diff --git a/Hardware/OpenMowerMainboard/GPS.kicad_sch b/Hardware/OpenMowerMainboard/GPS.kicad_sch
index 13258d2b..e8d64f69 100644
--- a/Hardware/OpenMowerMainboard/GPS.kicad_sch
+++ b/Hardware/OpenMowerMainboard/GPS.kicad_sch
@@ -465,19 +465,25 @@
       )
     )
     (symbol "MyModules:Arduino_Uno_Shield" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
-      (property "Reference" "XA" (id 0) (at 2.54 0 90)
+      (property "Reference" "XA1" (id 0) (at 0 35.56 0)
         (effects (font (size 1.524 1.524)))
       )
-      (property "Value" "Arduino_Uno_Shield" (id 1) (at -2.54 0 90)
+      (property "Value" "Arduino_Uno_Shield" (id 1) (at 0 31.75 0)
         (effects (font (size 1.524 1.524)))
       )
-      (property "Footprint" "" (id 2) (at 45.72 95.25 0)
+      (property "Footprint" "MyModules:Arduino_Uno_Shield" (id 2) (at 45.72 95.25 0)
         (effects (font (size 1.524 1.524)) hide)
       )
       (property "Datasheet" "" (id 3) (at 45.72 95.25 0)
         (effects (font (size 1.524 1.524)) hide)
       )
-      (property "ki_fp_filters" "Arduino_Uno_Shield" (id 4) (at 0 0 0)
+      (property "Config" "do not place" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "DNP" "Y" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "Arduino_Uno_Shield" (id 6) (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
       (symbol "Arduino_Uno_Shield_0_0"
@@ -731,7 +737,7 @@
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "GND3" (effects (font (size 1.27 1.27))))
         )
-        (pin output line (at 33.02 -26.67 180) (length 7.62)
+        (pin power_in line (at 33.02 -26.67 180) (length 7.62)
           (name "IOREF" (effects (font (size 1.27 1.27))))
           (number "IORF" (effects (font (size 1.27 1.27))))
         )
@@ -899,6 +905,7 @@
     )
   )
 
+
   (junction (at 118.11 96.52) (diameter 0) (color 0 0 0 0)
     (uuid b8b15b51-8345-4a1d-8ecf-04fc15b9e450)
   )
@@ -928,6 +935,38 @@
   (no_connect (at 187.96 58.42) (uuid 308cb55e-95a7-46e2-89df-43a5fdb258e2))
   (no_connect (at 187.96 60.96) (uuid 308cb55e-95a7-46e2-89df-43a5fdb258e3))
   (no_connect (at 187.96 101.6) (uuid 308cb55e-95a7-46e2-89df-43a5fdb258e4))
+  (no_connect (at 210.82 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b03))
+  (no_connect (at 210.82 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b04))
+  (no_connect (at 210.82 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b05))
+  (no_connect (at 210.82 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b06))
+  (no_connect (at 210.82 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b07))
+  (no_connect (at 210.82 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b08))
+  (no_connect (at 221.615 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b09))
+  (no_connect (at 221.615 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0a))
+  (no_connect (at 221.615 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0b))
+  (no_connect (at 221.615 86.36) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0c))
+  (no_connect (at 221.615 88.9) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0d))
+  (no_connect (at 232.41 88.9) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0e))
+  (no_connect (at 232.41 86.36) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0f))
+  (no_connect (at 232.41 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b10))
+  (no_connect (at 232.41 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b11))
+  (no_connect (at 242.57 91.44) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b12))
+  (no_connect (at 242.57 93.98) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b13))
+  (no_connect (at 221.615 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b14))
+  (no_connect (at 221.615 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b15))
+  (no_connect (at 232.41 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b16))
+  (no_connect (at 221.615 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b17))
+  (no_connect (at 232.41 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b18))
+  (no_connect (at 232.41 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b19))
+  (no_connect (at 232.41 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1a))
+  (no_connect (at 242.57 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1b))
+  (no_connect (at 242.57 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1c))
+  (no_connect (at 242.57 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1d))
+  (no_connect (at 242.57 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1e))
+  (no_connect (at 242.57 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1f))
+  (no_connect (at 242.57 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b20))
+  (no_connect (at 242.57 86.36) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b21))
+  (no_connect (at 242.57 88.9) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b22))
   (no_connect (at 121.92 99.06) (uuid b652d8e8-4f9a-4db4-b00b-80a04a5eea9d))
   (no_connect (at 121.92 104.14) (uuid b652d8e8-4f9a-4db4-b00b-80a04a5eea9e))
 
@@ -968,9 +1007,10 @@
     (uuid f34bd975-248c-4880-826a-51cd0091b014)
   )
 
-  (label "GPS_POWER" (at 99.06 101.6 0)
+  (text "TODO: (here and other similar places)\nAdded NC to all pins \nbut this is probably wrong\nworkaround"
+    (at 210.185 63.5 0)
     (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid 0e22ab5d-776d-432c-aba2-ef98f4ab60c9)
+    (uuid 0aebd4b1-26c9-4c64-882a-2c16bdb0d4fa)
   )
 
   (hierarchical_label "TXD" (shape output) (at 121.92 50.8 180)
@@ -1014,28 +1054,28 @@
     (pin "1" (uuid c7ec9769-4fef-44cb-946c-62be59a54b29))
   )
 
-  (symbol (lib_id "Connector:Conn_01x10_Female") (at 227.33 81.28 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x10_Female") (at 247.65 81.28 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid 649164b7-9eb9-4189-839a-6dcef63f68c2)
-    (property "Reference" "J50" (id 0) (at 228.0412 81.6415 0)
+    (property "Reference" "J50" (id 0) (at 248.92 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x10_Female" (id 1) (at 228.0412 84.4166 0)
+    (property "Value" "Conn_01x10_Female" (id 1) (at 229.235 96.52 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 227.33 81.28 0)
+    (property "Footprint" "" (id 2) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 227.33 81.28 0)
+    (property "Datasheet" "~" (id 3) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C35445" (id 4) (at 227.33 81.28 0)
+    (property "LCSC" "C35445" (id 4) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C35445" (id 5) (at 227.33 81.28 0)
+    (property "Part Number" "C35445" (id 5) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x10-.1F" (id 6) (at 227.33 81.28 0)
+    (property "Stock_PN" "J-TH-1x10-.1F" (id 6) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 13a9936b-943c-4aa4-b3eb-21470a0b8d0a))
@@ -1066,28 +1106,28 @@
     (pin "1" (uuid c3d92efa-83e8-4046-af4a-ce6fe6729a30))
   )
 
-  (symbol (lib_id "Connector:Conn_01x08_Female") (at 219.71 82.55 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x08_Female") (at 237.49 78.74 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid 6f651fde-880e-4ecf-90c1-1b78a286d743)
-    (property "Reference" "J49" (id 0) (at 220.4212 82.9115 0)
+    (property "Reference" "J49" (id 0) (at 238.125 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x08_Female" (id 1) (at 220.4212 85.6866 0)
+    (property "Value" "Conn_01x08_Female" (id 1) (at 219.075 93.345 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 219.71 82.55 0)
+    (property "Footprint" "" (id 2) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 219.71 82.55 0)
+    (property "Datasheet" "~" (id 3) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C27438" (id 4) (at 219.71 82.55 0)
+    (property "LCSC" "C27438" (id 4) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C27438" (id 5) (at 219.71 82.55 0)
+    (property "Part Number" "C27438" (id 5) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 219.71 82.55 0)
+    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid e9a2ff4d-56e8-4b37-be6f-bab16943d949))
@@ -1100,28 +1140,28 @@
     (pin "8" (uuid c21dd749-e5a2-41dd-904a-5cedd225ffe9))
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 207.01 76.2 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 215.9 76.2 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid 8ad4c26e-7799-43b5-bce7-e03b56392be4)
-    (property "Reference" "J47" (id 0) (at 207.7212 76.5615 0)
+    (property "Reference" "J47" (id 0) (at 217.17 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 207.7212 79.3366 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 196.85 85.725 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 207.01 76.2 0)
+    (property "Footprint" "" (id 2) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 207.01 76.2 0)
+    (property "Datasheet" "~" (id 3) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 207.01 76.2 0)
+    (property "LCSC" "C40877" (id 4) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 207.01 76.2 0)
+    (property "Part Number" "C40877" (id 5) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 207.01 76.2 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 7995e523-012f-4e1e-8697-85e9be4682cc))
@@ -1132,28 +1172,28 @@
     (pin "6" (uuid 22922ee9-66b2-4367-8e70-65eb0368f0f5))
   )
 
-  (symbol (lib_id "Connector:Conn_01x08_Female") (at 215.9 78.74 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x08_Female") (at 226.695 78.74 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid d240376e-d4dc-4178-9a18-103da8255742)
-    (property "Reference" "J48" (id 0) (at 216.6112 79.1015 0)
+    (property "Reference" "J48" (id 0) (at 227.965 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x08_Female" (id 1) (at 216.6112 81.8766 0)
+    (property "Value" "Conn_01x08_Female" (id 1) (at 208.28 90.805 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 215.9 78.74 0)
+    (property "Footprint" "" (id 2) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 215.9 78.74 0)
+    (property "Datasheet" "~" (id 3) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C27438" (id 4) (at 215.9 78.74 0)
+    (property "LCSC" "C27438" (id 4) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C27438" (id 5) (at 215.9 78.74 0)
+    (property "Part Number" "C27438" (id 5) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 215.9 78.74 0)
+    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid f9995274-631f-4d7b-8fea-d47ca7287dc2))
diff --git a/Hardware/OpenMowerMainboard/LEVEL_SHIFTER.kicad_sch b/Hardware/OpenMowerMainboard/LEVEL_SHIFTER.kicad_sch
index 180176b2..c62e6755 100644
--- a/Hardware/OpenMowerMainboard/LEVEL_SHIFTER.kicad_sch
+++ b/Hardware/OpenMowerMainboard/LEVEL_SHIFTER.kicad_sch
@@ -270,10 +270,10 @@
     (uuid c10ace36-a93c-4c08-ac75-059ef9e1f71c)
   )
 
-  (symbol (lib_id "Transistor_FET:BSS138") (at 114.3 76.2 270)
+  (symbol (lib_id "Transistor_FET:BSS138") (at 114.3 76.2 270) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-0000613371aa)
-    (property "Reference" "Q16" (id 0) (at 114.3 82.5246 90))
+    (property "Reference" "Q13" (id 0) (at 114.3 82.5246 90))
     (property "Value" "BSS138" (id 1) (at 114.3 84.836 90))
     (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (id 2) (at 112.395 81.28 0)
       (effects (font (size 1.27 1.27) italic) (justify left) hide)
@@ -298,10 +298,10 @@
     (pin "3" (uuid 534aa771-e477-4e65-8cbc-9e6cecac9269))
   )
 
-  (symbol (lib_id "Device:R") (at 102.87 69.85 0)
+  (symbol (lib_id "Device:R") (at 102.87 69.85 0) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-0000613371b4)
-    (property "Reference" "R19" (id 0) (at 104.648 68.6816 0)
+    (property "Reference" "R3" (id 0) (at 104.648 68.6816 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Value" "1k" (id 1) (at 104.648 70.993 0)
@@ -326,10 +326,10 @@
     (pin "2" (uuid b9ddad7f-5981-451d-b103-cbc807f6c9a4))
   )
 
-  (symbol (lib_id "Device:R") (at 120.65 69.85 0)
+  (symbol (lib_id "Device:R") (at 120.65 69.85 0) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-0000613371be)
-    (property "Reference" "R20" (id 0) (at 122.428 68.6816 0)
+    (property "Reference" "R6" (id 0) (at 122.428 68.6816 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Value" "1k" (id 1) (at 122.428 70.993 0)
diff --git a/Hardware/OpenMowerMainboard/MyModules.pretty/.gitignore b/Hardware/OpenMowerMainboard/MyModules.pretty/.gitignore
new file mode 100644
index 00000000..8615c566
--- /dev/null
+++ b/Hardware/OpenMowerMainboard/MyModules.pretty/.gitignore
@@ -0,0 +1,2 @@
+# Available at GrabCAD: https://grabcad.com/library/mpu-9250-1
+MPU-9250.stp
diff --git a/Hardware/OpenMowerMainboard/MyModules.pretty/LM2596S_MODULE.kicad_mod b/Hardware/OpenMowerMainboard/MyModules.pretty/LM2596S_MODULE.kicad_mod
index 7f4f49a7..10eaf713 100644
--- a/Hardware/OpenMowerMainboard/MyModules.pretty/LM2596S_MODULE.kicad_mod
+++ b/Hardware/OpenMowerMainboard/MyModules.pretty/LM2596S_MODULE.kicad_mod
@@ -35,22 +35,22 @@
     (scale (xyz 1 1 1))
     (rotate (xyz 0 0 0))
   )
-  (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+  (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
     (offset (xyz 1 1.5 0))
     (scale (xyz 1 1 1))
     (rotate (xyz 0 0 0))
   )
-  (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+  (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
     (offset (xyz 1 20 0))
     (scale (xyz 1 1 1))
     (rotate (xyz 0 0 0))
   )
-  (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+  (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
     (offset (xyz 42 1.5 0))
     (scale (xyz 1 1 1))
     (rotate (xyz 0 0 0))
   )
-  (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+  (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
     (offset (xyz 42 20 0))
     (scale (xyz 1 1 1))
     (rotate (xyz 0 0 0))
diff --git a/Hardware/OpenMowerMainboard/MyModules.pretty/WT901.kicad_mod b/Hardware/OpenMowerMainboard/MyModules.pretty/WT901.kicad_mod
new file mode 100644
index 00000000..08fb1a81
--- /dev/null
+++ b/Hardware/OpenMowerMainboard/MyModules.pretty/WT901.kicad_mod
@@ -0,0 +1,41 @@
+(footprint "WT901" (version 20211014) (generator pcbnew)
+  (layer "F.Cu")
+  (tedit 0)
+  (property "Sheetfile" "imu.kicad_sch")
+  (property "Sheetname" "IMU")
+  (autoplace_cost90 10)
+  (autoplace_cost180 10)
+  (attr through_hole exclude_from_pos_files)
+  (fp_text reference "J51" (at -8.382 -1.62 90) (layer "F.SilkS")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 42287e2f-cd28-48db-8040-8a3c60c3e22f)
+  )
+  (fp_text value "Conn_01x06_Female" (at 0 0) (layer "F.Fab")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 67841901-d5d6-47a2-bf1a-2666ee09d1aa)
+  )
+  (fp_line (start -7.2 -7.25) (end 7.2 -7.25) (layer "F.CrtYd") (width 0.05) (tstamp 0e1e6983-14c4-4660-a956-29cd0371ac3f))
+  (fp_line (start -7.2 7.25) (end -7.2 -7.25) (layer "F.CrtYd") (width 0.05) (tstamp 7722fa4b-1262-492d-9e15-d7b07d5ebde0))
+  (fp_line (start 7.2 -7.25) (end 7.2 7.25) (layer "F.CrtYd") (width 0.05) (tstamp b19a6244-322c-4737-9aa7-821b5c426fc2))
+  (fp_line (start 7.2 7.25) (end -7.2 7.25) (layer "F.CrtYd") (width 0.05) (tstamp ca68cead-91db-4d29-aa24-b3b5bd0eaab2))
+  (fp_line (start -7.45 -2.5) (end -7.09 -2.5) (layer "F.Fab") (width 0.12) (tstamp 00efc7e4-8a0a-488d-9df6-7ab780935590))
+  (fp_line (start -7.09 2.499999) (end -7.45 2.499999) (layer "F.Fab") (width 0.12) (tstamp 48f0eb67-09a3-4696-91e6-d3b761f0a34e))
+  (fp_line (start -7.09 -2.5) (end -7.09 2.499999) (layer "F.Fab") (width 0.12) (tstamp 5ceaa511-36ab-4318-af05-e22f6240af91))
+  (fp_line (start 7.45 -7.5) (end -7.45 -7.5) (layer "F.Fab") (width 0.12) (tstamp 786e59c4-4ae6-4c88-9f13-bad70d5a1c98))
+  (fp_line (start -7.45 -7.5) (end -7.45 -2.5) (layer "F.Fab") (width 0.12) (tstamp 9074f5d7-aaff-4c1a-a3ea-d3ee4e2103f4))
+  (fp_line (start -7.45 2.499999) (end -7.45 7.5) (layer "F.Fab") (width 0.12) (tstamp 9f385574-248d-49bb-8866-d358753413de))
+  (fp_line (start -7.45 7.5) (end 7.45 7.5) (layer "F.Fab") (width 0.12) (tstamp ae159030-0423-4a69-97b5-5edcede41312))
+  (fp_line (start 7.45 7.5) (end 7.45 -7.5) (layer "F.Fab") (width 0.12) (tstamp da04f3f0-c5d1-4887-922b-4ea4a662d726))
+  (pad "1" thru_hole oval (at -6.35 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp a502cd57-bd3e-4366-9ada-61598eb59137))
+  (pad "2" thru_hole oval (at -3.81 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp 22bb17ce-2921-4916-a9c6-0854019c8ede))
+  (pad "3" thru_hole oval (at -1.27 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp 6b410de5-898f-4eab-923a-3bceab206172))
+  (pad "4" thru_hole oval (at 1.27 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp 757ce66e-3068-45f1-8d0d-862b9134c2a6))
+  (pad "5" thru_hole oval (at 3.81 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp ced500e8-7eb9-459d-b3c5-2c5724afe055))
+  (pad "6" thru_hole oval (at 6.35 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp a489be82-9da0-4d48-b9c9-d0ab64ffe1e9))
+  (pad "7" connect oval (at 6.35 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 3d131b53-9398-409c-a184-fe4cbaf51d7f))
+  (pad "8" connect oval (at 3.81 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 78f2ac9f-55b7-4523-a313-06c650d23b00))
+  (pad "9" connect oval (at 1.27 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 9cc99731-3bb1-474f-9855-89aad5c596fb))
+  (pad "10" connect oval (at -1.27 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 38866133-f31b-4db2-b7c4-22b69fe34807))
+  (pad "11" connect oval (at -3.81 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 8cbb86f1-a348-4391-9f33-902341e0b6db))
+  (pad "12" connect oval (at -6.35 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp b7917eef-742d-4826-a0c8-1903631be269))
+)
diff --git a/Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml b/Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml
index 30290ec9..5161f2f3 100644
--- a/Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml
+++ b/Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml
@@ -2,8 +2,14 @@ kibot:
   version: 1
 
 preflight:
-  run_erc: true
   run_drc: true
+  run_erc: true
+
+  filters:
+    - filter: 'SIP32509DT has 2 VOUTs'
+      error: 'pin_to_pin'
+      regex: 'Symbol U3'
+
   set_text_variables:
     - name: 'git_version'
       # Replace n.m.i with n.m."x"
@@ -105,6 +111,17 @@ outputs:
       format: 'png'
       dnf_filter: anything_in_Config
 
+  - name: 'render_3d'
+    comment: "Exports the image generated by KiCad's 3D viewer."
+    type: 'render_3d'
+    dir: 'release'
+    options:
+      rotate_x: 1
+      rotate_y: 1
+      ray_tracing: true
+      wait_render: -600
+      zoom: 2
+
   - name: 'navigate_results'
     comment: 'Generates a web page to navigate the generated outputs'
     type: 'navigate_results'
diff --git a/Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_pcb b/Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_pcb
index 4f2a71fe..0d0cbe91 100644
--- a/Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_pcb
+++ b/Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_pcb
@@ -79,6 +79,8 @@
     )
   )
 
+  (property "git_version" "WIP")
+
   (net 0 "")
   (net 1 "GND")
   (net 2 "+5V")
@@ -217,15 +219,15 @@
   (net 135 "/ESCs/MR_TX")
   (net 136 "/ESCs/MR_RX")
   (net 137 "/IMU/SCK")
-  (net 138 "/pico/SOUND_CLK")
-  (net 139 "/pico/SOUND_DATA")
+  (net 138 "/IMU/TX")
+  (net 139 "/pico/SOUND_TX")
   (net 140 "/pico/SOUND_BUSY")
   (net 141 "unconnected-(U11-Pad35)")
   (net 142 "unconnected-(U11-Pad37)")
   (net 143 "unconnected-(U11-Pad40)")
   (net 144 "/IMU/MOSI")
   (net 145 "/IMU/MISO")
-  (net 146 "/IMU/~{CS}")
+  (net 146 "/pico/SOUND_RX")
   (net 147 "unconnected-(J20-Pad5)")
   (net 148 "unconnected-(J20-Pad6)")
   (net 149 "unconnected-(J20-Pad8)")
@@ -282,7 +284,7 @@
   (net 200 "/RobotConnectors/MosfetSwitch/VOUT")
   (net 201 "Net-(Q5-Pad1)")
   (net 202 "Net-(Q5-Pad3)")
-  (net 203 "/RobotConnectors/Enable_Charge")
+  (net 203 "/RobotConnectors/ENABLE_CHARGE")
   (net 204 "/RobotConnectors/V_BATTERY")
   (net 205 "Net-(IC3-Pad17)")
   (net 206 "Net-(J16-Pad2)")
@@ -303,6 +305,8 @@
   (net 221 "Net-(U11-Pad14)")
   (net 222 "Net-(JP6-Pad2)")
   (net 223 "/ESCs/ESC_SHUTDOWN")
+  (net 224 "unconnected-(WT901-Pad1)")
+  (net 225 "unconnected-(WT901-Pad6)")
 
   (footprint "Connector_Molex:Molex_Mini-Fit_Jr_5566-22A_2x11_P4.20mm_Vertical" locked (layer "F.Cu")
     (tedit 5B781992) (tstamp 00000000-0000-0000-0000-00006100adca)
@@ -507,7 +511,7 @@
       (net 114 "/ESCs/MR_PHASE_U") (pinfunction "Pin_21") (pintype "passive") (tstamp 62c6f8ce-78e5-4ab3-bb01-2fcb0df87aa6))
     (pad "22" thru_hole oval locked (at 42 5.5) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_22") (pintype "passive") (tstamp 47890384-6eaa-420c-b9ae-e68a6a7f17b5))
-    (model "${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_Mini-Fit_Jr_5566-22A_2x11_P4.20mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_Molex.3dshapes/Molex_Mini-Fit_Jr_5566-22A_2x11_P4.20mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -610,7 +614,7 @@
     (pad "3" thru_hole oval locked (at 8.4 0) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
       (net 81 "Net-(J2-Pad1)") (pinfunction "Pin_3") (pintype "passive") (tstamp cf45f134-35c0-4b31-91e7-048e45f34bf8))
     (pad "4" thru_hole oval locked (at 12.6 0) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
-      (net 5 "unconnected-(J2-Pad4)") (pinfunction "Pin_4") (pintype "passive") (tstamp fa574bf3-ac2e-449d-91be-bcb1e35bdaba))
+      (net 5 "unconnected-(J2-Pad4)") (pinfunction "Pin_4") (pintype "passive+no_connect") (tstamp fa574bf3-ac2e-449d-91be-bcb1e35bdaba))
     (pad "5" thru_hole oval locked (at 0 5.5) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
       (net 200 "/RobotConnectors/MosfetSwitch/VOUT") (pinfunction "Pin_5") (pintype "passive") (tstamp 6e21d8a8-05db-450e-863d-764ba51b5b58))
     (pad "6" thru_hole oval locked (at 4.2 5.5) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
@@ -618,8 +622,8 @@
     (pad "7" thru_hole oval locked (at 8.4 5.5) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
       (net 152 "Net-(F4-Pad1)") (pinfunction "Pin_7") (pintype "passive") (tstamp 6e416a78-df14-48ee-9842-e6e24081191e))
     (pad "8" thru_hole oval locked (at 12.6 5.5) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
-      (net 7 "unconnected-(J2-Pad8)") (pinfunction "Pin_8") (pintype "passive") (tstamp eac540a2-0555-4530-b9cb-9b037a65c0a7))
-    (model "${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_Mini-Fit_Jr_5566-08A_2x04_P4.20mm_Vertical.wrl"
+      (net 7 "unconnected-(J2-Pad8)") (pinfunction "Pin_8") (pintype "passive+no_connect") (tstamp eac540a2-0555-4530-b9cb-9b037a65c0a7))
+    (model "${KICAD6_3DMODEL_DIR}/Connector_Molex.3dshapes/Molex_Mini-Fit_Jr_5566-08A_2x04_P4.20mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -689,7 +693,7 @@
       (net 1 "GND") (pinfunction "Pin_1") (pintype "passive") (tstamp 4375ab9a-cebb-448a-bb75-1fa4fe977171))
     (pad "2" thru_hole oval locked (at 0 5.5) (size 2.7 3.3) (drill 1.4) (layers *.Cu *.Mask)
       (net 151 "Net-(F2-Pad2)") (pinfunction "Pin_2") (pintype "passive") (tstamp 9475edbb-286b-4bed-b5f0-0b68a18bdc52))
-    (model "${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_Mini-Fit_Jr_5566-02A_2x01_P4.20mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_Molex.3dshapes/Molex_Mini-Fit_Jr_5566-02A_2x01_P4.20mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -760,7 +764,7 @@
       (net 49 "/RobotConnectors/HALL_SWITCH_3_5V") (pinfunction "Pin_2") (pintype "passive") (tstamp f40d350f-0d3e-4f8a-b004-d950f2f8f1ba))
     (pad "3" thru_hole oval locked (at 5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_3") (pintype "passive") (tstamp aa2ea573-3f20-43c1-aa99-1f9c6031a9aa))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -831,7 +835,7 @@
       (net 50 "/RobotConnectors/HALL_SWITCH_4_5V") (pinfunction "Pin_2") (pintype "passive") (tstamp abe07c9a-17c3-43b5-b7a6-ae867ac27ea7))
     (pad "3" thru_hole oval locked (at 5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_3") (pintype "passive") (tstamp 730b670c-9bcf-4dcd-9a8d-fcaa61fb0955))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -904,7 +908,7 @@
       (net 38 "/RobotConnectors/USS_1_ECHO_5V") (pinfunction "Pin_3") (pintype "passive") (tstamp f4a1ab68-998b-43e3-aa33-40b58210bc99))
     (pad "4" thru_hole oval locked (at 7.5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_4") (pintype "passive") (tstamp 12fa3c3f-3d14-451a-a6a8-884fd1b32fa7))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -977,7 +981,7 @@
       (net 40 "/RobotConnectors/USS_2_ECHO_5V") (pinfunction "Pin_3") (pintype "passive") (tstamp de370984-7922-4327-a0ba-7cd613995df4))
     (pad "4" thru_hole oval locked (at 7.5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_4") (pintype "passive") (tstamp b794d099-f823-4d35-9755-ca1c45247ee9))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -1050,7 +1054,7 @@
       (net 42 "/RobotConnectors/USS_3_ECHO_5V") (pinfunction "Pin_3") (pintype "passive") (tstamp fad4c712-0a2e-465d-a9f8-83d26bd66e37))
     (pad "4" thru_hole oval locked (at 7.5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_4") (pintype "passive") (tstamp e2b24e25-1a0d-434a-876b-c595b47d80d2))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -1123,7 +1127,7 @@
       (net 44 "/RobotConnectors/USS_4_ECHO_5V") (pinfunction "Pin_3") (pintype "passive") (tstamp a0e7a81b-2259-4f8d-8368-ba75f2004714))
     (pad "4" thru_hole oval locked (at 7.5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_4") (pintype "passive") (tstamp 775e8983-a723-43c5-bf00-61681f0840f3))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -1196,7 +1200,7 @@
       (net 46 "/RobotConnectors/USS_5_ECHO_5V") (pinfunction "Pin_3") (pintype "passive") (tstamp a599509f-fbb9-4db4-9adf-9e96bab1138d))
     (pad "4" thru_hole oval locked (at 7.5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_4") (pintype "passive") (tstamp 616287d9-a51f-498c-8b91-be46a0aa3a7f))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -1267,7 +1271,7 @@
       (net 48 "/RobotConnectors/HALL_SWITCH_2_5V") (pinfunction "Pin_2") (pintype "passive") (tstamp 7a4ce4b3-518a-4819-b8b2-5127b3347c64))
     (pad "3" thru_hole oval locked (at 5 0) (size 1.7 1.95) (drill 0.95) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "Pin_3") (pintype "passive") (tstamp a9b3f6e4-7a6d-4ae8-ad28-3d8458e0ca1a))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical.wrl"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -1276,25 +1280,24 @@
 
   (footprint "Connector_JST:JST_PH_B5B-PH-K_1x05_P2.00mm_Vertical" (layer "F.Cu")
     (tedit 5B7745C2) (tstamp 00000000-0000-0000-0000-000061097932)
-    (at 38.2 34.2)
+    (at 46.196 36.195 180)
     (descr "JST PH series connector, B5B-PH-K (http://www.jst-mfg.com/product/pdf/eng/ePH.pdf), generated with kicad-footprint-generator")
     (tags "connector JST PH side entry")
-    (property "Digikey" "455-1707-ND")
-    (property "Part Number" "	B5B-PH-K-S(LF)(SN)")
+    (property "LCSC" "C442247")
     (property "Sheetfile" "RobotConnectors.kicad_sch")
     (property "Sheetname" "RobotConnectors")
     (property "Stock_PN" "J-JST-PH-1x5")
     (path "/00000000-0000-0000-0000-000061040c60/00000000-0000-0000-0000-0000612326ab")
     (attr through_hole)
-    (fp_text reference "J10" (at 4 -2.9) (layer "F.SilkS") hide
+    (fp_text reference "J10" (at 4 3.81) (layer "F.SilkS")
       (effects (font (size 1 1) (thickness 0.15)))
       (tstamp 1dfbf353-5b24-4c0f-8322-8fcd514ae75e)
     )
-    (fp_text value "Conn_01x05" (at 4 4) (layer "F.Fab")
+    (fp_text value "Conn_01x05" (at 4 4) (layer "F.Fab") hide
       (effects (font (size 1 1) (thickness 0.15)))
       (tstamp e0c7ddff-8c90-465f-be62-21fb49b059fa)
     )
-    (fp_text user "${REFERENCE}" (at 4 1.5) (layer "F.Fab")
+    (fp_text user "${REFERENCE}" (at -3.969 0.635) (layer "F.Fab")
       (effects (font (size 1 1) (thickness 0.15)))
       (tstamp 13bbfffc-affb-4b43-9eb1-f2ed90a8a919)
     )
@@ -1345,17 +1348,17 @@
     (fp_line (start 9.95 -1.7) (end -1.95 -1.7) (layer "F.Fab") (width 0.1) (tstamp a5c8e189-1ddc-4a66-984b-e0fd1529d346))
     (fp_line (start -1.11 -2.11) (end -2.36 -2.11) (layer "F.Fab") (width 0.1) (tstamp f447e585-df78-4239-b8cb-4653b3837bb1))
     (fp_line (start 9.95 2.8) (end 9.95 -1.7) (layer "F.Fab") (width 0.1) (tstamp fc4ad874-c922-4070-89f9-7262080469d8))
-    (pad "1" thru_hole roundrect locked (at 0 0) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask) (roundrect_rratio 0.2083325)
-      (net 1 "GND") (pinfunction "Pin_1") (pintype "passive") (tstamp 63489ebf-0f52-43a6-a0ab-158b1a7d4988))
-    (pad "2" thru_hole oval locked (at 2 0) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
-      (net 117 "/ESCs/MC_HALL_U") (pinfunction "Pin_2") (pintype "passive") (tstamp 0e249018-17e7-42b3-ae5d-5ebf3ae299ae))
-    (pad "3" thru_hole oval locked (at 4 0) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
+    (pad "1" thru_hole roundrect locked (at 0 0 180) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask) (roundrect_rratio 0.2083325)
+      (net 2 "+5V") (pinfunction "Pin_1") (pintype "passive") (tstamp 63489ebf-0f52-43a6-a0ab-158b1a7d4988))
+    (pad "2" thru_hole oval locked (at 2 0 180) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
+      (net 119 "/ESCs/MC_HALL_W") (pinfunction "Pin_2") (pintype "passive") (tstamp 0e249018-17e7-42b3-ae5d-5ebf3ae299ae))
+    (pad "3" thru_hole oval locked (at 4 0 180) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
       (net 118 "/ESCs/MC_HALL_V") (pinfunction "Pin_3") (pintype "passive") (tstamp 01f82238-6335-48fe-8b0a-6853e227345a))
-    (pad "4" thru_hole oval locked (at 6 0) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
-      (net 119 "/ESCs/MC_HALL_W") (pinfunction "Pin_4") (pintype "passive") (tstamp 7c00778a-4692-4f9b-87d5-2d355077ce1e))
-    (pad "5" thru_hole oval locked (at 8 0) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
-      (net 2 "+5V") (pinfunction "Pin_5") (pintype "passive") (tstamp 71f8d568-0f23-4ff2-8e60-1600ce517a48))
-    (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_PH_B5B-PH-K_1x05_P2.00mm_Vertical.wrl"
+    (pad "4" thru_hole oval locked (at 6 0 180) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
+      (net 117 "/ESCs/MC_HALL_U") (pinfunction "Pin_4") (pintype "passive") (tstamp 7c00778a-4692-4f9b-87d5-2d355077ce1e))
+    (pad "5" thru_hole oval locked (at 8 0 180) (size 1.2 1.75) (drill 0.75) (layers *.Cu *.Mask)
+      (net 1 "GND") (pinfunction "Pin_5") (pintype "passive") (tstamp 71f8d568-0f23-4ff2-8e60-1600ce517a48))
+    (model "${KICAD6_3DMODEL_DIR}/Connector_JST.3dshapes/JST_PH_B5B-PH-K_1x05_P2.00mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -1619,6 +1622,7 @@
     (descr "Diode SMA (DO-214AC) Handsoldering")
     (tags "Diode SMA (DO-214AC) Handsoldering")
     (property "Digikey" "3757-SB54AFC_R1_00001CT-ND")
+    (property "LCSC" "C113939")
     (property "Part Number" "SB54AFC_R1_00001")
     (property "Sheetfile" "RobotConnectors.kicad_sch")
     (property "Sheetname" "RobotConnectors")
@@ -2146,7 +2150,7 @@
     (fp_line (start 1 0.625) (end -1 0.625) (layer "F.Fab") (width 0.1) (tstamp 8f4ef0b9-f29d-46c7-9734-ada2805ed68f))
     (fp_line (start 1 -0.625) (end 1 0.625) (layer "F.Fab") (width 0.1) (tstamp e47a4644-2ae1-4ead-b07f-c9d4f37cbb8f))
     (pad "1" smd roundrect (at -1 0) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
-      (net 203 "/RobotConnectors/Enable_Charge") (pintype "passive") (tstamp 06e1c0a4-605c-4b63-b14c-d69fcb866d1d))
+      (net 203 "/RobotConnectors/ENABLE_CHARGE") (pintype "passive") (tstamp 06e1c0a4-605c-4b63-b14c-d69fcb866d1d))
     (pad "2" smd roundrect (at 1 0) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
       (net 1 "GND") (pintype "passive") (tstamp 3abbc070-c8ec-443b-af0a-da8480a602c6))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl"
@@ -2515,7 +2519,7 @@
     (tedit 0) (tstamp 1509b6e6-a266-4bd3-bef6-1700f12ad930)
     (at 132.1 161.2 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
-    (fp_text reference "MH6" (at 0 0 90) (layer "F.SilkS")
+    (fp_text reference "MH6" (at 0 0 90) (layer "F.Fab")
       (effects (font (size 1.27 1.27) (thickness 0.15)))
       (tstamp 42ac3088-9453-4c74-ad7f-9a2bd627cf97)
     )
@@ -2533,6 +2537,7 @@
     (descr "SOT, 5 Pin (https://www.jedec.org/sites/default/files/docs/Mo-178c.PDF variant AA), generated with kicad-footprint-generator ipc_gullwing_generator.py")
     (tags "SOT TO_SOT_SMD")
     (property "Digikey" "296-SN74LV1T34DBVRG4CT-ND")
+    (property "LCSC" "C1848228")
     (property "Part Number" "SN74LV1T34DBVRG4")
     (property "Sheetfile" "pico.kicad_sch")
     (property "Sheetname" "pico")
@@ -2656,8 +2661,9 @@
     (at 123.675 55.7)
     (descr "Fuseholder, 5x20, open, horizontal, Type-I, Inline,")
     (tags "Fuseholder 5x20 open horizontal Type-I Inline Sicherungshalter offen ")
-    (property "Digikey" "FC-202-24-ND")
-    (property "Part Number" "FC-202-24")
+    (property "Description" "You will need a pair of holders")
+    (property "Digikey" "")
+    (property "Part Number" "https://aliexpress.com/item/4000318714025.html")
     (property "Sheetfile" "RobotConnectors.kicad_sch")
     (property "Sheetname" "RobotConnectors")
     (property "Stock_PN" "FH-FC-202-24")
@@ -2807,6 +2813,50 @@
     )
   )
 
