Actuator_2020.sch

EESchema Schematic File Version 4
LIBS:Actuator_2020-cache
EELAYER 29 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title "Actuator board"
Date "2019-04-11"
Rev "1.0"
Comp "Electropioneer"
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L MCU_Module:Arduino_Nano_v3.x A1
U 1 1 5CB0CEA6
P 4400 1750
F 0 "A1" H 4050 800 50  0000 C CNN
F 1 "Arduino_Nano_v3.x" H 4000 700 50  0000 C CNN
F 2 "Module:Arduino_Nano" H 4550 800 50  0001 L CNN
F 3 "http://www.mouser.com/pdfdocs/Gravitech_Arduino_Nano3_0.pdf" H 4400 750 50  0001 C CNN
	1    4400 1750
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR0101
U 1 1 5CB0E589
P 4600 700
F 0 "#PWR0101" H 4600 550 50  0001 C CNN
F 1 "+5V" H 4615 869 50  0000 C CNN
F 2 "" H 4600 700 50  0001 C CNN
F 3 "" H 4600 700 50  0001 C CNN
	1    4600 700 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0102
U 1 1 5CB0EEEF
P 4400 2800
F 0 "#PWR0102" H 4400 2550 50  0001 C CNN
F 1 "GND" V 4400 2600 50  0000 C CNN
F 2 "" H 4400 2800 50  0001 C CNN
F 3 "" H 4400 2800 50  0001 C CNN
	1    4400 2800
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0103
U 1 1 5CB0F3DF
P 4500 2800
F 0 "#PWR0103" H 4500 2550 50  0001 C CNN
F 1 "GND" V 4500 2600 50  0000 C CNN
F 2 "" H 4500 2800 50  0001 C CNN
F 3 "" H 4500 2800 50  0001 C CNN
	1    4500 2800
	1    0    0    -1  
$EndComp
Wire Wire Line
	4400 2750 4400 2800
Wire Wire Line
	4500 2750 4500 2800
Wire Wire Line
	4600 700  4600 750 
NoConn ~ 4500 750 
NoConn ~ 4300 750 
NoConn ~ 4900 1150
NoConn ~ 4900 1250
NoConn ~ 4900 1550
Text GLabel 3850 1150 0    50   Input ~ 0
SERIAL_RX
Text GLabel 3850 1250 0    50   Input ~ 0
SERIAL_TX
Wire Wire Line
	3850 1150 3900 1150
Wire Wire Line
	3850 1250 3900 1250
Text GLabel 3850 2050 0    50   Input ~ 0
DC1_1
Text GLabel 3850 2150 0    50   Input ~ 0
DC1_2
Text GLabel 3850 1650 0    50   Input ~ 0
DC2_1
Text GLabel 3850 1750 0    50   Input ~ 0
DC2_2
Wire Wire Line
	3850 1650 3900 1650
Wire Wire Line
	3850 1750 3900 1750
Wire Wire Line
	3850 2050 3900 2050
Wire Wire Line
	3850 2150 3900 2150
Text GLabel 4950 1750 2    50   Input ~ 0
RELAY1
Text GLabel 4950 1850 2    50   Input ~ 0
RELAY2
Wire Wire Line
	4900 1750 4950 1750
Wire Wire Line
	4900 1850 4950 1850
$Comp
L Driver_Motor:Pololu_Breakout_A4988 A2
U 1 1 5CB10883
P 10000 1750
F 0 "A2" H 9800 2500 50  0000 C CNN
F 1 "Stepper1" H 9700 2400 50  0000 C CNN
F 2 "Module:Pololu_Breakout-16_15.2x20.3mm" H 10275 1000 50  0001 L CNN
F 3 "https://www.pololu.com/product/2980/pictures" H 10100 1450 50  0001 C CNN
	1    10000 1750
	1    0    0    -1  
$EndComp
Text GLabel 3850 1850 0    50   Input ~ 0
STEPPER1_DIR
Text GLabel 3850 1950 0    50   Input ~ 0
STEPPER1_STEP
Text GLabel 3850 2250 0    50   Input ~ 0
STEPPER2_DIR
Text GLabel 3850 2350 0    50   Input ~ 0
STEPPER2_STEP
Wire Wire Line
	3850 1850 3900 1850
Wire Wire Line
	3850 1950 3900 1950
