.58" width="0.1524" layer="91"/>
+<junction x="568.96" y="68.58"/>
 </segment>
 </net>
 <net name="OSC2" class="0">
@@ -4154,31 +4159,31 @@ Rotary Joint = H1 module</text>
 <pinref part="IC15" gate="G$1" pin="VCC"/>
 <pinref part="P+7" gate="1" pin="+5V"/>
 <pinref part="IC15" gate="G$1" pin="OE"/>
-<wire x1="492.76" y1="246.38" x2="492.76" y2="248.92" width="0.1524" layer="91"/>
-<wire x1="492.76" y1="248.92" x2="495.3" y2="248.92" width="0.1524" layer="91"/>
-<junction x="495.3" y="248.92"/>
+<wire x1="563.88" y1="228.6" x2="563.88" y2="231.14" width="0.1524" layer="91"/>
+<wire x1="563.88" y1="231.14" x2="566.42" y2="231.14" width="0.1524" layer="91"/>
+<junction x="566.42" y="231.14"/>
 <pinref part="C31" gate="G$1" pin="1"/>
-<wire x1="502.92" y1="248.92" x2="495.3" y2="248.92" width="0.1524" layer="91"/>
+<wire x1="574.04" y1="231.14" x2="566.42" y2="231.14" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="IC16" gate="G$1" pin="VCC"/>
 <pinref part="P+2" gate="1" pin="+5V"/>
 <pinref part="IC16" gate="G$1" pin="OE"/>
-<wire x1="492.76" y1="218.44" x2="492.76" y2="220.98" width="0.1524" layer="91"/>
-<wire x1="492.76" y1="220.98" x2="495.3" y2="220.98" width="0.1524" layer="91"/>
-<junction x="495.3" y="220.98"/>
+<wire x1="563.88" y1="200.66" x2="563.88" y2="203.2" width="0.1524" layer="91"/>
+<wire x1="563.88" y1="203.2" x2="566.42" y2="203.2" width="0.1524" layer="91"/>
+<junction x="566.42" y="203.2"/>
 <pinref part="C30" gate="G$1" pin="1"/>
-<wire x1="495.3" y1="220.98" x2="502.92" y2="220.98" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="203.2" x2="574.04" y2="203.2" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="IC17" gate="G$1" pin="VCC"/>
 <pinref part="P+10" gate="1" pin="+5V"/>
 <pinref part="IC17" gate="G$1" pin="OE"/>
-<wire x1="492.76" y1="116.84" x2="492.76" y2="119.38" width="0.1524" layer="91"/>
-<wire x1="492.76" y1="119.38" x2="495.3" y2="119.38" width="0.1524" layer="91"/>
-<junction x="495.3" y="119.38"/>
+<wire x1="563.88" y1="99.06" x2="563.88" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="563.88" y1="101.6" x2="566.42" y2="101.6" width="0.1524" layer="91"/>
+<junction x="566.42" y="101.6"/>
 <pinref part="C22" gate="G$1" pin="1"/>
-<wire x1="495.3" y1="119.38" x2="502.92" y2="119.38" width="0.1524" layer="91"/>
+<wire x1="566.42" y1="101.6" x2="574.04" y2="101.6" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="V+" class="0">
@@ -4639,81 +4644,96 @@ Rotary Joint = H1 module</text>
 <net name="OUTPUT0" class="0">
 <segment>
 <pinref part="X9" gate="-4" pin="S"/>
-<label x="429.26" y="162.56" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="424.18" y1="162.56" x2="462.28" y2="162.56" width="0.1524" layer="91"/>
-<wire x1="462.28" y1="162.56" x2="462.28" y2="213.36" width="0.1524" layer="91"/>
+<label x="500.38" y="144.78" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="495.3" y1="144.78" x2="533.4" y2="144.78" width="0.1524" layer="91"/>
+<wire x1="533.4" y1="144.78" x2="533.4" y2="195.58" width="0.1524" layer="91"/>
 <pinref part="IC16" gate="G$1" pin="Y"/>
-<wire x1="485.14" y1="213.36" x2="462.28" y2="213.36" width="0.1524" layer="91"/>
-<label x="467.36" y="213.36" size="1.778" layer="95"/>
+<wire x1="556.26" y1="195.58" x2="533.4" y2="195.58" width="0.1524" layer="91"/>
+<label x="538.48" y="195.58" size="1.778" layer="95"/>
 </segment>
 </net>
 <net name="OUTPUT1" class="0">
 <segment>
 <pinref part="X9" gate="-5" pin="S"/>
-<label x="429.26" y="167.64" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="424.18" y1="167.64" x2="457.2" y2="167.64" width="0.1524" layer="91"/>
-<wire x1="457.2" y1="167.64" x2="457.2" y2="241.3" width="0.1524" layer="91"/>
+<label x="500.38" y="149.86" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="495.3" y1="149.86" x2="528.32" y2="149.86" width="0.1524" layer="91"/>
+<wire x1="528.32" y1="149.86" x2="528.32" y2="223.52" width="0.1524" layer="91"/>