+  (footprint "Jumper:SolderJumper-3_P1.3mm_Bridged12_Pad1.0x1.5mm" (layer "F.Cu")
+    (tedit 5C756B4C) (tstamp 23a82e9e-2dfe-4469-bebd-288ee795c09f)
+    (at 83 175.2 180)
+    (descr "SMD Solder 3-pad Jumper, 1x1.5mm Pads, 0.3mm gap, pads 1-2 bridged with 1 copper strip")
+    (tags "net tie solder jumper bridged")
+    (property "Config" "do not place")
+    (property "DNP" "Y")
+    (property "Sheetfile" "sound_module.kicad_sch")
+    (property "Sheetname" "sound")
+    (path "/7936fd08-09c5-4aba-8422-c848060d3b9f/b10f24a6-83e7-422c-a0e0-7c2ceaac88bc")
+    (attr exclude_from_pos_files)
+    (fp_text reference "JP1" (at 0 -1.8) (layer "F.SilkS")
+      (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 630cee8a-76b8-4599-85b9-32ef4b4ba344)
+    )
+    (fp_text value "SolderJumper_3_Bridged12" (at 0 2) (layer "F.Fab")
+      (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 9f0206c4-bb47-41ea-a83b-d4e5c2979edc)
+    )
+    (fp_poly (pts
+        (xy -0.9 -0.3)
+        (xy -0.4 -0.3)
+        (xy -0.4 0.3)
+        (xy -0.9 0.3)
+      ) (layer "F.Cu") (width 0) (fill solid) (tstamp 81c7f888-db90-4589-b804-8771ac2821c4))
+    (fp_line (start -1.3 1.2) (end -1 1.5) (layer "F.SilkS") (width 0.12) (tstamp 4cd18c1b-81f5-4f94-90a0-0e96f295305a))
+    (fp_line (start -2.05 -1) (end 2.05 -1) (layer "F.SilkS") (width 0.12) (tstamp 9c8335f4-b9d6-455b-b64b-ad4090aaf986))
+    (fp_line (start -1.3 1.2) (end -1.6 1.5) (layer "F.SilkS") (width 0.12) (tstamp aecb8c31-5a1e-4766-82f4-19da4a7121c9))
+    (fp_line (start 2.05 -1) (end 2.05 1) (layer "F.SilkS") (width 0.12) (tstamp b39fe085-a756-4f69-8301-3bd0b405fd79))
+    (fp_line (start 2.05 1) (end -2.05 1) (layer "F.SilkS") (width 0.12) (tstamp c3378551-0eb6-4e24-b76f-74da044ffe18))
+    (fp_line (start -2.05 1) (end -2.05 -1) (layer "F.SilkS") (width 0.12) (tstamp ccb4be07-6df5-4e8a-8c40-32bbaacb78a5))
+    (fp_line (start -1.6 1.5) (end -1 1.5) (layer "F.SilkS") (width 0.12) (tstamp d8cd2eb5-8d0a-4b21-984d-4017684a7020))
+    (fp_line (start 2.3 1.25) (end -2.3 1.25) (layer "F.CrtYd") (width 0.05) (tstamp 42b9f62c-8f6d-41ae-8eb4-e73337abe0d1))
+    (fp_line (start -2.3 -1.25) (end 2.3 -1.25) (layer "F.CrtYd") (width 0.05) (tstamp 80e0618c-4b0f-4e33-bb05-59555b6f971e))
+    (fp_line (start 2.3 1.25) (end 2.3 -1.25) (layer "F.CrtYd") (width 0.05) (tstamp aec374dd-2dd3-4e1d-a5da-4570dd527877))
+    (fp_line (start -2.3 -1.25) (end -2.3 1.25) (layer "F.CrtYd") (width 0.05) (tstamp bdfd258b-fcc6-4641-8171-13cfddcde7a9))
+    (pad "1" smd rect (at -1.3 0 180) (size 1 1.5) (layers "F.Cu" "F.Mask")
+      (net 56 "+3V3") (pinfunction "A") (pintype "passive") (tstamp c51816b0-fb7d-4fa7-8ce9-3625df3a2bc4))
+    (pad "2" smd rect (at 0 0 180) (size 1 1.5) (layers "F.Cu" "F.Mask")
+      (net 216 "Net-(J16-Pad1)") (pinfunction "C") (pintype "input") (tstamp 0e70b47f-daa6-4c2e-bdbc-d14d7d23b5c2))
+    (pad "3" smd rect (at 1.3 0 180) (size 1 1.5) (layers "F.Cu" "F.Mask")
+      (net 2 "+5V") (pinfunction "B") (pintype "passive") (tstamp 96b09b58-a45c-42e6-8e18-6782ce3ded47))
+  )
+
   (footprint "Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder" (layer "F.Cu")
     (tedit 5F68FEEE) (tstamp 27b8981e-bed0-4016-9584-cea96bf8b02a)
     (at 153.8 59 180)
@@ -2887,7 +2937,7 @@
     (fp_line (start -1 -0.625) (end 1 -0.625) (layer "F.Fab") (width 0.1) (tstamp a6c42a48-ff32-471d-9b05-f1b9058d9b84))
     (fp_line (start 1 0.625) (end -1 0.625) (layer "F.Fab") (width 0.1) (tstamp f651696d-70f6-4492-b11b-7fc0c1020f00))
     (pad "1" smd roundrect (at -1 0 270) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
-      (net 139 "/pico/SOUND_DATA") (pintype "passive") (tstamp 5ecfeda6-9218-4216-9d8d-ea6ea9ecfe51))
+      (net 146 "/pico/SOUND_RX") (pintype "passive") (tstamp 5ecfeda6-9218-4216-9d8d-ea6ea9ecfe51))
     (pad "2" smd roundrect (at 1 0 270) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
       (net 207 "Net-(J16-Pad3)") (pintype "passive") (tstamp c2c3a5e4-a7ee-4054-8f2d-acd9ffd46ab6))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl"
@@ -3342,12 +3392,12 @@
     (descr "Through hole straight pin header, 1x10, 2.54mm pitch, single row")
     (tags "Through hole pin header THT 1x10 2.54mm single row")
     (property "LCSC" "C2894933")
-    (property "Part Number" "	PZ254-1-10-Z-8.5")
+    (property "Part Number" "PZ254-1-10-Z-8.5")
     (property "Sheetfile" "imu.kicad_sch")
     (property "Sheetname" "IMU")
     (property "Stock_PN" "J-TH-1x10-.1")
     (path "/df7e4e30-b8d5-4f4b-a24f-39298e982d26/00000000-0000-0000-0000-00006130130c")
-    (attr through_hole)
+    (attr through_hole board_only exclude_from_pos_files)
     (fp_text reference "J20" (at 0 -2.33 90) (layer "F.SilkS")
       (effects (font (size 1 1) (thickness 0.15)))
       (tstamp c9536f09-dc05-470f-9eab-a1ac095bc655)
@@ -3392,10 +3442,10 @@
     (pad "8" thru_hole oval (at 0 17.78 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
       (net 149 "unconnected-(J20-Pad8)") (pinfunction "Pin_8") (pintype "passive+no_connect") (tstamp 0998d16a-0ab5-4a35-9564-d34434b685a1))
     (pad "9" thru_hole oval (at 0 20.32 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 146 "/IMU/~{CS}") (pinfunction "Pin_9") (pintype "passive") (tstamp ce5997c9-5b58-4d1a-8a28-c99aed695a3b))
+      (net 138 "/IMU/TX") (pinfunction "Pin_9") (pintype "passive") (tstamp ce5997c9-5b58-4d1a-8a28-c99aed695a3b))
     (pad "10" thru_hole oval (at 0 22.86 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
       (net 150 "unconnected-(J20-Pad10)") (pinfunction "Pin_10") (pintype "passive+no_connect") (tstamp 594def2d-12e7-433e-b301-d4ef0ca12418))
-    (model "${OPENMOWER3D}/MPU-9250.stp"
+    (model "${KIPRJMOD}/MyModules.pretty/MPU-9250.stp" hide
       (offset (xyz -1.5 -24 6.5))
       (scale (xyz 1 1 1))
       (rotate (xyz -90 0 180))
@@ -3451,7 +3501,7 @@
     (tedit 0) (tstamp 391e77f9-45fd-4544-9a96-6b9be0f3494b)
     (at 132.1 137.2 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
-    (fp_text reference "MH7" (at 0 0 90) (layer "F.SilkS")
+    (fp_text reference "MH7" (at 0 0 90) (layer "F.Fab")
       (effects (font (size 1.27 1.27) (thickness 0.15)))
       (tstamp 46e9332d-c795-4bf9-ac30-672c9f0dc01b)
     )
@@ -3776,8 +3826,8 @@
     (descr "SMD capacitor, aluminum electrolytic, Vishay 1012, 10.0x12.5mm, http://www.vishay.com/docs/28395/150crz.pdf")
     (tags "capacitor electrolytic")
     (property "Digikey" "P124828TR-ND")
-    (property "LCSC" "C882153")
-    (property "Part Number" "VEJ681M1VTR-1013")
+    (property "LCSC" "C2980172")
+    (property "Part Number" "GVM1V681M1010")
     (property "Sheetfile" "dcdc.kicad_sch")
     (property "Sheetname" "dcdc")
     (property "Stock_PN" "CP-SMD-680uF-35V")
@@ -4447,7 +4497,7 @@
     (pad "1" smd roundrect (at -1 0 90) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
       (net 206 "Net-(J16-Pad2)") (pintype "passive") (tstamp c174d86e-4f4f-48a4-a750-1d41d65ec099))
     (pad "2" smd roundrect (at 1 0 90) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
-      (net 138 "/pico/SOUND_CLK") (pintype "passive") (tstamp 69cb47aa-a828-48f2-b238-3a471e1333f7))
+      (net 139 "/pico/SOUND_TX") (pintype "passive") (tstamp 69cb47aa-a828-48f2-b238-3a471e1333f7))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -4459,7 +4509,7 @@
     (tedit 0) (tstamp 563db87b-34c4-4832-bfe7-c025196b0284)
     (at 156.1 161.2 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
-    (fp_text reference "MH5" (at 0 0 90) (layer "F.SilkS")
+    (fp_text reference "MH5" (at 0 0 90) (layer "F.Fab")
       (effects (font (size 1.27 1.27) (thickness 0.15)))
       (tstamp 3edf4ad6-d132-45a4-8ed7-00927515ef53)
     )
@@ -4618,8 +4668,10 @@
     (at 123.675 46.35)
     (descr "Fuseholder, 5x20, open, horizontal, Type-I, Inline,")
     (tags "Fuseholder 5x20 open horizontal Type-I Inline Sicherungshalter offen ")
-    (property "Digikey" "FC-202-24-ND")
-    (property "Part Number" "FC-202-24")
+    (property "Description" "You will need a pair of holders")
+    (property "Digikey" "")
+    (property "LCSC" "")
+    (property "Part Number" "https://aliexpress.com/item/4000318714025.html")
     (property "Sheetfile" "RobotConnectors.kicad_sch")
     (property "Sheetname" "RobotConnectors")
     (property "Stock_PN" "FH-FC-202-24")
@@ -5320,7 +5372,7 @@
 
   (footprint "Fiducial:Fiducial_1mm_Mask2mm" (layer "F.Cu")
     (tedit 5C18CB26) (tstamp 6901bbe1-2175-4af2-b2de-4adc0350b9a5)
-    (at 91 176)
+    (at 102.87 174.244)
     (descr "Circular Fiducial, 1mm bare copper, 2mm soldermask opening (Level A)")
     (tags "fiducial")
     (property "Config" "do not place")
@@ -5512,8 +5564,7 @@
     (property "Sheetfile" "dcdc.kicad_sch")
     (property "Sheetname" "dcdc")
     (property "Stock_PN" "U-LM2596SX-5.0")
-    (path "/ea926745-863d-461e-9df3-dbf32112727b/5149161d-2f51-4282-870f-10edba0d6f25")
-    (attr through_hole)
+    (attr through_hole board_only)
     (fp_text reference "U1" (at -1.24 -0.58) (layer "F.SilkS") hide
       (effects (font (size 1 1) (thickness 0.15)))
       (tstamp 3def9ee9-b353-4649-baef-5208c3c24c54)
@@ -5551,22 +5602,22 @@
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
-    (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
       (offset (xyz 1 1.5 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
-    (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
       (offset (xyz 1 20 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
-    (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
       (offset (xyz 42 1.5 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
-    (model "${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
+    (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x01_P2.54mm_Vertical.step"
       (offset (xyz 42 20 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -5606,7 +5657,7 @@
     (tedit 0) (tstamp 72587f14-3879-4ab1-8ee7-30f0f8e50d93)
     (at 115.1 124.7 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
-    (fp_text reference "MH3" (at 0 0 90) (layer "F.SilkS")
+    (fp_text reference "MH3" (at 0 0 90) (layer "F.Fab")
       (effects (font (size 1.27 1.27) (thickness 0.15)))
       (tstamp c8293d21-1a69-42ed-92b0-4f3af4a14d47)
     )
@@ -6927,8 +6978,8 @@
     (descr "SMD capacitor, aluminum electrolytic, Vishay 1012, 10.0x12.5mm, http://www.vishay.com/docs/28395/150crz.pdf")
     (tags "capacitor electrolytic")
     (property "Digikey" "P124828TR-ND")
-    (property "LCSC" "C882153")
-    (property "Part Number" "VEJ681M1VTR-1013")
+    (property "LCSC" "C2980172")
+    (property "Part Number" "GVM1V681M1010")
     (property "Sheetfile" "dcdc.kicad_sch")
     (property "Sheetname" "dcdc")
     (property "Stock_PN" "CP-SMD-680uF-35V")
@@ -6994,7 +7045,7 @@
     (tedit 0) (tstamp 90a47af4-b3af-42ad-8a92-2ac33f1eaf7d)
     (at 173.1 124.7 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
-    (fp_text reference "MH4" (at 0 0 90) (layer "F.SilkS")
+    (fp_text reference "MH4" (at 0 0 90) (layer "F.Fab")
       (effects (font (size 1.27 1.27) (thickness 0.15)))
       (tstamp bca00d08-1d1a-4671-abf5-2a3e69bc9ac6)
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@@ -7131,7 +7182,7 @@
     (fp_line (start 1 -0.625) (end 1 0.625) (layer "F.Fab") (width 0.1) (tstamp ee314538-a8f0-415f-87cc-017be6835541))
     (fp_line (start 1 0.625) (end -1 0.625) (layer "F.Fab") (width 0.1) (tstamp f2f523bd-0051-4af4-9c3c-2a7bbcacef8f))
     (pad "1" smd roundrect (at -1 0) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
-      (net 203 "/RobotConnectors/Enable_Charge") (pintype "passive") (tstamp c9fca529-6fb9-4500-bb9e-e83f9cd45fbd))
+      (net 203 "/RobotConnectors/ENABLE_CHARGE") (pintype "passive") (tstamp c9fca529-6fb9-4500-bb9e-e83f9cd45fbd))
     (pad "2" smd roundrect (at 1 0) (size 1.2 1.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.2083333333)
       (net 201 "Net-(Q5-Pad1)") (pintype "passive") (tstamp fabc9cb1-9dc0-4086-9985-8cfc6d204bb4))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl"
@@ -7194,6 +7245,7 @@
     (property "Description" "74ALVC164245 - 16-bit dual supply translating transceiver; 3-state@en-us")
     (property "Digikey" "1727-4290-1-ND")
     (property "Height" "1.2")
+    (property "LCSC" "C5531")
     (property "Manufacturer_Name" "Nexperia")
     (property "Manufacturer_Part_Number" "74ALVC164245DGG,11")
     (property "Mouser2 Part Number" "")
@@ -7341,6 +7393,7 @@
     (property "Description" "TSC101CILT, Current Sensing Amplifier Single 5-Pin SOT-23")
     (property "Digikey" "497-6947-1-ND")
     (property "Height" "1.45")
+    (property "LCSC" "C222387")
     (property "Manufacturer_Name" "STMicroelectronics")
     (property "Manufacturer_Part_Number" "TSC101CILT")
     (property "Mouser2 Part Number" "")
@@ -8235,7 +8288,7 @@
     (tedit 0) (tstamp af4e708f-3ecb-432a-8234-bc33a136a64e)
     (at 115.1 173.7 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
-    (fp_text reference "MH2" (at 0 0 90) (layer "F.SilkS")
+    (fp_text reference "MH2" (at 0 0 90) (layer "F.Fab")
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       (tstamp 92259475-6959-4be9-99fb-5b87a080c7dc)
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@@ -8413,6 +8466,7 @@
     (descr "https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf")
     (tags "LED RGB NeoPixel")
     (property "Digikey" "1568-COM-16347CT-ND")
+    (property "LCSC" "C114586")
     (property "Part Number" "COM-16347")
     (property "Sheetfile" "pico.kicad_sch")
     (property "Sheetname" "pico")
@@ -8451,7 +8505,7 @@
     (pad "1" smd rect (at -2.45 -1.6 90) (size 1.5 1) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 2 "+5V") (pinfunction "VDD") (pintype "power_in") (tstamp 0e5f9678-2fc9-4989-86a0-a2753e39683e))
     (pad "2" smd rect (at -2.45 1.6 90) (size 1.5 1) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 217 "unconnected-(D25-Pad2)") (pinfunction "DOUT") (pintype "output") (tstamp e48c24dc-9b95-4afe-b44d-76bd164f5f0a))
+      (net 217 "unconnected-(D25-Pad2)") (pinfunction "DOUT") (pintype "output+no_connect") (tstamp e48c24dc-9b95-4afe-b44d-76bd164f5f0a))
     (pad "3" smd rect (at 2.45 1.6 90) (size 1.5 1) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "VSS") (pintype "power_in") (tstamp 3513ee58-aa78-4fed-95ba-8540fa2d1e42))
     (pad "4" smd rect (at 2.45 -1.6 90) (size 1.5 1) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -8467,7 +8521,7 @@
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     (at 156.1 137.2 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
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       (tstamp 6c20966e-92d4-4959-9ba6-2946d25c7acd)
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@@ -8508,467 +8562,386 @@
       (net 116 "/CHARGE_CURRENT") (pinfunction "1") (pintype "passive") (tstamp c78fb20f-60f4-4bc6-9354-0b7f3c76992e))
   )
 
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-    (tedit 5F638C80) (tstamp b7408d4c-4408-4123-bd6c-e5d6687eb47b)
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-    (descr "Through hole straight pin header, 2x20, 2.54mm pitch, double rows")
-    (tags "Through hole pin header THT 2x20 2.54mm double row")
+  (footprint "PicoW:Raspberry_Pi_Pico_SMT_THT" (layer "F.Cu")
+    (tedit 0) (tstamp b7408d4c-4408-4123-bd6c-e5d6687eb47b)
+    (at 197.266544 87.672104 -90)
+    (descr "Raspberry Pi Pico (W), RP2040-based microcontroller board (with wireless)")
+    (tags "Pico-W RPL RPTL RPi module RP2040 CYW43439 2.4GHz RF radio Wi-Fi WiFi SMD")
     (property "Digikey" "2648-SC0915CT-ND")
     (property "Part Number" "SC0915")
     (property "Sheetfile" "pico.kicad_sch")
     (property "Sheetname" "pico")
     (property "Stock_PN" "U-RP2040-PCB")
     (path "/c4934db8-1638-4ac4-bd06-84d03b3fc106/7f34cbf5-0a68-49fa-8ebc-ca673fee9cb3")
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+    (fp_text value "Pico" (at 8.89 52.07 -90 unlocked) (layer "F.Fab")
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-        (xy -3.5 -16.5)
-        (xy -3.5 -18.5)
-        (xy -1.5 -18.5)
-      ) (layer "Dwgs.User") (width 0.1) (fill solid) (tstamp b8d5e795-9ed9-4294-8139-2c1324066779))
-    (fp_line (start 11 -26) (end 11 26) (layer "F.CrtYd") (width 0.12) (tstamp 43ca1e2a-bc6c-481f-a296-938a65b65acf))
-    (fp_line (start -11 26) (end -11 -26) (layer "F.CrtYd") (width 0.12) (tstamp 69607e7c-0042-4e3a-8fa1-ce24ac796e72))
-    (fp_line (start -11 -26) (end 11 -26) (layer "F.CrtYd") (width 0.12) (tstamp 8a76d038-2058-495b-b9cd-4b3ee2dbbc2c))
-    (fp_line (start 11 26) (end -11 26) (layer "F.CrtYd") (width 0.12) (tstamp 9f005415-f268-4cbb-b21e-840e01ce6175))
-    (fp_line (start -10.5 25.5) (end -10.5 -25.5) (layer "F.Fab") (width 0.12) (tstamp 0ef1298e-150f-474b-a44c-95c096fd2c79))
-    (fp_line (start 10.5 25.5) (end -10.5 25.5) (layer "F.Fab") (width 0.12) (tstamp 41c20c19-7045-4605-ab97-9ad9b444814c))
-    (fp_line (start 10.5 -25.5) (end 10.5 25.5) (layer "F.Fab") (width 0.12) (tstamp 6f56c7a9-0102-4580-9b92-4288e4f40147))
-    (fp_line (start -10.5 -24.2) (end -9.2 -25.5) (layer "F.Fab") (width 0.12) (tstamp 9b6ecae2-441e-49a2-88ac-9442f7b5046d))
-    (fp_line (start -10.5 -25.5) (end 10.5 -25.5) (layer "F.Fab") (width 0.12) (tstamp ec3bc84a-5d87-4c22-9f05-f70570e3810f))
-    (pad "" np_thru_hole oval locked (at -2.425 -20.97 270) (size 1.5 1.5) (drill 1.5) (layers *.Cu *.Mask)
-      (zone_connect 1) (tstamp 1b721cfc-92de-4c24-9c15-58a076189580))
-    (pad "" np_thru_hole oval locked (at 2.725 -24 270) (size 1.8 1.8) (drill 1.8) (layers *.Cu *.Mask)
-      (zone_connect 1) (tstamp 39806158-0f9e-47da-8862-83d814d27a36))
-    (pad "" np_thru_hole oval locked (at 2.425 -20.97 270) (size 1.5 1.5) (drill 1.5) (layers *.Cu *.Mask)
-      (zone_connect 1) (tstamp 6900e8ae-7918-45c1-a1e3-d69ed66b53ad))
-    (pad "" np_thru_hole oval locked (at -2.725 -24 270) (size 1.8 1.8) (drill 1.8) (layers *.Cu *.Mask)
-      (zone_connect 1) (tstamp b036802f-771e-4fc9-9408-0ca2039168d0))
-    (pad "1" thru_hole oval locked (at -8.89 -24.13 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 10 "/RaspberryPi/UART0_RXD") (pinfunction "GPIO0") (pintype "bidirectional") (zone_connect 1) (tstamp 2bcc2643-bee7-457d-af37-a95dd5e1cbf6))
-    (pad "1" smd rect locked (at -8.89 -24.13 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 10 "/RaspberryPi/UART0_RXD") (pinfunction "GPIO0") (pintype "bidirectional") (zone_connect 1) (tstamp 90be4cfe-48bf-43e2-9b8f-30df2a56f582))
-    (pad "2" smd rect locked (at -8.89 -21.59 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 8 "/RaspberryPi/UART0_TXD") (pinfunction "GPIO1") (pintype "bidirectional") (zone_connect 1) (tstamp 02ff4c60-c4cd-4c6a-96ca-771c952cdfce))
-    (pad "2" thru_hole oval locked (at -8.89 -21.59 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 8 "/RaspberryPi/UART0_TXD") (pinfunction "GPIO1") (pintype "bidirectional") (zone_connect 1) (tstamp a215b402-6fc6-4287-adbc-c479149fbaee))
-    (pad "3" thru_hole rect locked (at -8.89 -19.05 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 8b41574e-83b0-4f77-a894-ce484be1f178))
-    (pad "3" smd rect locked (at -8.89 -19.05 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp d98a6d52-f58b-4683-a1fd-42d2c18cbb66))
-    (pad "4" smd rect locked (at -8.89 -16.51 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 72 "/RobotConnectors/HALL_SWITCH_4") (pinfunction "GPIO2") (pintype "bidirectional") (zone_connect 1) (tstamp bee52be9-4e16-403c-9b6a-c7cae756b5a5))
-    (pad "4" thru_hole oval locked (at -8.89 -16.51 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 72 "/RobotConnectors/HALL_SWITCH_4") (pinfunction "GPIO2") (pintype "bidirectional") (zone_connect 1) (tstamp cd628fd7-b17f-46a1-a254-36f13acd9297))
-    (pad "5" smd rect locked (at -8.89 -13.97 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 74 "/RobotConnectors/HALL_SWITCH_3") (pinfunction "GPIO3") (pintype "bidirectional") (zone_connect 1) (tstamp 550032b8-ac1a-4add-998e-66bec0bec8ee))
-    (pad "5" thru_hole oval locked (at -8.89 -13.97 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 74 "/RobotConnectors/HALL_SWITCH_3") (pinfunction "GPIO3") (pintype "bidirectional") (zone_connect 1) (tstamp bf9eac5f-d9cf-46b7-a81b-2aac6cf7558b))
-    (pad "6" smd rect locked (at -8.89 -11.43 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 51 "/RobotConnectors/LED_RX") (pinfunction "GPIO4") (pintype "bidirectional") (zone_connect 1) (tstamp 2d5460d8-d946-4ea2-a3e4-593769257cd9))
-    (pad "6" thru_hole oval locked (at -8.89 -11.43 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 51 "/RobotConnectors/LED_RX") (pinfunction "GPIO4") (pintype "bidirectional") (zone_connect 1) (tstamp ddd6050b-39e2-4e74-830b-64516b9d1bf2))
-    (pad "7" thru_hole oval locked (at -8.89 -8.89 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 55 "/RobotConnectors/LED_TX") (pinfunction "GPIO5") (pintype "bidirectional") (zone_connect 1) (tstamp 55edf1e0-16a5-4fe2-8104-db7bac3d1137))
-    (pad "7" smd rect locked (at -8.89 -8.89 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 55 "/RobotConnectors/LED_TX") (pinfunction "GPIO5") (pintype "bidirectional") (zone_connect 1) (tstamp cfd2f3be-5eb5-468e-aca5-32950f75fb9d))
-    (pad "8" thru_hole rect locked (at -8.89 -6.35 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 642b6af7-2910-499c-8b83-0fb0accbd2ec))
-    (pad "8" smd rect locked (at -8.89 -6.35 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 7c9c17e0-6db6-4bac-93c2-537e388bbeb0))
-    (pad "9" smd rect locked (at -8.89 -3.81 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 76 "/RobotConnectors/HALL_SWITCH_2") (pinfunction "GPIO6") (pintype "bidirectional") (zone_connect 1) (tstamp a882dbfa-dc44-4f6c-9a71-cd5d23e6e42f))
-    (pad "9" thru_hole oval locked (at -8.89 -3.81 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 76 "/RobotConnectors/HALL_SWITCH_2") (pinfunction "GPIO6") (pintype "bidirectional") (zone_connect 1) (tstamp d3483021-ee64-4e36-a434-efb7bb8df099))
-    (pad "10" thru_hole oval locked (at -8.89 -1.27 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 78 "/RobotConnectors/HALL_SWITCH_1") (pinfunction "GPIO7") (pintype "bidirectional") (zone_connect 1) (tstamp 1066b53b-9c27-44e1-b260-1f7016728f2c))
-    (pad "10" smd rect locked (at -8.89 -1.27 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 78 "/RobotConnectors/HALL_SWITCH_1") (pinfunction "GPIO7") (pintype "bidirectional") (zone_connect 1) (tstamp 4054c49e-7d28-451d-957e-4b3142f5aa13))
-    (pad "11" thru_hole oval locked (at -8.89 1.27 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 138 "/pico/SOUND_CLK") (pinfunction "GPIO8") (pintype "bidirectional") (zone_connect 1) (tstamp 4710beee-1efa-4e95-a9d0-531489e9938f))
-    (pad "11" smd rect locked (at -8.89 1.27 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 138 "/pico/SOUND_CLK") (pinfunction "GPIO8") (pintype "bidirectional") (zone_connect 1) (tstamp 60986efd-115e-424c-8b63-a45dab3de1cf))
-    (pad "12" smd rect locked (at -8.89 3.81 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 139 "/pico/SOUND_DATA") (pinfunction "GPIO9") (pintype "bidirectional") (zone_connect 1) (tstamp 06686549-84ff-474a-8323-cdfd5858aa47))
-    (pad "12" thru_hole oval locked (at -8.89 3.81 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 139 "/pico/SOUND_DATA") (pinfunction "GPIO9") (pintype "bidirectional") (zone_connect 1) (tstamp 2eab56a3-a68a-4838-8efc-80be330cd1af))
-    (pad "13" thru_hole rect locked (at -8.89 6.35 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp c2f33537-d3b0-4411-97f2-fffd7d821729))
-    (pad "13" smd rect locked (at -8.89 6.35 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp f3abf238-8b6c-4845-8599-10539bfabd41))
-    (pad "14" smd rect locked (at -8.89 8.89 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 221 "Net-(U11-Pad14)") (pinfunction "GPIO10") (pintype "bidirectional") (zone_connect 1) (tstamp 589c2a22-a40e-4b36-b7ef-cf6c4163c8a6))
-    (pad "14" thru_hole oval locked (at -8.89 8.89 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 221 "Net-(U11-Pad14)") (pinfunction "GPIO10") (pintype "bidirectional") (zone_connect 1) (tstamp 9a8eb47d-0783-46a7-9f7f-b6332777419f))
-    (pad "15" thru_hole oval locked (at -8.89 11.43 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 178 "/pico/MUX_INPUT") (pinfunction "GPIO11") (pintype "bidirectional") (zone_connect 1) (tstamp 913cb943-f7e8-4342-95b1-4f008c35e7fc))
-    (pad "15" smd rect locked (at -8.89 11.43 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 178 "/pico/MUX_INPUT") (pinfunction "GPIO11") (pintype "bidirectional") (zone_connect 1) (tstamp fd0af315-703a-4787-ac1d-40143bbbfb40))
-    (pad "16" smd rect locked (at -8.89 13.97 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 172 "/pico/MUX_OUTPUT") (pinfunction "GPIO12") (pintype "bidirectional") (zone_connect 1) (tstamp 57dba989-9a3e-4bef-b165-d5e49312ceff))
-    (pad "16" thru_hole oval locked (at -8.89 13.97 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 172 "/pico/MUX_OUTPUT") (pinfunction "GPIO12") (pintype "bidirectional") (zone_connect 1) (tstamp a48061e3-73a7-4603-b410-fac74dea7c4d))
-    (pad "17" smd rect locked (at -8.89 16.51 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 177 "/pico/MUX_ADDRESS_0") (pinfunction "GPIO13") (pintype "bidirectional") (zone_connect 1) (tstamp 77578620-463f-49d5-95bf-eb8b64f21788))
-    (pad "17" thru_hole oval locked (at -8.89 16.51 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 177 "/pico/MUX_ADDRESS_0") (pinfunction "GPIO13") (pintype "bidirectional") (zone_connect 1) (tstamp 897c21f2-3f11-4fbb-b34b-14d239022a02))
-    (pad "18" thru_hole rect locked (at -8.89 19.05 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 134aa9ad-adb6-4e04-883c-158b87ddd277))
-    (pad "18" smd rect locked (at -8.89 19.05 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 506b3315-524e-4257-86b4-2cdde017cad8))
-    (pad "19" thru_hole oval locked (at -8.89 21.59 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 176 "/pico/MUX_ADDRESS_1") (pinfunction "GPIO14") (pintype "bidirectional") (zone_connect 1) (tstamp 31b49213-3efb-46ce-acf2-8aaf619659e1))
-    (pad "19" smd rect locked (at -8.89 21.59 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 176 "/pico/MUX_ADDRESS_1") (pinfunction "GPIO14") (pintype "bidirectional") (zone_connect 1) (tstamp aa986533-779d-4081-a2b3-f905439ec601))
-    (pad "20" thru_hole oval locked (at -8.89 24.13 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 175 "/pico/MUX_ADDRESS_2") (pinfunction "GPIO15") (pintype "bidirectional") (zone_connect 1) (tstamp 2648486b-ce0a-41a8-b51e-33e94e58f56c))
-    (pad "20" smd rect locked (at -8.89 24.13 270) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 175 "/pico/MUX_ADDRESS_2") (pinfunction "GPIO15") (pintype "bidirectional") (zone_connect 1) (tstamp 43f32b3a-9115-42f3-a2b4-1a3f4f1f1b44))
-    (pad "21" thru_hole oval locked (at 8.89 24.13 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 145 "/IMU/MISO") (pinfunction "GPIO16") (pintype "bidirectional") (zone_connect 1) (tstamp 7203af48-2e47-4b48-b490-e3d8d6b7e467))
-    (pad "21" smd rect locked (at 8.89 24.13 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 145 "/IMU/MISO") (pinfunction "GPIO16") (pintype "bidirectional") (zone_connect 1) (tstamp 93d2e9a2-7200-406e-be73-d6352d848b30))
-    (pad "22" thru_hole oval locked (at 8.89 21.59 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 146 "/IMU/~{CS}") (pinfunction "GPIO17") (pintype "bidirectional") (zone_connect 1) (tstamp 5888a525-0dba-40d5-934e-3dd3fa077466))
-    (pad "22" smd rect locked (at 8.89 21.59 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 146 "/IMU/~{CS}") (pinfunction "GPIO17") (pintype "bidirectional") (zone_connect 1) (tstamp c4189b9c-2acf-4204-b82c-64f9fb9afd5b))
-    (pad "23" smd rect locked (at 8.89 19.05 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 4d0cfc25-6ee4-46e1-8faa-4c23fc7f9e76))
-    (pad "23" thru_hole rect locked (at 8.89 19.05 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 8c22eda3-6620-4c12-9141-e6cbecb570b4))
-    (pad "24" thru_hole oval locked (at 8.89 16.51 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 137 "/IMU/SCK") (pinfunction "GPIO18") (pintype "bidirectional") (zone_connect 1) (tstamp 6eb4cc00-0b8b-4726-a7eb-b80c24876c1b))
-    (pad "24" smd rect locked (at 8.89 16.51 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 137 "/IMU/SCK") (pinfunction "GPIO18") (pintype "bidirectional") (zone_connect 1) (tstamp a5b9f1d6-cea4-468e-a5f1-ae383f7a1fe0))
-    (pad "25" smd rect locked (at 8.89 13.97 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 144 "/IMU/MOSI") (pinfunction "GPIO19") (pintype "bidirectional") (zone_connect 1) (tstamp 5575cf14-8232-46c8-9473-3d6174d2fe35))
-    (pad "25" thru_hole oval locked (at 8.89 13.97 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 144 "/IMU/MOSI") (pinfunction "GPIO19") (pintype "bidirectional") (zone_connect 1) (tstamp ece1647e-f419-4ff2-bbbe-35431756e523))
-    (pad "26" smd rect locked (at 8.89 11.43 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 223 "/ESCs/ESC_SHUTDOWN") (pinfunction "GPIO20") (pintype "bidirectional") (zone_connect 1) (tstamp bc48d1f3-b07a-42c5-bf75-83cbac4fea87))
-    (pad "26" thru_hole oval locked (at 8.89 11.43 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 223 "/ESCs/ESC_SHUTDOWN") (pinfunction "GPIO20") (pintype "bidirectional") (zone_connect 1) (tstamp e7bec632-dbef-4bfc-9bf9-a487b12e23b2))
-    (pad "27" smd rect locked (at 8.89 8.89 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 57 "/RaspberryPi/POWER_EN") (pinfunction "GPIO21") (pintype "bidirectional") (zone_connect 1) (tstamp e177c647-07a8-4c4a-ad90-6573f59ada2e))
-    (pad "27" thru_hole oval locked (at 8.89 8.89 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 57 "/RaspberryPi/POWER_EN") (pinfunction "GPIO21") (pintype "bidirectional") (zone_connect 1) (tstamp ea1f67da-3a17-4e5b-ab3b-83aa621211f9))
-    (pad "28" smd rect locked (at 8.89 6.35 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 13acba29-8d9d-4a74-96b1-a85ed83b6de6))
-    (pad "28" thru_hole rect locked (at 8.89 6.35 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp f29d2a8c-a73d-4764-8d38-e5a2a07979ff))
-    (pad "29" thru_hole oval locked (at 8.89 3.81 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 203 "/RobotConnectors/Enable_Charge") (pinfunction "GPIO22") (pintype "bidirectional") (zone_connect 1) (tstamp a8caf2a8-178b-4529-8abb-a4feaf9e0433))
-    (pad "29" smd rect locked (at 8.89 3.81 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 203 "/RobotConnectors/Enable_Charge") (pinfunction "GPIO22") (pintype "bidirectional") (zone_connect 1) (tstamp ad641fc3-64dd-4d7c-93f2-37121046aaf4))
-    (pad "30" smd rect locked (at 8.89 1.27 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 120 "/RaspberryPi/PICO_RESET") (pinfunction "RUN") (pintype "input") (zone_connect 1) (tstamp 95d8fdba-9829-48e8-8982-c38e02f78daf))
-    (pad "30" thru_hole oval locked (at 8.89 1.27 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 120 "/RaspberryPi/PICO_RESET") (pinfunction "RUN") (pintype "input") (zone_connect 1) (tstamp f962dd8f-834c-4bae-97da-69146ecfdff3))
-    (pad "31" smd rect locked (at 8.89 -1.27 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 123 "/pico/V_CHARGE") (pinfunction "GPIO26_ADC0") (pintype "bidirectional") (zone_connect 1) (tstamp 5415bf05-f64f-4e38-8fd7-edaa7c742d24))
-    (pad "31" thru_hole oval locked (at 8.89 -1.27 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 123 "/pico/V_CHARGE") (pinfunction "GPIO26_ADC0") (pintype "bidirectional") (zone_connect 1) (tstamp b2f83140-8e44-4d0e-8e16-c34326c59fcf))
-    (pad "32" smd rect locked (at 8.89 -3.81 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 124 "/pico/V_IN") (pinfunction "GPIO27_ADC1") (pintype "bidirectional") (zone_connect 1) (tstamp 8b8ab9f9-9923-4d55-a714-7802b5246781))
-    (pad "32" thru_hole oval locked (at 8.89 -3.81 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 124 "/pico/V_IN") (pinfunction "GPIO27_ADC1") (pintype "bidirectional") (zone_connect 1) (tstamp dfc41876-c0a5-42d5-ac2e-579c381f3030))
-    (pad "33" smd rect locked (at 8.89 -6.35 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "AGND") (pintype "power_in") (zone_connect 1) (tstamp b561f71d-48d3-4d9c-87b9-0e460e322c06))
-    (pad "33" thru_hole rect locked (at 8.89 -6.35 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "AGND") (pintype "power_in") (zone_connect 1) (tstamp c727b697-06f1-4cd0-82b4-9c4e8f30ec69))
-    (pad "34" thru_hole oval locked (at 8.89 -8.89 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 116 "/CHARGE_CURRENT") (pinfunction "GPIO28_ADC2") (pintype "bidirectional") (zone_connect 1) (tstamp 7a4f3b42-17f6-4af5-b479-f9a6b8421e2f))
-    (pad "34" smd rect locked (at 8.89 -8.89 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 116 "/CHARGE_CURRENT") (pinfunction "GPIO28_ADC2") (pintype "bidirectional") (zone_connect 1) (tstamp 998a76c6-6c92-4d98-8874-19f805f74304))
-    (pad "35" smd rect locked (at 8.89 -11.43 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 141 "unconnected-(U11-Pad35)") (pinfunction "ADC_VREF") (pintype "power_in+no_connect") (zone_connect 1) (tstamp 317f7114-c246-427f-b313-05a2e48a5177))
-    (pad "35" thru_hole oval locked (at 8.89 -11.43 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 141 "unconnected-(U11-Pad35)") (pinfunction "ADC_VREF") (pintype "power_in+no_connect") (zone_connect 1) (tstamp cde0b38a-0538-4917-b47d-1338f4be5fda))
-    (pad "36" thru_hole oval locked (at 8.89 -13.97 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 56 "+3V3") (pinfunction "3V3") (pintype "power_in") (zone_connect 1) (tstamp 34347b55-fcda-4081-82ff-67916a403bcb))
-    (pad "36" smd rect locked (at 8.89 -13.97 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 56 "+3V3") (pinfunction "3V3") (pintype "power_in") (zone_connect 1) (tstamp e0eb3519-e476-4db3-9e8f-7d65c7a0b8de))
-    (pad "37" thru_hole oval locked (at 8.89 -16.51 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 142 "unconnected-(U11-Pad37)") (pinfunction "3V3_EN") (pintype "input+no_connect") (zone_connect 1) (tstamp 17efdd20-a3b0-49e4-9ae6-a4b2690502b5))
-    (pad "37" smd rect locked (at 8.89 -16.51 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 142 "unconnected-(U11-Pad37)") (pinfunction "3V3_EN") (pintype "input+no_connect") (zone_connect 1) (tstamp b888a4a8-1009-49eb-9b73-7f78957f27b8))
-    (pad "38" thru_hole rect locked (at 8.89 -19.05 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "bidirectional") (zone_connect 1) (tstamp b1f06ebd-9631-4b3b-9237-63ceeafca95e))
-    (pad "38" smd rect locked (at 8.89 -19.05 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "bidirectional") (zone_connect 1) (tstamp eaf49801-d99c-4418-8705-162e55c74f91))
-    (pad "39" smd rect locked (at 8.89 -21.59 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 2 "+5V") (pinfunction "VSYS") (pintype "power_in") (zone_connect 1) (tstamp 29b4a020-d9cc-4c64-bb45-76923a46a2ad))
-    (pad "39" thru_hole oval locked (at 8.89 -21.59 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 2 "+5V") (pinfunction "VSYS") (pintype "power_in") (zone_connect 1) (tstamp 647d070e-adaf-4479-8bc6-b302deeedea6))
-    (pad "40" thru_hole oval locked (at 8.89 -24.13 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 143 "unconnected-(U11-Pad40)") (pinfunction "VBUS") (pintype "power_in+no_connect") (zone_connect 1) (tstamp 5901eeeb-c02f-4244-9324-9b4bb5f71c34))
-    (pad "40" smd rect locked (at 8.89 -24.13 270) (size 3.5 1.7) (drill (offset 0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 143 "unconnected-(U11-Pad40)") (pinfunction "VBUS") (pintype "power_in+no_connect") (zone_connect 1) (tstamp daceca6e-2b72-45ee-9b13-033087774e97))
-    (pad "41" smd rect locked (at -2.54 23.9) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 122 "/RaspberryPi/PICO_SWCLK") (pinfunction "SWCLK") (pintype "input") (zone_connect 1) (tstamp 9159ae31-837f-4344-bc07-45557ffcfd98))
-    (pad "41" thru_hole oval locked (at -2.54 23.9 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 122 "/RaspberryPi/PICO_SWCLK") (pinfunction "SWCLK") (pintype "input") (zone_connect 1) (tstamp a3184e62-1790-4121-b1d6-9d4e07fcd3aa))
-    (pad "42" smd rect locked (at 0 23.9) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp 7c6bc3c2-7689-4dff-a10c-172f43a2147d))
-    (pad "42" thru_hole rect locked (at 0 23.9 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (zone_connect 1) (tstamp abcf470b-739c-42ac-bdd0-315c6ca1fc1e))
-    (pad "43" thru_hole oval locked (at 2.54 23.9 270) (size 1.7 1.7) (drill 1.02) (layers *.Cu *.Mask)
-      (net 121 "/RaspberryPi/PICO_SWDIO") (pinfunction "SWDIO") (pintype "bidirectional") (zone_connect 1) (tstamp 87fb1d28-d180-41e5-b21d-1a57e3c8fe96))
-    (pad "43" smd rect locked (at 2.54 23.9) (size 3.5 1.7) (drill (offset -0.9 0)) (layers "F.Cu" "F.Mask")
-      (net 121 "/RaspberryPi/PICO_SWDIO") (pinfunction "SWDIO") (pintype "bidirectional") (zone_connect 1) (tstamp dd31eb64-1182-4c2c-9eeb-37f8591a9058))
-    (model "${OPENMOWER3D}/Pico.wrl"
-      (offset (xyz 0 0 0))
+        (xy 19.39 49.63)
+        (xy -1.61 49.63)
+        (xy -1.61 -0.37)
+        (xy -0.61 -1.37)
+        (xy 19.39 -1.37)
+      ) (layer "F.Fab") (width 0.1) (fill none) (tstamp d722e284-b18b-4966-bc63-4ac46d34bc85))
+    (pad "" np_thru_hole oval (at 6.465 3.16 270) (size 1.05 1.45) (drill oval 1.05 1.45) (layers *.Mask) (tstamp 1cb2e910-b3af-4c43-a2df-92af85a2677e))
+    (pad "" np_thru_hole oval (at 11.615 0.13 270) (size 1.1 1.8) (drill oval 1.1 1.8) (layers *.Mask) (tstamp 525ad107-b38b-4e23-85f2-b4a92a6b58e0))
+    (pad "" np_thru_hole oval (at 11.315 3.16 270) (size 1.05 1.45) (drill oval 1.05 1.45) (layers *.Mask) (tstamp 6aabde08-4cfd-4ea9-8716-154303c3199e))
+    (pad "" np_thru_hole oval (at 6.165 0.13 270) (size 1.1 1.8) (drill oval 1.1 1.8) (layers *.Mask) (tstamp c75d85d1-b860-4a22-a507-6fc3be2a0d90))
+    (pad "1" smd custom (at -1.6 0 270) (size 1.6 1.6) (layers "F.Cu" "F.Mask")
+      (net 10 "/RaspberryPi/UART0_RXD") (pinfunction "GPIO0") (pintype "bidirectional")
+      (options (clearance convexhull) (anchor circle))
+      (primitives
+        (gr_poly (pts
+            (xy 2.2 0.248529)
+            (xy 1.848529 0.6)
+            (xy -0.248529 0.6)
+            (xy -0.6 0.248529)
+            (xy -0.6 -0.248529)
+            (xy -0.248529 -0.6)
+            (xy 1.848529 -0.6)
+            (xy 2.2 -0.248529)
+          ) (width 0.4) (fill yes))
+      ) (tstamp 25cf555d-b786-4305-923f-076ea34f05c1))
+    (pad "1" thru_hole custom (at 0 0 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 10 "/RaspberryPi/UART0_RXD") (pinfunction "GPIO0") (pintype "bidirectional")
+      (options (clearance convexhull) (anchor circle))
+      (primitives
+        (gr_poly (pts
+            (xy 0.6 0.248529)
+            (xy 0.248529 0.6)
+            (xy -0.248529 0.6)
+            (xy -0.6 0.248529)
+            (xy -0.6 -0.248529)
+            (xy -0.248529 -0.6)
+            (xy 0.248529 -0.6)
+            (xy 0.6 -0.248529)
+          ) (width 0.4) (fill yes))
+      ) (tstamp 4515378c-ec07-40cc-9cdd-006ec0933119))
+    (pad "2" thru_hole circle (at 0 2.54 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 8 "/RaspberryPi/UART0_TXD") (pinfunction "GPIO1") (pintype "bidirectional") (tstamp dade0d65-ba91-412a-8c61-4ad0c2bb75f0))
+    (pad "2" smd oval (at -1.6 2.54 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 8 "/RaspberryPi/UART0_TXD") (pinfunction "GPIO1") (pintype "bidirectional") (tstamp e1063e18-a1fc-4a05-9fe3-708b5a22bd53))
+    (pad "3" smd roundrect (at -1.6 5.08 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp 3addfd3a-6ba6-4817-94fe-71b4ed6c8090))
+    (pad "3" thru_hole roundrect (at 0 5.08 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp de5e6ab9-648d-40aa-823a-a6bae918b78f))
+    (pad "4" smd oval (at -1.6 7.62 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 72 "/RobotConnectors/HALL_SWITCH_4") (pinfunction "GPIO2") (pintype "bidirectional") (tstamp 8deb5e4f-229d-4056-96c1-cc0104ea5c24))
+    (pad "4" thru_hole circle (at 0 7.62 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 72 "/RobotConnectors/HALL_SWITCH_4") (pinfunction "GPIO2") (pintype "bidirectional") (tstamp aa93dd41-2c79-4877-8442-5205731dc239))
+    (pad "5" thru_hole circle (at 0 10.16 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 74 "/RobotConnectors/HALL_SWITCH_3") (pinfunction "GPIO3") (pintype "bidirectional") (tstamp 530949a9-62b6-4660-8484-4a2da17beb71))
+    (pad "5" smd oval (at -1.6 10.16 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 74 "/RobotConnectors/HALL_SWITCH_3") (pinfunction "GPIO3") (pintype "bidirectional") (tstamp c49f0328-6265-4603-ae84-60231fee6ebb))
+    (pad "6" smd oval (at -1.6 12.7 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 51 "/RobotConnectors/LED_RX") (pinfunction "GPIO4") (pintype "bidirectional") (tstamp 749c8db4-fa0b-43ca-9351-57be79fc2605))
+    (pad "6" thru_hole circle (at 0 12.7 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 51 "/RobotConnectors/LED_RX") (pinfunction "GPIO4") (pintype "bidirectional") (tstamp a0a9e074-ae7b-4c35-81b7-ba8555f37c89))
+    (pad "7" thru_hole circle (at 0 15.24 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 55 "/RobotConnectors/LED_TX") (pinfunction "GPIO5") (pintype "bidirectional") (tstamp 3adece5c-d1a6-4b80-96fe-698f0db702be))
+    (pad "7" smd oval (at -1.6 15.24 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 55 "/RobotConnectors/LED_TX") (pinfunction "GPIO5") (pintype "bidirectional") (tstamp 532d0ff8-37a1-4f81-a752-5d577505edcd))
+    (pad "8" thru_hole roundrect (at 0 17.78 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 1ee923fd-517a-4e2b-ba77-36cd64d67672))
+    (pad "8" smd roundrect (at -1.6 17.78 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 96c4b3c0-73b0-4692-a8ad-a15e4bffc3ea))
+    (pad "9" thru_hole circle (at 0 20.32 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 137 "/IMU/SCK") (pinfunction "GPIO6") (pintype "bidirectional") (tstamp 9baad233-b53e-400f-b356-b8d3549b1526))
+    (pad "9" smd oval (at -1.6 20.32 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 137 "/IMU/SCK") (pinfunction "GPIO6") (pintype "bidirectional") (tstamp a715a635-9d25-4f49-8ab5-5f098e77ca70))
+    (pad "10" smd oval (at -1.6 22.86 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 144 "/IMU/MOSI") (pinfunction "GPIO7") (pintype "bidirectional") (tstamp 2217985f-9fa6-4374-9129-4c24b09f0908))
+    (pad "10" thru_hole circle (at 0 22.86 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 144 "/IMU/MOSI") (pinfunction "GPIO7") (pintype "bidirectional") (tstamp f6f57666-5b5e-4633-b824-b97fdd60c978))
+    (pad "11" smd oval (at -1.6 25.4 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 145 "/IMU/MISO") (pinfunction "GPIO8") (pintype "bidirectional") (tstamp 6a643be2-1a18-4b5a-8f3b-eea4d3fee101))
+    (pad "11" thru_hole circle (at 0 25.4 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 145 "/IMU/MISO") (pinfunction "GPIO8") (pintype "bidirectional") (tstamp dddf2c75-d82d-4715-9ea2-ce07804ff784))
+    (pad "12" smd oval (at -1.6 27.94 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 138 "/IMU/TX") (pinfunction "GPIO9") (pintype "bidirectional") (tstamp 9653449a-4bca-463a-bbbe-090c8b9d67e7))
+    (pad "12" thru_hole circle (at 0 27.94 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 138 "/IMU/TX") (pinfunction "GPIO9") (pintype "bidirectional") (tstamp f2bde4fc-9c09-4a2a-9d49-714856208528))
+    (pad "13" smd roundrect (at -1.6 30.48 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp 82ef99e3-927c-46a8-80c0-cb79dcc62068))
+    (pad "13" thru_hole roundrect (at 0 30.48 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp c27b04b5-88dc-4fcd-b5e2-a52a9691207c))
+    (pad "14" smd oval (at -1.6 33.02 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 221 "Net-(U11-Pad14)") (pinfunction "GPIO10") (pintype "bidirectional") (tstamp e9c789fc-a9a3-4c58-8d95-1ba385d3c7bd))
+    (pad "14" thru_hole circle (at 0 33.02 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 221 "Net-(U11-Pad14)") (pinfunction "GPIO10") (pintype "bidirectional") (tstamp fe4fa61e-2bc8-4afa-88d5-9d257a0d9906))
+    (pad "15" smd oval (at -1.6 35.56 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 178 "/pico/MUX_INPUT") (pinfunction "GPIO11") (pintype "bidirectional") (tstamp 1b593081-361c-48da-bdca-4d7ec0bff57b))
+    (pad "15" thru_hole circle (at 0 35.56 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 178 "/pico/MUX_INPUT") (pinfunction "GPIO11") (pintype "bidirectional") (tstamp e6943627-fded-4f55-9713-04a90b94a333))
+    (pad "16" thru_hole circle (at 0 38.1 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 172 "/pico/MUX_OUTPUT") (pinfunction "GPIO12") (pintype "bidirectional") (tstamp 765f5199-032e-43ac-a761-994a9d399d5b))
+    (pad "16" smd oval (at -1.6 38.1 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 172 "/pico/MUX_OUTPUT") (pinfunction "GPIO12") (pintype "bidirectional") (tstamp b352d7b6-3ed1-4e21-9849-9203c575925f))
+    (pad "17" thru_hole circle (at 0 40.64 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 177 "/pico/MUX_ADDRESS_0") (pinfunction "GPIO13") (pintype "bidirectional") (tstamp 29e71144-05c7-404a-9e6a-208be05e4fcc))
+    (pad "17" smd oval (at -1.6 40.64 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 177 "/pico/MUX_ADDRESS_0") (pinfunction "GPIO13") (pintype "bidirectional") (tstamp ab29ad07-4c91-4cd1-8f61-a21c07fef584))
+    (pad "18" smd roundrect (at -1.6 43.18 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp a59f1319-f52b-4ce3-a5f6-e7c3e55a868b))
+    (pad "18" thru_hole roundrect (at 0 43.18 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp d82b4829-bef8-44a2-afc1-24915f8f9d5e))
+    (pad "19" smd oval (at -1.6 45.72 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 176 "/pico/MUX_ADDRESS_1") (pinfunction "GPIO14") (pintype "bidirectional") (tstamp 95a8c759-ebb0-400b-9aa8-ea3f10e165c0))
+    (pad "19" thru_hole circle (at 0 45.72 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 176 "/pico/MUX_ADDRESS_1") (pinfunction "GPIO14") (pintype "bidirectional") (tstamp b559c7a9-6ba8-4260-8ff6-4a81ec1fa666))
+    (pad "20" thru_hole circle (at 0 48.26 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 175 "/pico/MUX_ADDRESS_2") (pinfunction "GPIO15") (pintype "bidirectional") (tstamp 8d0c0ab7-a17b-4e83-9cb1-15d9ff764021))
+    (pad "20" smd oval (at -1.6 48.26 270) (size 3.2 1.6) (drill (offset 0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 175 "/pico/MUX_ADDRESS_2") (pinfunction "GPIO15") (pintype "bidirectional") (tstamp b515762e-1563-408c-954f-fa2c6c36e43e))
+    (pad "21" thru_hole circle (at 17.78 48.26 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 139 "/pico/SOUND_TX") (pinfunction "GPIO16") (pintype "bidirectional") (tstamp 32393a8f-ac11-430b-bd9c-b49ec1c0313b))
+    (pad "21" smd oval (at 19.38 48.26 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 139 "/pico/SOUND_TX") (pinfunction "GPIO16") (pintype "bidirectional") (tstamp fd6340e9-7696-4041-9051-9c2c392a8c12))
+    (pad "22" thru_hole circle (at 17.78 45.72 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 146 "/pico/SOUND_RX") (pinfunction "GPIO17") (pintype "bidirectional") (tstamp 0337751e-66bf-4c97-8537-e7df73b9aacb))
+    (pad "22" smd oval (at 19.38 45.72 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 146 "/pico/SOUND_RX") (pinfunction "GPIO17") (pintype "bidirectional") (tstamp a995f77b-e526-4332-89fb-b8bd6e5d645d))
+    (pad "23" smd roundrect (at 19.38 43.18 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp 4ea1790c-d4e6-49e1-b86a-fcfaad36dfac))
+    (pad "23" thru_hole roundrect (at 17.78 43.18 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp ee04a32d-0420-4712-b41f-8f13f547b38f))
+    (pad "24" smd oval (at 19.38 40.64 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 78 "/RobotConnectors/HALL_SWITCH_1") (pinfunction "GPIO18") (pintype "bidirectional") (tstamp 0d8b4933-7079-489f-9974-8f2fce90bb55))
+    (pad "24" thru_hole circle (at 17.78 40.64 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 78 "/RobotConnectors/HALL_SWITCH_1") (pinfunction "GPIO18") (pintype "bidirectional") (tstamp d077ef67-1af8-4880-af0e-764f070247e4))
+    (pad "25" smd oval (at 19.38 38.1 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 76 "/RobotConnectors/HALL_SWITCH_2") (pinfunction "GPIO19") (pintype "bidirectional") (tstamp 111191c6-c6e3-4277-a7b7-d88ed305cc8f))
+    (pad "25" thru_hole circle (at 17.78 38.1 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 76 "/RobotConnectors/HALL_SWITCH_2") (pinfunction "GPIO19") (pintype "bidirectional") (tstamp 53ac7930-d457-4ffd-ae69-fca208cb8985))
+    (pad "26" thru_hole circle (at 17.78 35.56 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 223 "/ESCs/ESC_SHUTDOWN") (pinfunction "GPIO20") (pintype "bidirectional") (tstamp 9ef71d02-9a75-4747-b4ea-5cdf5561fa5c))
+    (pad "26" smd oval (at 19.38 35.56 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 223 "/ESCs/ESC_SHUTDOWN") (pinfunction "GPIO20") (pintype "bidirectional") (tstamp c3209603-3ff2-42e1-abf2-19944b97629f))
+    (pad "27" thru_hole circle (at 17.78 33.02 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 57 "/RaspberryPi/POWER_EN") (pinfunction "GPIO21") (pintype "bidirectional") (tstamp d6de7eca-af55-4eff-8e11-f5a9daa28c9b))
+    (pad "27" smd oval (at 19.38 33.02 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 57 "/RaspberryPi/POWER_EN") (pinfunction "GPIO21") (pintype "bidirectional") (tstamp f04c7a05-e739-43f7-8844-dbfc67674332))
+    (pad "28" smd roundrect (at 19.38 30.48 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp 19609317-ab9c-49fb-a64a-ed03116252a8))
+    (pad "28" thru_hole roundrect (at 17.78 30.48 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp f44d4d89-40ab-4d8d-8645-777a54737c26))
+    (pad "29" smd oval (at 19.38 27.94 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 203 "/RobotConnectors/ENABLE_CHARGE") (pinfunction "GPIO22") (pintype "bidirectional") (tstamp 6401582a-bcf5-4420-81f5-e76e1e520959))
+    (pad "29" thru_hole circle (at 17.78 27.94 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 203 "/RobotConnectors/ENABLE_CHARGE") (pinfunction "GPIO22") (pintype "bidirectional") (tstamp 8c2daf16-a380-4c35-aad9-9e4f3f9f6ccc))
+    (pad "30" smd oval (at 19.38 25.4 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 120 "/RaspberryPi/PICO_RESET") (pinfunction "RUN") (pintype "input") (tstamp c8ebe2f5-eb45-4489-ba44-116015c64cef))
+    (pad "30" thru_hole circle (at 17.78 25.4 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 120 "/RaspberryPi/PICO_RESET") (pinfunction "RUN") (pintype "input") (tstamp f2a7004e-e1c4-4ac5-b54a-d013a2496ac0))
+    (pad "31" thru_hole circle (at 17.78 22.86 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 123 "/pico/V_CHARGE") (pinfunction "GPIO26_ADC0") (pintype "bidirectional") (tstamp 0f9cdf10-e9f0-44d5-920e-b63c9122422b))
+    (pad "31" smd oval (at 19.38 22.86 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 123 "/pico/V_CHARGE") (pinfunction "GPIO26_ADC0") (pintype "bidirectional") (tstamp 9b184c17-eb49-4726-a1ca-8ac8a50d41be))
+    (pad "32" smd oval (at 19.38 20.32 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 124 "/pico/V_IN") (pinfunction "GPIO27_ADC1") (pintype "bidirectional") (tstamp 85f77c39-b0d0-4bcd-81fc-80b78895700f))
+    (pad "32" thru_hole circle (at 17.78 20.32 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 124 "/pico/V_IN") (pinfunction "GPIO27_ADC1") (pintype "bidirectional") (tstamp c8b0254f-242d-4bdd-a5b1-97ca78e6cd28))
+    (pad "33" thru_hole roundrect (at 17.78 17.78 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "AGND") (pintype "power_in") (tstamp 5b3f96ca-fabf-4665-b69c-a3393c6375d7))
+    (pad "33" smd roundrect (at 19.38 17.78 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "AGND") (pintype "power_in") (tstamp 8381323c-7157-4688-b0e1-27bf4235cbc6))
+    (pad "34" thru_hole circle (at 17.78 15.24 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 116 "/CHARGE_CURRENT") (pinfunction "GPIO28_ADC2") (pintype "bidirectional") (tstamp 2855dd60-9d43-4b8b-9152-c84dc797195a))
+    (pad "34" smd oval (at 19.38 15.24 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 116 "/CHARGE_CURRENT") (pinfunction "GPIO28_ADC2") (pintype "bidirectional") (tstamp f72480e7-e0cd-4785-9aa6-979efed5603f))
+    (pad "35" smd oval (at 19.38 12.7 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 141 "unconnected-(U11-Pad35)") (pinfunction "ADC_VREF") (pintype "power_in+no_connect") (tstamp 48eaac27-c886-4aac-b899-50ad05f06987))
+    (pad "35" thru_hole circle (at 17.78 12.7 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 141 "unconnected-(U11-Pad35)") (pinfunction "ADC_VREF") (pintype "power_in+no_connect") (tstamp c728ca30-a491-41eb-866a-bcdda108ffcb))
+    (pad "36" smd oval (at 19.38 10.16 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 56 "+3V3") (pinfunction "3V3") (pintype "power_out") (tstamp 2351cdbf-9d34-4809-b1de-0c54c7da7749))
+    (pad "36" thru_hole circle (at 17.78 10.16 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 56 "+3V3") (pinfunction "3V3") (pintype "power_out") (tstamp 54dbfda2-1dfb-44da-a570-c57f25fc032f))
+    (pad "37" smd oval (at 19.38 7.62 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 142 "unconnected-(U11-Pad37)") (pinfunction "3V3_EN") (pintype "input+no_connect") (tstamp 9dad52ee-d263-4bd9-985a-dc86e7ebb0c8))
+    (pad "37" thru_hole circle (at 17.78 7.62 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 142 "unconnected-(U11-Pad37)") (pinfunction "3V3_EN") (pintype "input+no_connect") (tstamp b2b57ab9-2077-4335-b4cf-b8dfad2438ad))
+    (pad "38" thru_hole roundrect (at 17.78 5.08 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp 2ebb9d86-afbe-4c60-8620-b6302ed1034f))
+    (pad "38" smd roundrect (at 19.38 5.08 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "GND") (pintype "passive") (tstamp ab6318a7-1b83-49e0-9c68-c372a5d87271))
+    (pad "39" smd oval (at 19.38 2.54 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 2 "+5V") (pinfunction "VSYS") (pintype "power_in") (tstamp 95f02a3f-67ba-4c36-95d3-16946b96f9b2))
+    (pad "39" thru_hole circle (at 17.78 2.54 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 2 "+5V") (pinfunction "VSYS") (pintype "power_in") (tstamp e0a8c606-33ce-4f34-809a-1947c3802e92))
+    (pad "40" smd oval (at 19.38 0 270) (size 3.2 1.6) (drill (offset -0.8 0)) (layers "F.Cu" "F.Mask")
+      (net 143 "unconnected-(U11-Pad40)") (pinfunction "VBUS") (pintype "power_out+no_connect") (tstamp 66061d59-d103-421a-8b7e-08b60e1340be))
+    (pad "40" thru_hole circle (at 17.78 0 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 143 "unconnected-(U11-Pad40)") (pinfunction "VBUS") (pintype "power_out+no_connect") (tstamp ab1d13f8-e307-4683-9a08-1b3cbee416d8))
+    (pad "41" thru_hole custom (at 6.35 48.03 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 122 "/RaspberryPi/PICO_SWCLK") (pinfunction "SWCLK") (pintype "input")
+      (options (clearance convexhull) (anchor circle))
+      (primitives
+        (gr_poly (pts
+            (xy 0.6 0.248529)
+            (xy 0.248529 0.6)
+            (xy -0.248529 0.6)
+            (xy -0.6 0.248529)
+            (xy -0.6 -0.248529)
+            (xy -0.248529 -0.6)
+            (xy 0.248529 -0.6)
+            (xy 0.6 -0.248529)
+          ) (width 0.4) (fill yes))
+      ) (tstamp 67bcb600-574e-461b-a2fa-cfc45120194a))
+    (pad "41" smd custom (at 6.35 49.63 270) (size 1.6 1.6) (layers "F.Cu" "F.Mask")
+      (net 122 "/RaspberryPi/PICO_SWCLK") (pinfunction "SWCLK") (pintype "input")
+      (options (clearance convexhull) (anchor circle))
+      (primitives
+        (gr_poly (pts
+            (xy 0.6 0.248529)
+            (xy 0.248529 0.6)
+            (xy -0.248529 0.6)
+            (xy -0.6 0.248529)
+            (xy -0.6 -1.848529)
+            (xy -0.248529 -2.2)
+            (xy 0.248529 -2.2)
+            (xy 0.6 -1.848529)
+          ) (width 0.4) (fill yes))
+      ) (tstamp d4483da0-53f0-4cd2-88cd-e590bdfc1cf2))
+    (pad "42" thru_hole roundrect (at 8.89 48.03 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "SWGND") (pintype "power_in") (tstamp 8562fbd2-108a-4092-ab85-829a26ed0886))
+    (pad "42" smd roundrect (at 8.89 49.63 270) (size 1.6 3.2) (drill (offset 0 -0.8)) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.125)
+      (net 1 "GND") (pinfunction "SWGND") (pintype "power_in") (tstamp d41ad0f5-d703-4495-bb65-540119b47862))
+    (pad "43" smd oval (at 11.43 49.63 270) (size 1.6 3.2) (drill (offset 0 -0.8)) (layers "F.Cu" "F.Mask")
+      (net 121 "/RaspberryPi/PICO_SWDIO") (pinfunction "SWDIO") (pintype "bidirectional") (tstamp 2cdad9ae-4ada-4db4-a269-07faf1e4ec71))
+    (pad "43" thru_hole circle (at 11.43 48.03 270) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+      (net 121 "/RaspberryPi/PICO_SWDIO") (pinfunction "SWDIO") (pintype "bidirectional") (tstamp 4515ee10-3458-4741-85b3-caa7148a8ee1))
+    (model "${KIPRJMOD}/MyModules.pretty/Raspberry Pi Pico-R3.STEP"
+      (offset (xyz 8.9 -24 0))
       (scale (xyz 1 1 1))
-      (rotate (xyz 0 0 0))
+      (rotate (xyz -90 0 0))
     )
   )
 