Wire Wire Line
	3850 2250 3900 2250
Wire Wire Line
	3850 2350 3900 2350
Text GLabel 4950 2250 2    50   Input ~ 0
SCL
Text GLabel 4950 2150 2    50   Input ~ 0
SDA
Wire Wire Line
	4900 2150 4950 2150
Wire Wire Line
	4900 2250 4950 2250
Text GLabel 4950 2450 2    50   Input ~ 0
BAT_MEASUREMENT
Wire Wire Line
	4900 2450 4950 2450
Text GLabel 3850 1350 0    50   Input ~ 0
MOSFET1
Text GLabel 3850 1450 0    50   Input ~ 0
MOSFET2
Text GLabel 3850 1550 0    50   Input ~ 0
MOSFET3
Text GLabel 3850 2450 0    50   Input ~ 0
MOSFET4
Wire Wire Line
	3850 1350 3900 1350
Wire Wire Line
	3850 1450 3900 1450
Wire Wire Line
	3850 1550 3900 1550
Wire Wire Line
	4900 1950 4950 1950
Wire Wire Line
	4900 2050 4950 2050
$Comp
L Connector_Generic:Conn_01x04 J2
U 1 1 5CB146E0
P 1150 1100
F 0 "J2" H 1150 1300 50  0000 C CNN
F 1 "SERIAL_CONNECTOR" V 1250 1050 50  0001 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical" H 1150 1100 50  0001 C CNN
F 3 "~" H 1150 1100 50  0001 C CNN
	1    1150 1100
	-1   0    0    1   
$EndComp
$Comp
L power:+5V #PWR0104
U 1 1 5CB157F5
P 1400 850
F 0 "#PWR0104" H 1400 700 50  0001 C CNN
F 1 "+5V" H 1415 1019 50  0000 C CNN
F 2 "" H 1400 850 50  0001 C CNN
F 3 "" H 1400 850 50  0001 C CNN
	1    1400 850 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0105
U 1 1 5CB160C8
P 1400 1250
F 0 "#PWR0105" H 1400 1000 50  0001 C CNN
F 1 "GND" H 1400 1100 50  0000 C CNN
F 2 "" H 1400 1250 50  0001 C CNN
F 3 "" H 1400 1250 50  0001 C CNN
	1    1400 1250
	1    0    0    -1  
$EndComp
Text GLabel 1400 1000 2    50   Input ~ 0
SERIAL_RX
Text GLabel 1400 1100 2    50   Input ~ 0
SERIAL_TX
Wire Wire Line
	1350 900  1400 900 
Wire Wire Line
	1400 900  1400 850 
Wire Wire Line
	1350 1000 1400 1000
Wire Wire Line
	1350 1100 1400 1100
Wire Wire Line
	1350 1200 1400 1200
Wire Wire Line
	1400 1200 1400 1250
$Comp
L Connector_Generic:Conn_01x04 J5
U 1 1 5CB17F51
P 2400 1100
F 0 "J5" H 2400 1300 50  0000 C CNN
F 1 "I2C_CONNECTOR" V 2500 1050 50  0001 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical" H 2400 1100 50  0001 C CNN
F 3 "~" H 2400 1100 50  0001 C CNN
	1    2400 1100
	-1   0    0    1   
$EndComp
$Comp
L power:+5V #PWR0106
U 1 1 5CB18891
P 2650 850
F 0 "#PWR0106" H 2650 700 50  0001 C CNN
F 1 "+5V" H 2665 1019 50  0000 C CNN
F 2 "" H 2650 850 50  0001 C CNN
F 3 "" H 2650 850 50  0001 C CNN
	1    2650 850 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0107
U 1 1 5CB18BF4
P 2650 1250
F 0 "#PWR0107" H 2650 1000 50  0001 C CNN
F 1 "GND" H 2650 1100 50  0000 C CNN
F 2 "" H 2650 1250 50  0001 C CNN
F 3 "" H 2650 1250 50  0001 C CNN
	1    2650 1250
	1    0    0    -1  
$EndComp
Text GLabel 2650 1000 2    50   Input ~ 0
SDA
Text GLabel 2650 1100 2    50   Input ~ 0
SCL
Wire Wire Line
	2600 1000 2650 1000
Wire Wire Line
	2600 900  2650 900 
Wire Wire Line
	2650 900  2650 850 
Wire Wire Line