 <pinref part="IC15" gate="G$1" pin="Y"/>
-<wire x1="485.14" y1="241.3" x2="457.2" y2="241.3" width="0.1524" layer="91"/>
-<label x="467.36" y="241.3" size="1.778" layer="95"/>
+<wire x1="556.26" y1="223.52" x2="528.32" y2="223.52" width="0.1524" layer="91"/>
+<label x="538.48" y="223.52" size="1.778" layer="95"/>
 </segment>
 </net>
 <net name="UC_OUTPUT0" class="0">
 <segment>
-<label x="523.24" y="213.36" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="505.46" y1="213.36" x2="513.08" y2="213.36" width="0.1524" layer="91"/>
-<wire x1="513.08" y1="213.36" x2="523.24" y2="213.36" width="0.1524" layer="91"/>
-<wire x1="513.08" y1="210.82" x2="513.08" y2="213.36" width="0.1524" layer="91"/>
-<junction x="513.08" y="213.36"/>
+<label x="594.36" y="195.58" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="576.58" y1="195.58" x2="584.2" y2="195.58" width="0.1524" layer="91"/>
+<wire x1="584.2" y1="195.58" x2="594.36" y2="195.58" width="0.1524" layer="91"/>
+<wire x1="584.2" y1="193.04" x2="584.2" y2="195.58" width="0.1524" layer="91"/>
+<junction x="584.2" y="195.58"/>
 <pinref part="R10" gate="G$1" pin="2"/>
 <pinref part="IC16" gate="G$1" pin="A"/>
 </segment>
+<segment>
+<label x="175.26" y="152.4" size="1.4224" layer="95" font="vector" ratio="12" rot="MR0"/>
+<wire x1="185.42" y1="152.4" x2="175.26" y2="152.4" width="0.1524" layer="91"/>
+<pinref part="IC8" gate="G$1" pin="PB1/ADC9"/>
+</segment>
 </net>
 <net name="UC_OUTPUT1" class="0">
 <segment>
-<label x="523.24" y="241.3" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="505.46" y1="241.3" x2="513.08" y2="241.3" width="0.1524" layer="91"/>
-<wire x1="513.08" y1="241.3" x2="523.24" y2="241.3" width="0.1524" layer="91"/>
-<wire x1="513.08" y1="238.76" x2="513.08" y2="241.3" width="0.1524" layer="91"/>
-<junction x="513.08" y="241.3"/>
+<label x="594.36" y="223.52" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="576.58" y1="223.52" x2="584.2" y2="223.52" width="0.1524" layer="91"/>
+<wire x1="584.2" y1="223.52" x2="594.36" y2="223.52" width="0.1524" layer="91"/>
+<wire x1="584.2" y1="220.98" x2="584.2" y2="223.52" width="0.1524" layer="91"/>
+<junction x="584.2" y="223.52"/>
 <pinref part="R11" gate="G$1" pin="2"/>
 <pinref part="IC15" gate="G$1" pin="A"/>
 </segment>
+<segment>
+<label x="175.26" y="162.56" size="1.4224" layer="95" font="vector" ratio="12" rot="MR0"/>
+<wire x1="185.42" y1="162.56" x2="175.26" y2="162.56" width="0.1524" layer="91"/>
+<pinref part="IC8" gate="G$1" pin="PA7/ADC7/AC0-OUT"/>
+</segment>
 </net>
 <net name="BRAKE" class="0">
 <segment>
 <pinref part="IC17" gate="G$1" pin="Y"/>
-<label x="467.36" y="111.76" size="1.778" layer="95"/>
+<label x="538.48" y="93.98" size="1.778" layer="95"/>
 <pinref part="X10" gate="-3" pin="S"/>
-<wire x1="485.14" y1="111.76" x2="424.18" y2="111.76" width="0.1524" layer="91"/>
+<wire x1="556.26" y1="93.98" x2="495.3" y2="93.98" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="ENDSTOP" class="0">
 <segment>
 <pinref part="IC18" gate="G$1" pin="A"/>
-<label x="472.44" y="76.2" size="1.778" layer="95"/>
-<wire x1="485.14" y1="76.2" x2="459.74" y2="76.2" width="0.1524" layer="91"/>
+<label x="543.56" y="58.42" size="1.778" layer="95"/>
+<wire x1="556.26" y1="58.42" x2="530.86" y2="58.42" width="0.1524" layer="91"/>
 <pinref part="X10" gate="-2" pin="S"/>
-<wire x1="459.74" y1="76.2" x2="459.74" y2="109.22" width="0.1524" layer="91"/>
-<wire x1="459.74" y1="109.22" x2="424.18" y2="109.22" width="0.1524" layer="91"/>
+<wire x1="530.86" y1="58.42" x2="530.86" y2="91.44" width="0.1524" layer="91"/>
+<wire x1="530.86" y1="91.44" x2="495.3" y2="91.44" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="UC_BRAKE" class="0">
 <segment>
-<label x="523.24" y="111.76" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="505.46" y1="111.76" x2="513.08" y2="111.76" width="0.1524" layer="91"/>
-<wire x1="513.08" y1="111.76" x2="523.24" y2="111.76" width="0.1524" layer="91"/>