@@ -9017,11 +8990,11 @@
     )
   )
 
-  (footprint "Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical" (layer "F.Cu")
-    (tedit 59FED5CC) (tstamp bc50de15-745c-47f3-b05b-20afceef3d9c)
+  (footprint "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" (layer "F.Cu")
+    (tedit 5A19A420) (tstamp bc50de15-745c-47f3-b05b-20afceef3d9c)
     (at 83 149.87 90)
-    (descr "Through hole straight pin header, 1x08, 2.54mm pitch, single row")
-    (tags "Through hole pin header THT 1x08 2.54mm single row")
+    (descr "Through hole straight socket strip, 1x08, 2.54mm pitch, single row (from Kicad 4.0.7), script generated")
+    (tags "Through hole socket strip THT 1x08 2.54mm single row")
     (property "LCSC" "C2935914")
     (property "Part Number" "DZ254R-11-08-63")
     (property "Sheetfile" "sound_module.kicad_sch")
@@ -9029,50 +9002,50 @@
     (property "Stock_PN" "J-TH-1x8-.1")
     (path "/7936fd08-09c5-4aba-8422-c848060d3b9f/87f80ba0-ce75-42b4-a617-b5b5fc827ac6")
     (attr through_hole)
-    (fp_text reference "J23" (at 0 -2.33 90) (layer "F.SilkS") hide
+    (fp_text reference "J23" (at 0 -2.77 90) (layer "F.SilkS")
       (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 10208456-3790-450e-8e87-e91156d6b5ba)
+      (tstamp 38fb6e29-d1a0-4e36-b815-8c646ccfa0e6)
     )
-    (fp_text value "Conn_01x08" (at 0 20.11 90) (layer "F.Fab")
+    (fp_text value "Conn_01x08" (at 0 20.55 90) (layer "F.Fab")
       (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 8c8bba22-92f2-4467-9da9-8c74eac82553)
+      (tstamp 8dbaea64-f5d1-4d3b-87b3-c076a3473477)
     )
-    (fp_text user "${REFERENCE}" (at 0 8.89) (layer "F.Fab")
+    (fp_text user "${REFERENCE}" (at 0 8.89 180) (layer "F.Fab")
       (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 630281ec-6b5d-4f56-844f-cbb256eabbc5)
-    )
-    (fp_line (start -1.33 1.27) (end 1.33 1.27) (layer "F.SilkS") (width 0.12) (tstamp 8b8c504c-dc36-4ee9-8ab3-aa3d47010616))
-    (fp_line (start -1.33 19.11) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp b380a50e-9f8b-40fc-97fa-4541b7165a93))
-    (fp_line (start -1.33 0) (end -1.33 -1.33) (layer "F.SilkS") (width 0.12) (tstamp b451b66e-4c55-4afc-a23e-a081e0677278))
-    (fp_line (start -1.33 1.27) (end -1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp be591c81-94e6-4d31-ba8e-5efb2bc657ca))
-    (fp_line (start -1.33 -1.33) (end 0 -1.33) (layer "F.SilkS") (width 0.12) (tstamp e34ade54-dc49-4dac-8b7c-27b2c60487f4))
-    (fp_line (start 1.33 1.27) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp eae1adf6-ea3a-4bfe-86c7-58b72924b735))
-    (fp_line (start -1.8 19.55) (end 1.8 19.55) (layer "F.CrtYd") (width 0.05) (tstamp 0fa003ae-12a3-48d9-be08-50f2a3fa441b))
-    (fp_line (start 1.8 19.55) (end 1.8 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp 778fe760-de1f-4e12-b4fe-975ace982639))
-    (fp_line (start -1.8 -1.8) (end -1.8 19.55) (layer "F.CrtYd") (width 0.05) (tstamp 8365fb77-60d9-485c-b199-21515c49e3a0))
-    (fp_line (start 1.8 -1.8) (end -1.8 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp b6d74bef-040b-4388-8283-0aff0bac4b2c))
-    (fp_line (start -0.635 -1.27) (end 1.27 -1.27) (layer "F.Fab") (width 0.1) (tstamp 918835ec-dd97-4893-b5e7-e6e12b8452f3))
-    (fp_line (start 1.27 19.05) (end -1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp 96e2049b-22c9-4957-bc1c-d7f3a0ecd7ef))
-    (fp_line (start -1.27 19.05) (end -1.27 -0.635) (layer "F.Fab") (width 0.1) (tstamp 9e0aa87d-4d1b-4b3e-8557-232df9c28526))
-    (fp_line (start -1.27 -0.635) (end -0.635 -1.27) (layer "F.Fab") (width 0.1) (tstamp b0f3bd07-24c3-41db-8bdc-044c5bbd0ab7))
-    (fp_line (start 1.27 -1.27) (end 1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp ecda7767-73d5-4227-8184-8015cd3a783f))
+      (tstamp 49e06f89-4f2d-4e55-ae39-5823e0e798e2)
+    )
+    (fp_line (start 1.33 -1.33) (end 1.33 0) (layer "F.SilkS") (width 0.12) (tstamp 20927637-9bac-4efe-b2a7-083a7e94c7b0))
+    (fp_line (start -1.33 1.27) (end -1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp 4c6e9465-9c34-4108-be14-f0082bd40ce4))
+    (fp_line (start -1.33 1.27) (end 1.33 1.27) (layer "F.SilkS") (width 0.12) (tstamp 6f89a5cc-4be4-4114-a68d-ba39f02b7cf8))
+    (fp_line (start 0 -1.33) (end 1.33 -1.33) (layer "F.SilkS") (width 0.12) (tstamp 88996d96-6928-4efe-900d-705bc0abcfc5))
+    (fp_line (start -1.33 19.11) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp 8dc948e1-121b-48f8-893d-a99bbcf64f7f))
+    (fp_line (start 1.33 1.27) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp c49ca6cf-c016-4eab-b54f-a967cded610b))
+    (fp_line (start -1.8 19.55) (end -1.8 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp 27b85c8a-22d7-415c-ba20-f511dc520df6))
+    (fp_line (start 1.75 19.55) (end -1.8 19.55) (layer "F.CrtYd") (width 0.05) (tstamp 427569bc-6955-4c26-a17a-2f3ff189861d))
+    (fp_line (start -1.8 -1.8) (end 1.75 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp aec423d5-03a1-46e5-945b-395e901cd188))
+    (fp_line (start 1.75 -1.8) (end 1.75 19.55) (layer "F.CrtYd") (width 0.05) (tstamp ffc8bd7a-3689-4922-a663-257e892d5da2))
+    (fp_line (start -1.27 19.05) (end -1.27 -1.27) (layer "F.Fab") (width 0.1) (tstamp 047a7c79-1d1f-4b7b-bf99-c0bbbcce3159))
+    (fp_line (start 1.27 -0.635) (end 1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp 11d918c5-1b6c-4410-86e2-4b05f56459fb))
+    (fp_line (start 0.635 -1.27) (end 1.27 -0.635) (layer "F.Fab") (width 0.1) (tstamp 55529daa-e848-4bcd-911c-e4ff83967318))
+    (fp_line (start 1.27 19.05) (end -1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp bdf82d7f-0926-4860-b02e-d2708627fe1b))
+    (fp_line (start -1.27 -1.27) (end 0.635 -1.27) (layer "F.Fab") (width 0.1) (tstamp c8ef2f5f-dcf7-4e57-9917-b883fce433c0))
     (pad "1" thru_hole rect (at 0 0 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 140 "/pico/SOUND_BUSY") (pinfunction "Pin_1") (pintype "passive") (tstamp baf6d4ed-0c94-47ba-9379-1801f004466d))
+      (net 140 "/pico/SOUND_BUSY") (pinfunction "Pin_1") (pintype "passive") (tstamp bcd16c04-f568-4838-b1c8-a62dac4151c9))
     (pad "2" thru_hole oval (at 0 2.54 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 210 "unconnected-(J23-Pad2)") (pinfunction "Pin_2") (pintype "passive+no_connect") (tstamp 9ba97df9-babb-4556-924f-ee65eb50b0ea))
+      (net 210 "unconnected-(J23-Pad2)") (pinfunction "Pin_2") (pintype "passive+no_connect") (tstamp 481df10c-723f-4556-8c3b-6ca7afe45351))
     (pad "3" thru_hole oval (at 0 5.08 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 211 "unconnected-(J23-Pad3)") (pinfunction "Pin_3") (pintype "passive+no_connect") (tstamp 54e8863b-3048-4884-ad0a-051dfd90e68a))
+      (net 211 "unconnected-(J23-Pad3)") (pinfunction "Pin_3") (pintype "passive+no_connect") (tstamp bdc2b698-f1ad-484b-b570-153cce28e607))
     (pad "4" thru_hole oval (at 0 7.62 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 212 "unconnected-(J23-Pad4)") (pinfunction "Pin_4") (pintype "passive+no_connect") (tstamp 76e50be8-7882-4071-bce5-28d31cd7702b))
+      (net 212 "unconnected-(J23-Pad4)") (pinfunction "Pin_4") (pintype "passive+no_connect") (tstamp 0c0101f5-a756-46a8-9eb7-46e2c5524bff))
     (pad "5" thru_hole oval (at 0 10.16 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 213 "unconnected-(J23-Pad5)") (pinfunction "Pin_5") (pintype "passive+no_connect") (tstamp ee843986-2e8b-40bb-a90f-e255e234778f))
+      (net 213 "unconnected-(J23-Pad5)") (pinfunction "Pin_5") (pintype "passive+no_connect") (tstamp 2a5df02a-586c-40b6-bd25-354d6b101a8f))
     (pad "6" thru_hole oval (at 0 12.7 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "Pin_6") (pintype "passive") (tstamp e2608284-2aab-49d5-bb7e-0f99f8d7dda7))
+      (net 1 "GND") (pinfunction "Pin_6") (pintype "passive") (tstamp 9970e6ed-9511-4ad6-af29-2f90b72a8ec5))
     (pad "7" thru_hole oval (at 0 15.24 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 214 "unconnected-(J23-Pad7)") (pinfunction "Pin_7") (pintype "passive+no_connect") (tstamp d1ec84d8-f688-4c18-8b36-9527453678ae))
+      (net 214 "unconnected-(J23-Pad7)") (pinfunction "Pin_7") (pintype "passive+no_connect") (tstamp d43d19e8-323a-410e-a338-e43dde5e5266))
     (pad "8" thru_hole oval (at 0 17.78 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 215 "unconnected-(J23-Pad8)") (pinfunction "Pin_8") (pintype "passive+no_connect") (tstamp eba74d2a-bf1a-4881-97f9-ecbfc5564a84))
-    (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x08_P2.54mm_Vertical.wrl"
+      (net 215 "unconnected-(J23-Pad8)") (pinfunction "Pin_8") (pintype "passive+no_connect") (tstamp d35c7431-197b-49aa-845a-b3e9a58d18b4))
+    (model "${KICAD6_3DMODEL_DIR}/Connector_PinSocket_2.54mm.3dshapes/PinSocket_1x08_P2.54mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -9198,11 +9171,11 @@
     )
   )
 