	2600 1100 2650 1100
Wire Wire Line
	2600 1200 2650 1200
Wire Wire Line
	2650 1200 2650 1250
Wire Wire Line
	9600 1450 9550 1450
Wire Wire Line
	9550 1450 9550 1350
Wire Wire Line
	9550 1350 9600 1350
NoConn ~ 9600 1650
NoConn ~ 9600 2050
NoConn ~ 9600 2150
NoConn ~ 9600 2250
$Comp
L power:+5V #PWR0108
U 1 1 5CB1EB17
P 10000 1000
F 0 "#PWR0108" H 10000 850 50  0001 C CNN
F 1 "+5V" H 10015 1169 50  0000 C CNN
F 2 "" H 10000 1000 50  0001 C CNN
F 3 "" H 10000 1000 50  0001 C CNN
	1    10000 1000
	1    0    0    -1  
$EndComp
Wire Wire Line
	10000 1000 10000 1050
$Comp
L Device:CP C4
U 1 1 5CB20236
P 10550 1000
F 0 "C4" H 10666 1044 50  0000 L CNN
F 1 "100uF/16V" H 10666 957 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x5.4" H 10588 850 50  0001 C CNN
F 3 "~" H 10550 1000 50  0001 C CNN
	1    10550 1000
	1    0    0    -1  
$EndComp
Wire Wire Line
	10200 1050 10200 800 
Wire Wire Line
	10200 800  10550 800 
Wire Wire Line
	10550 800  10550 750 
Wire Wire Line
	10550 800  10550 850 
Connection ~ 10550 800 
Wire Wire Line
	10550 1150 10550 1200
$Comp
L power:GND #PWR0109
U 1 1 5CB22F8D
P 10000 2600
F 0 "#PWR0109" H 10000 2350 50  0001 C CNN
F 1 "GND" H 10000 2450 50  0000 C CNN
F 2 "" H 10000 2600 50  0001 C CNN
F 3 "" H 10000 2600 50  0001 C CNN
	1    10000 2600
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0110
U 1 1 5CB23562
P 10200 2600
F 0 "#PWR0110" H 10200 2350 50  0001 C CNN
F 1 "GND" H 10200 2450 50  0000 C CNN
F 2 "" H 10200 2600 50  0001 C CNN
F 3 "" H 10200 2600 50  0001 C CNN
	1    10200 2600
	1    0    0    -1  
$EndComp
Wire Wire Line
	10000 2550 10000 2600
Wire Wire Line
	10200 2550 10200 2600
$Comp
L power:GND #PWR0111
U 1 1 5CB24DB1
P 10550 1200
F 0 "#PWR0111" H 10550 950 50  0001 C CNN
F 1 "GND" H 10550 1050 50  0000 C CNN
F 2 "" H 10550 1200 50  0001 C CNN
F 3 "" H 10550 1200 50  0001 C CNN
	1    10550 1200
	1    0    0    -1  
$EndComp
$Comp
L power:+12V #PWR0112
U 1 1 5CB2657A
P 10550 750
F 0 "#PWR0112" H 10550 600 50  0001 C CNN
F 1 "+12V" H 10565 919 50  0000 C CNN
F 2 "" H 10550 750 50  0001 C CNN
F 3 "" H 10550 750 50  0001 C CNN
	1    10550 750 
	1    0    0    -1  
$EndComp
$Comp
L Connector:Screw_Terminal_01x04 J11
U 1 1 5CB2A0E4
P 10750 1750
F 0 "J11" H 10750 1950 50  0000 L CNN
F 1 "STEPPER1_CONN" V 10900 1400 50  0000 L CNN
F 2 "TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-4-5.08_1x04_P5.08mm_Horizontal" H 10750 1750 50  0001 C CNN
F 3 "~" H 10750 1750 50  0001 C CNN
	1    10750 1750
	1    0    0    -1  
$EndComp
Wire Wire Line
	10500 1650 10550 1650
Wire Wire Line
	10500 1750 10550 1750
Wire Wire Line
	10500 1850 10550 1850
Wire Wire Line
	10500 1950 10550 1950
$Comp
L Driver_Motor:Pololu_Breakout_A4988 A3
U 1 1 5CB2FF1E
P 10000 3950
F 0 "A3" H 9800 4700 50  0000 C CNN
F 1 "Stepper2" H 9700 4600 50  0000 C CNN
F 2 "Module:Pololu_Breakout-16_15.2x20.3mm" H 10275 3200 50  0001 L CNN
