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    (title "EX-Motorshield8874")
    (date "2024-01-24")
    (rev "RevA")
    (company "semify-eda.com")
    (comment 1 "Engineer: Erwin Peterlin")
    (comment 3 "CERN-OHL-W v2 or later")
    (comment 4 "Licensed under")
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  (text "Standard Motorshield Assignments:\nChannel A:\n\n    D12 - Direction\n    D3 - PWM (work duty)\n    D9 - Brake\n    A0 - current sensing.\n\nChannel B:\n\n    D13 - Direction\n    D11 - PWM (work duty)\n    D8 - Brake\n    A1 - current sensing\n"
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  (text "DRV8874 Mode Select" (at 119.38 109.22 0)
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  (text "Low: EN/PH\nHigh: PWM\nZ: Independent" (at 134.62 134.62 0)
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  (text "OpAmp as IORef Comparator" (at 19.05 229.87 0)
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  (text "DRV8874 Motor Driver" (at 187.96 118.11 0)
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  (text "DRV8874 (max 6A) Current Sensing: \nV_prop is limited to VRef inside DRV8874\n\n  5V = 0.000455*(1430+732)*A => A=5,08\n3,3V = 0.000455* 1430      *A => A=5,07\n\nif subbed with DRV8876 (max 3.5A):\n  5V = 0.001*(x+y)*A => A=\n3,3V = 0.001* x      *A => A=\n\n---------\ncandidate values:\n2k+1k              3.63/1.65 1%\n1k8+(680+220)  4.0/1.83 1%\n1k5+(680+100)  4.8/2.2  0.2%\n1k43+732(extend.) 5.08 0.1% <-- USED HERE\n(1k2+120)+680  5.5/2.5  0.0%   \n1k2+(470+180)  5.9/2.7  2%\n1k2+620(extend.) 5.9/2.7  0.1%\n1k1+560 (0603) 6.6/3.0   0.4%\n"
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  (text "DRV8874 control logic:\n\nPH/EN Mode (PMODE Low)\nnSleep/EN/PH  out1/2\n0 X X         ZZ\n1 0 X         00\n1 1 0         01\n1 1 1         10\n\nnSleep = high / pwm\nEN     = not brake / pwm\nPH     = dir\n\nPWM Mode (PMODE High)\nnSleep/in1/2  out1/2\n      O X X       ZZ\n      1 0 0       ZZ\n      1 0 1       01\n      1 1 0       10\n      1 1 1       00\n\nnSleep = high\nin1 = pwm and (    dir or brake)\nin2 = pwm and (not dir or brake)"
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  (text "new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 2.99, 1500, UNUSED_PIN), \\\n  new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 1500, UNUSED_PIN), \\\n  new MotorDriver( 2, 10, UNUSED_PIN, 7, A2, 2.99, 1500, UNUSED_PIN), \\\n  new MotorDriver( 5,  4, UNUSED_PIN, 6, A3, 2.99, 1500, UNUSED_PIN)"
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