-  (footprint "Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical" (layer "F.Cu")
-    (tedit 59FED5CC) (tstamp c28bc5e2-2a63-448f-9507-22caeec2e152)
+  (footprint "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" (layer "F.Cu")
+    (tedit 5A19A420) (tstamp c28bc5e2-2a63-448f-9507-22caeec2e152)
     (at 83 167.65 90)
-    (descr "Through hole straight pin header, 1x08, 2.54mm pitch, single row")
-    (tags "Through hole pin header THT 1x08 2.54mm single row")
+    (descr "Through hole straight socket strip, 1x08, 2.54mm pitch, single row (from Kicad 4.0.7), script generated")
+    (tags "Through hole socket strip THT 1x08 2.54mm single row")
     (property "LCSC" "C2935914")
     (property "Part Number" "DZ254R-11-08-63")
     (property "Sheetfile" "sound_module.kicad_sch")
@@ -9210,50 +9183,50 @@
     (property "Stock_PN" "J-TH-1x8-.1")
     (path "/7936fd08-09c5-4aba-8422-c848060d3b9f/c8b1e703-3bad-4184-af0f-a5a5d3621286")
     (attr through_hole)
-    (fp_text reference "J16" (at 0 -2.33 90) (layer "F.SilkS") hide
+    (fp_text reference "J16" (at 0 -2.77 90) (layer "F.SilkS")
       (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 0e3a4f84-ead1-451b-903b-3f217b8bf31f)
+      (tstamp 75e96846-6862-4d0f-bf65-3afd0b92a967)
     )
-    (fp_text value "Conn_01x08" (at 0 20.11 90) (layer "F.Fab")
+    (fp_text value "Conn_01x08" (at 0 20.55 90) (layer "F.Fab")
       (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp e9cf691f-0b90-46d3-9446-65197747c2b5)
+      (tstamp 1aeebb93-7c3e-47eb-8e3c-2166aaa9c80f)
     )
-    (fp_text user "${REFERENCE}" (at 0 8.89) (layer "F.Fab")
+    (fp_text user "${REFERENCE}" (at 0 8.89 180) (layer "F.Fab")
       (effects (font (size 1 1) (thickness 0.15)))
-      (tstamp 560bf440-d4ec-453d-93c2-259ef54f8c01)
-    )
-    (fp_line (start -1.33 1.27) (end 1.33 1.27) (layer "F.SilkS") (width 0.12) (tstamp 26e35f64-ac4e-49db-b73d-b9b914e255bb))
-    (fp_line (start -1.33 1.27) (end -1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp 3de466ae-c37d-400f-aa6c-e0d4005886d8))
-    (fp_line (start -1.33 0) (end -1.33 -1.33) (layer "F.SilkS") (width 0.12) (tstamp 44b8a914-0fe4-4826-b7c6-e202d3c30f49))
-    (fp_line (start -1.33 -1.33) (end 0 -1.33) (layer "F.SilkS") (width 0.12) (tstamp 7a8c6bc7-9351-4363-b1b1-7957e5ec1633))
-    (fp_line (start -1.33 19.11) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp ae7c882a-7ead-4773-b6c2-3f75283c412a))
-    (fp_line (start 1.33 1.27) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp e9ca59b4-6a8f-4e71-875d-f5f41d6a42b0))
-    (fp_line (start -1.8 19.55) (end 1.8 19.55) (layer "F.CrtYd") (width 0.05) (tstamp 1aca957f-c15c-4b33-8924-7512969ddb08))
-    (fp_line (start -1.8 -1.8) (end -1.8 19.55) (layer "F.CrtYd") (width 0.05) (tstamp 1f751983-f290-4978-bc34-ecd88bbe2f43))
-    (fp_line (start 1.8 -1.8) (end -1.8 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp 52cade40-d65f-4b59-ab19-97ccb726e586))
-    (fp_line (start 1.8 19.55) (end 1.8 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp eb2449d4-9ba4-424f-a770-9a4869f60649))
-    (fp_line (start -0.635 -1.27) (end 1.27 -1.27) (layer "F.Fab") (width 0.1) (tstamp 639c376c-464c-4831-874e-c085b9b629dc))
-    (fp_line (start -1.27 -0.635) (end -0.635 -1.27) (layer "F.Fab") (width 0.1) (tstamp 984bb37d-f0ee-4b20-be94-2ad8c461db7c))
-    (fp_line (start -1.27 19.05) (end -1.27 -0.635) (layer "F.Fab") (width 0.1) (tstamp a44ac9bb-63d8-49af-b443-ea82b76d1f4b))
-    (fp_line (start 1.27 19.05) (end -1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp bff764aa-5db7-406c-a6dc-7234e64e0e3b))
-    (fp_line (start 1.27 -1.27) (end 1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp ca854cff-1e3d-4e32-bd07-5e2540c58816))
+      (tstamp 828d2543-b78c-4877-8d79-605b84f2dfc3)
+    )
+    (fp_line (start 1.33 -1.33) (end 1.33 0) (layer "F.SilkS") (width 0.12) (tstamp 9812a737-0dd2-4cac-9b6e-989f8d416975))
+    (fp_line (start 0 -1.33) (end 1.33 -1.33) (layer "F.SilkS") (width 0.12) (tstamp 9e3a1445-fa6b-4f23-bc59-9852f2f4ff93))
+    (fp_line (start -1.33 19.11) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp a5b700d8-cf0d-4bc6-96d1-b1592585bdc2))
+    (fp_line (start -1.33 1.27) (end 1.33 1.27) (layer "F.SilkS") (width 0.12) (tstamp b5943c51-3372-4a57-b078-8d1271414eb8))
+    (fp_line (start -1.33 1.27) (end -1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp e43641b0-7902-4236-859d-e246303eeedc))
+    (fp_line (start 1.33 1.27) (end 1.33 19.11) (layer "F.SilkS") (width 0.12) (tstamp e6d180e6-40ab-4505-962e-5b7102be1e45))
+    (fp_line (start 1.75 -1.8) (end 1.75 19.55) (layer "F.CrtYd") (width 0.05) (tstamp 7ed019d2-89d0-4ede-b974-aa6429d4e4cc))
+    (fp_line (start -1.8 19.55) (end -1.8 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp 7f98f580-3853-4f4b-9e3a-54da8bddf12a))
+    (fp_line (start -1.8 -1.8) (end 1.75 -1.8) (layer "F.CrtYd") (width 0.05) (tstamp 8e498146-8982-4d64-b538-8b21398ee850))
+    (fp_line (start 1.75 19.55) (end -1.8 19.55) (layer "F.CrtYd") (width 0.05) (tstamp bc54de2d-3443-44f4-9d08-f0c721a37cbc))
+    (fp_line (start 1.27 -0.635) (end 1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp 19013d48-5579-4799-a6b9-28d160a4492c))
+    (fp_line (start -1.27 19.05) (end -1.27 -1.27) (layer "F.Fab") (width 0.1) (tstamp 61ed3f13-2096-4525-afea-e460027daf9f))
+    (fp_line (start -1.27 -1.27) (end 0.635 -1.27) (layer "F.Fab") (width 0.1) (tstamp 915e36e5-4c59-4ca2-9b0d-72147f58cce7))
+    (fp_line (start 1.27 19.05) (end -1.27 19.05) (layer "F.Fab") (width 0.1) (tstamp 9824b9d7-d89a-4db2-92fb-671c5fa2e02c))
+    (fp_line (start 0.635 -1.27) (end 1.27 -0.635) (layer "F.Fab") (width 0.1) (tstamp dc3ddb02-00bb-4bda-81f6-5aae5f300123))
     (pad "1" thru_hole rect (at 0 0 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 216 "Net-(J16-Pad1)") (pinfunction "Pin_1") (pintype "passive") (tstamp 634cf9f1-fd9e-46ec-bb5a-f26523732ed5))
+      (net 216 "Net-(J16-Pad1)") (pinfunction "Pin_1") (pintype "passive") (tstamp 1da0f4d6-b02f-4d70-8403-23f7efcb0f0e))
     (pad "2" thru_hole oval (at 0 2.54 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 206 "Net-(J16-Pad2)") (pinfunction "Pin_2") (pintype "passive") (tstamp 84935646-124b-466f-a2d2-254fa00144ea))
+      (net 206 "Net-(J16-Pad2)") (pinfunction "Pin_2") (pintype "passive") (tstamp 297e1ec4-c0b4-4b15-92a9-64a7a357a766))
     (pad "3" thru_hole oval (at 0 5.08 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 207 "Net-(J16-Pad3)") (pinfunction "Pin_3") (pintype "passive") (tstamp d7d2ef09-79b9-420a-ab0b-ea64dc48169b))
+      (net 207 "Net-(J16-Pad3)") (pinfunction "Pin_3") (pintype "passive") (tstamp ccbc8fa6-53be-4dff-87b2-2ee52457ce1e))
     (pad "4" thru_hole oval (at 0 7.62 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 208 "unconnected-(J16-Pad4)") (pinfunction "Pin_4") (pintype "passive+no_connect") (tstamp d2b4b4da-56ce-4653-97a4-e48cc21b5509))
+      (net 208 "unconnected-(J16-Pad4)") (pinfunction "Pin_4") (pintype "passive+no_connect") (tstamp 0f9ccdae-ca25-4d74-94fb-b6e33fd07ef5))
     (pad "5" thru_hole oval (at 0 10.16 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 209 "unconnected-(J16-Pad5)") (pinfunction "Pin_5") (pintype "passive+no_connect") (tstamp 1ec6084e-7b3b-4ec6-9359-b013058f3b4f))
+      (net 209 "unconnected-(J16-Pad5)") (pinfunction "Pin_5") (pintype "passive+no_connect") (tstamp b39efb18-35a7-4f61-9bea-37bd1042a0dd))
     (pad "6" thru_hole oval (at 0 12.7 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 188 "/RobotConnectors/SPEAKER_PLUS") (pinfunction "Pin_6") (pintype "passive") (tstamp 3dc3c432-63a0-4ecb-b363-b4f3b0ce7fd2))
+      (net 188 "/RobotConnectors/SPEAKER_PLUS") (pinfunction "Pin_6") (pintype "passive") (tstamp c02f5526-21f5-45ae-94a0-b10bd078f382))
     (pad "7" thru_hole oval (at 0 15.24 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 1 "GND") (pinfunction "Pin_7") (pintype "passive") (tstamp 5f76723c-060a-4c15-b6ff-5cd4e2082488))
+      (net 1 "GND") (pinfunction "Pin_7") (pintype "passive") (tstamp 50a5dd2d-0c60-406b-a201-afeed6dd5f30))
     (pad "8" thru_hole oval (at 0 17.78 90) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
-      (net 189 "/RobotConnectors/SPEAKER_MINUS") (pinfunction "Pin_8") (pintype "passive") (tstamp 19f5affd-da64-4d08-93dd-c05477319500))
-    (model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x08_P2.54mm_Vertical.wrl"
+      (net 189 "/RobotConnectors/SPEAKER_MINUS") (pinfunction "Pin_8") (pintype "passive") (tstamp e2ee8375-5d38-4b0c-866a-6b0bc9145866))
+    (model "${KICAD6_3DMODEL_DIR}/Connector_PinSocket_2.54mm.3dshapes/PinSocket_1x08_P2.54mm_Vertical.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
@@ -9323,6 +9296,7 @@
     (descr "Diode SMA (DO-214AC) Handsoldering")
     (tags "Diode SMA (DO-214AC) Handsoldering")
     (property "Digikey" "3757-SB54AFC_R1_00001CT-ND")
+    (property "LCSC" "C113939")
     (property "Part Number" "SB54AFC_R1_00001")
     (property "Sheetfile" "RobotConnectors.kicad_sch")
     (property "Sheetname" "RobotConnectors")
@@ -9756,7 +9730,7 @@
     (descr "Through hole straight pin header, 2x04, 2.54mm pitch, double rows")
     (tags "Through hole pin header THT 2x04 2.54mm double row")
     (property "LCSC" "C2894965")
-    (property "Part Number" "	PZ254-2-04-Z-8.5")
+    (property "Part Number" "PZ254-2-04-Z-8.5")
     (property "Sheetfile" "RaspberryPi.kicad_sch")
     (property "Sheetname" "RaspberryPi")
     (property "Stock_PN" "J-TH-2x4-.1")
@@ -10011,7 +9985,7 @@
     (tedit 0) (tstamp db002d44-34dc-4a16-a373-be2b73d8ad8e)
     (at 173.1 173.7 -90)
     (attr board_only exclude_from_pos_files exclude_from_bom)
-    (fp_text reference "MH1" (at 0 0 90) (layer "F.SilkS")
+    (fp_text reference "MH1" (at 0 0 90) (layer "F.Fab")
       (effects (font (size 1.27 1.27) (thickness 0.15)))
       (tstamp ba12b919-266b-49e0-8c9a-cd852982ad76)
     )
@@ -10023,6 +9997,55 @@
       (solder_mask_margin 1.725) (clearance 1.725) (tstamp 7f3472d8-b33a-40c5-a248-c96394fd69de))
   )
 
+  (footprint "MyModules:WT901" (layer "F.Cu")
+    (tedit 0) (tstamp dc0e0144-b6e4-439c-9b62-ac3517277c14)
+    (at 93.218 181.102)
+    (property "Sheetfile" "imu.kicad_sch")
+    (property "Sheetname" "IMU")
+    (path "/df7e4e30-b8d5-4f4b-a24f-39298e982d26/a8a623e2-4c2d-4c7c-97a1-d8b8fae36dda")
+    (autoplace_cost90 10)
+    (autoplace_cost180 10)
+    (attr through_hole exclude_from_pos_files)
+    (fp_text reference "WT901" (at 0 -1.778 180) (layer "F.SilkS")
+      (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp 1eed9139-2e36-4603-93ae-ffbc7e111f6f)
+    )
+    (fp_text value "Conn_01x06_Female" (at 0 0) (layer "F.Fab")
+      (effects (font (size 1 1) (thickness 0.15)))
+      (tstamp bdae29f7-81c9-46dc-8dd5-6b2c6bb9269c)
+    )
+    (fp_line (start -7.2 7.25) (end -7.2 4.445) (layer "F.CrtYd") (width 0.05) (tstamp 1f9157a6-da48-4af4-b85f-68cac9c57c4b))
+    (fp_line (start 7.2 4.445) (end 7.2 7.25) (layer "F.CrtYd") (width 0.05) (tstamp 848e671b-b0b9-4ce0-914c-a5f253b580a8))
+    (fp_line (start -7.2 4.445) (end 7.2 4.445) (layer "F.CrtYd") (width 0.05) (tstamp bbd1eff0-145e-4e28-95e8-908e185e7015))
+    (fp_line (start 7.2 7.25) (end -7.2 7.25) (layer "F.CrtYd") (width 0.05) (tstamp dc281e88-8b8e-4e11-b7d7-46b8d0755e19))
+    (fp_line (start -7.45 2.499999) (end -7.45 7.5) (layer "F.Fab") (width 0.12) (tstamp 28316936-5f3d-4d3d-be47-d752666c52a3))
+    (fp_line (start -7.45 7.5) (end 7.45 7.5) (layer "F.Fab") (width 0.12) (tstamp 35fd19cf-eaa6-48d7-9f94-e606ff1d9ffd))
+    (fp_line (start 7.45 7.5) (end 7.45 -7.5) (layer "F.Fab") (width 0.12) (tstamp 44ac7ee6-26d5-48e9-bdf0-93d33bc1f369))
+    (fp_line (start 7.45 -7.5) (end -7.45 -7.5) (layer "F.Fab") (width 0.12) (tstamp 587fbbad-bda4-4580-a188-a978b58588d4))
+    (fp_line (start -7.09 -2.5) (end -7.09 2.499999) (layer "F.Fab") (width 0.12) (tstamp 72003ee1-7f5d-4c9f-9477-5a80c7241ed6))
+    (fp_line (start -7.09 2.499999) (end -7.45 2.499999) (layer "F.Fab") (width 0.12) (tstamp 7dffc9ac-f85c-43c6-b36d-a88621037cd7))
+    (fp_line (start -7.45 -7.5) (end -7.45 -2.5) (layer "F.Fab") (width 0.12) (tstamp b4acb1ef-772b-4511-b81f-1f7312e42dfc))
+    (fp_line (start -7.45 -2.5) (end -7.09 -2.5) (layer "F.Fab") (width 0.12) (tstamp c2c36d19-aba3-4f30-b837-b440a0ca3606))
+    (pad "1" thru_hole oval (at -6.35 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask)
+      (net 224 "unconnected-(WT901-Pad1)") (pinfunction "Pin_1") (pintype "passive+no_connect") (tstamp 33f658ce-6f1f-4426-bcbe-9a0f7e78888d))
+    (pad "2" thru_hole oval (at -3.81 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask)
+      (net 2 "+5V") (pinfunction "Pin_2") (pintype "passive") (tstamp ac49d9a0-4e85-4fd4-bbed-bcff8f78e1ff))
+    (pad "3" thru_hole oval (at -1.27 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask)
+      (net 145 "/IMU/MISO") (pinfunction "Pin_3") (pintype "passive") (tstamp abd90cd7-69f3-4838-a8f9-eb6be5d04ccd))
+    (pad "4" thru_hole oval (at 1.27 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask)
+      (net 138 "/IMU/TX") (pinfunction "Pin_4") (pintype "passive") (tstamp 5355a26d-3759-4b9b-ae7d-6805d45ba1fe))
+    (pad "5" thru_hole oval (at 3.81 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask)
+      (net 1 "GND") (pinfunction "Pin_5") (pintype "passive") (tstamp 2071e9bb-a778-4191-83f8-ca90e77adf7b))
+    (pad "6" thru_hole oval (at 6.35 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask)
+      (net 225 "unconnected-(WT901-Pad6)") (pinfunction "Pin_6") (pintype "passive+no_connect") (tstamp 3dba0fe6-7a69-4292-93cc-f8a1b9631537))
+    (pad "7" connect oval (at 6.35 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 1cf523e2-9792-44db-bed8-3e554ae34fd5))
+    (pad "8" connect oval (at 3.81 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 5f094d92-1d16-4358-b706-42688cbf1044))
+    (pad "9" connect oval (at 1.27 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 6d4c252f-4808-47e9-91f3-0bb9e7f61aa2))
+    (pad "10" connect oval (at -1.27 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp c10ec0e8-faf0-4fb6-8909-6216b344ca47))
+    (pad "11" connect oval (at -3.81 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 4c5e294f-e27c-4b21-b707-90077e065816))
+    (pad "12" connect oval (at -6.35 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp ef41f7e8-da48-4881-9897-d5f5201e46ba))
+  )
+
   (footprint "Jumper:SolderJumper-2_P1.3mm_Bridged_RoundedPad1.0x1.5mm" (layer "F.Cu")
     (tedit 5C745284) (tstamp dd2f6b13-9e35-4a67-90ac-cf0d1ea34e5a)
     (at 149.8 184.6 90)
@@ -10925,7 +10948,7 @@
     (pad "GND3" thru_hole oval (at 43.18 -2.54 180) (size 1.7272 2.5) (drill 1.016 (offset 0 0.5)) (layers *.Cu *.Mask)
       (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 27478918-2a9e-4a9a-aeb1-6b6d23414bb7))
     (pad "IORF" thru_hole oval (at 30.48 -2.54 180) (size 1.7272 2.5) (drill 1.016 (offset 0 0.5)) (layers *.Cu *.Mask)
-      (net 56 "+3V3") (pinfunction "IOREF") (pintype "output") (tstamp 7da68c18-f1e2-48b9-b355-324186b8934e))
+      (net 56 "+3V3") (pinfunction "IOREF") (pintype "power_in") (tstamp 7da68c18-f1e2-48b9-b355-324186b8934e))
     (pad "RST1" thru_hole oval (at 33.02 -2.54 180) (size 1.7272 2.5) (drill 1.016 (offset 0 0.5)) (layers *.Cu *.Mask)
       (net 33 "unconnected-(XA1-PadRST1)") (pinfunction "RESET") (pintype "open_collector+no_connect") (tstamp 0b830763-22f7-440b-9b82-9a6b750538cb))
     (pad "SCL" thru_hole oval (at 18.796 -50.8 180) (size 1.7272 2.5) (drill 1.016 (offset 0 -0.5)) (layers *.Cu *.Mask)
@@ -10942,6 +10965,7 @@
     (descr "Diode SMA (DO-214AC) Handsoldering")
     (tags "Diode SMA (DO-214AC) Handsoldering")
     (property "Digikey" "3757-SB54AFC_R1_00001CT-ND")
+    (property "LCSC" "C113939")
     (property "Part Number" "SB54AFC_R1_00001")
     (property "Sheetfile" "RobotConnectors.kicad_sch")
     (property "Sheetname" "RobotConnectors")
@@ -10994,6 +11018,7 @@
     (descr "Diode SMA (DO-214AC) Handsoldering")
     (tags "Diode SMA (DO-214AC) Handsoldering")
     (property "Digikey" "3757-SB54AFC_R1_00001CT-ND")
+    (property "LCSC" "C113939")
     (property "Part Number" "SB54AFC_R1_00001")
     (property "Sheetfile" "RobotConnectors.kicad_sch")
     (property "Sheetname" "RobotConnectors")
@@ -11165,50 +11190,6 @@
     )
   )
 
-  (footprint "Jumper:SolderJumper-3_P1.3mm_Bridged12_Pad1.0x1.5mm" (layer "B.Cu")
-    (tedit 5C756B4C) (tstamp 23a82e9e-2dfe-4469-bebd-288ee795c09f)
-    (at 83 175.2 180)
-    (descr "SMD Solder 3-pad Jumper, 1x1.5mm Pads, 0.3mm gap, pads 1-2 bridged with 1 copper strip")
-    (tags "net tie solder jumper bridged")
-    (property "Config" "do not place")
-    (property "DNP" "Y")
-    (property "Sheetfile" "sound_module.kicad_sch")
-    (property "Sheetname" "sound")
-    (path "/7936fd08-09c5-4aba-8422-c848060d3b9f/b10f24a6-83e7-422c-a0e0-7c2ceaac88bc")
-    (attr exclude_from_pos_files)
-    (fp_text reference "JP1" (at 0 1.8) (layer "B.SilkS")
-      (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-      (tstamp 630cee8a-76b8-4599-85b9-32ef4b4ba344)
-    )
-    (fp_text value "SolderJumper_3_Bridged12" (at 0 -2) (layer "B.Fab")
-      (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-      (tstamp 9f0206c4-bb47-41ea-a83b-d4e5c2979edc)
-    )
-    (fp_poly (pts
-        (xy -0.9 0.3)
-        (xy -0.4 0.3)
-        (xy -0.4 -0.3)
-        (xy -0.9 -0.3)
-      ) (layer "B.Cu") (width 0) (fill solid) (tstamp 81c7f888-db90-4589-b804-8771ac2821c4))
-    (fp_line (start -1.3 -1.2) (end -1 -1.5) (layer "B.SilkS") (width 0.12) (tstamp 4cd18c1b-81f5-4f94-90a0-0e96f295305a))
-    (fp_line (start -2.05 1) (end 2.05 1) (layer "B.SilkS") (width 0.12) (tstamp 9c8335f4-b9d6-455b-b64b-ad4090aaf986))
-    (fp_line (start -1.3 -1.2) (end -1.6 -1.5) (layer "B.SilkS") (width 0.12) (tstamp aecb8c31-5a1e-4766-82f4-19da4a7121c9))
-    (fp_line (start 2.05 1) (end 2.05 -1) (layer "B.SilkS") (width 0.12) (tstamp b39fe085-a756-4f69-8301-3bd0b405fd79))
-    (fp_line (start 2.05 -1) (end -2.05 -1) (layer "B.SilkS") (width 0.12) (tstamp c3378551-0eb6-4e24-b76f-74da044ffe18))
-    (fp_line (start -2.05 -1) (end -2.05 1) (layer "B.SilkS") (width 0.12) (tstamp ccb4be07-6df5-4e8a-8c40-32bbaacb78a5))
-    (fp_line (start -1.6 -1.5) (end -1 -1.5) (layer "B.SilkS") (width 0.12) (tstamp d8cd2eb5-8d0a-4b21-984d-4017684a7020))
-    (fp_line (start 2.3 -1.25) (end -2.3 -1.25) (layer "B.CrtYd") (width 0.05) (tstamp 42b9f62c-8f6d-41ae-8eb4-e73337abe0d1))
-    (fp_line (start -2.3 1.25) (end 2.3 1.25) (layer "B.CrtYd") (width 0.05) (tstamp 80e0618c-4b0f-4e33-bb05-59555b6f971e))
-    (fp_line (start 2.3 -1.25) (end 2.3 1.25) (layer "B.CrtYd") (width 0.05) (tstamp aec374dd-2dd3-4e1d-a5da-4570dd527877))
-    (fp_line (start -2.3 1.25) (end -2.3 -1.25) (layer "B.CrtYd") (width 0.05) (tstamp bdfd258b-fcc6-4641-8171-13cfddcde7a9))
-    (pad "1" smd rect (at -1.3 0 180) (size 1 1.5) (layers "B.Cu" "B.Mask")
-      (net 56 "+3V3") (pinfunction "A") (pintype "passive") (tstamp c51816b0-fb7d-4fa7-8ce9-3625df3a2bc4))
-    (pad "2" smd rect (at 0 0 180) (size 1 1.5) (layers "B.Cu" "B.Mask")
-      (net 216 "Net-(J16-Pad1)") (pinfunction "C") (pintype "input") (tstamp 0e70b47f-daa6-4c2e-bdbc-d14d7d23b5c2))
-    (pad "3" smd rect (at 1.3 0 180) (size 1 1.5) (layers "B.Cu" "B.Mask")
-      (net 2 "+5V") (pinfunction "B") (pintype "passive") (tstamp 96b09b58-a45c-42e6-8e18-6782ce3ded47))
-  )
-
   (footprint "Jumper:SolderJumper-3_P1.3mm_Bridged12_Pad1.0x1.5mm" (layer "B.Cu")
     (tedit 5C756B4C) (tstamp 3769fc34-8d19-4929-b8d4-6a16f3ea3d75)
     (at 145.6 75.8 90)
@@ -11347,6 +11328,8 @@
       (net 56 "+3V3") (pinfunction "B") (pintype "passive") (tstamp 50c34630-6674-4756-a8e8-c57a351dbf5d))
   )
 
+  (gr_line (start 114.3 179.705) (end 116.84 179.705) (layer "F.SilkS") (width 0.12) (tstamp 4ef3209f-e0cd-46be-a95b-7c8fd97660b2))
+  (gr_line (start 114.3 179.705) (end 117.856 183.134) (layer "F.SilkS") (width 0.12) (tstamp 86ea618e-f723-44af-bab7-da24d1cfb7b4))
   (gr_arc locked (start 112.6 140.7) (mid 111.892893 140.407107) (end 111.6 139.7) (layer "Dwgs.User") (width 0.1) (tstamp 00000000-0000-0000-0000-00006108e17c))
   (gr_arc locked (start 111.6 158.7) (mid 111.892893 157.992893) (end 112.6 157.7) (layer "Dwgs.User") (width 0.1) (tstamp 00000000-0000-0000-0000-00006108e17f))
   (gr_arc locked (start 114.6 177.7) (mid 112.47868 176.82132) (end 111.6 174.7) (layer "Dwgs.User") (width 0.1) (tstamp 00000000-0000-0000-0000-00006108e182))
@@ -11407,7 +11390,7 @@
   (gr_text "Speaker" (at 186.4 57.4 90) (layer "F.SilkS") (tstamp 445019b4-4899-4678-b4d4-a8ec2fbff24e)
     (effects (font (size 1 1) (thickness 0.15)))
   )
-  (gr_text "Mower Hall Sensors" (at 42.1 38) (layer "F.SilkS") (tstamp 5e0cd03d-a2dc-483e-a9b6-6c0d105fccf1)
+  (gr_text "Mower Hall Sensors" (at 42.196 39.37) (layer "F.SilkS") (tstamp 5e0cd03d-a2dc-483e-a9b6-6c0d105fccf1)
     (effects (font (size 1 1) (thickness 0.15)))
   )
   (gr_text "Speaker -" (at 100.6 173.2 90) (layer "F.SilkS") (tstamp 5ecce675-a683-4137-b711-2222e7667f56)
@@ -11434,15 +11417,12 @@
   (gr_text "OpenMower Mainboard ${git_version}\nLicense CC BY-NC-SA 4.0\nhttps://github.com/ClemensElflein/OpenMower" (at 32.4 184.6) (layer "F.SilkS") (tstamp 97c87091-fce1-42ba-9785-61c4604d5272)
     (effects (font (size 1 1) (thickness 0.15)) (justify left))
   )
-  (gr_text "3.3V" (at 87.3 175.3) (layer "F.SilkS") (tstamp 9b2b04d9-05c3-4381-8a72-e325f983cbaf)
+  (gr_text "3.3V" (at 85.344 172.72) (layer "F.SilkS") (tstamp 9b2b04d9-05c3-4381-8a72-e325f983cbaf)
     (effects (font (size 1 1) (thickness 0.15)))
   )
   (gr_text "5V,TRIG,ECHO,GND" (at 163.5 29.5) (layer "F.SilkS") (tstamp a24efd09-e31c-4f8a-86e7-dc3b50a1d95f)
     (effects (font (size 1 1) (thickness 0.15)))
   )
-  (gr_text "JLCJLCJLCJLC" (at 176 93.4) (layer "F.SilkS") (tstamp a969119f-cd91-43ec-a777-873038b2b7bc)
-    (effects (font (size 1 1) (thickness 0.25)))
-  )
   (gr_text "Hall 4" (at 173.4 49.4275 90) (layer "F.SilkS") (tstamp b106b01f-ff21-4e93-ac90-0e86cf5f449d)
     (effects (font (size 1 1) (thickness 0.15)))
   )
@@ -11591,18 +11571,17 @@
   (segment (start 57.849646 136) (end 57.849646 124) (width 2) (layer "F.Cu") (net 1) (tstamp 4e1aa232-416c-414c-bc3e-3db55ebb6e0a))
   (segment (start 186.92 79.72) (end 185.92 80.72) (width 0.3) (layer "F.Cu") (net 1) (tstamp 76d368bb-fc85-4515-b47e-a138b10e8f2b))
   (segment (start 52.412 159.95) (end 53.85 159.95) (width 0.15) (layer "F.Cu") (net 1) (tstamp a2e5d0b5-f00b-42a5-979c-2374b5c26939))
-  (segment (start 187.32 79.72) (end 186.92 79.72) (width 0.3) (layer "F.Cu") (net 1) (tstamp d4cbac20-6a25-4854-98b6-a62f62d18460))
-  (via (at 105 150) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 00435851-6225-4a21-b380-30f1981f41e3))
+  (via (at 105.558911 150.558911) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 00435851-6225-4a21-b380-30f1981f41e3))
   (via (at 25 165) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 00c6b08e-5cd7-45e6-8a75-dc3a3957857d))
   (via locked (at 102 41) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 00ca187d-ae6e-4d10-86f9-f116d5386350))
   (via (at 76 171) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 00dcf14c-f34e-4f01-9fac-1619a7dad507))
   (via (at 155.6 45.4) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 01362e72-ce29-4648-b6a1-91f0a041014d))
   (via locked (at 20.990822 102.999444) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0146e5a1-ccea-4db9-ba5c-4af1a0efb439))
-  (via (at 175.4 98.2) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 01d57bdb-f5e5-4948-ac05-0bc2186aab3e))
+  (via (at 175.452437 98.024615) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 01d57bdb-f5e5-4948-ac05-0bc2186aab3e))
   (via locked (at 20.990822 67.999444) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 01f024de-bcfa-4de0-915a-2b926c3f374d))
   (via (at 95.6 78.6) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0241fe8c-6a7c-4538-add9-bd3df3c21ad0))
   (via (at 65.8 69.8) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 02856b1d-3936-4127-a495-6ed7a750b8ba))
-  (via (at 144.2 97.6) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 03666061-f1a0-416b-9199-b2d836b4c539))
+  (via (at 144.595123 97.550967) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 03666061-f1a0-416b-9199-b2d836b4c539))
   (via locked (at 176 138) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 037a03d1-9cef-4dde-8501-150fd16ca6aa))
   (via (at 29.8 85.8) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 038a8c0e-7185-48f6-a001-d36372eaef7a))
   (via (at 59 166) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 050340da-588b-4753-aba9-f651cae4a52a))
@@ -11627,7 +11606,7 @@
   (via locked (at 20.990822 57.999444) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0da7d65c-2c2d-4efd-a6e5-8981b420de80))
   (via (at 176 63.5) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0da89040-5662-4dac-8771-3123ca2cb2f5))
   (via (at 41 62) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0db21ef9-be22-48f4-9cec-00fd4d748005))
-  (via (at 96 158) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0eb11dfc-7a43-45f7-9d68-c1193d1a1b5b))
+  (via (at 96 158.0795) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0eb11dfc-7a43-45f7-9d68-c1193d1a1b5b))
   (via (at 162.2 45.4) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0ef97022-d273-44a3-9a99-9b2d6ff3a313))
   (via (at 78 171) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 0f5d9acc-7bc4-4ebf-a35c-8c2289dc2a65))
   (via (at 44.8 169.2) (size 0.6) (drill 0.3) (layers "F.Cu" "B.Cu") (free) (net 1) (tstamp 10049690-d924-47db-b7a7-b6fad1e14484))
@@ -11646,7 +11625,7 @@
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diff --git a/Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_sch b/Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_sch
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   (wire (pts (xy 68.58 88.9) (xy 76.835 88.9))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 6ce1e508-96a9-4fd8-89b0-272892dfe871)
@@ -554,6 +568,10 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 7ff1f45e-e867-4735-819d-6ea2f681d90e)
   )
+  (wire (pts (xy 170.815 154.94) (xy 191.77 154.94))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid 84e089f0-8153-4e01-8b72-30d674044571)
+  )
   (wire (pts (xy 388.62 245.11) (xy 388.62 242.57))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 869d6302-ae22-478f-9723-3feacbb12eef)
@@ -622,10 +640,18 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid ade09a4f-3cbe-410e-966f-886d4c6f31ae)
   )
+  (wire (pts (xy 170.815 152.4) (xy 191.77 152.4))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid b1e5abb9-ee09-4743-8fc6-cbc8c16fdb33)
+  )
   (wire (pts (xy 123.19 144.145) (xy 123.19 132.08))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid b41d4f5f-bec5-4d55-9bc9-80aff9c6a63a)
   )
+  (wire (pts (xy 188.595 142.24) (xy 191.77 142.24))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid b4cdba46-881f-4890-8435-1b02d7e43c08)
+  )
   (wire (pts (xy 68.58 69.85) (xy 132.715 69.85))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid b55b7937-462a-4af8-97e2-25fac03dc0f7)
@@ -642,6 +668,10 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid b8c3c954-2b70-44da-ad2f-74a25a972588)
   )
+  (wire (pts (xy 186.055 147.32) (xy 191.77 147.32))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid baf40fe2-65dc-4f0d-94f7-284fb2239c93)
+  )
   (wire (pts (xy 234.315 250.19) (xy 251.46 250.19))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid bb090b51-ce42-407e-ab32-d70b20774e00)
@@ -1738,7 +1768,7 @@
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 68ec3b04-e2b7-4bd6-a6a5-46c668a8338c)
     )
-    (pin "Enable_Charge" input (at 68.58 132.08 0)
+    (pin "ENABLE_CHARGE" input (at 68.58 132.08 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid c4ee5d6d-f02e-4abd-a7c0-6fd340101d5b)
     )
@@ -1850,11 +1880,11 @@
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 3b23f77a-2dfb-4dc4-bb39-51060e2f6752)
     )
-    (pin "DATA" input (at 223.52 222.25 180)
+    (pin "TX" output (at 223.52 222.25 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 7216c81f-578e-4e7a-93e2-6e7e4b0f08f8)
     )
-    (pin "CLK" input (at 223.52 219.71 180)
+    (pin "RX" input (at 223.52 219.71 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 6b012b2c-7e90-4f7e-b58f-f2a33cb7580d)
     )
@@ -2054,11 +2084,11 @@
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid 1fcd6d78-c993-4f8b-9a15-ae2c182f9296)
     )
-    (pin "SOUND_CLK" output (at 170.815 203.2 0)
+    (pin "SOUND_TX" output (at 170.815 203.2 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid fd3a3fc0-31b7-45f5-9945-803de9082686)
     )
-    (pin "SOUND_DATA" output (at 170.815 205.74 0)
+    (pin "SOUND_RX" input (at 170.815 205.74 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid c338ef5c-a3c5-497e-a00f-98b4f7ec8fc0)
     )
@@ -2126,19 +2156,19 @@
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 2678962f-8cac-43e3-830f-45e046a1e506)
     )
-    (pin "IMU_MISO" input (at 170.815 147.32 0)
+    (pin "IMU_MISO_UART_TX" bidirectional (at 170.815 149.86 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid b2df74cc-7999-4eb1-ae89-6edff48876c9)
     )
-    (pin "IMU_SCK" output (at 170.815 152.4 0)
+    (pin "IMU_SCK" output (at 170.815 154.94 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid a08fac32-dbd0-4678-aa1b-c7ac686746a3)
     )
-    (pin "IMU_CS" output (at 170.815 154.94 0)
+    (pin "IMU_CS_UART_RX" bidirectional (at 170.815 147.32 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid d63ca2a8-aff0-4fb2-81e6-dacff3e94123)
     )
-    (pin "IMU_MOSI" output (at 170.815 149.86 0)
+    (pin "IMU_MOSI" output (at 170.815 152.4 0)
       (effects (font (size 1.27 1.27)) (justify right))
       (uuid b2f5c184-a70e-4604-83f5-38711f6a3073)
     )
@@ -2172,32 +2202,40 @@
     )
   )
 
-  (sheet (at 193.675 142.875) (size 24.765 15.875) (fields_autoplaced)
+  (sheet (at 191.77 135.89) (size 26.67 22.86) (fields_autoplaced)
     (stroke (width 0.1524) (type solid) (color 0 0 0 0))
     (fill (color 0 0 0 0.0000))
     (uuid df7e4e30-b8d5-4f4b-a24f-39298e982d26)
-    (property "Sheet name" "IMU" (id 0) (at 193.675 142.1634 0)
+    (property "Sheet name" "IMU" (id 0) (at 191.77 135.1784 0)
       (effects (font (size 1.27 1.27)) (justify left bottom))
     )
-    (property "Sheet file" "imu.kicad_sch" (id 1) (at 193.675 159.3346 0)
+    (property "Sheet file" "imu.kicad_sch" (id 1) (at 191.77 159.3346 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
-    (pin "SCK" input (at 193.675 152.4 180)
+    (pin "SCK" input (at 191.77 154.94 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid d168afcc-1b18-4d52-bf79-986976f38521)
     )
-    (pin "MISO" output (at 193.675 147.32 180)
+    (pin "MISO" output (at 191.77 149.86 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 2778c949-5992-4115-bb8c-2d6ffdffd602)
     )
-    (pin "MOSI" input (at 193.675 149.86 180)
+    (pin "MOSI" input (at 191.77 152.4 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 54384f31-094e-443e-9fea-9e850be335eb)
     )
-    (pin "~{CS}" input (at 193.675 154.94 180)
+    (pin "~{CS}" input (at 191.77 147.32 180)
       (effects (font (size 1.27 1.27)) (justify left))
       (uuid 24d1638b-92b1-452e-b6a3-4cde1fdcb067)
     )
+    (pin "RX" input (at 191.77 142.24 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid b653ffdf-4505-4bd0-8c6e-49a6bf52a879)
+    )
+    (pin "TX" output (at 191.77 139.7 180)
+      (effects (font (size 1.27 1.27)) (justify left))
+      (uuid 89a320e5-d213-47dd-99bb-5984ee5ed802)
+    )
   )
 
   (sheet (at 342.265 147.32) (size 47.625 26.67) (fields_autoplaced)
@@ -2231,6 +2269,12 @@
   )
 