F 3 "https://www.pololu.com/product/2980/pictures" H 10100 3650 50  0001 C CNN
	1    10000 3950
	1    0    0    -1  
$EndComp
Wire Wire Line
	9600 3650 9550 3650
Wire Wire Line
	9550 3650 9550 3550
Wire Wire Line
	9550 3550 9600 3550
NoConn ~ 9600 3850
NoConn ~ 9600 4250
NoConn ~ 9600 4350
NoConn ~ 9600 4450
$Comp
L power:+5V #PWR0113
U 1 1 5CB2FF2F
P 10000 3200
F 0 "#PWR0113" H 10000 3050 50  0001 C CNN
F 1 "+5V" H 10015 3369 50  0000 C CNN
F 2 "" H 10000 3200 50  0001 C CNN
F 3 "" H 10000 3200 50  0001 C CNN
	1    10000 3200
	1    0    0    -1  
$EndComp
Wire Wire Line
	10000 3200 10000 3250
$Comp
L Device:CP C5
U 1 1 5CB2FF3A
P 10550 3200
F 0 "C5" H 10666 3244 50  0000 L CNN
F 1 "100uF/16V" H 10666 3157 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x5.4" H 10588 3050 50  0001 C CNN
F 3 "~" H 10550 3200 50  0001 C CNN
	1    10550 3200
	1    0    0    -1  
$EndComp
Wire Wire Line
	10200 3250 10200 3000
Wire Wire Line
	10200 3000 10550 3000
Wire Wire Line
	10550 3000 10550 2950
Wire Wire Line
	10550 3000 10550 3050
Connection ~ 10550 3000
Wire Wire Line
	10550 3350 10550 3400
$Comp
L power:GND #PWR0114
U 1 1 5CB2FF4A
P 10000 4800
F 0 "#PWR0114" H 10000 4550 50  0001 C CNN
F 1 "GND" H 10000 4650 50  0000 C CNN
F 2 "" H 10000 4800 50  0001 C CNN
F 3 "" H 10000 4800 50  0001 C CNN
	1    10000 4800
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0115
U 1 1 5CB2FF54
P 10200 4800
F 0 "#PWR0115" H 10200 4550 50  0001 C CNN
F 1 "GND" H 10200 4650 50  0000 C CNN
F 2 "" H 10200 4800 50  0001 C CNN
F 3 "" H 10200 4800 50  0001 C CNN
	1    10200 4800
	1    0    0    -1  
$EndComp
Wire Wire Line
	10000 4750 10000 4800
Wire Wire Line
	10200 4750 10200 4800
$Comp
L power:GND #PWR0116
U 1 1 5CB2FF60
P 10550 3400
F 0 "#PWR0116" H 10550 3150 50  0001 C CNN
F 1 "GND" H 10550 3250 50  0000 C CNN
F 2 "" H 10550 3400 50  0001 C CNN
F 3 "" H 10550 3400 50  0001 C CNN
	1    10550 3400
	1    0    0    -1  
$EndComp
$Comp
L power:+12V #PWR0117
U 1 1 5CB2FF6A
P 10550 2950
F 0 "#PWR0117" H 10550 2800 50  0001 C CNN
F 1 "+12V" H 10565 3119 50  0000 C CNN
F 2 "" H 10550 2950 50  0001 C CNN
F 3 "" H 10550 2950 50  0001 C CNN
	1    10550 2950
	1    0    0    -1  
$EndComp
$Comp
L Connector:Screw_Terminal_01x04 J12
U 1 1 5CB2FF74
P 10750 3950
F 0 "J12" H 10750 4150 50  0000 L CNN
F 1 "STEPPER2_CONN" V 10900 3600 50  0000 L CNN
F 2 "TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-4-5.08_1x04_P5.08mm_Horizontal" H 10750 3950 50  0001 C CNN
F 3 "~" H 10750 3950 50  0001 C CNN
	1    10750 3950
	1    0    0    -1  
$EndComp
Wire Wire Line
	10500 3850 10550 3850
Wire Wire Line
	10500 3950 10550 3950
Wire Wire Line
	10500 4050 10550 4050
Wire Wire Line
	10500 4150 10550 4150
Text GLabel 9550 1850 0    50   Input ~ 0
STEPPER1_DIR
Text GLabel 9550 1750 0    50   Input ~ 0
STEPPER1_STEP
Text GLabel 9550 4050 0    50   Input ~ 0