-<wire x1="513.08" y1="109.22" x2="513.08" y2="111.76" width="0.1524" layer="91"/>
-<junction x="513.08" y="111.76"/>
+<label x="594.36" y="93.98" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="576.58" y1="93.98" x2="584.2" y2="93.98" width="0.1524" layer="91"/>
+<wire x1="584.2" y1="93.98" x2="594.36" y2="93.98" width="0.1524" layer="91"/>
+<wire x1="584.2" y1="91.44" x2="584.2" y2="93.98" width="0.1524" layer="91"/>
+<junction x="584.2" y="93.98"/>
 <pinref part="R14" gate="G$1" pin="2"/>
 <pinref part="IC17" gate="G$1" pin="A"/>
 </segment>
+<segment>
+<label x="175.26" y="147.32" size="1.4224" layer="95" font="vector" ratio="12" rot="MR0"/>
+<wire x1="185.42" y1="147.32" x2="175.26" y2="147.32" width="0.1524" layer="91"/>
+<pinref part="IC8" gate="G$1" pin="PB3/ADC11/DAC1"/>
+</segment>
 </net>
 <net name="UC_ENDSTOP" class="0">
 <segment>
-<label x="520.7" y="76.2" size="1.4224" layer="95" font="vector" ratio="12"/>
+<label x="591.82" y="58.42" size="1.4224" layer="95" font="vector" ratio="12"/>
 <pinref part="IC18" gate="G$1" pin="Y"/>
-<wire x1="505.46" y1="76.2" x2="520.7" y2="76.2" width="0.1524" layer="91"/>
+<wire x1="576.58" y1="58.42" x2="591.82" y2="58.42" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="IC8" gate="G$1" pin="PC7/SCK/TXD1/CLKO/EVO"/>
@@ -4723,8 +4743,8 @@ Rotary Joint = H1 module</text>
 </net>
 <net name="UC_INPUT1" class="0">
 <segment>
-<label x="518.16" y="175.26" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="505.46" y1="175.26" x2="518.16" y2="175.26" width="0.1524" layer="91"/>
+<label x="589.28" y="157.48" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="576.58" y1="157.48" x2="589.28" y2="157.48" width="0.1524" layer="91"/>
 <pinref part="IC14" gate="G$1" pin="Y"/>
 </segment>
 <segment>
@@ -4740,28 +4760,28 @@ Rotary Joint = H1 module</text>
 <label x="251.46" y="167.64" size="1.4224" layer="95" font="vector" ratio="12"/>
 </segment>
 <segment>
-<label x="520.7" y="142.24" size="1.4224" layer="95" font="vector" ratio="12"/>
+<label x="591.82" y="124.46" size="1.4224" layer="95" font="vector" ratio="12"/>
 <pinref part="IC13" gate="G$1" pin="Y"/>
-<wire x1="505.46" y1="142.24" x2="520.7" y2="142.24" width="0.1524" layer="91"/>
+<wire x1="576.58" y1="124.46" x2="591.82" y2="124.46" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="IN0" class="0">
 <segment>
-<label x="429.26" y="149.86" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="482.6" y1="149.86" x2="424.18" y2="149.86" width="0.1524" layer="91"/>
+<label x="500.38" y="132.08" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="553.72" y1="132.08" x2="495.3" y2="132.08" width="0.1524" layer="91"/>
 <pinref part="X9" gate="-2" pin="S"/>
-<wire x1="485.14" y1="142.24" x2="482.6" y2="142.24" width="0.1524" layer="91"/>
-<wire x1="482.6" y1="142.24" x2="482.6" y2="149.86" width="0.1524" layer="91"/>
+<wire x1="556.26" y1="124.46" x2="553.72" y2="124.46" width="0.1524" layer="91"/>
+<wire x1="553.72" y1="124.46" x2="553.72" y2="132.08" width="0.1524" layer="91"/>
 <pinref part="IC13" gate="G$1" pin="A"/>
 </segment>
 </net>
 <net name="IN1" class="0">
 <segment>
-<label x="429.26" y="157.48" size="1.4224" layer="95" font="vector" ratio="12"/>
-<wire x1="482.6" y1="157.48" x2="424.18" y2="157.48" width="0.1524" layer="91"/>
+<label x="500.38" y="139.7" size="1.4224" layer="95" font="vector" ratio="12"/>
+<wire x1="553.72" y1="139.7" x2="495.3" y2="139.7" width="0.1524" layer="91"/>
 <pinref part="X9" gate="-3" pin="S"/>
-<wire x1="482.6" y1="157.48" x2="482.6" y2="175.26" width="0.1524" layer="91"/>
-<wire x1="482.6" y1="175.26" x2="485.14" y2="175.26" width="0.1524" layer="91"/>
+<wire x1="553.72" y1="139.7" x2="553.72" y2="157.48" width="0.1524" layer="91"/>
+<wire x1="553.72" y1="157.48" x2="556.26" y2="157.48" width="0.1524" layer="91"/>
 <pinref part="IC14" gate="G$1" pin="A"/>
 </segment>
 </net>