   (symbol_instances
+    (path "/ea926745-863d-461e-9df3-dbf32112727b/bca34ef9-4aab-4ab9-889d-1e8c0af877f1"
+      (reference "#FLG0101") (unit 1) (value "PWR_FLAG") (footprint "")
+    )
+    (path "/ea926745-863d-461e-9df3-dbf32112727b/3935cc4c-fd83-4144-a6f3-151fe6ee58c5"
+      (reference "#FLG0102") (unit 1) (value "PWR_FLAG") (footprint "")
+    )
     (path "/00000000-0000-0000-0000-000061040c60/00000000-0000-0000-0000-00006105dd51"
       (reference "#PWR0101") (unit 1) (value "GND") (footprint "")
     )
@@ -2246,11 +2290,11 @@
     (path "/00000000-0000-0000-0000-000061040c60/00000000-0000-0000-0000-00006105dd93"
       (reference "#PWR0105") (unit 1) (value "GND") (footprint "")
     )
-    (path "/ea926745-863d-461e-9df3-dbf32112727b/b8cb89b3-4805-4e56-9325-1f9afe8522c4"
-      (reference "#PWR0106") (unit 1) (value "GND") (footprint "")
+    (path "/df7e4e30-b8d5-4f4b-a24f-39298e982d26/7fe21906-ad4b-4ec4-887d-be617ea907ee"
+      (reference "#PWR0106") (unit 1) (value "+5V") (footprint "")
     )
-    (path "/ea926745-863d-461e-9df3-dbf32112727b/ac238d30-44a0-44b9-b5c5-a58e54e3f16e"
-      (reference "#PWR0107") (unit 1) (value "+5V") (footprint "")
+    (path "/df7e4e30-b8d5-4f4b-a24f-39298e982d26/794603ce-3e91-4ec0-acf0-222d1b79c674"
+      (reference "#PWR0107") (unit 1) (value "GND") (footprint "")
     )
     (path "/00000000-0000-0000-0000-000061040c60/3e1c4d9d-6fcf-4de0-994d-a29d1c10cdf1"
       (reference "#PWR0108") (unit 1) (value "GND") (footprint "")
@@ -2357,9 +2401,6 @@
     (path "/c4934db8-1638-4ac4-bd06-84d03b3fc106/cadda826-29d9-47cf-a101-493e53627cec"
       (reference "#PWR0142") (unit 1) (value "GND") (footprint "")
     )
-    (path "/c4934db8-1638-4ac4-bd06-84d03b3fc106/97c0ea8a-594c-43d5-82cc-6708e9553e16"
-      (reference "#PWR0143") (unit 1) (value "GND") (footprint "")
-    )
     (path "/c4934db8-1638-4ac4-bd06-84d03b3fc106/d3c16b61-2e8f-4325-9dc1-966d4188c0b7"
       (reference "#PWR0144") (unit 1) (value "+3.3V") (footprint "")
     )
@@ -2730,7 +2771,7 @@
       (reference "J15") (unit 1) (value "Conn_02x02_Female") (footprint "")
     )
     (path "/7936fd08-09c5-4aba-8422-c848060d3b9f/c8b1e703-3bad-4184-af0f-a5a5d3621286"
-      (reference "J16") (unit 1) (value "Conn_01x08") (footprint "Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical")
+      (reference "J16") (unit 1) (value "Conn_01x08") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical")
     )
     (path "/00000000-0000-0000-0000-000061040c60/ee2db9cb-e67b-47b7-976a-5d31a65998b6"
       (reference "J17") (unit 1) (value "Conn_01x02") (footprint "Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical")
@@ -2751,7 +2792,7 @@
       (reference "J22") (unit 1) (value "Conn_02x04_Odd_Even") (footprint "Connector_PinHeader_2.54mm:PinHeader_2x04_P2.54mm_Vertical")
     )
     (path "/7936fd08-09c5-4aba-8422-c848060d3b9f/87f80ba0-ce75-42b4-a617-b5b5fc827ac6"
-      (reference "J23") (unit 1) (value "Conn_01x08") (footprint "Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical")
+      (reference "J23") (unit 1) (value "Conn_01x08") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical")
     )
     (path "/a66eb396-0410-43f5-a37d-ef2abb980a3a/afc14778-1083-4518-827d-4acddfdaf9fe"
       (reference "J24") (unit 1) (value "Conn_01x06_Female") (footprint "")
@@ -2996,9 +3037,6 @@
     (path "/989a400d-9ce2-403e-a19e-ad0a758fe27c/47ac0537-9ac5-4378-aadc-fd174bec615c"
       (reference "TP5") (unit 1) (value "TestPoint") (footprint "TestPoint:TestPoint_Pad_D2.0mm")
     )
-    (path "/ea926745-863d-461e-9df3-dbf32112727b/5149161d-2f51-4282-870f-10edba0d6f25"
-      (reference "U1") (unit 1) (value "DNP") (footprint "MyModules:LM2596S_MODULE")
-    )
     (path "/989a400d-9ce2-403e-a19e-ad0a758fe27c/6ea01d83-d7f6-4dbf-a272-c95bedd03712"
       (reference "U2") (unit 1) (value "MCP604") (footprint "Package_SO:SOIC-14_3.9x8.7mm_P1.27mm")
     )
@@ -3036,7 +3074,10 @@
       (reference "U10") (unit 1) (value "74HC4051") (footprint "Package_SO:SSOP-16_4.4x5.2mm_P0.65mm")
     )
     (path "/c4934db8-1638-4ac4-bd06-84d03b3fc106/7f34cbf5-0a68-49fa-8ebc-ca673fee9cb3"
-      (reference "U11") (unit 1) (value "Pico") (footprint "MCU_RaspberryPi_and_Boards:RPi_Pico_SMD_TH")
+      (reference "U11") (unit 1) (value "Pico") (footprint "PicoW:Raspberry_Pi_Pico_SMT_THT")
+    )
+    (path "/df7e4e30-b8d5-4f4b-a24f-39298e982d26/a8a623e2-4c2d-4c7c-97a1-d8b8fae36dda"
+      (reference "WT901") (unit 1) (value "Conn_01x06_Female") (footprint "MyModules:WT901")
     )
     (path "/00000000-0000-0000-0000-00006109dce5/e38beda4-d634-4f57-8d18-f2ee3381c381"
       (reference "XA1") (unit 1) (value "Arduino_Uno_Shield") (footprint "MyModules:Arduino_Uno_Shield")
diff --git a/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/Crystal_SMD_HC49-US.kicad_mod b/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/Crystal_SMD_HC49-US.kicad_mod
index 1dfbc3c3..7b18e855 100644
--- a/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/Crystal_SMD_HC49-US.kicad_mod	
+++ b/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/Crystal_SMD_HC49-US.kicad_mod	
@@ -29,7 +29,7 @@
   (fp_arc (start 3.015 0) (end 3.015 -2.115) (angle 180) (layer F.Fab) (width 0.1))
   (pad 1 smd rect (at -4.5 0) (size 5.6 2.1) (layers F.Cu F.Paste F.Mask))
   (pad 2 smd rect (at 4.5 0) (size 5.6 2.1) (layers F.Cu F.Paste F.Mask))
-  (model ${KISYS3DMOD}/Crystal.3dshapes/Crystal_SMD_HC49-SD.wrl
+  (model ${KICAD6_3DMODEL_DIR}/Crystal.3dshapes/Crystal_SMD_HC49-SD.wrl
     (at (xyz 0 0 0))
     (scale (xyz 1 1 1))
     (rotate (xyz 0 0 0))
diff --git a/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/RP2040-QFN-56.kicad_mod b/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/RP2040-QFN-56.kicad_mod
index b085e717..3e7dd557 100644
--- a/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/RP2040-QFN-56.kicad_mod	
+++ b/Hardware/OpenMowerMainboard/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty/RP2040-QFN-56.kicad_mod	
@@ -97,7 +97,7 @@
   (pad 57 thru_hole circle (at 0 -1.275) (size 0.6 0.6) (drill 0.35) (layers *.Cu))
   (pad 57 thru_hole circle (at -1.275 -1.275) (size 0.6 0.6) (drill 0.35) (layers *.Cu))
   (pad 57 smd roundrect (at 0 0) (size 3.2 3.2) (layers F.Cu F.Mask) (roundrect_rratio 0.045))
-  (model ${KISYS3DMOD}/Package_DFN_QFN.3dshapes/QFN-56-1EP_7x7mm_P0.4mm_EP5.6x5.6mm.wrl
+  (model ${KICAD6_3DMODEL_DIR}/Package_DFN_QFN.3dshapes/QFN-56-1EP_7x7mm_P0.4mm_EP5.6x5.6mm.wrl
     (at (xyz 0 0 0))
     (scale (xyz 1 1 1))
     (rotate (xyz 0 0 0))
diff --git a/Hardware/OpenMowerMainboard/RP-PicoW Libraries/MCU_Module.kicad_sym b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/MCU_Module.kicad_sym
new file mode 100644
index 00000000..467a2443
--- /dev/null
+++ b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/MCU_Module.kicad_sym	
@@ -0,0 +1,372 @@
+(kicad_symbol_lib (version 20211014) (generator kicad_symbol_editor)
+  (symbol "RaspberryPi-Pico" (in_bom yes) (on_board yes)
+    (property "Reference" "A" (id 0) (at 0 17.78 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Value" "RaspberryPi-Pico" (id 1) (at 2.54 15.24 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (id 2) (at 0 5.08 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "https://datasheets.raspberrypi.com/pico/pico-datasheet.pdf" (id 3) (at 0 -40.64 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "ki_keywords" "RPL RPTL RPi module RP2040" (id 4) (at 0 0 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "ki_description" "Raspberry Pi Pico, RP2040-based microcontroller board" (id 5) (at 0 0 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "ki_fp_filters" "Raspberry*Pico* RPi*Pico*" (id 6) (at 0 0 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (symbol "RaspberryPi-Pico_0_1"
+      (rectangle (start -15.24 27.94) (end 15.24 -25.4)
+        (stroke (width 0.254) (type default) (color 0 0 0 0))
+        (fill (type background))
+      )
+    )
+    (symbol "RaspberryPi-Pico_1_1"
+      (pin bidirectional line (at -17.78 25.4 0) (length 2.54)
+        (name "GPIO0" (effects (font (size 1.27 1.27))))
+        (number "1" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SDA" bidirectional line)
+        (alternate "PWM0_A" output line)
+        (alternate "SPI0_RX" input line)
+        (alternate "UART0_TX" output line)
+        (alternate "USB_OVCUR_DET" input line)
+      )
+      (pin bidirectional line (at -17.78 2.54 0) (length 2.54)
+        (name "GPIO7" (effects (font (size 1.27 1.27))))
+        (number "10" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SCL" bidirectional line)
+        (alternate "PWM3_B" bidirectional line)
+        (alternate "SPI0_TX" output line)
+        (alternate "USB_VBUS_DET" input line)
+        (alternate "~{UART1_RTS}" output line)
+      )
+      (pin bidirectional line (at -17.78 0 0) (length 2.54)
+        (name "GPIO8" (effects (font (size 1.27 1.27))))
+        (number "11" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SDA" bidirectional line)
+        (alternate "PWM4_A" output line)
+        (alternate "SPI1_RX" input line)
+        (alternate "UART1_TX" output line)
+        (alternate "USB_VBUS_EN" output line)
+      )
+      (pin bidirectional line (at -17.78 -2.54 0) (length 2.54)
+        (name "GPIO9" (effects (font (size 1.27 1.27))))
+        (number "12" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SCL" bidirectional line)
+        (alternate "PWM4_B" bidirectional line)
+        (alternate "UART1_RX" input line)
+        (alternate "USB_OVCUR_DET" input line)
+        (alternate "~{SPI1_CS}" output line)
+      )
+      (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
+        (name "GND" (effects (font (size 1.27 1.27))))
+        (number "13" (effects (font (size 1.27 1.27))))
+      )
+      (pin bidirectional line (at -17.78 -7.62 0) (length 2.54)
+        (name "GPIO10" (effects (font (size 1.27 1.27))))
+        (number "14" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SDA" bidirectional line)
+        (alternate "PWM5_A" output line)
+        (alternate "SPI1_SCK" bidirectional line)
+        (alternate "USB_VBUS_DET" input line)
+        (alternate "~{UART1_CTS}" input line)
+      )
+      (pin bidirectional line (at -17.78 -10.16 0) (length 2.54)
+        (name "GPIO11" (effects (font (size 1.27 1.27))))
+        (number "15" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SCL" bidirectional line)
+        (alternate "PWM5_B" bidirectional line)
+        (alternate "SPI1_TX" output line)
+        (alternate "USB_VBUS_EN" output line)
+        (alternate "~{UART1_RTS}" output line)
+      )
+      (pin bidirectional line (at -17.78 -12.7 0) (length 2.54)
+        (name "GPIO12" (effects (font (size 1.27 1.27))))
+        (number "16" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SDA" bidirectional line)
+        (alternate "PWM6_A" output line)
+        (alternate "SPI1_RX" input line)
+        (alternate "UART0_TX" output line)
+        (alternate "USB_OVCUR_DET" input line)
+      )
+      (pin bidirectional line (at -17.78 -15.24 0) (length 2.54)
+        (name "GPIO13" (effects (font (size 1.27 1.27))))
+        (number "17" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SCL" bidirectional line)
+        (alternate "PWM6_B" bidirectional line)
+        (alternate "UART0_RX" input line)
+        (alternate "USB_VBUS_DET" input line)
+        (alternate "~{SPI1_CS}" output line)
+      )
+      (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
+        (name "GND" (effects (font (size 1.27 1.27))))
+        (number "18" (effects (font (size 1.27 1.27))))
+      )
+      (pin bidirectional line (at -17.78 -20.32 0) (length 2.54)
+        (name "GPIO14" (effects (font (size 1.27 1.27))))
+        (number "19" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SDA" bidirectional line)
+        (alternate "PWM7_A" output line)
+        (alternate "SPI1_SCK" bidirectional line)
+        (alternate "USB_VBUS_EN" output line)
+        (alternate "~{UART0_CTS}" input line)
+      )
+      (pin bidirectional line (at -17.78 22.86 0) (length 2.54)
+        (name "GPIO1" (effects (font (size 1.27 1.27))))
+        (number "2" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SCL" bidirectional line)
+        (alternate "PWM0_B" bidirectional line)
+        (alternate "UART0_RX" input line)
+        (alternate "USB_VBUS_DET" input line)
+        (alternate "~{SPI0_CS}" output line)
+      )
+      (pin bidirectional line (at -17.78 -22.86 0) (length 2.54)
+        (name "GPIO15" (effects (font (size 1.27 1.27))))
+        (number "20" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SCL" bidirectional line)
+        (alternate "PWM7_B" bidirectional line)
+        (alternate "SPI1_TX" output line)
+        (alternate "USB_OVCUR_DET" input line)
+        (alternate "~{UART0_RTS}" output line)
+      )
+      (pin bidirectional line (at 17.78 -22.86 180) (length 2.54)
+        (name "GPIO16" (effects (font (size 1.27 1.27))))
+        (number "21" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SDA" bidirectional line)
+        (alternate "PWM0_A" output line)
+        (alternate "SPI0_RX" input line)
+        (alternate "UART0_TX" output line)
+        (alternate "USB_VBUS_DET" input line)
+      )
+      (pin bidirectional line (at 17.78 -20.32 180) (length 2.54)
+        (name "GPIO17" (effects (font (size 1.27 1.27))))
+        (number "22" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SCL" bidirectional line)
+        (alternate "PWM0_B" bidirectional line)
+        (alternate "UART0_RX" input line)
+        (alternate "USB_VBUS_EN" output line)
+        (alternate "~{SPI0_CS}" output line)
+      )
+      (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
+        (name "GND" (effects (font (size 1.27 1.27))))
+        (number "23" (effects (font (size 1.27 1.27))))
+      )
+      (pin bidirectional line (at 17.78 -15.24 180) (length 2.54)
+        (name "GPIO18" (effects (font (size 1.27 1.27))))
+        (number "24" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SDA" bidirectional line)
+        (alternate "PWM1_A" output line)
+        (alternate "SPI0_SCK" bidirectional line)
+        (alternate "USB_OVCUR_DET" input line)
+        (alternate "~{UART0_CTS}" input line)
+      )
+      (pin bidirectional line (at 17.78 -12.7 180) (length 2.54)
+        (name "GPIO19" (effects (font (size 1.27 1.27))))
+        (number "25" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SCL" bidirectional line)
+        (alternate "PWM1_B" bidirectional line)
+        (alternate "SPI0_TX" output line)
+        (alternate "USB_VBUS_DET" input line)
+        (alternate "~{UART0_RTS}" output line)
+      )
+      (pin bidirectional line (at 17.78 -10.16 180) (length 2.54)
+        (name "GPIO20" (effects (font (size 1.27 1.27))))
+        (number "26" (effects (font (size 1.27 1.27))))
+        (alternate "CLOCK_GPIN0" input line)
+        (alternate "I2C0_SDA" bidirectional line)
+        (alternate "PWM2_A" output line)
+        (alternate "SPI0_RX" input line)
+        (alternate "UART1_TX" output line)
+        (alternate "USB_VBUS_EN" output line)
+      )
+      (pin bidirectional line (at 17.78 -7.62 180) (length 2.54)
+        (name "GPIO21" (effects (font (size 1.27 1.27))))
+        (number "27" (effects (font (size 1.27 1.27))))
+        (alternate "CLOCK_GPOUT0" output line)
+        (alternate "I2C0_SCL" bidirectional line)
+        (alternate "PWM2_B" bidirectional line)
+        (alternate "UART1_RX" input line)
+        (alternate "USB_OVCUR_DET" input line)
+        (alternate "~{SPI0_CS}" output line)
+      )
+      (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
+        (name "GND" (effects (font (size 1.27 1.27))))
+        (number "28" (effects (font (size 1.27 1.27))))
+      )
+      (pin bidirectional line (at 17.78 -2.54 180) (length 2.54)
+        (name "GPIO22" (effects (font (size 1.27 1.27))))
+        (number "29" (effects (font (size 1.27 1.27))))
+        (alternate "CLOCK_GPIN1" input line)
+        (alternate "I2C1_SDA" bidirectional line)
+        (alternate "PWM3_A" output line)
+        (alternate "SPI0_SCK" bidirectional line)
+        (alternate "USB_VBUS_DET" input line)
+        (alternate "~{UART1_CTS}" input line)
+      )
+      (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
+        (name "GND" (effects (font (size 1.27 1.27))))
+        (number "3" (effects (font (size 1.27 1.27))))
+      )
+      (pin input line (at 17.78 17.78 180) (length 2.54)
+        (name "RUN" (effects (font (size 1.27 1.27))))
+        (number "30" (effects (font (size 1.27 1.27))))
+        (alternate "~{RESET}" input line)
+      )
+      (pin bidirectional line (at 17.78 5.08 180) (length 2.54)
+        (name "GPIO26_ADC0" (effects (font (size 1.27 1.27))))
+        (number "31" (effects (font (size 1.27 1.27))))
+        (alternate "ADC0" input line)
+        (alternate "GPIO26" bidirectional line)
+        (alternate "I2C1_SDA" bidirectional line)
+        (alternate "PWM5_A" output line)
+        (alternate "SPI1_SCK" bidirectional line)
+        (alternate "USB_VBUS_EN" output line)
+        (alternate "~{UART1_CTS}" input line)
+      )
+      (pin bidirectional line (at 17.78 7.62 180) (length 2.54)
+        (name "GPIO27_ADC1" (effects (font (size 1.27 1.27))))
+        (number "32" (effects (font (size 1.27 1.27))))
+        (alternate "ADC1" input line)
+        (alternate "GPIO27" bidirectional line)
+        (alternate "I2C1_SCL" bidirectional line)
+        (alternate "PWM5_B" bidirectional line)
+        (alternate "SPI1_TX" output line)
+        (alternate "USB_OVCUR_DET" input line)
+        (alternate "~{UART1_RTS}" output line)
+      )
+      (pin power_in line (at 17.78 2.54 180) (length 2.54)
+        (name "AGND" (effects (font (size 1.27 1.27))))
+        (number "33" (effects (font (size 1.27 1.27))))
+        (alternate "GND" power_in line)
+      )
+      (pin bidirectional line (at 17.78 10.16 180) (length 2.54)
+        (name "GPIO28_ADC2" (effects (font (size 1.27 1.27))))
+        (number "34" (effects (font (size 1.27 1.27))))
+        (alternate "ADC2" input line)
+        (alternate "GPIO28" bidirectional line)
+        (alternate "I2C0_SDA" bidirectional line)
+        (alternate "PWM6_A" output line)
+        (alternate "SPI1_RX" input line)
+        (alternate "UART0_TX" output line)
+        (alternate "USB_VBUS_DET" input line)
+      )
+      (pin power_in line (at 17.78 12.7 180) (length 2.54)
+        (name "ADC_VREF" (effects (font (size 1.27 1.27))))
+        (number "35" (effects (font (size 1.27 1.27))))
+      )
+      (pin power_out line (at 17.78 25.4 180) (length 2.54)
+        (name "3V3" (effects (font (size 1.27 1.27))))
+        (number "36" (effects (font (size 1.27 1.27))))
+      )
+      (pin input line (at 17.78 20.32 180) (length 2.54)
+        (name "3V3_EN" (effects (font (size 1.27 1.27))))
+        (number "37" (effects (font (size 1.27 1.27))))
+      )
+      (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
+        (name "GND" (effects (font (size 1.27 1.27))))
+        (number "38" (effects (font (size 1.27 1.27))))
+      )
+      (pin power_out line (at 2.54 30.48 270) (length 2.54)
+        (name "VSYS" (effects (font (size 1.27 1.27))))
+        (number "39" (effects (font (size 1.27 1.27))))
+        (alternate "VSYS" power_in line)
+      )
+      (pin bidirectional line (at -17.78 17.78 0) (length 2.54)
+        (name "GPIO2" (effects (font (size 1.27 1.27))))
+        (number "4" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SDA" bidirectional line)
+        (alternate "PWM1_A" output line)
+        (alternate "SPI0_SCK" bidirectional line)
+        (alternate "USB_VBUS_EN" output line)
+        (alternate "~{UART0_CTS}" input line)
+      )
+      (pin power_out line (at -2.54 30.48 270) (length 2.54)
+        (name "VBUS" (effects (font (size 1.27 1.27))))
+        (number "40" (effects (font (size 1.27 1.27))))
+        (alternate "VBUS" power_in line)
+      )
+      (pin input line (at 0 -27.94 90) (length 2.54)
+        (name "SWCLK" (effects (font (size 1.27 1.27))))
+        (number "41" (effects (font (size 1.27 1.27))))
+      )
+      (pin power_in line (at 2.54 -27.94 90) (length 2.54)
+        (name "SWGND" (effects (font (size 1.27 1.27))))
+        (number "42" (effects (font (size 1.27 1.27))))
+        (alternate "GND" power_in line)
+      )
+      (pin bidirectional line (at 5.08 -27.94 90) (length 2.54)
+        (name "SWDIO" (effects (font (size 1.27 1.27))))
+        (number "43" (effects (font (size 1.27 1.27))))
+      )
+      (pin bidirectional line (at -17.78 15.24 0) (length 2.54)
+        (name "GPIO3" (effects (font (size 1.27 1.27))))
+        (number "5" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SCL" bidirectional line)
+        (alternate "PWM1_B" bidirectional line)
+        (alternate "SPI0_TX" output line)
+        (alternate "USB_OVCUR_DET" input line)
+        (alternate "~{UART0_RTS}" output line)
+      )
+      (pin bidirectional line (at -17.78 12.7 0) (length 2.54)
+        (name "GPIO4" (effects (font (size 1.27 1.27))))
+        (number "6" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SDA" bidirectional line)
+        (alternate "PWM2_A" output line)
+        (alternate "SPI0_RX" input line)
+        (alternate "UART1_TX" output line)
+        (alternate "USB_VBUS_DET" input line)
+      )
+      (pin bidirectional line (at -17.78 10.16 0) (length 2.54)
+        (name "GPIO5" (effects (font (size 1.27 1.27))))
+        (number "7" (effects (font (size 1.27 1.27))))
+        (alternate "I2C0_SCL" bidirectional line)
+        (alternate "PWM2_B" bidirectional line)
+        (alternate "UART1_RX" input line)
+        (alternate "USB_VBUS_EN" output line)
+        (alternate "~{SPI0_CS}" output line)
+      )
+      (pin power_in line (at -5.08 -27.94 90) (length 2.54)
+        (name "GND" (effects (font (size 1.27 1.27))))
+        (number "8" (effects (font (size 1.27 1.27))))
+      )
+      (pin bidirectional line (at -17.78 5.08 0) (length 2.54)
+        (name "GPIO6" (effects (font (size 1.27 1.27))))
+        (number "9" (effects (font (size 1.27 1.27))))
+        (alternate "I2C1_SDA" bidirectional line)
+        (alternate "PWM3_A" output line)
+        (alternate "SPI0_SCK" bidirectional line)
+        (alternate "USB_OVCUR_DET" input line)
+        (alternate "~{UART1_CTS}" input line)
+      )
+    )
+  )
+  (symbol "RaspberryPi-PicoW" (extends "RaspberryPi-Pico")
+    (property "Reference" "A" (id 0) (at 0 17.78 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Value" "RaspberryPi-PicoW" (id 1) (at 2.54 15.24 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (id 2) (at 0 5.08 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf" (id 3) (at 0 -40.64 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "ki_keywords" "Pico-W RPL RPTL RPi module RP2040 CYW43439 2.4GHz RF radio Wi-Fi WiFi" (id 4) (at 0 0 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "ki_description" "Raspberry Pi Pico W, RP2040-based microcontroller board with wireless" (id 5) (at 0 0 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "ki_fp_filters" "Raspberry*Pico* RPi*Pico*" (id 6) (at 0 0 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+  )
+)
diff --git a/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_AddOn.kicad_mod b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_AddOn.kicad_mod
new file mode 100644
index 00000000..fee08d41
--- /dev/null
+++ b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_AddOn.kicad_mod	
@@ -0,0 +1,393 @@
+(footprint "Raspberry_Pi_Pico_AddOn" (version 20211014) (generator pcbnew)
+  (layer "F.Cu")
+  (tedit 0)
+  (descr "Raspberry Pi Pico (W) Add-On Board")
+  (tags "Pico-W RPL RPTL RPi module")
+  (attr through_hole)
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+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp d52e2df6-67c2-4528-8ffa-fc141bc882ea)
+  )
+  (fp_text value "Raspberry_Pi_Pico_AddOn" (at 8.89 52.07 unlocked) (layer "F.Fab")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 365f06fe-e9bf-47ba-8c2c-8f93491d342a)
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+    (effects (font (size 0.8 0.64) (thickness 0.15)) (justify left mirror))
+    (tstamp 349ed8f6-dc6e-4d59-a1b8-04c7d6726055)
+  )
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+  )
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diff --git a/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_SMT_THT.kicad_mod b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_SMT_THT.kicad_mod
new file mode 100644
index 00000000..f1e44f87
--- /dev/null
+++ b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_SMT_THT.kicad_mod	
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diff --git a/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_THT.kicad_mod b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_THT.kicad_mod
new file mode 100644
index 00000000..c5bad744
--- /dev/null
+++ b/Hardware/OpenMowerMainboard/RP-PicoW Libraries/Module.pretty/Raspberry_Pi_Pico_THT.kicad_mod	
@@ -0,0 +1,220 @@
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+  (pad "" np_thru_hole circle (at 14.59 0.63) (size 2.1 2.1) (drill 2.1) (layers F&B.Cu *.Mask)
+    (solder_mask_margin 0.85) (clearance 1.05) (tstamp 63eb6219-b817-4dbc-bbd3-39431fa26da7))
+  (pad "" np_thru_hole circle (at 3.19 47.63) (size 2.1 2.1) (drill 2.1) (layers F&B.Cu *.Mask)
+    (solder_mask_margin 0.85) (clearance 1.05) (tstamp 6a2c032d-9e96-4d37-b169-0b3894587ff3))
+  (pad "1" thru_hole circle (at 0 0) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 4fe5b0b4-9735-4c56-bcfc-c5ded6e445b9))
+  (pad "1" thru_hole custom (at 0 0) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask)
+    (options (clearance convexhull) (anchor circle))
+    (primitives
+      (gr_poly (pts
+          (xy 0.6 0.248529)
+          (xy 0.248529 0.6)
+          (xy -0.248529 0.6)
+          (xy -0.6 0.248529)
+          (xy -0.6 -0.248529)
+          (xy -0.248529 -0.6)
+          (xy 0.248529 -0.6)
+          (xy 0.6 -0.248529)
+        ) (width 0.4) (fill yes))
+    ) (tstamp 9c5cda72-0065-4477-b72e-4e7bbad27270))
+  (pad "2" thru_hole circle (at 0 2.54) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp d8817abf-5ca2-4360-a831-2221a12ca046))
+  (pad "3" thru_hole roundrect (at 0 5.08) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 3068becf-370a-4d66-8e73-81fc567ac422))
+  (pad "4" thru_hole circle (at 0 7.62) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 9b9c4feb-2a7c-4b1e-9440-b1a5d85b8168))
+  (pad "5" thru_hole circle (at 0 10.16) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp c6c3ba4c-c24c-44b6-ba0c-8b405635d35d))
+  (pad "6" thru_hole circle (at 0 12.7) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp a34323bd-38ba-4ace-a321-d47ecda0138d))
+  (pad "7" thru_hole circle (at 0 15.24) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp ffe5bf6b-2413-46be-85e7-edf21928cb9f))
+  (pad "8" thru_hole roundrect (at 0 17.78) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 9087bd37-78fb-4644-9cb9-81e627ddde64))
+  (pad "9" thru_hole circle (at 0 20.32) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp f4c748a1-5748-43aa-b065-2b1fc01c6ca7))
+  (pad "10" thru_hole circle (at 0 22.86) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp cd135c38-8f88-4ff1-a785-6542da7ac190))
+  (pad "11" thru_hole circle (at 0 25.4) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 4ea1daf2-b49e-4bec-92be-6a0c50f9a216))
+  (pad "12" thru_hole circle (at 0 27.94) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 65871470-471b-49ab-91d0-321a17eddb5e))
+  (pad "13" thru_hole roundrect (at 0 30.48) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 81df4110-ee80-4f1e-864f-8f11c8b31114))
+  (pad "14" thru_hole circle (at 0 33.02) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 9c3d796b-72fb-4e33-8400-4357bdb3fbca))
+  (pad "15" thru_hole circle (at 0 35.56) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp df5cfbec-0048-49ab-b9a8-071d5b25818e))
+  (pad "16" thru_hole circle (at 0 38.1) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 14b9347d-322d-4221-b484-6feb62434daa))
+  (pad "17" thru_hole circle (at 0 40.64) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 624b5b7e-aef1-4282-8f3f-446973a2420e))
+  (pad "18" thru_hole roundrect (at 0 43.18) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 31685587-1e3d-4af2-9804-d718956b7d45))
+  (pad "19" thru_hole circle (at 0 45.72) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 287cf8f1-4c84-4520-b046-f7b531bc58fe))
+  (pad "20" thru_hole circle (at 0 48.26) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 34834620-eea2-4210-95a5-2f58a3790e9e))
+  (pad "21" thru_hole circle (at 17.78 48.26) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp aa49b944-cf73-4580-9d46-040cdc1412d6))
+  (pad "22" thru_hole circle (at 17.78 45.72) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 21c4200d-b328-4f1f-9f18-5d12f0356809))
+  (pad "23" thru_hole roundrect (at 17.78 43.18) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 3356ccb6-00ea-491f-8d38-4563fdb5e413))
+  (pad "24" thru_hole circle (at 17.78 40.64) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp b2239b15-be82-486c-bfaf-ee356bb0dbba))
+  (pad "25" thru_hole circle (at 17.78 38.1) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp ff16ddbb-4acb-4f5a-8a95-9689d03873fd))
+  (pad "26" thru_hole circle (at 17.78 35.56) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 48da2494-e2cf-48bf-b505-0a1bec320933))
+  (pad "27" thru_hole circle (at 17.78 33.02) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 20451e78-eb2f-4cd2-97b2-8f8174ff3f59))
+  (pad "28" thru_hole roundrect (at 17.78 30.48) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp da6cd2f8-f4ba-48ec-9f65-14b117b8bc8c))
+  (pad "29" thru_hole circle (at 17.78 27.94) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 6cb1d9c5-b0fb-4d42-af3b-abdaaa7a2abd))
+  (pad "30" thru_hole circle (at 17.78 25.4) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp eacc8e62-2c75-4d5b-bcf4-7e24360c389e))
+  (pad "31" thru_hole circle (at 17.78 22.86) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 5d325137-847c-412c-a68a-22ffe30aee69))
+  (pad "32" thru_hole circle (at 17.78 20.32) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 7b53cc41-57e2-4d69-9357-72bfb241c937))
+  (pad "33" thru_hole roundrect (at 17.78 17.78) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 86bdd1db-5e93-4d7c-8cfb-7ddabf9ceaa3))
+  (pad "34" thru_hole circle (at 17.78 15.24) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 4519a638-2739-4ce3-9bf4-15edbade622f))
+  (pad "35" thru_hole circle (at 17.78 12.7) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp d3358d18-65e0-4e3c-9c35-2789d1b3980f))
+  (pad "36" thru_hole circle (at 17.78 10.16) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 2f607635-5363-4d35-90a5-f608efd779d7))
+  (pad "37" thru_hole circle (at 17.78 7.62) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 3ade8e12-feea-402c-9969-ef5bbc30f2c1))
+  (pad "38" thru_hole roundrect (at 17.78 5.08) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 36a3425f-e60c-430a-a33e-3f6b87a9095b))
+  (pad "39" thru_hole circle (at 17.78 2.54) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp e26dbb66-6d7e-497c-b2e4-d2f43149b5da))
+  (pad "40" thru_hole circle (at 17.78 0) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 56ef5411-3d55-4d24-9568-18511926ecd4))
+  (pad "41" thru_hole rect (at 9.4742 29.83) (size 1.5748 1.5748) (drill 1) (layers *.Cu *.Mask) (tstamp 651a1034-5b3b-41cb-bb95-382c3fec5445))
+  (pad "41" thru_hole circle (at 6.35 48.03) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 65c4edc2-095e-4e01-8c46-77a65952ad48))
+  (pad "42" thru_hole roundrect (at 8.89 48.03) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (roundrect_rratio 0.125) (tstamp 82857f38-9b9b-445b-868a-a2f5d083e625))
+  (pad "42" thru_hole circle (at 12.0142 29.83) (size 1.5748 1.5748) (drill 1) (layers *.Cu *.Mask) (tstamp d92c3b19-72b3-429d-851c-4f5904f6960d))
+  (pad "43" thru_hole circle (at 14.5542 29.83) (size 1.5748 1.5748) (drill 1) (layers *.Cu *.Mask) (tstamp 1f78501a-e068-4388-99f0-e1222b09e1dc))
+  (pad "43" thru_hole circle (at 11.43 48.03) (size 1.6 1.6) (drill 1) (layers *.Cu *.Mask) (tstamp 46383e28-1292-4069-a4f4-34f06ae59a4d))
+  (zone (net 0) (net_name "") (layers *.Cu *.Adhes *.Paste *.SilkS *.Mask) (tstamp deccfaaa-eb9b-4619-8e56-3eaa9e67b834) (name "Antenna Keepout") (hatch full 0.508)
+    (connect_pads (clearance 0))
+    (min_thickness 0.254)
+    (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed ) (copperpour not_allowed) (footprints not_allowed))
+    (fill (thermal_gap 0.508) (thermal_bridge_width 0.508))
+    (polygon
+      (pts
+        (xy 15.89 49.63)
+        (xy 1.89 49.63)
+        (xy 1.89 41.23)
+        (xy 15.89 41.23)
+      )
+    )
+  )
+)
diff --git a/Hardware/OpenMowerMainboard/RaspberryPi.kicad_sch b/Hardware/OpenMowerMainboard/RaspberryPi.kicad_sch
index fd5df888..45265758 100644
--- a/Hardware/OpenMowerMainboard/RaspberryPi.kicad_sch
+++ b/Hardware/OpenMowerMainboard/RaspberryPi.kicad_sch
@@ -995,6 +995,7 @@
     )
   )
 
+
   (junction (at 93.98 49.53) (diameter 0) (color 0 0 0 0)
     (uuid 35bb30cb-9134-4cde-9cf2-4012be009511)
   )
@@ -1635,7 +1636,7 @@
     (property "LCSC" "C2894965" (id 4) (at 57.785 144.145 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "	PZ254-2-04-Z-8.5" (id 5) (at 57.785 144.145 0)
+    (property "Part Number" "PZ254-2-04-Z-8.5" (id 5) (at 57.785 144.145 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Stock_PN" "J-TH-2x4-.1" (id 6) (at 57.785 144.145 0)
diff --git a/Hardware/OpenMowerMainboard/RobotConnectors.kicad_sch b/Hardware/OpenMowerMainboard/RobotConnectors.kicad_sch
index 668967de..48e24f46 100644
--- a/Hardware/OpenMowerMainboard/RobotConnectors.kicad_sch
+++ b/Hardware/OpenMowerMainboard/RobotConnectors.kicad_sch
@@ -1193,6 +1193,7 @@
     )
   )
 
+
   (junction (at 185.42 116.205) (diameter 0) (color 0 0 0 0)
     (uuid 0a3a58f4-2bb9-4cb3-845f-000ff382a9f7)
   )
@@ -1363,6 +1364,8 @@
   (no_connect (at 176.53 128.905) (uuid 90076413-1402-4652-9aa8-2ecd154c77df))
   (no_connect (at 176.53 126.365) (uuid 90076413-1402-4652-9aa8-2ecd154c77e0))
   (no_connect (at 176.53 121.285) (uuid 90076413-1402-4652-9aa8-2ecd154c77e1))
+  (no_connect (at 110.49 71.12) (uuid b4123fe0-b00b-4e5e-90e5-894d96fe075e))
+  (no_connect (at 97.79 71.12) (uuid dff1b6e1-6de1-4b9e-aeea-9e573265d774))
   (no_connect (at 110.49 66.04) (uuid fb0b1440-18be-4b5f-b469-b4cfaf66fc53))
 
   (wire (pts (xy 242.57 76.2) (xy 240.03 76.2))
@@ -2599,7 +2602,7 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 26b610c6-7367-4be6-9dd1-8a2add81e7c9)
   )
-  (hierarchical_label "Enable_Charge" (shape input) (at 127.635 35.56 180)
+  (hierarchical_label "ENABLE_CHARGE" (shape input) (at 127.635 35.56 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 2e93d858-d521-4047-968e-9a0fb17ea8c5)
   )
@@ -2926,24 +2929,21 @@
     (pin "1" (uuid 8087001e-0c24-4502-b51e-38db0b5eb2f7))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x05") (at 146.05 45.72 180) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x05") (at 146.05 45.72 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-0000612326ab)
-    (property "Reference" "J10" (id 0) (at 148.1328 34.925 0))
-    (property "Value" "Conn_01x05" (id 1) (at 148.1328 37.2364 0))
+    (property "Reference" "J10" (id 0) (at 148.1328 56.515 0))
+    (property "Value" "Conn_01x05" (id 1) (at 148.1328 54.2036 0))
     (property "Footprint" "Connector_JST:JST_PH_B5B-PH-K_1x05_P2.00mm_Vertical" (id 2) (at 146.05 45.72 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 146.05 45.72 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Digikey" "455-1707-ND" (id 4) (at 146.05 45.72 0)
+    (property "Datasheet" "" (id 3) (at 146.05 45.72 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "	B5B-PH-K-S(LF)(SN)" (id 5) (at 146.05 45.72 0)
+    (property "Stock_PN" "J-JST-PH-1x5" (id 6) (at 146.05 45.72 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-JST-PH-1x5" (id 6) (at 146.05 45.72 0)
+    (property "LCSC" "C442247" (id 5) (at 146.05 45.72 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 0bac4736-a39a-499e-8a13-eac8b6c8abee))
@@ -3127,6 +3127,9 @@
     (property "Stock_PN" "U-74ALVC164245" (id 12) (at 138.43 100.965 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C5531" (id 13) (at 138.43 100.965 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 9c954c0a-3a44-4876-a286-8be4c67dc96a))
     (pin "10" (uuid 5312c4d0-535c-4e1d-ae94-9e08179c4437))
     (pin "11" (uuid 3e855bf7-eb69-4ce9-802d-4c8e9f8c92ad))
@@ -3278,15 +3281,18 @@
     (property "Datasheet" "~" (id 3) (at 118.745 68.58 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Digikey" "FC-202-24-ND" (id 4) (at 118.745 68.58 0)
+    (property "Digikey" "" (id 4) (at 118.745 68.58 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "FC-202-24" (id 5) (at 118.745 68.58 0)
+    (property "Part Number" "https://aliexpress.com/item/4000318714025.html" (id 5) (at 118.745 68.58 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Stock_PN" "FH-FC-202-24" (id 6) (at 118.745 68.58 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "Description" "You will need a pair of holders" (id 7) (at 118.745 68.58 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 60b0b9dd-4ea2-4f7b-83d9-80d94ac1eb52))
     (pin "2" (uuid c2e792db-5310-4fff-bb75-34eb5bb6d971))
   )
@@ -3414,6 +3420,9 @@
     (property "Stock_PN" "D-SMA-Schottky-40V-5A" (id 6) (at 128.27 68.58 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C113939" (id 7) (at 128.27 68.58 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 2a0aa55e-dd4a-42d5-9404-2d03f2e970e7))
     (pin "2" (uuid f6e22dd8-6668-4bca-89b1-0f9042219497))
   )
@@ -3497,6 +3506,9 @@
     (property "Stock_PN" "D-SMA-Schottky-40V-5A" (id 6) (at 128.27 73.025 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C113939" (id 7) (at 128.27 73.025 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 66df2a73-03fd-42fc-b4d0-80aec09dbefd))
     (pin "2" (uuid 3bf428aa-1d67-413d-8751-e5136d6d6477))
   )
@@ -3521,6 +3533,9 @@
     (property "Stock_PN" "D-SMA-Schottky-40V-5A" (id 6) (at 110.49 27.94 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C113939" (id 7) (at 110.49 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 3dc6a3a3-fba5-4927-b1d5-a18048697ebe))
     (pin "2" (uuid fb9c178b-f3d0-4b11-be23-163bfb0daeef))
   )
@@ -3614,15 +3629,21 @@
     (property "Datasheet" "~" (id 3) (at 94.615 33.02 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Digikey" "FC-202-24-ND" (id 4) (at 94.615 33.02 0)
+    (property "Digikey" "" (id 4) (at 94.615 33.02 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "FC-202-24" (id 5) (at 94.615 33.02 0)
+    (property "Part Number" "https://aliexpress.com/item/4000318714025.html" (id 5) (at 94.615 33.02 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Stock_PN" "FH-FC-202-24" (id 6) (at 94.615 33.02 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "Description" "You will need a pair of holders" (id 7) (at 94.615 33.02 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "LCSC" "" (id 8) (at 94.615 33.02 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 852d94d2-e3ed-4003-9e7f-e29b82419d06))
     (pin "2" (uuid 2be67f28-0d8d-4474-84c3-75f371e4dcb2))
   )
@@ -3708,6 +3729,9 @@
     (property "Stock_PN" "D-SMA-Schottky-40V-5A" (id 6) (at 99.695 27.94 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C113939" (id 7) (at 99.695 27.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 6d822b34-b602-4972-8609-5b82ed96d5cd))
     (pin "2" (uuid 6e60d346-4b5f-43b9-9c5f-91b043e88c43))
   )
diff --git a/Hardware/OpenMowerMainboard/dcdc.kicad_sch b/Hardware/OpenMowerMainboard/dcdc.kicad_sch
index 10cf2245..c17d3815 100644
--- a/Hardware/OpenMowerMainboard/dcdc.kicad_sch
+++ b/Hardware/OpenMowerMainboard/dcdc.kicad_sch
@@ -502,44 +502,6 @@
         )
       )
     )
-    (symbol "MyModules:LM2596S_MODULE" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
-      (property "Reference" "U" (id 0) (at 0 0 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Value" "LM2596S_MODULE" (id 1) (at 0 0 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (id 2) (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "" (id 3) (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "LM2596S_MODULE_0_1"
-        (rectangle (start 12.7 2.54) (end -11.43 10.16)
-          (stroke (width 0) (type default) (color 0 0 0 0))
-          (fill (type none))
-        )
-      )
-      (symbol "LM2596S_MODULE_1_1"
-        (pin power_in line (at 15.24 5.08 180) (length 2.54)
-          (name "IN-" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-        (pin power_in line (at 15.24 7.62 180) (length 2.54)
-          (name "IN+" (effects (font (size 1.27 1.27))))
-          (number "2" (effects (font (size 1.27 1.27))))
-        )
-        (pin power_out line (at -13.97 7.62 0) (length 2.54)
-          (name "OUT+" (effects (font (size 1.27 1.27))))
-          (number "3" (effects (font (size 1.27 1.27))))
-        )
-        (pin power_out line (at -13.97 5.08 0) (length 2.54)
-          (name "OUT-" (effects (font (size 1.27 1.27))))
-          (number "4" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "power:+5V" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
       (property "Reference" "#PWR" (id 0) (at 0 -3.81 0)
         (effects (font (size 1.27 1.27)) hide)
@@ -632,8 +594,49 @@
         )
       )
     )
+    (symbol "power:PWR_FLAG" (power) (pin_numbers hide) (pin_names (offset 0) hide) (in_bom yes) (on_board yes)
+      (property "Reference" "#FLG" (id 0) (at 0 1.905 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Value" "PWR_FLAG" (id 1) (at 0 3.81 0)
+        (effects (font (size 1.27 1.27)))
+      )
+      (property "Footprint" "" (id 2) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Datasheet" "~" (id 3) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_keywords" "power-flag" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "Special symbol for telling ERC where power comes from" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "PWR_FLAG_0_0"
+        (pin power_out line (at 0 0 90) (length 0)
+          (name "pwr" (effects (font (size 1.27 1.27))))
+          (number "1" (effects (font (size 1.27 1.27))))
+        )
+      )
+      (symbol "PWR_FLAG_0_1"
+        (polyline
+          (pts
+            (xy 0 0)
+            (xy 0 1.27)
+            (xy -1.016 1.905)
+            (xy 0 2.54)
+            (xy 1.016 1.905)
+            (xy 0 1.27)
+          )
+          (stroke (width 0) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+      )
+    )
   )
 