STEPPER2_DIR
Text GLabel 9550 3950 0    50   Input ~ 0
STEPPER2_STEP
Wire Wire Line
	9550 3950 9600 3950
Wire Wire Line
	9600 4050 9550 4050
Wire Wire Line
	9550 1750 9600 1750
Wire Wire Line
	9550 1850 9600 1850
$Comp
L Connector:Screw_Terminal_01x02 J1
U 1 1 5CB3BF63
P 750 2550
F 0 "J1" H 750 2300 50  0000 C CNN
F 1 "INPUT_12V_RAW" V 850 2500 50  0000 C CNN
F 2 "TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal" H 750 2550 50  0001 C CNN
F 3 "~" H 750 2550 50  0001 C CNN
	1    750  2550
	-1   0    0    1   
$EndComp
$Comp
L Device:CP C2
U 1 1 5CB3D8B4
P 2050 2550
F 0 "C2" H 2100 2650 50  0000 L CNN
F 1 "100uF/16V" H 2050 2400 43  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x5.4" H 2088 2400 50  0001 C CNN
F 3 "~" H 2050 2550 50  0001 C CNN
	1    2050 2550
	1    0    0    -1  
$EndComp
$Comp
L Device:C C1
U 1 1 5CB3F592
P 1600 2550
F 0 "C1" H 1650 2650 50  0000 L CNN
F 1 "100nF/16V" H 1600 2400 43  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 1638 2400 50  0001 C CNN
F 3 "~" H 1600 2550 50  0001 C CNN
	1    1600 2550
	1    0    0    -1  
$EndComp
Wire Wire Line
	2050 2350 2050 2400
Wire Wire Line
	1600 2400 1600 2350
Connection ~ 1600 2350
Wire Wire Line
	1600 2350 2050 2350
Wire Wire Line
	2050 2750 2050 2700
Wire Wire Line
	1600 2700 1600 2750
Connection ~ 1600 2750
Wire Wire Line
	1600 2750 2050 2750
$Comp
L Regulator_Linear:L7805 U1
U 1 1 5CB49B40
P 2450 2350
F 0 "U1" H 2450 2586 50  0000 C CNN
F 1 "L7805" H 2450 2499 50  0000 C CNN
F 2 "Package_TO_SOT_SMD:TO-252-2" H 2475 2200 50  0001 L CIN
F 3 "http://www.st.com/content/ccc/resource/technical/document/datasheet/41/4f/b3/b0/12/d4/47/88/CD00000444.pdf/files/CD00000444.pdf/jcr:content/translations/en.CD00000444.pdf" H 2450 2300 50  0001 C CNN
	1    2450 2350
	1    0    0    -1  
$EndComp
Wire Wire Line
	2050 2750 2450 2750
Wire Wire Line
	2450 2750 2450 2650
Connection ~ 2050 2750
Wire Wire Line
	2050 2350 2150 2350
Connection ~ 2050 2350
$Comp
L Device:CP C3
U 1 1 5CB4F3D2
P 2850 2550
F 0 "C3" H 2950 2650 50  0000 L CNN
F 1 "100uF/16V" H 2500 2400 43  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x5.4" H 2888 2400 50  0001 C CNN
F 3 "~" H 2850 2550 50  0001 C CNN
	1    2850 2550
	1    0    0    -1  
$EndComp
Wire Wire Line
	2750 2350 2850 2350
Wire Wire Line
	2850 2350 2850 2300
Wire Wire Line
	2850 2350 2850 2400
Connection ~ 2850 2350
Wire Wire Line
	2450 2750 2850 2750
Wire Wire Line
	2850 2750 2850 2700
Connection ~ 2450 2750
$Comp
L power:GND #PWR0118
U 1 1 5CB56DBA
P 2450 2800
F 0 "#PWR0118" H 2450 2550 50  0001 C CNN
F 1 "GND" H 2450 2650 50  0000 C CNN
F 2 "" H 2450 2800 50  0001 C CNN
F 3 "" H 2450 2800 50  0001 C CNN
	1    2450 2800
	1    0    0    -1  
$EndComp
Wire Wire Line
	2450 2750 2450 2800
$Comp
L power:+12V #PWR0119
U 1 1 5CB59C9D
P 1600 2300
F 0 "#PWR0119" H 1600 2150 50  0001 C CNN
F 1 "+12V" H 1615 2469 50  0000 C CNN