+
   (junction (at 63.5 116.84) (diameter 0) (color 0 0 0 0)
     (uuid 0566b5a5-d564-445b-b00e-9b4220e38ac8)
   )
@@ -646,9 +649,6 @@
   (junction (at 183.515 142.24) (diameter 0) (color 0 0 0 0)
     (uuid 1689289b-accb-40af-b5dc-80ac78d55396)
   )
-  (junction (at 109.22 46.355) (diameter 0) (color 0 0 0 0)
-    (uuid 1de6448a-50a7-45d4-b437-c12dc3c32baa)
-  )
   (junction (at 223.52 127) (diameter 0) (color 0 0 0 0)
     (uuid 236ff0ae-3bfe-439d-9d57-324d686a8aca)
   )
@@ -685,6 +685,9 @@
   (junction (at 177.165 142.24) (diameter 0) (color 0 0 0 0)
     (uuid 59bcfdc3-c65f-4fa2-bfe5-f346b11d455b)
   )
+  (junction (at 228.6 90.17) (diameter 0) (color 0 0 0 0)
+    (uuid 5b0efab6-a82c-4d12-b684-91eb51eede4c)
+  )
   (junction (at 211.455 142.24) (diameter 0) (color 0 0 0 0)
     (uuid 621d11f0-eb22-41ac-aa83-a2c9f607df5a)
   )
@@ -730,6 +733,9 @@
   (junction (at 165.1 90.17) (diameter 0) (color 0 0 0 0)
     (uuid baccac18-b0cc-4584-bacb-de99cb89a32c)
   )
+  (junction (at 144.78 142.24) (diameter 0) (color 0 0 0 0)
+    (uuid ca9f9307-5fad-4f20-8c16-3bb00c485966)
+  )
   (junction (at 33.655 97.155) (diameter 0) (color 0 0 0 0)
     (uuid d0e0e98d-c8f5-4193-934a-a464de2444d3)
   )
@@ -778,10 +784,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 06e6f57f-1ce1-4398-aac6-943a97588e35)
   )
-  (wire (pts (xy 83.82 33.655) (xy 95.25 33.655))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 07578712-7600-4bbe-9a5a-45127f1d6a10)
-  )
   (wire (pts (xy 50.165 112.395) (xy 50.165 116.84))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 0bc3627f-d712-4d3e-81ca-9ab2d605b0bd)
@@ -810,15 +812,11 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 194f7b2f-d9ee-4398-9eb4-361b952cfc7b)
   )
-  (wire (pts (xy 133.35 33.655) (xy 133.35 29.845))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 19b25be8-4ab4-451d-b663-c23e9f6e8e73)
-  )
   (wire (pts (xy 211.455 142.24) (xy 199.39 142.24))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 1b2a8417-de86-455d-89f7-394469a8886b)
   )
-  (wire (pts (xy 186.69 90.17) (xy 234.95 90.17))
+  (wire (pts (xy 186.69 90.17) (xy 228.6 90.17))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 1d414225-4a28-4322-8cee-f4f5054673d1)
   )
@@ -862,10 +860,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 2f3c558d-1c93-4bfa-a351-bebeac527043)
   )
-  (wire (pts (xy 128.27 31.115) (xy 128.27 46.355))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 309c1f40-dee9-4f4a-a4b1-76a3ff5da828)
-  )
   (wire (pts (xy 60.325 112.395) (xy 60.325 116.84))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 32c8ffae-5df2-4183-8698-c7c2037ffca3)
@@ -878,10 +872,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 36e59499-a40e-47ea-b4fd-900394f8174d)
   )
-  (wire (pts (xy 124.46 31.115) (xy 128.27 31.115))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 371399d7-ffb7-47bf-96af-590f4e2dabc9)
-  )
   (wire (pts (xy 87.63 114.935) (xy 96.52 114.935))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 38efe1f5-cbc3-4e16-90b7-204e75ceac02)
@@ -934,10 +924,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 56c341ee-5ad2-4fc9-96e3-57a7de798377)
   )
-  (wire (pts (xy 124.46 33.655) (xy 133.35 33.655))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 59f42d32-ccfd-4b3f-9a94-34a339301988)
-  )
   (wire (pts (xy 183.515 142.24) (xy 183.515 140.335))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 5b862f73-8684-4ecc-8e5f-64849ad5e007)
@@ -970,10 +956,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 65420cbe-8e53-4c0a-95f5-07ad280515fe)
   )
-  (wire (pts (xy 88.9 31.115) (xy 88.9 46.355))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 68207584-439b-46aa-b82c-77a01fe83fd6)
-  )
   (wire (pts (xy 93.345 109.855) (xy 93.345 127))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 6925942e-3065-4fee-a24b-bbcf44de6ec3)
@@ -1074,19 +1056,11 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 8b57ea7d-1fe3-4002-a617-e3e7d987ff05)
   )
-  (wire (pts (xy 109.22 46.355) (xy 88.9 46.355))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 8b6af0fa-87c0-4608-8616-923e8254b61c)
-  )
   (wire (pts (xy 28.575 116.84) (xy 31.115 116.84))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 8f8046b4-793a-4b2e-904d-f450256baa96)
   )
-  (wire (pts (xy 128.27 46.355) (xy 109.22 46.355))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 9413915b-aeb5-4632-bb18-7fd177e06ef8)
-  )
-  (wire (pts (xy 144.78 140.335) (xy 144.78 142.875))
+  (wire (pts (xy 144.78 140.335) (xy 144.78 142.24))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 9677e659-3dde-4795-85dd-47d83ebb9e70)
   )
@@ -1190,10 +1164,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid d806d53f-4320-4ef9-8a53-0d341a5c6395)
   )
-  (wire (pts (xy 95.25 31.115) (xy 88.9 31.115))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid d95c2054-aa90-401d-8e68-3617959edf16)
-  )
   (wire (pts (xy 33.655 116.84) (xy 33.655 109.855))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid dbc4baf7-5045-4ea9-9e3e-26249bef84d8)
@@ -1234,6 +1204,10 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid edf9de94-d9c4-4501-99e4-1547dbe3d027)
   )
+  (wire (pts (xy 144.78 142.24) (xy 144.78 142.875))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid f0cb04ec-3ab7-4b1b-82dc-dbe64a34af7b)
+  )
   (wire (pts (xy 87.63 104.775) (xy 87.63 107.315))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid f1e20d23-eff0-465b-98cb-224466087455)
@@ -1246,6 +1220,10 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid f49ea77d-fd20-4b50-b316-135c41acdc2d)
   )
+  (wire (pts (xy 228.6 90.17) (xy 234.95 90.17))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid f7273977-45c9-4130-a9da-d80fd25137a3)
+  )
   (wire (pts (xy 50.165 97.155) (xy 50.165 104.775))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid f7952f6f-0f60-40c4-8688-93ccc9ef72a8)
@@ -1283,13 +1261,6 @@
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
-  (global_label "V_BATT" (shape input) (at 83.82 33.655 180) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify right))
-    (uuid aae1f39c-c35a-4c2c-a26c-1ed951070a85)
-    (property "Intersheet References" "${INTERSHEET_REFS}" (id 0) (at 75.1458 33.7344 0)
-      (effects (font (size 1.27 1.27)) (justify right) hide)
-    )
-  )
 
   (symbol (lib_id "Device:C") (at 74.93 104.775 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
@@ -1362,10 +1333,10 @@
     (property "Datasheet" "~" (id 3) (at 28.575 106.045 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C882153" (id 4) (at 28.575 106.045 0)
+    (property "LCSC" "C2980172" (id 4) (at 28.575 106.045 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "VEJ681M1VTR-1013" (id 5) (at 28.575 106.045 0)
+    (property "Part Number" "GVM1V681M1010" (id 5) (at 28.575 106.045 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Stock_PN" "CP-SMD-680uF-35V" (id 6) (at 28.575 106.045 0)
@@ -1489,6 +1460,22 @@
     (pin "2" (uuid f6518776-f90b-4ce6-b9c2-ad5c07d6e0df))
   )
 
+  (symbol (lib_id "power:PWR_FLAG") (at 228.6 90.17 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid 3935cc4c-fd83-4144-a6f3-151fe6ee58c5)
+    (property "Reference" "#FLG0102" (id 0) (at 228.6 88.265 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "PWR_FLAG" (id 1) (at 228.6 85.09 0))
+    (property "Footprint" "" (id 2) (at 228.6 90.17 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 228.6 90.17 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid b90406c9-9fef-4311-a35a-90cc64acc0e7))
+  )
+
   (symbol (lib_id "Jumper:SolderJumper_3_Bridged12") (at 150.495 109.855 270) (mirror x) (unit 1)
     (in_bom no) (on_board yes) (fields_autoplaced)
     (uuid 44e62480-fa90-4d55-96cf-9767f87eab56)
@@ -1530,10 +1517,10 @@
     (property "Datasheet" "~" (id 3) (at 243.205 135.89 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C882153" (id 4) (at 243.205 135.89 0)
+    (property "LCSC" "C2980172" (id 4) (at 243.205 135.89 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "VEJ681M1VTR-1013" (id 5) (at 243.205 135.89 0)
+    (property "Part Number" "GVM1V681M1010" (id 5) (at 243.205 135.89 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Stock_PN" "CP-SMD-680uF-35V" (id 6) (at 243.205 135.89 0)
@@ -1546,38 +1533,6 @@
     (pin "2" (uuid 33f617d6-3ffc-4902-8dfa-2e8bb0fa4071))
   )
 
-  (symbol (lib_id "MyModules:LM2596S_MODULE") (at 110.49 26.035 180) (unit 1)
-    (in_bom yes) (on_board yes)
-    (uuid 5149161d-2f51-4282-870f-10edba0d6f25)
-    (property "Reference" "U1" (id 0) (at 109.855 24.384 0))
-    (property "Value" "DNP" (id 1) (at 109.855 26.6954 0))
-    (property "Footprint" "MyModules:LM2596S_MODULE" (id 2) (at 110.49 26.035 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (id 3) (at 110.49 26.035 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Config" "bench_test" (id 4) (at 110.49 26.035 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Digikey" "LM2596SX-5.0/NOPBCT-ND" (id 5) (at 110.49 26.035 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Part Number" "LM2596SX-5.0/NOPB" (id 6) (at 110.49 26.035 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Stock_PN" "U-LM2596SX-5.0" (id 7) (at 110.49 26.035 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "DNP" "Y" (id 8) (at 110.49 26.035 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid e64d4a67-9536-4dba-9d96-9b0d80b82e34))
-    (pin "2" (uuid cacde615-e80a-4d26-9363-47c2920ae104))
-    (pin "3" (uuid 2515d8e9-b167-4acf-9739-3a93c6a1617e))
-    (pin "4" (uuid d1bf1fc9-bc64-4953-8aed-25cd08e0461e))
-  )
-
   (symbol (lib_id "Device:C") (at 199.39 136.525 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 6c85cb61-e608-41d9-a9a0-a01bb91eacd5)
@@ -1877,22 +1832,6 @@
     (pin "2" (uuid 5928aaf4-91b1-4dda-9916-ecf333ca9d72))
   )
 
-  (symbol (lib_id "power:+5V") (at 133.35 29.845 0) (unit 1)
-    (in_bom yes) (on_board yes)
-    (uuid ac238d30-44a0-44b9-b5c5-a58e54e3f16e)
-    (property "Reference" "#PWR0107" (id 0) (at 133.35 33.655 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "+5V" (id 1) (at 133.731 25.4508 0))
-    (property "Footprint" "" (id 2) (at 133.35 29.845 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (id 3) (at 133.35 29.845 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid a28408f6-1cff-4801-abd5-18c9bd7078b2))
-  )
-
   (symbol (lib_id "Device:C") (at 50.165 108.585 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid af0ab0af-85fb-49dc-8182-07d5f3286a37)
@@ -1921,36 +1860,38 @@
     (pin "2" (uuid 8603a3df-02da-47d3-8058-7296baf87b2a))
   )
 
-  (symbol (lib_id "power:GND") (at 109.22 46.355 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 63.5 121.285 0) (unit 1)
     (in_bom yes) (on_board yes)
-    (uuid b8cb89b3-4805-4e56-9325-1f9afe8522c4)
-    (property "Reference" "#PWR0106" (id 0) (at 109.22 52.705 0)
+    (uuid bb21b2cd-3c58-44b7-8fd7-3d562d77419b)
+    (property "Reference" "#PWR0125" (id 0) (at 63.5 127.635 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (id 1) (at 109.347 50.7492 0))
-    (property "Footprint" "" (id 2) (at 109.22 46.355 0)
+    (property "Value" "GND" (id 1) (at 63.627 125.6792 0))
+    (property "Footprint" "" (id 2) (at 63.5 121.285 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 109.22 46.355 0)
+    (property "Datasheet" "" (id 3) (at 63.5 121.285 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid 38e04ca4-052f-497e-ab7a-ee6f5dc8905c))
+    (pin "1" (uuid b7bc38c0-b47c-4f75-89f9-254c7fe4befe))
   )
 
-  (symbol (lib_id "power:GND") (at 63.5 121.285 0) (unit 1)
-    (in_bom yes) (on_board yes)
-    (uuid bb21b2cd-3c58-44b7-8fd7-3d562d77419b)
-    (property "Reference" "#PWR0125" (id 0) (at 63.5 127.635 0)
+  (symbol (lib_id "power:PWR_FLAG") (at 144.78 142.24 90) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid bca34ef9-4aab-4ab9-889d-1e8c0af877f1)
+    (property "Reference" "#FLG0101" (id 0) (at 142.875 142.24 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (id 1) (at 63.627 125.6792 0))
-    (property "Footprint" "" (id 2) (at 63.5 121.285 0)
+    (property "Value" "PWR_FLAG" (id 1) (at 140.97 142.2399 90)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "" (id 2) (at 144.78 142.24 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 63.5 121.285 0)
+    (property "Datasheet" "~" (id 3) (at 144.78 142.24 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid b7bc38c0-b47c-4f75-89f9-254c7fe4befe))
+    (pin "1" (uuid 25f6466e-1f97-4604-917f-4176db4a04fa))
   )
 
   (symbol (lib_id "power:GND") (at 177.165 142.24 0) (unit 1)
diff --git a/Hardware/OpenMowerMainboard/escs.kicad_sch b/Hardware/OpenMowerMainboard/escs.kicad_sch
index c0d09c35..c216f949 100644
--- a/Hardware/OpenMowerMainboard/escs.kicad_sch
+++ b/Hardware/OpenMowerMainboard/escs.kicad_sch
@@ -962,6 +962,63 @@
     (uuid f8d9fecd-1b32-42cf-a649-0dc94e33a915)
   )
 
+  (no_connect (at 251.46 66.04) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441ba))
+  (no_connect (at 251.46 68.58) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441bb))
+  (no_connect (at 264.16 68.58) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441bc))
+  (no_connect (at 264.16 66.04) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441bd))
+  (no_connect (at 269.24 60.96) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441be))
+  (no_connect (at 269.24 58.42) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441bf))
+  (no_connect (at 281.94 58.42) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441c0))
+  (no_connect (at 281.94 60.96) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441c1))
+  (no_connect (at 281.94 71.12) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441c2))
+  (no_connect (at 281.94 73.66) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441c3))
+  (no_connect (at 269.24 73.66) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441c4))
+  (no_connect (at 269.24 71.12) (uuid 02b2bdec-109e-46c9-8a17-9fcfc3f441c5))
+  (no_connect (at 43.18 173.99) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985ba))
+  (no_connect (at 43.18 171.45) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985bb))
+  (no_connect (at 43.18 168.91) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985bc))
+  (no_connect (at 43.18 166.37) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985bd))
+  (no_connect (at 43.18 163.83) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985be))
+  (no_connect (at 43.18 161.29) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985bf))
+  (no_connect (at 43.18 158.75) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c0))
+  (no_connect (at 15.24 158.75) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c1))
+  (no_connect (at 15.24 161.29) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c2))
+  (no_connect (at 15.24 163.83) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c3))
+  (no_connect (at 15.24 166.37) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c4))
+  (no_connect (at 15.24 168.91) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c5))
+  (no_connect (at 15.24 171.45) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c6))
+  (no_connect (at 15.24 174.625) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c7))
+  (no_connect (at 15.24 177.165) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c8))
+  (no_connect (at 15.24 179.705) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985c9))
+  (no_connect (at 15.24 182.245) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985ca))
+  (no_connect (at 15.24 184.785) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985cb))
+  (no_connect (at 15.24 187.325) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985cc))
+  (no_connect (at 15.24 189.865) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985cd))
+  (no_connect (at 15.24 192.405) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985ce))
+  (no_connect (at 15.24 194.945) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985cf))
+  (no_connect (at 43.18 191.77) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d0))
+  (no_connect (at 43.18 189.23) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d1))
+  (no_connect (at 43.18 186.69) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d2))
+  (no_connect (at 43.18 184.15) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d3))
+  (no_connect (at 43.18 181.61) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d4))
+  (no_connect (at 43.18 179.07) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d5))
+  (no_connect (at 43.18 176.53) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d6))
+  (no_connect (at 43.18 196.85) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d7))
+  (no_connect (at 43.18 194.31) (uuid 12f99d84-58ae-4f4d-8bf1-636efbf985d8))
+  (no_connect (at 130.81 76.835) (uuid 135b98e6-f324-4dc7-b106-a84a5f0dd707))
+  (no_connect (at 130.81 79.375) (uuid 135b98e6-f324-4dc7-b106-a84a5f0dd708))
+  (no_connect (at 76.2 189.23) (uuid 15264557-df23-438c-ac93-1329f740ed23))
+  (no_connect (at 76.2 191.77) (uuid 15264557-df23-438c-ac93-1329f740ed24))
+  (no_connect (at 88.9 189.23) (uuid 15264557-df23-438c-ac93-1329f740ed25))
+  (no_connect (at 88.9 191.77) (uuid 15264557-df23-438c-ac93-1329f740ed26))
+  (no_connect (at 76.2 162.56) (uuid 15264557-df23-438c-ac93-1329f740ed27))
+  (no_connect (at 76.2 165.1) (uuid 15264557-df23-438c-ac93-1329f740ed28))
+  (no_connect (at 88.9 162.56) (uuid 15264557-df23-438c-ac93-1329f740ed29))
+  (no_connect (at 88.9 165.1) (uuid 15264557-df23-438c-ac93-1329f740ed2a))
+  (no_connect (at 76.2 175.895) (uuid 15264557-df23-438c-ac93-1329f740ed2b))
+  (no_connect (at 76.2 178.435) (uuid 15264557-df23-438c-ac93-1329f740ed2c))
+  (no_connect (at 88.9 175.895) (uuid 15264557-df23-438c-ac93-1329f740ed2d))
+  (no_connect (at 88.9 178.435) (uuid 15264557-df23-438c-ac93-1329f740ed2e))
   (no_connect (at 64.77 68.58) (uuid 30f3a57c-4868-4749-90b4-66052466a8df))
   (no_connect (at 64.77 41.91) (uuid 30f3a57c-4868-4749-90b4-66052466a8e0))
   (no_connect (at 64.77 45.72) (uuid 30f3a57c-4868-4749-90b4-66052466a8e1))
@@ -978,6 +1035,36 @@
   (no_connect (at 132.08 130.81) (uuid 30f3a57c-4868-4749-90b4-66052466a8ed))
   (no_connect (at 132.08 134.62) (uuid 30f3a57c-4868-4749-90b4-66052466a8ee))
   (no_connect (at 107.95 39.37) (uuid 30f3a57c-4868-4749-90b4-66052466a8ef))
+  (no_connect (at 13.335 76.2) (uuid 583aa22b-5d88-4900-a77e-408cc7832166))
+  (no_connect (at 13.335 78.74) (uuid 583aa22b-5d88-4900-a77e-408cc7832167))
+  (no_connect (at 13.335 81.28) (uuid 583aa22b-5d88-4900-a77e-408cc7832168))
+  (no_connect (at 13.335 83.82) (uuid 583aa22b-5d88-4900-a77e-408cc7832169))
+  (no_connect (at 13.335 86.36) (uuid 583aa22b-5d88-4900-a77e-408cc783216a))
+  (no_connect (at 130.81 64.135) (uuid 583aa22b-5d88-4900-a77e-408cc783216b))
+  (no_connect (at 130.81 66.675) (uuid 583aa22b-5d88-4900-a77e-408cc783216c))
+  (no_connect (at 130.81 69.215) (uuid 583aa22b-5d88-4900-a77e-408cc783216d))
+  (no_connect (at 130.81 71.755) (uuid 583aa22b-5d88-4900-a77e-408cc783216e))
+  (no_connect (at 109.855 71.12) (uuid 583aa22b-5d88-4900-a77e-408cc783216f))
+  (no_connect (at 109.855 73.66) (uuid 583aa22b-5d88-4900-a77e-408cc7832170))
+  (no_connect (at 122.555 73.66) (uuid 583aa22b-5d88-4900-a77e-408cc7832171))
+  (no_connect (at 122.555 71.12) (uuid 583aa22b-5d88-4900-a77e-408cc7832172))
+  (no_connect (at 109.855 59.055) (uuid 583aa22b-5d88-4900-a77e-408cc7832173))
+  (no_connect (at 109.855 61.595) (uuid 583aa22b-5d88-4900-a77e-408cc7832174))
+  (no_connect (at 122.555 61.595) (uuid 583aa22b-5d88-4900-a77e-408cc7832175))
+  (no_connect (at 122.555 59.055) (uuid 583aa22b-5d88-4900-a77e-408cc7832176))
+  (no_connect (at 109.855 84.455) (uuid 583aa22b-5d88-4900-a77e-408cc7832177))
+  (no_connect (at 109.855 86.995) (uuid 583aa22b-5d88-4900-a77e-408cc7832178))
+  (no_connect (at 122.555 86.995) (uuid 583aa22b-5d88-4900-a77e-408cc7832179))
+  (no_connect (at 122.555 84.455) (uuid 583aa22b-5d88-4900-a77e-408cc783217a))
+  (no_connect (at 130.81 74.295) (uuid 583aa22b-5d88-4900-a77e-408cc783217b))
+  (no_connect (at 130.81 100.965) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777680))
+  (no_connect (at 130.81 81.915) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777681))
+  (no_connect (at 130.81 95.885) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777682))
+  (no_connect (at 130.81 98.425) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777683))
+  (no_connect (at 130.81 84.455) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777684))
+  (no_connect (at 130.81 88.265) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777685))
+  (no_connect (at 130.81 90.805) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777686))
+  (no_connect (at 130.81 93.345) (uuid 8f2d7ed3-f8c4-40a5-a480-da28b1777687))
   (no_connect (at 132.08 153.67) (uuid 9594e116-3240-4944-bfce-bfc9a9caada1))
   (no_connect (at 132.08 163.83) (uuid a82dc646-dd58-41dd-901a-48862f5b0f93))
   (no_connect (at 132.08 167.64) (uuid a82dc646-dd58-41dd-901a-48862f5b0f94))
@@ -985,6 +1072,48 @@
   (no_connect (at 207.01 82.55) (uuid a82dc646-dd58-41dd-901a-48862f5b0f96))
   (no_connect (at 64.77 78.74) (uuid a82dc646-dd58-41dd-901a-48862f5b0f97))
   (no_connect (at 64.77 82.55) (uuid a82dc646-dd58-41dd-901a-48862f5b0f98))
+  (no_connect (at 13.335 54.61) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d901))
+  (no_connect (at 13.335 60.96) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d902))
+  (no_connect (at 13.335 41.91) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d903))
+  (no_connect (at 13.335 44.45) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d904))
+  (no_connect (at 13.335 46.99) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d905))
+  (no_connect (at 13.335 49.53) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d906))
+  (no_connect (at 13.335 52.07) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d907))
+  (no_connect (at 13.335 63.5) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d908))
+  (no_connect (at 13.335 66.04) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d909))
+  (no_connect (at 13.335 68.58) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d90a))
+  (no_connect (at 13.335 71.12) (uuid c54910aa-6168-4c9a-b5d6-e5ba5a59d90b))
+  (no_connect (at 259.08 87.63) (uuid e3836a66-2dad-4cfe-b570-a3c606efce55))
+  (no_connect (at 259.08 85.09) (uuid e3836a66-2dad-4cfe-b570-a3c606efce56))
+  (no_connect (at 259.08 82.55) (uuid e3836a66-2dad-4cfe-b570-a3c606efce57))
+  (no_connect (at 259.08 80.01) (uuid e3836a66-2dad-4cfe-b570-a3c606efce58))
+  (no_connect (at 259.08 77.47) (uuid e3836a66-2dad-4cfe-b570-a3c606efce59))
+  (no_connect (at 259.08 92.71) (uuid e3836a66-2dad-4cfe-b570-a3c606efce5a))
+  (no_connect (at 259.08 90.17) (uuid e3836a66-2dad-4cfe-b570-a3c606efce5b))
+  (no_connect (at 259.08 95.25) (uuid e3836a66-2dad-4cfe-b570-a3c606efce5c))
+  (no_connect (at 259.08 97.79) (uuid e3836a66-2dad-4cfe-b570-a3c606efce5d))
+  (no_connect (at 259.08 114.935) (uuid e3836a66-2dad-4cfe-b570-a3c606efce5e))
+  (no_connect (at 259.08 112.395) (uuid e3836a66-2dad-4cfe-b570-a3c606efce5f))
+  (no_connect (at 259.08 109.855) (uuid e3836a66-2dad-4cfe-b570-a3c606efce60))
+  (no_connect (at 259.08 107.315) (uuid e3836a66-2dad-4cfe-b570-a3c606efce61))
+  (no_connect (at 259.08 104.775) (uuid e3836a66-2dad-4cfe-b570-a3c606efce62))
+  (no_connect (at 259.08 102.235) (uuid e3836a66-2dad-4cfe-b570-a3c606efce63))
+  (no_connect (at 232.41 94.615) (uuid e3836a66-2dad-4cfe-b570-a3c606efce64))
+  (no_connect (at 232.41 97.155) (uuid e3836a66-2dad-4cfe-b570-a3c606efce65))
+  (no_connect (at 232.41 99.695) (uuid e3836a66-2dad-4cfe-b570-a3c606efce66))
+  (no_connect (at 232.41 102.235) (uuid e3836a66-2dad-4cfe-b570-a3c606efce67))
+  (no_connect (at 232.41 104.775) (uuid e3836a66-2dad-4cfe-b570-a3c606efce68))
+  (no_connect (at 232.41 107.315) (uuid e3836a66-2dad-4cfe-b570-a3c606efce69))
+  (no_connect (at 232.41 114.935) (uuid e3836a66-2dad-4cfe-b570-a3c606efce6a))
+  (no_connect (at 232.41 117.475) (uuid e3836a66-2dad-4cfe-b570-a3c606efce6b))
+  (no_connect (at 232.41 120.015) (uuid e3836a66-2dad-4cfe-b570-a3c606efce6c))
+  (no_connect (at 232.41 122.555) (uuid e3836a66-2dad-4cfe-b570-a3c606efce6d))
+  (no_connect (at 232.41 125.095) (uuid e3836a66-2dad-4cfe-b570-a3c606efce6e))
+  (no_connect (at 259.08 121.92) (uuid e3836a66-2dad-4cfe-b570-a3c606efce6f))
+  (no_connect (at 259.08 119.38) (uuid e3836a66-2dad-4cfe-b570-a3c606efce70))
+  (no_connect (at 259.08 129.54) (uuid e3836a66-2dad-4cfe-b570-a3c606efce71))
+  (no_connect (at 259.08 127) (uuid e3836a66-2dad-4cfe-b570-a3c606efce72))
+  (no_connect (at 259.08 124.46) (uuid e3836a66-2dad-4cfe-b570-a3c606efce73))
 
   (wire (pts (xy 179.705 109.22) (xy 179.705 123.19))
     (stroke (width 0) (type default) (color 0 0 0 0))
@@ -1610,28 +1739,28 @@
     (uuid f7a2ba18-d33f-4343-accd-7e5f97326072)
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 256.54 73.66 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 264.16 107.315 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 1455ed91-1a87-4c35-a973-0239e70a681a)
-    (property "Reference" "J40" (id 0) (at 257.2512 74.0215 0)
+    (property "Reference" "J40" (id 0) (at 264.8712 107.6765 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 257.2512 76.7966 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 264.8712 110.4516 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 256.54 73.66 0)
+    (property "Footprint" "" (id 2) (at 264.16 107.315 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 256.54 73.66 0)
+    (property "Datasheet" "~" (id 3) (at 264.16 107.315 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 256.54 73.66 0)
+    (property "LCSC" "C40877" (id 4) (at 264.16 107.315 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 256.54 73.66 0)
+    (property "Part Number" "C40877" (id 5) (at 264.16 107.315 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 256.54 73.66 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 264.16 107.315 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 89be739a-f56b-4dcd-a184-49e25fb0ff54))
@@ -1709,28 +1838,28 @@
     (pin "2" (uuid 62c4205e-d238-417e-a91b-1a2342208f4f))
   )
 
-  (symbol (lib_id "Connector:Conn_01x05_Female") (at 266.7 76.2 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x05_Female") (at 264.16 124.46 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 306ab6c4-dc85-4c0e-b9ba-0c8f07d863f2)
-    (property "Reference" "J44" (id 0) (at 267.4112 75.2915 0)
+    (property "Reference" "J44" (id 0) (at 264.8712 123.5515 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x05_Female" (id 1) (at 267.4112 78.0666 0)
+    (property "Value" "Conn_01x05_Female" (id 1) (at 264.8712 126.3266 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 266.7 76.2 0)
+    (property "Footprint" "" (id 2) (at 264.16 124.46 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 266.7 76.2 0)
+    (property "Datasheet" "~" (id 3) (at 264.16 124.46 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C50950" (id 4) (at 266.7 76.2 0)
+    (property "LCSC" "C50950" (id 4) (at 264.16 124.46 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C50950" (id 5) (at 266.7 76.2 0)
+    (property "Part Number" "C50950" (id 5) (at 264.16 124.46 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 266.7 76.2 0)
+    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 264.16 124.46 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 42942c9f-2889-4790-baca-0a7f56ad5419))
@@ -1756,28 +1885,28 @@
     (pin "1" (uuid 2eeb184c-553e-4c64-a629-359462b90c76))
   )
 
-  (symbol (lib_id "Connector:Conn_01x09_Female") (at 274.32 78.74 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x09_Female") (at 264.16 87.63 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 337a187f-8cb5-4e1c-b983-5a07988e10ac)
-    (property "Reference" "J46" (id 0) (at 275.0312 77.8315 0)
+    (property "Reference" "J46" (id 0) (at 264.8712 86.7215 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x09_Female" (id 1) (at 275.0312 80.6066 0)
+    (property "Value" "Conn_01x09_Female" (id 1) (at 264.8712 89.4966 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 274.32 78.74 0)
+    (property "Footprint" "" (id 2) (at 264.16 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 274.32 78.74 0)
+    (property "Datasheet" "~" (id 3) (at 264.16 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C39576" (id 4) (at 274.32 78.74 0)
+    (property "LCSC" "C39576" (id 4) (at 264.16 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C39576" (id 5) (at 274.32 78.74 0)
+    (property "Part Number" "C39576" (id 5) (at 264.16 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x9-.1F" (id 6) (at 274.32 78.74 0)
+    (property "Stock_PN" "J-TH-1x9-.1F" (id 6) (at 264.16 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 712a23b3-5f48-4757-a9e2-0d5f41e30f18))
@@ -1791,28 +1920,28 @@
     (pin "9" (uuid 637bb7eb-515f-4755-8fe7-984c990f71d4))
   )
 
-  (symbol (lib_id "Connector:Conn_01x05_Female") (at 93.98 72.39 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x05_Female") (at 18.415 81.28 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 34e1e723-9314-4516-9450-17072ca3f936)
-    (property "Reference" "J28" (id 0) (at 94.6912 71.4815 0)
+    (property "Reference" "J28" (id 0) (at 19.1262 80.3715 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x05_Female" (id 1) (at 94.6912 74.2566 0)
+    (property "Value" "Conn_01x05_Female" (id 1) (at 19.1262 83.1466 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 93.98 72.39 0)
+    (property "Footprint" "" (id 2) (at 18.415 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 93.98 72.39 0)
+    (property "Datasheet" "~" (id 3) (at 18.415 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C50950" (id 4) (at 93.98 72.39 0)
+    (property "LCSC" "C50950" (id 4) (at 18.415 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C50950" (id 5) (at 93.98 72.39 0)
+    (property "Part Number" "C50950" (id 5) (at 18.415 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 93.98 72.39 0)
+    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 18.415 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid bf9cdfd8-2585-4619-87f4-76ec29e01cb0))
@@ -1875,24 +2004,24 @@
     (pin "2" (uuid 6727cb9c-cdb2-44cd-bceb-24805254803a))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 110.49 165.1 0) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 81.28 162.56 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 3b2c4024-5af3-4ea0-a21c-5ca4965841a5)
-    (property "Reference" "J31" (id 0) (at 111.76 159.8635 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 111.76 162.6386 0))
-    (property "Footprint" "" (id 2) (at 110.49 165.1 0)
+    (property "Reference" "J31" (id 0) (at 82.55 157.3235 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 82.55 160.0986 0))
+    (property "Footprint" "" (id 2) (at 81.28 162.56 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 110.49 165.1 0)
+    (property "Datasheet" "~" (id 3) (at 81.28 162.56 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 110.49 165.1 0)
+    (property "LCSC" "C239342" (id 4) (at 81.28 162.56 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 110.49 165.1 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 81.28 162.56 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 110.49 165.1 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 81.28 162.56 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 187f3c38-aaf0-44c8-8b1e-47cc19fd0091))
@@ -1901,24 +2030,24 @@
     (pin "4" (uuid a9d1f48a-e8d3-4e3d-8189-b94a3b571e67))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 83.82 55.88 0) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 114.935 84.455 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 3f35f969-08b0-4370-ad04-8491aa73c3b8)
-    (property "Reference" "J15" (id 0) (at 85.09 50.6435 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 85.09 53.4186 0))
-    (property "Footprint" "" (id 2) (at 83.82 55.88 0)
+    (property "Reference" "J15" (id 0) (at 116.205 79.2185 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 116.205 81.9936 0))
+    (property "Footprint" "" (id 2) (at 114.935 84.455 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 83.82 55.88 0)
+    (property "Datasheet" "~" (id 3) (at 114.935 84.455 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 83.82 55.88 0)
+    (property "LCSC" "C239342" (id 4) (at 114.935 84.455 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 83.82 55.88 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 114.935 84.455 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 83.82 55.88 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 114.935 84.455 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid b7b3dcac-c333-4ab5-bd50-98c2fdb91890))
@@ -1958,28 +2087,28 @@
     (pin "2" (uuid 49b14e70-7a51-466e-b654-bb057f639389))
   )
 
-  (symbol (lib_id "Connector:Conn_01x05_Female") (at 123.19 179.07 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x05_Female") (at 48.26 163.83 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 445c2fd7-b542-48af-95c0-fdfc901bf135)
-    (property "Reference" "J37" (id 0) (at 123.9012 178.1615 0)
+    (property "Reference" "J37" (id 0) (at 48.9712 162.9215 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x05_Female" (id 1) (at 123.9012 180.9366 0)
+    (property "Value" "Conn_01x05_Female" (id 1) (at 48.9712 165.6966 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 123.19 179.07 0)
+    (property "Footprint" "" (id 2) (at 48.26 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 123.19 179.07 0)
+    (property "Datasheet" "~" (id 3) (at 48.26 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C50950" (id 4) (at 123.19 179.07 0)
+    (property "LCSC" "C50950" (id 4) (at 48.26 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C50950" (id 5) (at 123.19 179.07 0)
+    (property "Part Number" "C50950" (id 5) (at 48.26 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 123.19 179.07 0)
+    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 48.26 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 44a08316-861c-4f9b-bb1f-4eee2648761f))
@@ -2132,28 +2261,28 @@
     (pin "1" (uuid 78abb58c-fa61-405e-a9c1-c8864a5c4547))
   )
 
-  (symbol (lib_id "Connector:Conn_01x09_Female") (at 129.54 182.88 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x09_Female") (at 20.32 184.785 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid 5918385d-932b-42f5-93dc-b50c4d404527)
-    (property "Reference" "J38" (id 0) (at 130.2512 181.9715 0)
+    (property "Reference" "J38" (id 0) (at 20.955 180.34 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x09_Female" (id 1) (at 130.2512 184.7466 0)
+    (property "Value" "Conn_01x09_Female" (id 1) (at 20.955 183.515 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 129.54 182.88 0)
+    (property "Footprint" "" (id 2) (at 20.32 184.785 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 129.54 182.88 0)
+    (property "Datasheet" "~" (id 3) (at 20.32 184.785 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C39576" (id 4) (at 129.54 182.88 0)
+    (property "LCSC" "C39576" (id 4) (at 20.32 184.785 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C39576" (id 5) (at 129.54 182.88 0)
+    (property "Part Number" "C39576" (id 5) (at 20.32 184.785 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x9-.1F" (id 6) (at 129.54 182.88 0)
+    (property "Stock_PN" "J-TH-1x9-.1F" (id 6) (at 20.32 184.785 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid d65dbdcd-4994-45be-8af9-98fc61c06e09))
@@ -2226,24 +2355,24 @@
     (pin "W" (uuid 5e0fbb12-eea5-4344-b50d-05234f1bd021))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 261.62 59.69 0) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 274.32 58.42 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 6986a1f0-2eac-473f-a73e-daeb11fa29ca)
-    (property "Reference" "J43" (id 0) (at 262.89 54.4535 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 262.89 57.2286 0))
-    (property "Footprint" "" (id 2) (at 261.62 59.69 0)
+    (property "Reference" "J43" (id 0) (at 275.59 53.1835 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 275.59 55.9586 0))
+    (property "Footprint" "" (id 2) (at 274.32 58.42 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 261.62 59.69 0)
+    (property "Datasheet" "~" (id 3) (at 274.32 58.42 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 261.62 59.69 0)
+    (property "LCSC" "C239342" (id 4) (at 274.32 58.42 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 261.62 59.69 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 274.32 58.42 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 261.62 59.69 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 274.32 58.42 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 9aa09aec-cf04-48ef-9311-7331fcf45d42))
@@ -2252,24 +2381,24 @@
     (pin "4" (uuid d51e49fd-8211-48e1-9702-f63a30d3eeef))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 257.81 59.69 0) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 274.32 71.12 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 79de0109-4d24-475f-a2c8-eb779d9ccc73)
-    (property "Reference" "J41" (id 0) (at 259.08 54.4535 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 259.08 57.2286 0))
-    (property "Footprint" "" (id 2) (at 257.81 59.69 0)
+    (property "Reference" "J41" (id 0) (at 275.59 65.8835 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 275.59 68.6586 0))
+    (property "Footprint" "" (id 2) (at 274.32 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 257.81 59.69 0)
+    (property "Datasheet" "~" (id 3) (at 274.32 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 257.81 59.69 0)
+    (property "LCSC" "C239342" (id 4) (at 274.32 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 257.81 59.69 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 274.32 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 257.81 59.69 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 274.32 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 8fe1990c-1c3d-446e-b4ae-fe2d9d9c2627))
@@ -2278,28 +2407,28 @@
     (pin "4" (uuid 51656644-4c0c-4141-aff4-b0c475e7f2b8))
   )
 
-  (symbol (lib_id "Connector:Conn_01x09_Female") (at 101.6 74.93 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x09_Female") (at 135.89 74.295 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 7cddb8a6-4c5b-459a-89e8-7f8890e7a3bf)
-    (property "Reference" "J30" (id 0) (at 102.3112 74.0215 0)
+    (property "Reference" "J30" (id 0) (at 136.6012 73.3865 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x09_Female" (id 1) (at 102.3112 76.7966 0)
+    (property "Value" "Conn_01x09_Female" (id 1) (at 136.6012 76.1616 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 101.6 74.93 0)
+    (property "Footprint" "" (id 2) (at 135.89 74.295 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 101.6 74.93 0)
+    (property "Datasheet" "~" (id 3) (at 135.89 74.295 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C39576" (id 4) (at 101.6 74.93 0)
+    (property "LCSC" "C39576" (id 4) (at 135.89 74.295 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C39576" (id 5) (at 101.6 74.93 0)
+    (property "Part Number" "C39576" (id 5) (at 135.89 74.295 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x9-.1F" (id 6) (at 101.6 74.93 0)
+    (property "Stock_PN" "J-TH-1x9-.1F" (id 6) (at 135.89 74.295 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 3a7ed9f0-20e7-486f-a9da-647361e5282f))
@@ -2313,24 +2442,24 @@
     (pin "9" (uuid 14651705-e394-4dd6-a8fb-666276b8b352))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 87.63 55.88 0) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 114.935 71.12 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 7d3e404f-c745-40c2-b6aa-ac726c1c0c5b)
-    (property "Reference" "J25" (id 0) (at 88.9 50.6435 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 88.9 53.4186 0))
-    (property "Footprint" "" (id 2) (at 87.63 55.88 0)
+    (property "Reference" "J25" (id 0) (at 116.205 65.8835 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 116.205 68.6586 0))
+    (property "Footprint" "" (id 2) (at 114.935 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 87.63 55.88 0)
+    (property "Datasheet" "~" (id 3) (at 114.935 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 87.63 55.88 0)
+    (property "LCSC" "C239342" (id 4) (at 114.935 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 87.63 55.88 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 114.935 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 87.63 55.88 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 114.935 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 6e458cbb-c702-4d9b-91cd-02e0e506931e))
@@ -2339,28 +2468,28 @@
     (pin "4" (uuid 31bcc252-1418-4877-b5ef-6cba8a364cba))
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 111.76 177.8 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 20.32 163.83 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 883e93f4-77ed-4eda-b1fa-35cfb1563f77)
-    (property "Reference" "J32" (id 0) (at 112.4712 178.1615 0)
+    (property "Reference" "J32" (id 0) (at 21.0312 164.1915 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 112.4712 180.9366 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 21.0312 166.9666 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 111.76 177.8 0)
+    (property "Footprint" "" (id 2) (at 20.32 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 111.76 177.8 0)
+    (property "Datasheet" "~" (id 3) (at 20.32 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 111.76 177.8 0)
+    (property "LCSC" "C40877" (id 4) (at 20.32 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 111.76 177.8 0)
+    (property "Part Number" "C40877" (id 5) (at 20.32 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 111.76 177.8 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 20.32 163.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid d78eeda4-8b7e-41c7-b7ef-95990c42d249))
@@ -2435,28 +2564,28 @@
     (pin "2" (uuid 7385f9ba-b177-4288-bf87-1dafc9491360))
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 114.3 179.07 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 48.26 189.23 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 94eaf08f-5b6a-42b7-b627-84c73ac82176)
-    (property "Reference" "J34" (id 0) (at 115.0112 179.4315 0)
+    (property "Reference" "J34" (id 0) (at 48.9712 189.5915 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 115.0112 182.2066 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 48.9712 192.3666 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 114.3 179.07 0)
+    (property "Footprint" "" (id 2) (at 48.26 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 114.3 179.07 0)
+    (property "Datasheet" "~" (id 3) (at 48.26 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 114.3 179.07 0)
+    (property "LCSC" "C40877" (id 4) (at 48.26 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 114.3 179.07 0)
+    (property "Part Number" "C40877" (id 5) (at 48.26 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 114.3 179.07 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 48.26 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid f33b1268-1847-49bc-b596-2bdb175b17ad))
@@ -2467,28 +2596,28 @@
     (pin "6" (uuid 2f1300f9-9ffc-4055-bae2-d9bbb5ab5ebf))
   )
 
-  (symbol (lib_id "Connector:Conn_01x05_Female") (at 121.92 180.34 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x05_Female") (at 48.26 176.53 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid 9757232c-3a20-4f49-a8ec-726463630839)
-    (property "Reference" "J36" (id 0) (at 122.6312 179.4315 0)
+    (property "Reference" "J36" (id 0) (at 48.9712 175.6215 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x05_Female" (id 1) (at 122.6312 182.2066 0)
+    (property "Value" "Conn_01x05_Female" (id 1) (at 48.9712 178.3966 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 121.92 180.34 0)
+    (property "Footprint" "" (id 2) (at 48.26 176.53 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 121.92 180.34 0)
+    (property "Datasheet" "~" (id 3) (at 48.26 176.53 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C50950" (id 4) (at 121.92 180.34 0)
+    (property "LCSC" "C50950" (id 4) (at 48.26 176.53 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C50950" (id 5) (at 121.92 180.34 0)
+    (property "Part Number" "C50950" (id 5) (at 48.26 176.53 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 121.92 180.34 0)
+    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 48.26 176.53 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 1f814efc-e0f9-479d-ac22-04be7a307001))
@@ -2566,24 +2695,24 @@
     (pin "2" (uuid 8d00e2cc-1e14-4502-8d11-40b5445727b5))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 254 59.69 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 256.54 66.04 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid a7dd2248-e66e-48ae-ab57-4b0034c19a8b)
-    (property "Reference" "J39" (id 0) (at 255.27 54.4535 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 255.27 57.2286 0))
-    (property "Footprint" "" (id 2) (at 254 59.69 0)
+    (property "Reference" "J39" (id 0) (at 257.81 60.8035 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 257.81 63.5786 0))
+    (property "Footprint" "" (id 2) (at 256.54 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 254 59.69 0)
+    (property "Datasheet" "~" (id 3) (at 256.54 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 254 59.69 0)
+    (property "LCSC" "C239342" (id 4) (at 256.54 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 254 59.69 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 256.54 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 254 59.69 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 256.54 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 8cd41df0-5ade-4053-bc2b-7bb86b5f7378))
@@ -2623,28 +2752,28 @@
     (pin "2" (uuid 5cfcef00-900e-4973-9b14-c7e6f4d035bf))
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 83.82 69.85 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 135.89 93.345 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid afc14778-1083-4518-827d-4acddfdaf9fe)
-    (property "Reference" "J24" (id 0) (at 84.5312 70.2115 0)
+    (property "Reference" "J24" (id 0) (at 136.6012 93.7065 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 84.5312 72.9866 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 136.6012 96.4816 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 83.82 69.85 0)
+    (property "Footprint" "" (id 2) (at 135.89 93.345 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 83.82 69.85 0)
+    (property "Datasheet" "~" (id 3) (at 135.89 93.345 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 83.82 69.85 0)
+    (property "LCSC" "C40877" (id 4) (at 135.89 93.345 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 83.82 69.85 0)
+    (property "Part Number" "C40877" (id 5) (at 135.89 93.345 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 83.82 69.85 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 135.89 93.345 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 9a2a7191-fc1c-4729-8019-ef30539f064d))
@@ -2727,28 +2856,28 @@
     (pin "1" (uuid 42ec8d7e-b335-43c2-bf56-c5839570d259))
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 86.36 71.12 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 18.415 46.99 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid c019331a-3bd2-4377-93ed-ab05f5da9699)
-    (property "Reference" "J26" (id 0) (at 87.0712 71.4815 0)
+    (property "Reference" "J26" (id 0) (at 19.1262 47.3515 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 87.0712 74.2566 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 19.1262 50.1266 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 86.36 71.12 0)
+    (property "Footprint" "" (id 2) (at 18.415 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 86.36 71.12 0)
+    (property "Datasheet" "~" (id 3) (at 18.415 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 86.36 71.12 0)
+    (property "LCSC" "C40877" (id 4) (at 18.415 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 86.36 71.12 0)
+    (property "Part Number" "C40877" (id 5) (at 18.415 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 86.36 71.12 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 18.415 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 44c2df17-5297-4d8e-8730-6b6e2f7ba611))
@@ -2775,24 +2904,24 @@
     (pin "1" (uuid 9ba71ec9-a253-4708-8c31-79690baa76fe))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 114.3 165.1 0) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 81.28 175.895 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid c8401779-a13c-4bdf-b4b9-dd4f10d0cf6e)
-    (property "Reference" "J33" (id 0) (at 115.57 159.8635 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 115.57 162.6386 0))
-    (property "Footprint" "" (id 2) (at 114.3 165.1 0)
+    (property "Reference" "J33" (id 0) (at 82.55 170.6585 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 82.55 173.4336 0))
+    (property "Footprint" "" (id 2) (at 81.28 175.895 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 114.3 165.1 0)
+    (property "Datasheet" "~" (id 3) (at 81.28 175.895 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 114.3 165.1 0)
+    (property "LCSC" "C239342" (id 4) (at 81.28 175.895 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 114.3 165.1 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 81.28 175.895 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 114.3 165.1 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 81.28 175.895 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 1c8dd54b-45cd-40d8-a7a7-f396900f20b1))
@@ -2801,28 +2930,28 @@
     (pin "4" (uuid 1187d985-8a34-45d2-bb7e-67e8078040fe))
   )
 
-  (symbol (lib_id "Connector:Conn_01x05_Female") (at 95.25 71.12 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x05_Female") (at 18.415 66.04 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid c8f7e365-4944-488e-ac4f-33f85eb04b06)
-    (property "Reference" "J29" (id 0) (at 95.9612 70.2115 0)
+    (property "Reference" "J29" (id 0) (at 19.1262 65.1315 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x05_Female" (id 1) (at 95.9612 72.9866 0)
+    (property "Value" "Conn_01x05_Female" (id 1) (at 19.1262 67.9066 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 95.25 71.12 0)
+    (property "Footprint" "" (id 2) (at 18.415 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 95.25 71.12 0)
+    (property "Datasheet" "~" (id 3) (at 18.415 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C50950" (id 4) (at 95.25 71.12 0)
+    (property "LCSC" "C50950" (id 4) (at 18.415 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C50950" (id 5) (at 95.25 71.12 0)
+    (property "Part Number" "C50950" (id 5) (at 18.415 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 95.25 71.12 0)
+    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 18.415 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid c536bb56-a4c9-428e-a399-e13110135a6b))
@@ -2888,24 +3017,24 @@
     (pin "2" (uuid f8c6d87f-687d-44f3-8148-49c4a9b87c19))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 91.44 55.88 0) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 114.935 59.055 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid d9121eca-f693-4d98-9984-7ca0a886df57)
-    (property "Reference" "J27" (id 0) (at 92.71 50.6435 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 92.71 53.4186 0))
-    (property "Footprint" "" (id 2) (at 91.44 55.88 0)
+    (property "Reference" "J27" (id 0) (at 116.205 53.8185 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 116.205 56.5936 0))
+    (property "Footprint" "" (id 2) (at 114.935 59.055 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 91.44 55.88 0)
+    (property "Datasheet" "~" (id 3) (at 114.935 59.055 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 91.44 55.88 0)
+    (property "LCSC" "C239342" (id 4) (at 114.935 59.055 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 91.44 55.88 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 114.935 59.055 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 91.44 55.88 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 114.935 59.055 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid c454789a-c477-4742-8701-cd51ef27739a))
@@ -3014,24 +3143,24 @@
     (pin "1" (uuid f2168a61-c934-4cb3-8c2d-bc259b9c1b2a))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 118.11 165.1 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector_Generic:Conn_02x02_Counter_Clockwise") (at 81.28 189.23 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid ec225f02-93d9-42a5-95d6-daf86d020213)
-    (property "Reference" "J35" (id 0) (at 119.38 159.8635 0))
-    (property "Value" "Conn_02x02_Female" (id 1) (at 119.38 162.6386 0))
-    (property "Footprint" "" (id 2) (at 118.11 165.1 0)
+    (property "Reference" "J35" (id 0) (at 82.55 183.9935 0))
+    (property "Value" "Conn_02x02_Female" (id 1) (at 82.55 186.69 0))
+    (property "Footprint" "" (id 2) (at 81.28 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 118.11 165.1 0)
+    (property "Datasheet" "~" (id 3) (at 81.28 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C239342" (id 4) (at 118.11 165.1 0)
+    (property "LCSC" "C239342" (id 4) (at 81.28 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 118.11 165.1 0)
+    (property "Part Number" "A2541HWV-2x2P" (id 5) (at 81.28 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 118.11 165.1 0)
+    (property "Stock_PN" "J-TH-2x2-.1F" (id 6) (at 81.28 189.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 6d0b3a51-29b2-4059-b929-77524d7a5260))
@@ -3056,28 +3185,28 @@
     (pin "1" (uuid 1b766e58-bac8-40b0-a727-82e679d0e268))
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 259.08 74.93 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 237.49 99.695 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid faf00670-6ce7-4cd4-81ab-445e1a9bfa76)
-    (property "Reference" "J42" (id 0) (at 259.7912 75.2915 0)
+    (property "Reference" "J42" (id 0) (at 238.2012 100.0565 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 259.7912 78.0666 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 238.2012 102.8316 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 259.08 74.93 0)
+    (property "Footprint" "" (id 2) (at 237.49 99.695 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 259.08 74.93 0)
+    (property "Datasheet" "~" (id 3) (at 237.49 99.695 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 259.08 74.93 0)
+    (property "LCSC" "C40877" (id 4) (at 237.49 99.695 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 259.08 74.93 0)
+    (property "Part Number" "C40877" (id 5) (at 237.49 99.695 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 259.08 74.93 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 237.49 99.695 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid aac30c2f-936a-429e-beb1-cfc05c79bec5))
@@ -3088,28 +3217,28 @@
     (pin "6" (uuid b50272ab-d68b-4a92-a4b7-13d73c46fc69))
   )
 
-  (symbol (lib_id "Connector:Conn_01x05_Female") (at 267.97 74.93 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x05_Female") (at 237.49 120.015 0) (unit 1)
     (in_bom yes) (on_board no) (fields_autoplaced)
     (uuid fb1a9c03-fdc5-4bf0-a950-c3868dcd0654)
-    (property "Reference" "J45" (id 0) (at 268.6812 74.0215 0)
+    (property "Reference" "J45" (id 0) (at 238.2012 119.1065 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x05_Female" (id 1) (at 268.6812 76.7966 0)
+    (property "Value" "Conn_01x05_Female" (id 1) (at 238.2012 121.8816 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 267.97 74.93 0)
+    (property "Footprint" "" (id 2) (at 237.49 120.015 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 267.97 74.93 0)
+    (property "Datasheet" "~" (id 3) (at 237.49 120.015 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C50950" (id 4) (at 267.97 74.93 0)
+    (property "LCSC" "C50950" (id 4) (at 237.49 120.015 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C50950" (id 5) (at 267.97 74.93 0)
+    (property "Part Number" "C50950" (id 5) (at 237.49 120.015 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 267.97 74.93 0)
+    (property "Stock_PN" "J-TH-1x5-.1F" (id 6) (at 237.49 120.015 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid ca7dc87e-6a4e-4ea1-acdf-d83b676ccf6b))
diff --git a/Hardware/OpenMowerMainboard/fp-lib-table b/Hardware/OpenMowerMainboard/fp-lib-table
index c54cf597..c49af9f8 100644
--- a/Hardware/OpenMowerMainboard/fp-lib-table
+++ b/Hardware/OpenMowerMainboard/fp-lib-table
@@ -7,4 +7,5 @@
   (lib (name "74ALVC164245DGG")(type "KiCad")(uri "${KIPRJMOD}/74ALVC164245DGG")(options "")(descr ""))
   (lib (name "TSC101CILT")(type "KiCad")(uri "${KIPRJMOD}/TSC101CILT")(options "")(descr ""))
   (lib (name "MAX2040X")(type "KiCad")(uri "${KIPRJMOD}/MAX2040X.pretty")(options "")(descr ""))
+  (lib (name "PicoW")(type "KiCad")(uri "${KIPRJMOD}/RP-PicoW Libraries/Module.pretty")(options "")(descr ""))
 )
diff --git a/Hardware/OpenMowerMainboard/imu.kicad_sch b/Hardware/OpenMowerMainboard/imu.kicad_sch
index be1fbe7f..07e67d4c 100644
--- a/Hardware/OpenMowerMainboard/imu.kicad_sch
+++ b/Hardware/OpenMowerMainboard/imu.kicad_sch
@@ -5,6 +5,127 @@
   (paper "A4")
 
   (lib_symbols
+    (symbol "Connector:Conn_01x06_Female" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
+      (property "Reference" "J" (id 0) (at 0 7.62 0)
+        (effects (font (size 1.27 1.27)))
+      )
+      (property "Value" "Conn_01x06_Female" (id 1) (at 0 -10.16 0)
+        (effects (font (size 1.27 1.27)))
+      )
+      (property "Footprint" "" (id 2) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Datasheet" "~" (id 3) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_keywords" "connector" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/)" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "Connector*:*_1x??_*" (id 6) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "Conn_01x06_Female_1_1"
+        (arc (start 0 -7.112) (mid -0.508 -7.62) (end 0 -8.128)
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (arc (start 0 -4.572) (mid -0.508 -5.08) (end 0 -5.588)
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (arc (start 0 -2.032) (mid -0.508 -2.54) (end 0 -3.048)
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy -1.27 -7.62)
+            (xy -0.508 -7.62)
+          )
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy -1.27 -5.08)
+            (xy -0.508 -5.08)
+          )
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy -1.27 -2.54)
+            (xy -0.508 -2.54)
+          )
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy -1.27 0)
+            (xy -0.508 0)
+          )
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy -1.27 2.54)
+            (xy -0.508 2.54)
+          )
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (polyline
+          (pts
+            (xy -1.27 5.08)
+            (xy -0.508 5.08)
+          )
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (arc (start 0 0.508) (mid -0.508 0) (end 0 -0.508)
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (arc (start 0 3.048) (mid -0.508 2.54) (end 0 2.032)
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (arc (start 0 5.588) (mid -0.508 5.08) (end 0 4.572)
+          (stroke (width 0.1524) (type default) (color 0 0 0 0))
+          (fill (type none))
+        )
+        (pin passive line (at -5.08 5.08 0) (length 3.81)
+          (name "Pin_1" (effects (font (size 1.27 1.27))))
+          (number "1" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at -5.08 2.54 0) (length 3.81)
+          (name "Pin_2" (effects (font (size 1.27 1.27))))
+          (number "2" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at -5.08 0 0) (length 3.81)
+          (name "Pin_3" (effects (font (size 1.27 1.27))))
+          (number "3" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at -5.08 -2.54 0) (length 3.81)
+          (name "Pin_4" (effects (font (size 1.27 1.27))))
+          (number "4" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at -5.08 -5.08 0) (length 3.81)
+          (name "Pin_5" (effects (font (size 1.27 1.27))))
+          (number "5" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at -5.08 -7.62 0) (length 3.81)
+          (name "Pin_6" (effects (font (size 1.27 1.27))))
+          (number "6" (effects (font (size 1.27 1.27))))
+        )
+      )
+    )
     (symbol "Connector:Conn_01x10_Female" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
       (property "Reference" "J" (id 0) (at 0 12.7 0)
         (effects (font (size 1.27 1.27)))
@@ -289,6 +410,8 @@
   (no_connect (at 157.48 66.04) (uuid 57a762d4-1a7c-46c8-9ff8-3756d3021a10))
   (no_connect (at 157.48 68.58) (uuid 57a762d4-1a7c-46c8-9ff8-3756d3021a11))
   (no_connect (at 157.48 73.66) (uuid 57a762d4-1a7c-46c8-9ff8-3756d3021a12))
+  (no_connect (at 205.74 58.42) (uuid ecc835bc-44bb-4fad-bb95-204c56fdb6cf))
+  (no_connect (at 205.74 71.12) (uuid ecc835bc-44bb-4fad-bb95-204c56fdb6d0))
 
   (wire (pts (xy 129.54 71.12) (xy 157.48 71.12))
     (stroke (width 0) (type default) (color 0 0 0 0))
@@ -306,14 +429,34 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 3a45fb3b-7899-44f2-a78a-f676359df67b)
   )
+  (wire (pts (xy 205.74 68.58) (xy 203.2 68.58))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid 65ee9974-f719-4c34-9c1a-c0c7c4589db3)
+  )
+  (wire (pts (xy 205.74 60.96) (xy 201.93 60.96))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid 7bd3a30d-0f10-4a23-9892-4c832916bca4)
+  )
+  (wire (pts (xy 195.58 63.5) (xy 205.74 63.5))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid 8c271da1-077a-4e4c-a51a-e9d4f3233871)
+  )
   (wire (pts (xy 157.48 58.42) (xy 151.13 58.42))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid a647641f-bf16-4177-91ee-b01f347ff91c)
   )
+  (wire (pts (xy 203.2 68.58) (xy 203.2 97.79))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid e7f36c63-5c7d-4e0d-9e9b-fe5ccfd9e60c)
+  )
   (wire (pts (xy 129.54 76.2) (xy 157.48 76.2))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid eb7e294c-b398-413b-8b78-85a66ed5f3ea)
   )
+  (wire (pts (xy 195.58 66.04) (xy 205.74 66.04))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid f56620d5-10d0-44bc-af59-0949dd4021c2)
+  )
   (wire (pts (xy 129.54 60.96) (xy 157.48 60.96))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid fab1abc4-c49d-4b88-8c7f-939d7feb7b6c)
@@ -322,6 +465,10 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid fd4dd248-3e78-4985-a4fc-58bc05b74cbf)
   )
+  (wire (pts (xy 201.93 60.96) (xy 201.93 44.45))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid ff7f6ac5-5ac1-476b-85e6-d90c295997e5)
+  )
 
   (hierarchical_label "~{CS}" (shape input) (at 129.54 76.2 180)
     (effects (font (size 1.27 1.27)) (justify right))
@@ -331,10 +478,18 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 4e8002da-9307-48cc-881d-31945611ab6d)
   )
+  (hierarchical_label "TX" (shape output) (at 195.58 66.04 180)
+    (effects (font (size 1.27 1.27)) (justify right))
+    (uuid 59e3fdd4-571a-4655-a918-e644224639ab)
+  )
   (hierarchical_label "SCK" (shape input) (at 129.54 60.96 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 71793673-03d3-404f-9d8a-8bb47d8539c0)
   )
+  (hierarchical_label "RX" (shape input) (at 195.58 63.5 180)
+    (effects (font (size 1.27 1.27)) (justify right))
+    (uuid cb6951c6-4b28-466d-9fda-9cad1a6c7bf1)
+  )
   (hierarchical_label "MOSI" (shape input) (at 129.54 63.5 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid f2f33b9e-a36e-40e6-b575-0eae135de068)
@@ -358,7 +513,7 @@
     (property "LCSC" "C2894933" (id 4) (at 162.56 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "	PZ254-1-10-Z-8.5" (id 5) (at 162.56 66.04 0)
+    (property "Part Number" "PZ254-1-10-Z-8.5" (id 5) (at 162.56 66.04 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Stock_PN" "J-TH-1x10-.1" (id 6) (at 162.56 66.04 0)
@@ -407,4 +562,59 @@
     )
     (pin "1" (uuid 7b8bb164-694b-40a6-b0e7-8d246722bac0))
   )
+
+  (symbol (lib_id "power:GND") (at 203.2 97.79 0) (unit 1)
+    (in_bom yes) (on_board yes)
+    (uuid 794603ce-3e91-4ec0-acf0-222d1b79c674)
+    (property "Reference" "#PWR0107" (id 0) (at 203.2 104.14 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (id 1) (at 203.327 102.1842 0))
+    (property "Footprint" "" (id 2) (at 203.2 97.79 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 203.2 97.79 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid bf181782-f721-4269-a540-faee5b6b2b56))
+  )
+
+  (symbol (lib_id "power:+5V") (at 201.93 44.45 0) (unit 1)
+    (in_bom yes) (on_board yes)
+    (uuid 7fe21906-ad4b-4ec4-887d-be617ea907ee)
+    (property "Reference" "#PWR0106" (id 0) (at 201.93 48.26 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "+5V" (id 1) (at 202.311 40.0558 0))
+    (property "Footprint" "" (id 2) (at 201.93 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 201.93 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 85afe664-58f9-4928-85e9-af8f50bcd240))
+  )
+
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 210.82 63.5 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid a8a623e2-4c2d-4c7c-97a1-d8b8fae36dda)
+    (property "Reference" "WT901" (id 0) (at 212.09 63.4999 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "Conn_01x06_Female" (id 1) (at 212.09 66.0399 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "MyModules:WT901" (id 2) (at 210.82 63.5 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 210.82 63.5 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 8583f623-03d7-475d-a150-683d3eaec9b7))
+    (pin "2" (uuid ed8ae600-f988-4d01-a1e1-234af1556c69))
+    (pin "3" (uuid e2f45e4b-2d63-458f-9f91-3599e9434c6f))
+    (pin "4" (uuid 6861320a-51ac-4d3a-9f3f-24ec9876d45e))
+    (pin "5" (uuid cd3eab60-2231-4aa1-bdf2-82b579043c8d))
+    (pin "6" (uuid 34c24b06-1edd-4d13-99bd-755c67f60f12))
+  )
 )
diff --git a/Hardware/OpenMowerMainboard/opamps.kicad_sch b/Hardware/OpenMowerMainboard/opamps.kicad_sch
index 89d76a9c..39ac1e05 100644
--- a/Hardware/OpenMowerMainboard/opamps.kicad_sch
+++ b/Hardware/OpenMowerMainboard/opamps.kicad_sch
@@ -605,9 +605,7 @@
     )
   )
 
-  (junction (at 58.42 48.26) (diameter 0) (color 0 0 0 0)
-    (uuid 15daee0f-b715-42a9-8e3c-a8b788b67555)
-  )
+
   (junction (at 213.995 116.84) (diameter 0) (color 0 0 0 0)
     (uuid 1a35fe24-294b-4e75-a6ac-766b24fac29a)
   )
@@ -632,6 +630,9 @@
   (junction (at 105.41 67.31) (diameter 0) (color 0 0 0 0)
     (uuid b0cd4196-9067-4e78-a889-0e16f153e274)
   )
+  (junction (at 58.42 48.26) (diameter 0) (color 0 0 0 0)
+    (uuid c9b9cf2a-fd85-4867-9251-20dcfab5fcda)
+  )
   (junction (at 49.53 81.28) (diameter 0) (color 0 0 0 0)
     (uuid d57600a5-e468-4b34-932f-771a9fa1f5d3)
   )
@@ -814,10 +815,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid b0eed631-4193-44c2-91eb-4d0c3c476fd0)
   )
-  (wire (pts (xy 52.07 55.88) (xy 58.42 55.88))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid b13561ed-34b5-4382-a004-389babeeb230)
-  )
   (wire (pts (xy 100.33 48.26) (xy 100.33 54.61))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid b602ad3e-174a-4731-84af-b446a7352c1f)
@@ -858,13 +855,17 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid dbd5248b-aeef-4e42-bf21-9301a56d6dd5)
   )
+  (wire (pts (xy 58.42 55.88) (xy 58.42 48.26))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid e047859c-1d7e-4c71-b6c7-45d5203986c9)
+  )
   (wire (pts (xy 105.41 53.34) (xy 107.95 53.34))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid e133781e-de39-4613-86f7-eeae78091fb1)
   )
-  (wire (pts (xy 58.42 55.88) (xy 58.42 48.26))
+  (wire (pts (xy 52.07 55.88) (xy 58.42 55.88))
     (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid e3fb3744-ade5-4e7d-bda3-f413d39fd9d4)
+    (uuid e82f06ed-e41f-4f8b-a98f-c0b494c834a9)
   )
   (wire (pts (xy 153.035 179.705) (xy 153.035 177.165))
     (stroke (width 0) (type default) (color 0 0 0 0))
@@ -892,10 +893,6 @@
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 6ebd809c-5efc-45cb-9419-21f66d5d64b3)
   )
-  (hierarchical_label "RAIN+" (shape input) (at 52.07 55.88 90)
-    (effects (font (size 1.27 1.27)) (justify left))
-    (uuid 812a565c-9c3d-43f1-ac44-733a240dfac6)
-  )
   (hierarchical_label "SHUNT_CHARGE_CURRENT_PLUS" (shape input) (at 176.53 119.38 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid a7a2cfcd-1de3-4741-83fb-25e8fad1b0a3)
@@ -904,6 +901,10 @@
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid d60eabe6-18cc-41e9-8131-7cb1d9276225)
   )
+  (hierarchical_label "RAIN+" (shape input) (at 52.07 55.88 90)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid fd922f87-ca45-40d6-9f2f-a7a7a6f3095a)
+  )
 
   (symbol (lib_id "power:GND") (at 153.035 179.705 0) (unit 1)
     (in_bom yes) (on_board yes)
@@ -1078,9 +1079,20 @@
     (property "Stock_PN" "U-MCP604T-E/SL" (id 6) (at 87.63 127 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (pin "1" (uuid 42cc0404-ea0a-41a0-9aab-117365a82593))
+    (pin "2" (uuid 30d1b38b-7ae1-47b8-a606-b5a9233c2a7d))
+    (pin "3" (uuid 333f34ca-880f-4b7d-a459-d6891b872c2f))
+    (pin "5" (uuid 4a097684-569e-4ee5-9657-e555702378db))
+    (pin "6" (uuid aed1dcd4-7493-4527-bc04-d53b3662ecb8))
+    (pin "7" (uuid ac9de428-a541-4099-9e7d-01eabf1f3043))
+    (pin "10" (uuid 4e0a495f-f8ad-4eb7-8b0d-7e35874a5a1e))
+    (pin "8" (uuid 9dc85c76-409c-455f-bebb-2130819fc8f0))
+    (pin "9" (uuid 05d92e8b-c6af-491f-9fb6-e56f75ab6707))
     (pin "12" (uuid 4377f00b-fe5c-45f9-92db-63c833571ca3))
     (pin "13" (uuid cb67b260-55d4-45c5-a164-54ec20d15d2f))
     (pin "14" (uuid c456e670-b202-4f00-a121-878eb1111fb9))
+    (pin "11" (uuid 7bdd0ce9-cd55-40c0-b930-da84a101b0c4))
+    (pin "4" (uuid 5052eee3-69d3-45f6-86e6-2c001d1288fe))
   )
 
   (symbol (lib_id "Device:R") (at 100.33 78.74 0) (unit 1)
@@ -1134,6 +1146,17 @@
     (pin "1" (uuid 1f454e01-c3ba-4176-8a74-6ed405d34fe5))
     (pin "2" (uuid 2380075e-f4ce-4a81-b29d-d34fe7f1e951))
     (pin "3" (uuid d3d4c592-761c-48d6-8e63-65065147182d))
+    (pin "5" (uuid a02ec7d7-250b-4f6b-a41c-0f0441d50b28))
+    (pin "6" (uuid 9ebd62d5-5723-4afc-81c3-5f1fb9bb3ba4))
+    (pin "7" (uuid be52d892-9af2-41f9-a669-f2fb32053df6))
+    (pin "10" (uuid 215a0bf2-6d2a-45d0-a027-7db1f24fb5be))
+    (pin "8" (uuid 9114bba7-28e7-4a9a-b28e-335b08cc45fd))
+    (pin "9" (uuid a9c8012e-22a0-4f3d-a9c8-6bca2b807906))
+    (pin "12" (uuid e3a8c1bb-a06a-4ca3-9b76-d1eb373d9152))
+    (pin "13" (uuid 6cc5c92a-18ec-4a8d-804c-e6f9df1906b8))
+    (pin "14" (uuid 74e0a77a-c79e-4daa-ba0b-8e00bfaa6f77))
+    (pin "11" (uuid f38c0cdd-0e1e-47c0-a206-75239a898f46))
+    (pin "4" (uuid 1d3e975c-6419-4eb9-a861-d5e5f1543308))
   )
 
   (symbol (lib_id "power:+3.3V") (at 58.42 43.18 0) (unit 1)
@@ -1172,9 +1195,20 @@
     (property "Stock_PN" "U-MCP604T-E/SL" (id 6) (at 114.3 69.85 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (pin "1" (uuid f10d435b-98f2-44b9-adc5-7d5d1ce8565e))
+    (pin "2" (uuid af1262a5-ee23-4416-a4c8-80777a20ac63))
+    (pin "3" (uuid c17ccd29-70b4-4734-ad12-9ba09297cf6e))
     (pin "5" (uuid cd2e7ac6-50d3-402f-9eac-0c6c6c296c96))
     (pin "6" (uuid 2cc6ff75-ee77-42ba-bca8-d9e3ac01f871))
     (pin "7" (uuid 30bf3c25-cbed-41fc-a2c2-37b04b9fbbb8))
+    (pin "10" (uuid 382b0ba4-1fc4-4004-80d4-033c67d50e9e))
+    (pin "8" (uuid 276e1d1c-cda9-469a-bd9a-8491ec49d93d))
+    (pin "9" (uuid f05e13eb-d6c6-4d81-9323-128fceac47b1))
+    (pin "12" (uuid e49be777-f00f-4836-a548-2dbf182bca7c))
+    (pin "13" (uuid c7480274-a0d3-4f5f-a21f-2956cf5809c2))
+    (pin "14" (uuid c4e13a71-d520-4e6c-a974-59d403c98f05))
+    (pin "11" (uuid e66b46a3-417e-4840-a4eb-78745a5a0749))
+    (pin "4" (uuid 6113b9d9-5b53-49d4-8f8f-4cd273647f02))
   )
 
   (symbol (lib_id "power:GND") (at 146.685 125.73 0) (unit 1)
@@ -1281,9 +1315,20 @@
     (property "Stock_PN" "U-MCP604T-E/SL" (id 6) (at 87.63 111.125 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (pin "1" (uuid 9e787cfa-8973-4ff4-a8ed-f0df3c5c5b1a))
+    (pin "2" (uuid 83abdd8d-b0f2-4017-bc64-997724370b60))
+    (pin "3" (uuid 3e7ef68f-3c4a-4941-a07e-2c7b9b4f8399))
+    (pin "5" (uuid 282af6ae-d78c-4eee-8e19-c59855e4bbe3))
+    (pin "6" (uuid a4267a36-6241-4710-9523-41a745f78cc2))
+    (pin "7" (uuid e71084f7-5dfb-4f51-b97e-579122794f6f))
     (pin "10" (uuid 5657f9cd-dd30-4c0a-8b80-a3a710594bbf))
     (pin "8" (uuid 9eed6daa-551c-4de2-bd0d-32c4b19a7db9))
     (pin "9" (uuid 760bc4bd-0a68-4e61-85c4-e76da7d1317c))
+    (pin "12" (uuid 66761b2e-9cad-4a78-9412-0b09afd10364))
+    (pin "13" (uuid 600e8390-434d-4d0f-a19d-5f4849411364))
+    (pin "14" (uuid 5dc05184-ad85-4b33-a18c-874a22a00bc8))
+    (pin "11" (uuid 6f95ae08-cbc8-4434-a944-3117782a2279))
+    (pin "4" (uuid f628e4f7-2e8d-4cce-97df-d9aaff43c602))
   )
 
   (symbol (lib_id "Device:R") (at 100.33 58.42 0) (mirror x) (unit 1)
@@ -1366,6 +1411,18 @@
     (property "Stock_PN" "U-MCP604T-E/SL" (id 6) (at 155.575 169.545 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (pin "1" (uuid 0c178610-c8be-460c-92eb-87f77fbd737f))
+    (pin "2" (uuid 076c7ea1-69f2-4c24-bb23-e640b01b4877))
+    (pin "3" (uuid b5653e5c-3718-4604-a5de-5c893ce11212))
+    (pin "5" (uuid 0c710cdb-f394-43ef-973e-a2df757a8896))
+    (pin "6" (uuid 8d0bf415-8557-4520-8e8e-44dfd6bf2741))
+    (pin "7" (uuid b737e38f-2cc0-45b4-936b-93b9d336052c))
+    (pin "10" (uuid 6ce3b2d4-9344-45ab-8dd5-5d35fee88b31))
+    (pin "8" (uuid babe82e6-870b-4e1f-aad6-cb5ab16abe7e))
+    (pin "9" (uuid 04f58c82-dcfe-4330-9286-90bfe97d8897))
+    (pin "12" (uuid 91f72a58-74ed-43d0-b754-c873a0b435a8))
+    (pin "13" (uuid 1fda8893-10ce-46ff-aa61-376ac739d86e))
+    (pin "14" (uuid 5b044452-a763-494c-b093-22dd9b854291))
     (pin "11" (uuid 07071f74-8cac-400f-beab-ce008efda168))
     (pin "4" (uuid ac4a873b-4704-4933-8393-e3270be70467))
   )
@@ -1588,6 +1645,9 @@
     (property "Stock_PN" "U-TSC101CILT" (id 12) (at 184.15 114.3 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C222387" (id 13) (at 184.15 114.3 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 12206350-ad91-4887-be31-48c9284d1f2d))
     (pin "2" (uuid c19c11f4-9142-476f-9a08-c6057df533bf))
     (pin "3" (uuid 388a9719-a2e2-4a52-bfa4-587c8b2b3424))
diff --git a/Hardware/OpenMowerMainboard/pico.kicad_sch b/Hardware/OpenMowerMainboard/pico.kicad_sch
index b85e6f41..306a948d 100644
--- a/Hardware/OpenMowerMainboard/pico.kicad_sch
+++ b/Hardware/OpenMowerMainboard/pico.kicad_sch
@@ -408,202 +408,359 @@
         )
       )
     )
-    (symbol "MCU_RaspberryPi_and_Boards:Pico" (in_bom yes) (on_board yes)
-      (property "Reference" "U" (id 0) (at -13.97 27.94 0)
+    (symbol "PicoW:RaspberryPi-PicoW" (in_bom yes) (on_board yes)
+      (property "Reference" "U11" (id 0) (at 0 31.75 0)
         (effects (font (size 1.27 1.27)))
       )
-      (property "Value" "Pico" (id 1) (at 0 19.05 0)
+      (property "Value" "Pico" (id 1) (at 0 34.29 0)
         (effects (font (size 1.27 1.27)))
       )
-      (property "Footprint" "RPi_Pico:RPi_Pico_SMD_TH" (id 2) (at 0 0 90)
+      (property "Footprint" "PicoW:Raspberry_Pi_Pico_SMT_THT" (id 2) (at 0 5.08 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (property "Datasheet" "" (id 3) (at 0 0 0)
+      (property "Datasheet" "https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf" (id 3) (at 0 -40.64 0)
         (effects (font (size 1.27 1.27)) hide)
       )
-      (symbol "Pico_0_0"
-        (text "Raspberry Pi Pico" (at 0 21.59 0)
-          (effects (font (size 1.27 1.27)))
-        )
+      (property "Digikey" "2648-SC0915CT-ND" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
       )
-      (symbol "Pico_0_1"
-        (rectangle (start -15.24 26.67) (end 15.24 -26.67)
-          (stroke (width 0) (type default) (color 0 0 0 0))
+      (property "Part Number" "SC0915" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Stock_PN" "U-RP2040-PCB" (id 6) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_keywords" "Pico-W RPL RPTL RPi module RP2040 CYW43439 2.4GHz RF radio Wi-Fi WiFi" (id 7) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "Raspberry Pi Pico W, RP2040-based microcontroller board with wireless" (id 8) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "Raspberry*Pico* RPi*Pico*" (id 9) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "RaspberryPi-PicoW_0_1"
+        (rectangle (start -15.24 27.94) (end 15.24 -25.4)
+          (stroke (width 0.254) (type default) (color 0 0 0 0))
           (fill (type background))
         )
       )
-      (symbol "Pico_1_1"
-        (pin bidirectional line (at -17.78 24.13 0) (length 2.54)
+      (symbol "RaspberryPi-PicoW_1_1"
+        (pin bidirectional line (at -17.78 25.4 0) (length 2.54)
           (name "GPIO0" (effects (font (size 1.27 1.27))))
           (number "1" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SDA" bidirectional line)
+          (alternate "PWM0_A" output line)
+          (alternate "SPI0_RX" input line)
+          (alternate "UART0_TX" output line)
+          (alternate "USB_OVCUR_DET" input line)
         )
-        (pin bidirectional line (at -17.78 1.27 0) (length 2.54)
+        (pin bidirectional line (at -17.78 2.54 0) (length 2.54)
           (name "GPIO7" (effects (font (size 1.27 1.27))))
           (number "10" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SCL" bidirectional line)
+          (alternate "PWM3_B" bidirectional line)
+          (alternate "SPI0_TX" output line)
+          (alternate "USB_VBUS_DET" input line)
+          (alternate "~{UART1_RTS}" output line)
         )
-        (pin bidirectional line (at -17.78 -1.27 0) (length 2.54)
+        (pin bidirectional line (at -17.78 0 0) (length 2.54)
           (name "GPIO8" (effects (font (size 1.27 1.27))))
           (number "11" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SDA" bidirectional line)
+          (alternate "PWM4_A" output line)
+          (alternate "SPI1_RX" input line)
+          (alternate "UART1_TX" output line)
+          (alternate "USB_VBUS_EN" output line)
         )
-        (pin bidirectional line (at -17.78 -3.81 0) (length 2.54)
+        (pin bidirectional line (at -17.78 -2.54 0) (length 2.54)
           (name "GPIO9" (effects (font (size 1.27 1.27))))
           (number "12" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SCL" bidirectional line)
+          (alternate "PWM4_B" bidirectional line)
+          (alternate "UART1_RX" input line)
+          (alternate "USB_OVCUR_DET" input line)
+          (alternate "~{SPI1_CS}" output line)
         )
-        (pin power_in line (at -17.78 -6.35 0) (length 2.54)
+        (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "13" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at -17.78 -8.89 0) (length 2.54)
+        (pin bidirectional line (at -17.78 -7.62 0) (length 2.54)
           (name "GPIO10" (effects (font (size 1.27 1.27))))
           (number "14" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SDA" bidirectional line)
+          (alternate "PWM5_A" output line)
+          (alternate "SPI1_SCK" bidirectional line)
+          (alternate "USB_VBUS_DET" input line)
+          (alternate "~{UART1_CTS}" input line)
         )
-        (pin bidirectional line (at -17.78 -11.43 0) (length 2.54)
+        (pin bidirectional line (at -17.78 -10.16 0) (length 2.54)
           (name "GPIO11" (effects (font (size 1.27 1.27))))
           (number "15" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SCL" bidirectional line)
+          (alternate "PWM5_B" bidirectional line)
+          (alternate "SPI1_TX" output line)
+          (alternate "USB_VBUS_EN" output line)
+          (alternate "~{UART1_RTS}" output line)
         )
-        (pin bidirectional line (at -17.78 -13.97 0) (length 2.54)
+        (pin bidirectional line (at -17.78 -12.7 0) (length 2.54)
           (name "GPIO12" (effects (font (size 1.27 1.27))))
           (number "16" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SDA" bidirectional line)
+          (alternate "PWM6_A" output line)
+          (alternate "SPI1_RX" input line)
+          (alternate "UART0_TX" output line)
+          (alternate "USB_OVCUR_DET" input line)
         )
-        (pin bidirectional line (at -17.78 -16.51 0) (length 2.54)
+        (pin bidirectional line (at -17.78 -15.24 0) (length 2.54)
           (name "GPIO13" (effects (font (size 1.27 1.27))))
           (number "17" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SCL" bidirectional line)
+          (alternate "PWM6_B" bidirectional line)
+          (alternate "UART0_RX" input line)
+          (alternate "USB_VBUS_DET" input line)
+          (alternate "~{SPI1_CS}" output line)
         )
-        (pin power_in line (at -17.78 -19.05 0) (length 2.54)
+        (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "18" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at -17.78 -21.59 0) (length 2.54)
+        (pin bidirectional line (at -17.78 -20.32 0) (length 2.54)
           (name "GPIO14" (effects (font (size 1.27 1.27))))
           (number "19" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SDA" bidirectional line)
+          (alternate "PWM7_A" output line)
+          (alternate "SPI1_SCK" bidirectional line)
+          (alternate "USB_VBUS_EN" output line)
+          (alternate "~{UART0_CTS}" input line)
         )
-        (pin bidirectional line (at -17.78 21.59 0) (length 2.54)
+        (pin bidirectional line (at -17.78 22.86 0) (length 2.54)
           (name "GPIO1" (effects (font (size 1.27 1.27))))
           (number "2" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SCL" bidirectional line)
+          (alternate "PWM0_B" bidirectional line)
+          (alternate "UART0_RX" input line)
+          (alternate "USB_VBUS_DET" input line)
+          (alternate "~{SPI0_CS}" output line)
         )
-        (pin bidirectional line (at -17.78 -24.13 0) (length 2.54)
+        (pin bidirectional line (at -17.78 -22.86 0) (length 2.54)
           (name "GPIO15" (effects (font (size 1.27 1.27))))
           (number "20" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SCL" bidirectional line)
+          (alternate "PWM7_B" bidirectional line)
+          (alternate "SPI1_TX" output line)
+          (alternate "USB_OVCUR_DET" input line)
+          (alternate "~{UART0_RTS}" output line)
         )
-        (pin bidirectional line (at 17.78 -24.13 180) (length 2.54)
+        (pin bidirectional line (at 17.78 -22.86 180) (length 2.54)
           (name "GPIO16" (effects (font (size 1.27 1.27))))
           (number "21" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SDA" bidirectional line)
+          (alternate "PWM0_A" output line)
+          (alternate "SPI0_RX" input line)
+          (alternate "UART0_TX" output line)
+          (alternate "USB_VBUS_DET" input line)
         )
-        (pin bidirectional line (at 17.78 -21.59 180) (length 2.54)
+        (pin bidirectional line (at 17.78 -20.32 180) (length 2.54)
           (name "GPIO17" (effects (font (size 1.27 1.27))))
           (number "22" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SCL" bidirectional line)
+          (alternate "PWM0_B" bidirectional line)
+          (alternate "UART0_RX" input line)
+          (alternate "USB_VBUS_EN" output line)
+          (alternate "~{SPI0_CS}" output line)
         )
-        (pin power_in line (at 17.78 -19.05 180) (length 2.54)
+        (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "23" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at 17.78 -16.51 180) (length 2.54)
+        (pin bidirectional line (at 17.78 -15.24 180) (length 2.54)
           (name "GPIO18" (effects (font (size 1.27 1.27))))
           (number "24" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SDA" bidirectional line)
+          (alternate "PWM1_A" output line)
+          (alternate "SPI0_SCK" bidirectional line)
+          (alternate "USB_OVCUR_DET" input line)
+          (alternate "~{UART0_CTS}" input line)
         )
-        (pin bidirectional line (at 17.78 -13.97 180) (length 2.54)
+        (pin bidirectional line (at 17.78 -12.7 180) (length 2.54)
           (name "GPIO19" (effects (font (size 1.27 1.27))))
           (number "25" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SCL" bidirectional line)
+          (alternate "PWM1_B" bidirectional line)
+          (alternate "SPI0_TX" output line)
+          (alternate "USB_VBUS_DET" input line)
+          (alternate "~{UART0_RTS}" output line)
         )
-        (pin bidirectional line (at 17.78 -11.43 180) (length 2.54)
+        (pin bidirectional line (at 17.78 -10.16 180) (length 2.54)
           (name "GPIO20" (effects (font (size 1.27 1.27))))
           (number "26" (effects (font (size 1.27 1.27))))
-        )
-        (pin bidirectional line (at 17.78 -8.89 180) (length 2.54)
+          (alternate "CLOCK_GPIN0" input line)
+          (alternate "I2C0_SDA" bidirectional line)
+          (alternate "PWM2_A" output line)
+          (alternate "SPI0_RX" input line)
+          (alternate "UART1_TX" output line)
+          (alternate "USB_VBUS_EN" output line)
+        )
+        (pin bidirectional line (at 17.78 -7.62 180) (length 2.54)
           (name "GPIO21" (effects (font (size 1.27 1.27))))
           (number "27" (effects (font (size 1.27 1.27))))
-        )
-        (pin power_in line (at 17.78 -6.35 180) (length 2.54)
+          (alternate "CLOCK_GPOUT0" output line)
+          (alternate "I2C0_SCL" bidirectional line)
+          (alternate "PWM2_B" bidirectional line)
+          (alternate "UART1_RX" input line)
+          (alternate "USB_OVCUR_DET" input line)
+          (alternate "~{SPI0_CS}" output line)
+        )
+        (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "28" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at 17.78 -3.81 180) (length 2.54)
+        (pin bidirectional line (at 17.78 -2.54 180) (length 2.54)
           (name "GPIO22" (effects (font (size 1.27 1.27))))
           (number "29" (effects (font (size 1.27 1.27))))
-        )
-        (pin power_in line (at -17.78 19.05 0) (length 2.54)
+          (alternate "CLOCK_GPIN1" input line)
+          (alternate "I2C1_SDA" bidirectional line)
+          (alternate "PWM3_A" output line)
+          (alternate "SPI0_SCK" bidirectional line)
+          (alternate "USB_VBUS_DET" input line)
+          (alternate "~{UART1_CTS}" input line)
+        )
+        (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "3" (effects (font (size 1.27 1.27))))
         )
-        (pin input line (at 17.78 -1.27 180) (length 2.54)
+        (pin input line (at 17.78 17.78 180) (length 2.54)
           (name "RUN" (effects (font (size 1.27 1.27))))
           (number "30" (effects (font (size 1.27 1.27))))
+          (alternate "~{RESET}" input line)
         )
-        (pin bidirectional line (at 17.78 1.27 180) (length 2.54)
+        (pin bidirectional line (at 17.78 5.08 180) (length 2.54)
           (name "GPIO26_ADC0" (effects (font (size 1.27 1.27))))
           (number "31" (effects (font (size 1.27 1.27))))
-        )
-        (pin bidirectional line (at 17.78 3.81 180) (length 2.54)
+          (alternate "ADC0" input line)
+          (alternate "GPIO26" bidirectional line)
+          (alternate "I2C1_SDA" bidirectional line)
+          (alternate "PWM5_A" output line)
+          (alternate "SPI1_SCK" bidirectional line)
+          (alternate "USB_VBUS_EN" output line)
+          (alternate "~{UART1_CTS}" input line)
+        )
+        (pin bidirectional line (at 17.78 7.62 180) (length 2.54)
           (name "GPIO27_ADC1" (effects (font (size 1.27 1.27))))
           (number "32" (effects (font (size 1.27 1.27))))
-        )
-        (pin power_in line (at 17.78 6.35 180) (length 2.54)
+          (alternate "ADC1" input line)
+          (alternate "GPIO27" bidirectional line)
+          (alternate "I2C1_SCL" bidirectional line)
+          (alternate "PWM5_B" bidirectional line)
+          (alternate "SPI1_TX" output line)
+          (alternate "USB_OVCUR_DET" input line)
+          (alternate "~{UART1_RTS}" output line)
+        )
+        (pin power_in line (at 17.78 2.54 180) (length 2.54)
           (name "AGND" (effects (font (size 1.27 1.27))))
           (number "33" (effects (font (size 1.27 1.27))))
+          (alternate "GND" power_in line)
         )
-        (pin bidirectional line (at 17.78 8.89 180) (length 2.54)
+        (pin bidirectional line (at 17.78 10.16 180) (length 2.54)
           (name "GPIO28_ADC2" (effects (font (size 1.27 1.27))))
           (number "34" (effects (font (size 1.27 1.27))))
-        )
-        (pin power_in line (at 17.78 11.43 180) (length 2.54)
+          (alternate "ADC2" input line)
+          (alternate "GPIO28" bidirectional line)
+          (alternate "I2C0_SDA" bidirectional line)
+          (alternate "PWM6_A" output line)
+          (alternate "SPI1_RX" input line)
+          (alternate "UART0_TX" output line)
+          (alternate "USB_VBUS_DET" input line)
+        )
+        (pin power_in line (at 17.78 12.7 180) (length 2.54)
           (name "ADC_VREF" (effects (font (size 1.27 1.27))))
           (number "35" (effects (font (size 1.27 1.27))))
         )
-        (pin power_in line (at 17.78 13.97 180) (length 2.54)
+        (pin power_out line (at 17.78 25.4 180) (length 2.54)
           (name "3V3" (effects (font (size 1.27 1.27))))
           (number "36" (effects (font (size 1.27 1.27))))
         )
-        (pin input line (at 17.78 16.51 180) (length 2.54)
+        (pin input line (at 17.78 20.32 180) (length 2.54)
           (name "3V3_EN" (effects (font (size 1.27 1.27))))
           (number "37" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at 17.78 19.05 180) (length 2.54)
+        (pin passive line (at -5.08 -27.94 90) (length 2.54) hide
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "38" (effects (font (size 1.27 1.27))))
         )
-        (pin power_in line (at 17.78 21.59 180) (length 2.54)
+        (pin power_in line (at 2.54 30.48 270) (length 2.54)
           (name "VSYS" (effects (font (size 1.27 1.27))))
           (number "39" (effects (font (size 1.27 1.27))))
+          (alternate "VSYS" power_in line)
         )
-        (pin bidirectional line (at -17.78 16.51 0) (length 2.54)
+        (pin bidirectional line (at -17.78 17.78 0) (length 2.54)
           (name "GPIO2" (effects (font (size 1.27 1.27))))
           (number "4" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SDA" bidirectional line)
+          (alternate "PWM1_A" output line)
+          (alternate "SPI0_SCK" bidirectional line)
+          (alternate "USB_VBUS_EN" output line)
+          (alternate "~{UART0_CTS}" input line)
         )
-        (pin power_in line (at 17.78 24.13 180) (length 2.54)
+        (pin power_out line (at -2.54 30.48 270) (length 2.54)
           (name "VBUS" (effects (font (size 1.27 1.27))))
           (number "40" (effects (font (size 1.27 1.27))))
+          (alternate "VBUS" power_in line)
         )
-        (pin input line (at -2.54 -29.21 90) (length 2.54)
+        (pin input line (at 0 -27.94 90) (length 2.54)
           (name "SWCLK" (effects (font (size 1.27 1.27))))
           (number "41" (effects (font (size 1.27 1.27))))
         )
-        (pin power_in line (at 0 -29.21 90) (length 2.54)
-          (name "GND" (effects (font (size 1.27 1.27))))
+        (pin power_in line (at 2.54 -27.94 90) (length 2.54)
+          (name "SWGND" (effects (font (size 1.27 1.27))))
           (number "42" (effects (font (size 1.27 1.27))))
+          (alternate "GND" power_in line)
         )
-        (pin bidirectional line (at 2.54 -29.21 90) (length 2.54)
+        (pin bidirectional line (at 5.08 -27.94 90) (length 2.54)
           (name "SWDIO" (effects (font (size 1.27 1.27))))
           (number "43" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at -17.78 13.97 0) (length 2.54)
+        (pin bidirectional line (at -17.78 15.24 0) (length 2.54)
           (name "GPIO3" (effects (font (size 1.27 1.27))))
           (number "5" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SCL" bidirectional line)
+          (alternate "PWM1_B" bidirectional line)
+          (alternate "SPI0_TX" output line)
+          (alternate "USB_OVCUR_DET" input line)
+          (alternate "~{UART0_RTS}" output line)
         )
-        (pin bidirectional line (at -17.78 11.43 0) (length 2.54)
+        (pin bidirectional line (at -17.78 12.7 0) (length 2.54)
           (name "GPIO4" (effects (font (size 1.27 1.27))))
           (number "6" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SDA" bidirectional line)
+          (alternate "PWM2_A" output line)
+          (alternate "SPI0_RX" input line)
+          (alternate "UART1_TX" output line)
+          (alternate "USB_VBUS_DET" input line)
         )
-        (pin bidirectional line (at -17.78 8.89 0) (length 2.54)
+        (pin bidirectional line (at -17.78 10.16 0) (length 2.54)
           (name "GPIO5" (effects (font (size 1.27 1.27))))
           (number "7" (effects (font (size 1.27 1.27))))
+          (alternate "I2C0_SCL" bidirectional line)
+          (alternate "PWM2_B" bidirectional line)
+          (alternate "UART1_RX" input line)
+          (alternate "USB_VBUS_EN" output line)
+          (alternate "~{SPI0_CS}" output line)
         )
-        (pin power_in line (at -17.78 6.35 0) (length 2.54)
+        (pin power_in line (at -5.08 -27.94 90) (length 2.54)
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "8" (effects (font (size 1.27 1.27))))
         )
-        (pin bidirectional line (at -17.78 3.81 0) (length 2.54)
+        (pin bidirectional line (at -17.78 5.08 0) (length 2.54)
           (name "GPIO6" (effects (font (size 1.27 1.27))))
           (number "9" (effects (font (size 1.27 1.27))))
+          (alternate "I2C1_SDA" bidirectional line)
+          (alternate "PWM3_A" output line)
+          (alternate "SPI0_SCK" bidirectional line)
+          (alternate "USB_OVCUR_DET" input line)
+          (alternate "~{UART1_CTS}" input line)
         )
       )
     )
@@ -753,6 +910,7 @@
     )
   )
 
+
   (junction (at 160.655 170.815) (diameter 0) (color 0 0 0 0)
     (uuid 1c8586f2-1035-4327-a65e-beff1cc25c2b)
   )
@@ -765,29 +923,14 @@
   (junction (at 127 86.36) (diameter 0) (color 0 0 0 0)
     (uuid 54b749eb-6cbb-4e5a-a91d-a4b0f441aee7)
   )
-  (junction (at 191.77 86.36) (diameter 0) (color 0 0 0 0)
-    (uuid 54ba70bc-3653-44e0-9aa9-70371f9624a9)
-  )
-  (junction (at 241.3 111.76) (diameter 0) (color 0 0 0 0)
-    (uuid 56408257-97e8-4b69-98e5-7d0d5cf521f2)
-  )
   (junction (at 113.665 110.49) (diameter 0) (color 0 0 0 0)
     (uuid 580e5b05-15fd-4844-a9a4-0ca64d1362ec)
   )
   (junction (at 48.895 110.49) (diameter 0) (color 0 0 0 0)
     (uuid 6478f963-05b2-49ef-937a-020a770ec2bc)
   )
-  (junction (at 241.3 86.36) (diameter 0) (color 0 0 0 0)
-    (uuid 65a6c026-1473-4a9d-8f23-b2c0f650050a)
-  )
-  (junction (at 191.77 99.06) (diameter 0) (color 0 0 0 0)
-    (uuid 73598d54-872f-419b-980f-50ef4c83fcde)
-  )
-  (junction (at 241.3 99.06) (diameter 0) (color 0 0 0 0)
-    (uuid 76b8f6c6-5884-4a72-b938-c2a7eb52ff43)
-  )
-  (junction (at 191.77 111.76) (diameter 0) (color 0 0 0 0)
-    (uuid 78889956-fd84-45bc-b8d1-d5c72ff603fc)
+  (junction (at 218.44 125.73) (diameter 0) (color 0 0 0 0)
+    (uuid 81ab55b8-a1d9-45dc-963c-4df1bfffab15)
   )
   (junction (at 47.625 113.03) (diameter 0) (color 0 0 0 0)
     (uuid 8242a716-3895-445a-b2c1-ec6e5a82e0b2)
@@ -798,26 +941,35 @@
   (junction (at 160.655 151.765) (diameter 0) (color 0 0 0 0)
     (uuid 9f4f0e59-f77c-466f-801e-83ef7810ae53)
   )
-  (junction (at 241.3 125.73) (diameter 0) (color 0 0 0 0)
-    (uuid b35b9801-eb34-444c-a777-58832e9ab861)
+  (junction (at 210.82 125.73) (diameter 0) (color 0 0 0 0)
+    (uuid d84a00d6-df12-42da-aaa8-8a612ebb3ed2)
   )
   (junction (at 132.715 170.815) (diameter 0) (color 0 0 0 0)
     (uuid ede116a5-7fed-46f3-9492-92d580e3ebef)
   )
 
+  (no_connect (at 213.36 62.23) (uuid 23a6e164-0f1a-45ec-a919-fc2047a28cf8))
+  (no_connect (at 181.61 159.385) (uuid 242c9bac-a987-4a0b-b861-93be7a0ea205))
   (no_connect (at 38.735 99.06) (uuid 556ef534-0f07-4d81-876f-b06c5ce2d0fd))
   (no_connect (at 38.735 104.14) (uuid 556ef534-0f07-4d81-876f-b06c5ce2d0fe))
   (no_connect (at 38.735 101.6) (uuid 556ef534-0f07-4d81-876f-b06c5ce2d0ff))
   (no_connect (at 103.505 104.14) (uuid 556ef534-0f07-4d81-876f-b06c5ce2d101))
-  (no_connect (at 233.68 81.28) (uuid 556ef534-0f07-4d81-876f-b06c5ce2d104))
-  (no_connect (at 233.68 68.58) (uuid 986e8a2a-6562-465d-8125-97ad06ff30fa))
-  (no_connect (at 233.68 76.2) (uuid b5296cbe-e68b-406a-ba6f-ad17406d8e21))
+  (no_connect (at 233.68 80.01) (uuid cc7d682f-f203-4d29-87cd-657c3fc8b1a4))
+  (no_connect (at 233.68 72.39) (uuid cc7d682f-f203-4d29-87cd-657c3fc8b1a5))
 
-  (wire (pts (xy 191.77 73.66) (xy 191.77 86.36))
+  (wire (pts (xy 173.99 87.63) (xy 198.12 87.63))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid 049a9885-32cb-4587-9c41-ee81d9e709d7)
+  )
+  (wire (pts (xy 173.99 95.25) (xy 198.12 95.25))
     (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 00ca4e32-a322-4822-a677-37e2d718544f)
+    (uuid 0797bc66-10a6-4097-a4ad-e93479bbc9c9)
   )
-  (wire (pts (xy 233.68 78.74) (xy 245.11 78.74))
+  (wire (pts (xy 233.68 113.03) (xy 254 113.03))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid 08aa0810-5ea7-4c16-a305-2e36ecad12d0)
+  )
+  (wire (pts (xy 233.68 67.31) (xy 245.11 67.31))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 09a978d0-8d42-486d-a3ad-9ce88f0c0666)
   )
@@ -829,18 +981,14 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 0b0ac47c-7f6d-44d0-93d5-9f36f3f468b4)
   )
-  (wire (pts (xy 233.68 83.82) (xy 254 83.82))
+  (wire (pts (xy 233.68 82.55) (xy 254 82.55))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 0b450ad9-ca75-4cfc-a73f-d80a4ba28454)
   )
-  (wire (pts (xy 173.99 116.84) (xy 198.12 116.84))
+  (wire (pts (xy 173.99 115.57) (xy 198.12 115.57))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 1053a486-12a2-421c-9343-de7ab858207c)
   )
-  (wire (pts (xy 198.12 111.76) (xy 191.77 111.76))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 12ed40b1-67a7-4aa9-8b0d-4fc1985e59be)
-  )
   (wire (pts (xy 56.515 86.36) (xy 66.675 86.36))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 16cf7022-66c2-4682-8510-ee16e936fabc)
@@ -849,18 +997,14 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 171112b4-181b-4edc-b4b9-b5cebfc6e663)
   )
-  (wire (pts (xy 233.68 104.14) (xy 254 104.14))
+  (wire (pts (xy 233.68 102.87) (xy 254 102.87))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 1976523e-9cec-4bf1-b32f-73f24591333a)
   )
-  (wire (pts (xy 245.11 58.42) (xy 245.11 78.74))
+  (wire (pts (xy 245.11 58.42) (xy 245.11 67.31))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 1998fa2d-d003-41f2-8cf5-07fae805b545)
   )
-  (wire (pts (xy 233.68 91.44) (xy 254 91.44))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 19f5c885-19e1-4e02-9737-313b823faa94)
-  )
   (wire (pts (xy 100.33 86.36) (xy 103.505 86.36))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 1a89ec35-ca0a-4894-a003-cc97106bcf3b)
@@ -873,10 +1017,6 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 20a5c48b-ef8e-471c-b43b-8c6fe82414ca)
   )
-  (wire (pts (xy 233.68 116.84) (xy 254 116.84))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 20bfd7e8-bc33-4032-a520-5b1447e2586c)
-  )
   (wire (pts (xy 140.335 159.385) (xy 166.37 159.385))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 22756b82-ad8c-451c-9c2f-404168998f41)
@@ -889,6 +1029,10 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 265ced2d-64bc-45d4-8001-04989f2928d8)
   )
+  (wire (pts (xy 233.68 85.09) (xy 254 85.09))
+    (stroke (width 0) (type default) (color 0 0 0 0))
+    (uuid 2750350d-0e0c-470a-9261-38bb1b7e5066)
+  )
   (wire (pts (xy 32.385 96.52) (xy 38.735 96.52))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 287f8ea2-e8b6-4602-97c8-84289f3554c0)
@@ -913,11 +1057,11 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 3367355a-1fc1-4665-9a87-d21c918fb8ea)
   )
-  (wire (pts (xy 173.99 106.68) (xy 198.12 106.68))
+  (wire (pts (xy 173.99 105.41) (xy 198.12 105.41))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 34ae7556-4ed7-4cdc-9912-59df7d57455c)
   )
-  (wire (pts (xy 213.36 121.92) (xy 213.36 132.08))
+  (wire (pts (xy 215.9 120.65) (xy 215.9 130.81))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 3570878e-89c1-4a7c-96c1-70d81086a3a9)
   )
@@ -929,22 +1073,14 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 3904dce2-c02e-4941-85d2-b395f76add93)
   )
-  (wire (pts (xy 241.3 111.76) (xy 241.3 125.73))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 39a7e97a-1ec7-4281-b40b-b51c94d1e75c)
-  )
-  (wire (pts (xy 233.68 88.9) (xy 254 88.9))
+  (wire (pts (xy 233.68 90.17) (xy 238.76 90.17))
     (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 3b581e9c-30b7-43cb-9db0-8035e2313ff6)
+    (uuid 3d4b1a9a-e2e7-4b5c-9079-41421aecf2c6)
   )
   (wire (pts (xy 60.325 101.6) (xy 60.325 110.49))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 40233afb-11b0-42e8-b2d7-83a41d2d50be)
   )
-  (wire (pts (xy 173.99 88.9) (xy 198.12 88.9))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 41519696-bf91-4b07-95ab-ad9cb45374ce)
-  )
   (wire (pts (xy 101.6 99.06) (xy 100.33 99.06))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 41af95ec-2b7c-40c3-9e7e-0c0b18d72d2c)
@@ -953,39 +1089,23 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 452e1310-7964-4315-a24a-8c2240d3ec02)
   )
-  (wire (pts (xy 198.12 73.66) (xy 191.77 73.66))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 455370dc-07a0-40ba-901e-0a86a49d8cdf)
-  )
-  (wire (pts (xy 215.9 121.92) (xy 215.9 125.73))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 4610844f-e46c-4be8-a492-a159ffc49ba4)
-  )
   (wire (pts (xy 127 64.77) (xy 127 86.36))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 4d354041-9d51-46f1-a4f1-c4cb6a6b9fd8)
   )
-  (wire (pts (xy 191.77 86.36) (xy 198.12 86.36))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 53aa4cf3-1aa2-4113-8937-78d654a73b6b)
-  )
   (wire (pts (xy 113.665 110.49) (xy 113.665 113.03))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 553438fc-a725-4280-8d6a-919452cabdf2)
   )
-  (wire (pts (xy 241.3 99.06) (xy 241.3 111.76))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 576184cd-757b-4fa6-b83b-3d6ec7f50ab3)
-  )
   (wire (pts (xy 100.33 93.98) (xy 103.505 93.98))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 594d9779-8363-403c-99f8-1253e49c8b6f)
   )
-  (wire (pts (xy 173.99 114.3) (xy 198.12 114.3))
+  (wire (pts (xy 173.99 113.03) (xy 198.12 113.03))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 59a5c230-5b9f-4d7e-8810-b681be13ff57)
   )
-  (wire (pts (xy 233.68 93.98) (xy 254 93.98))
+  (wire (pts (xy 233.68 74.93) (xy 254 74.93))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 5ab0f247-35bb-423d-9f40-4778a3ff8fb1)
   )
@@ -993,22 +1113,14 @@
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 5b71c6d4-7501-4c34-b54d-e8d2216fb2bb)
   )
-  (wire (pts (xy 233.68 114.3) (xy 254 114.3))
+  (wire (pts (xy 233.68 105.41) (xy 254 105.41))
     (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 5e07907e-60e9-49c1-8ad1-f02aad44483e)
-  )
-  (wire (pts (xy 173.99 93.98) (xy 198.12 93.98))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 5ec1a6af-f0ca-4bb7-88ee-0230a211abd0)
+    (uuid 5e33e8a6-2fbf-4f7a-92b4-e2f81ebeca29)
   )
   (wire (pts (xy 100.33 101.6) (xy 103.505 101.6))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 5f41af6d-ceaf-4d88-9f2f-5324269b4170)
   )
-  (wire (pts (xy 248.285 58.42) (xy 248.285 71.12))
-    (stroke (width 0) (type default) (color 0 0 0 0))
-    (uuid 6143aeae-d480-4bcf-957b-0e21015c30ef)
-  )
   (wire (pts (xy 48.895 78.74) (xy 48.895 81.28))
     (stroke (width 0) (type default) (color 0 0 0 0))
     (uuid 62f4af93-dc68-43df-b0b7-662f261caf46)
@@ -1017,25 +1129,21 @@
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-  (label "MUX_ADDRESS_1" (at 173.99 114.3 0)
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-  (hierarchical_label "V_CHARGE" (shape input) (at 254 91.44 0)
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-  (hierarchical_label "LED_RX" (shape output) (at 173.99 81.28 180)
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+    (uuid 0ecab58b-e079-408b-ba7d-11a3e4787d46)
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-  (hierarchical_label "PICO_TX" (shape output) (at 173.99 68.58 180)
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-  (hierarchical_label "LED_TX" (shape input) (at 173.99 83.82 180)
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-  (hierarchical_label "CURRENT_CHARGE" (shape input) (at 254 83.82 0)
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-  (hierarchical_label "RESET_PICO" (shape input) (at 254 93.98 0)
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-  (hierarchical_label "SWDIO" (shape bidirectional) (at 218.44 132.08 270)
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-  (hierarchical_label "HALL_SWITCH_4" (shape input) (at 173.99 76.2 180)
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+  )
+  (hierarchical_label "HALL_SWITCH_1" (shape input) (at 254 107.95 0)
+    (effects (font (size 1.27 1.27)) (justify left))
     (uuid c1b24f9f-aa0b-4552-b9ba-e4a0b9883912)
   )
   (hierarchical_label "USS_4_ECHO" (shape input) (at 100.33 93.98 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid c3af611f-8c6e-4fff-9cf1-63a641b85645)
   )
-  (hierarchical_label "ESC_SHUTDOWN" (shape output) (at 254 104.14 0)
+  (hierarchical_label "ESC_SHUTDOWN" (shape output) (at 254 102.87 0)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid c6649ce6-2d9f-4c7d-a36d-3567c307aa6f)
   )
-  (hierarchical_label "SOUND_DATA" (shape output) (at 173.99 96.52 180)
-    (effects (font (size 1.27 1.27)) (justify right))
+  (hierarchical_label "SOUND_RX" (shape input) (at 254 113.03 0)
+    (effects (font (size 1.27 1.27)) (justify left))
     (uuid cd609165-f899-4f07-95f0-e9e5ecee698b)
   )
-  (hierarchical_label "PICO_RX" (shape input) (at 173.99 71.12 180)
+  (hierarchical_label "PICO_RX" (shape input) (at 173.99 69.85 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid cf44fb94-b863-4043-9c9f-039108abeb13)
   )
@@ -1423,15 +1515,19 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid d05c458b-21f4-442f-85ad-81f95a6a9f04)
   )
-  (hierarchical_label "V_IN" (shape input) (at 254 88.9 0)
+  (hierarchical_label "V_IN" (shape input) (at 254 85.09 0)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid d2747e6d-332a-485b-9733-6e178938124a)
   )
-  (hierarchical_label "HALL_SWITCH_2" (shape input) (at 173.99 88.9 180)
-    (effects (font (size 1.27 1.27)) (justify right))
+  (hierarchical_label "HALL_SWITCH_2" (shape input) (at 254 105.41 0)
+    (effects (font (size 1.27 1.27)) (justify left))
     (uuid d42e5ac6-d72e-4348-8b4e-3a9b5b0ea351)
   )
-  (hierarchical_label "HALL_SWITCH_3" (shape input) (at 173.99 78.74 180)
+  (hierarchical_label "IMU_MISO_UART_TX" (shape bidirectional) (at 173.99 92.71 180)
+    (effects (font (size 1.27 1.27)) (justify right))
+    (uuid d8af6017-86fb-4849-9e23-f709912c14cd)
+  )
+  (hierarchical_label "HALL_SWITCH_3" (shape input) (at 173.99 77.47 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid d8c24318-d73e-4054-9bf0-e59adec421e6)
   )
@@ -1443,7 +1539,7 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid eb88414d-2170-402a-bf5b-8106fb0fc53a)
   )
-  (hierarchical_label "SWCLK" (shape input) (at 213.36 132.08 270)
+  (hierarchical_label "SWCLK" (shape input) (at 215.9 130.81 270)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid ed8a1912-c56e-4ea2-a004-9a512b4d6d8c)
   )
@@ -1451,7 +1547,7 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid f48e063f-838c-4135-8659-9e6a7e6f914c)
   )
-  (hierarchical_label "ENABLE_CHARGE" (shape output) (at 254 96.52 0)
+  (hierarchical_label "ENABLE_CHARGE" (shape output) (at 254 95.25 0)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid f9780e32-6ef8-4ac9-ab1f-bfb811356741)
   )
@@ -1522,6 +1618,9 @@
     (property "Stock_PN" "U-SN74LV1T34" (id 6) (at 132.715 159.385 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C1848228" (id 7) (at 132.715 159.385 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 8aabccfc-788e-4f7a-b2b4-1550f8b169d6))
     (pin "2" (uuid 47d24542-92b4-4531-b70c-59d459ebfe77))
     (pin "3" (uuid 74fe3e89-a083-45c2-ab37-b89931e12437))
@@ -1545,17 +1644,17 @@
     (pin "1" (uuid 7a3c3cb8-1d02-4160-b2f5-5f9e7412ec47))
   )
 
-  (symbol (lib_id "power:+5V") (at 248.285 58.42 0) (unit 1)
+  (symbol (lib_id "power:+5V") (at 238.76 58.42 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 1dcfa047-94c2-47fa-a87d-bee40447c62e)
-    (property "Reference" "#PWR0145" (id 0) (at 248.285 62.23 0)
+    (property "Reference" "#PWR0145" (id 0) (at 238.76 62.23 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+5V" (id 1) (at 248.285 53.34 0))
-    (property "Footprint" "" (id 2) (at 248.285 58.42 0)
+    (property "Value" "+5V" (id 1) (at 238.76 53.34 0))
+    (property "Footprint" "" (id 2) (at 238.76 58.42 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 248.285 58.42 0)
+    (property "Datasheet" "" (id 3) (at 238.76 58.42 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 8344193d-a950-48ad-857c-08397d31ba67))
@@ -1609,6 +1708,9 @@
     (property "Stock_PN" "LED-WS2812B" (id 6) (at 173.99 159.385 0)
       (effects (font (size 1.27 1.27)) hide)
     )
+    (property "LCSC" "C114586" (id 7) (at 173.99 159.385 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
     (pin "1" (uuid 37f4ba92-4e16-4387-914e-ca3abd744528))
     (pin "2" (uuid 3a0994ff-7a55-4f82-9013-9a7f31152196))
     (pin "3" (uuid 951ae121-0b69-4364-a08e-45fe22b6fddb))
@@ -1704,15 +1806,15 @@
     (pin "9" (uuid 20e9e47a-56f5-424f-8cb9-30f8aeb77ac5))
   )
 
-  (symbol (lib_id "MCU_RaspberryPi_and_Boards:Pico") (at 215.9 92.71 0) (unit 1)
-    (in_bom yes) (on_board yes) (fields_autoplaced)
+  (symbol (lib_id "PicoW:RaspberryPi-PicoW") (at 215.9 92.71 0) (unit 1)
+    (in_bom yes) (on_board yes)
     (uuid 7f34cbf5-0a68-49fa-8ebc-ca673fee9cb3)
     (property "Reference" "U11" (id 0) (at 215.9 60.96 0))
-    (property "Value" "Pico" (id 1) (at 215.9 63.5 0))
-    (property "Footprint" "MCU_RaspberryPi_and_Boards:RPi_Pico_SMD_TH" (id 2) (at 215.9 92.71 90)
+    (property "Value" "Pico" (id 1) (at 215.9 58.42 0))
+    (property "Footprint" "PicoW:Raspberry_Pi_Pico_SMT_THT" (id 2) (at 215.9 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 215.9 92.71 0)
+    (property "Datasheet" "https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf" (id 3) (at 215.9 133.35 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Digikey" "2648-SC0915CT-ND" (id 4) (at 215.9 92.71 0)
@@ -1769,22 +1871,6 @@
     (pin "9" (uuid 753b2e81-2629-472e-92d5-fbc23b5a867e))
   )
 
-  (symbol (lib_id "power:GND") (at 241.3 132.08 0) (unit 1)
-    (in_bom yes) (on_board yes) (fields_autoplaced)
-    (uuid 97c0ea8a-594c-43d5-82cc-6708e9553e16)
-    (property "Reference" "#PWR0143" (id 0) (at 241.3 138.43 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "GND" (id 1) (at 241.3 137.16 0))
-    (property "Footprint" "" (id 2) (at 241.3 132.08 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (id 3) (at 241.3 132.08 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid d68051a4-010d-4dcf-aeba-762165b1baf2))
-  )
-
   (symbol (lib_id "power:GND") (at 47.625 114.3 0) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid a3ff51c7-75ed-4b87-90c6-d76ff7c95955)
@@ -1817,17 +1903,17 @@
     (pin "1" (uuid cd0da570-a8fa-4146-bb00-8cc2f1dc7a10))
   )
 
-  (symbol (lib_id "power:GND") (at 191.77 132.08 0) (unit 1)
-    (in_bom yes) (on_board yes) (fields_autoplaced)
+  (symbol (lib_id "power:GND") (at 210.82 132.08 0) (unit 1)
+    (in_bom yes) (on_board yes)
     (uuid cadda826-29d9-47cf-a101-493e53627cec)
-    (property "Reference" "#PWR0142" (id 0) (at 191.77 138.43 0)
+    (property "Reference" "#PWR0142" (id 0) (at 210.82 138.43 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (id 1) (at 191.77 137.16 0))
-    (property "Footprint" "" (id 2) (at 191.77 132.08 0)
+    (property "Value" "GND" (id 1) (at 210.82 137.16 0))
+    (property "Footprint" "" (id 2) (at 210.82 132.08 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 191.77 132.08 0)
+    (property "Datasheet" "" (id 3) (at 210.82 132.08 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid c09e5165-8c5d-4379-aa60-0c3f8c568f11))
diff --git a/Hardware/OpenMowerMainboard/sound_module.kicad_sch b/Hardware/OpenMowerMainboard/sound_module.kicad_sch
index 30dd18a0..b4f10dc6 100644
--- a/Hardware/OpenMowerMainboard/sound_module.kicad_sch
+++ b/Hardware/OpenMowerMainboard/sound_module.kicad_sch
@@ -386,6 +386,7 @@
     )
   )
 
+
   (junction (at 122.555 160.655) (diameter 0) (color 0 0 0 0)
     (uuid 966da750-5b99-4117-a743-eea7690a9e53)
   )
@@ -484,11 +485,11 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 6c1393e7-cff5-4bc1-8d64-0c0ca69ee5ac)
   )
-  (hierarchical_label "DATA" (shape input) (at 92.71 137.16 180)
+  (hierarchical_label "TX" (shape output) (at 92.71 137.16 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid cf0b47b5-d70f-45e7-b0f4-2ba7ee1dd739)
   )
-  (hierarchical_label "CLK" (shape input) (at 92.71 134.62 180)
+  (hierarchical_label "RX" (shape input) (at 92.71 134.62 180)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid f73b52a1-2a2a-4872-bc55-4d8c4025ead8)
   )
@@ -554,7 +555,7 @@
     (property "Value" "Conn_01x08" (id 1) (at 162.56 142.2399 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical" (id 2) (at 160.02 139.7 0)
+    (property "Footprint" "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" (id 2) (at 160.02 139.7 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Datasheet" "~" (id 3) (at 160.02 139.7 0)
@@ -642,7 +643,7 @@
     (property "Value" "Conn_01x08" (id 1) (at 133.985 142.2399 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical" (id 2) (at 131.445 139.7 0)
+    (property "Footprint" "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" (id 2) (at 131.445 139.7 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Datasheet" "~" (id 3) (at 131.445 139.7 0)
diff --git a/Hardware/OpenMowerMainboard/sym-lib-table b/Hardware/OpenMowerMainboard/sym-lib-table
index 9e2fd4c2..787d7aa4 100644
--- a/Hardware/OpenMowerMainboard/sym-lib-table
+++ b/Hardware/OpenMowerMainboard/sym-lib-table
@@ -8,4 +8,5 @@
   (lib (name "74ALVC164245DGG_11")(type "Legacy")(uri "${KIPRJMOD}/74ALVC164245DGG/74ALVC164245DGG_11.lib")(options "")(descr ""))
   (lib (name "TSC101CILT")(type "Legacy")(uri "${KIPRJMOD}/TSC101CILT/TSC101CILT.lib")(options "")(descr ""))
   (lib (name "MAX2040")(type "Legacy")(uri "${KIPRJMOD}/MAX2040/MAX2040.lib")(options "")(descr ""))
+  (lib (name "PicoW")(type "KiCad")(uri "${KIPRJMOD}/RP-PicoW Libraries/MCU_Module.kicad_sym")(options "")(descr ""))
 )