F 2 "" H 1600 2300 50  0001 C CNN
F 3 "" H 1600 2300 50  0001 C CNN
	1    1600 2300
	1    0    0    -1  
$EndComp
Wire Wire Line
	1600 2300 1600 2350
$Comp
L power:+5V #PWR0120
U 1 1 5CB5D6AF
P 2850 2300
F 0 "#PWR0120" H 2850 2150 50  0001 C CNN
F 1 "+5V" H 2865 2469 50  0000 C CNN
F 2 "" H 2850 2300 50  0001 C CNN
F 3 "" H 2850 2300 50  0001 C CNN
	1    2850 2300
	1    0    0    -1  
$EndComp
$Comp
L Device:R R1
U 1 1 5CB711AA
P 7550 4550
F 0 "R1" V 7650 4600 50  0000 L CNN
F 1 "2K2" V 7650 4400 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 7480 4550 50  0001 C CNN
F 3 "~" H 7550 4550 50  0001 C CNN
	1    7550 4550
	0    1    1    0   
$EndComp
$Comp
L Device:R R2
U 1 1 5CB71846
P 7150 4550
F 0 "R2" V 7250 4600 50  0000 L CNN
F 1 "1K" V 7250 4400 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 7080 4550 50  0001 C CNN
F 3 "~" H 7150 4550 50  0001 C CNN
	1    7150 4550
	0    1    1    0   
$EndComp
$Comp
L power:+12V #PWR0121
U 1 1 5CB71C61
P 7750 4550
F 0 "#PWR0121" H 7750 4400 50  0001 C CNN
F 1 "+12V" V 7750 4750 50  0000 C CNN
F 2 "" H 7750 4550 50  0001 C CNN
F 3 "" H 7750 4550 50  0001 C CNN
	1    7750 4550
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR0122
U 1 1 5CB72336
P 6950 4550
F 0 "#PWR0122" H 6950 4300 50  0001 C CNN
F 1 "GND" V 6950 4350 50  0000 C CNN
F 2 "" H 6950 4550 50  0001 C CNN
F 3 "" H 6950 4550 50  0001 C CNN
	1    6950 4550
	0    1    1    0   
$EndComp
Wire Wire Line
	7750 4550 7700 4550
Wire Wire Line
	7000 4550 6950 4550
Wire Wire Line
	7400 4550 7350 4550
Connection ~ 7350 4550
Wire Wire Line
	7350 4550 7300 4550
Text GLabel 7700 4900 0    50   Input ~ 0
BAT_MEASUREMENT
$Comp
L Actuator_2020-rescue:SANYOU_SRD_Form_B-Relay K1
U 1 1 5CC29016
P 5150 4000
F 0 "K1" V 5400 3700 50  0000 L CNN
F 1 "SANYOU_SRD_Form_B" V 5500 3400 50  0000 L CNN
F 2 "Relay_THT:Relay_SPDT_SANYOU_SRD_Series_Form_C" H 6450 3950 50  0001 C CNN
F 3 "http://www.sanyourelay.ca/public/products/pdf/SRD.pdf" H 5150 4000 50  0001 C CNN
	1    5150 4000
	1    0    0    -1  
$EndComp
$Comp
L Transistor_BJT:BC547 Q6
U 1 1 5CC29EF0
P 4850 4600
F 0 "Q6" H 5041 4644 50  0000 L CNN
F 1 "BC547" H 5041 4557 50  0000 L CNN
F 2 "Package_TO_SOT_THT:TO-92_Inline" H 5050 4525 50  0001 L CIN
F 3 "http://www.fairchildsemi.com/ds/BC/BC547.pdf" H 4850 4600 50  0001 L CNN
	1    4850 4600
	1    0    0    -1  
$EndComp
$Comp
L Device:R R15
U 1 1 5CC2B6BD
P 4450 4600
F 0 "R15" V 4350 4650 50  0000 C CNN
F 1 "1K" V 4350 4500 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 4380 4600 50  0001 C CNN
F 3 "~" H 4450 4600 50  0001 C CNN
	1    4450 4600
	0    1    1    0   
$EndComp
$Comp
L Device:R R13
U 1 1 5CC2BB1C
P 4250 4800
F 0 "R13" V 4150 4900 50  0000 C CNN
F 1 "10K" V 4150 4750 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 4180 4800 50  0001 C CNN
F 3 "~" H 4250 4800 50  0001 C CNN
	1    4250 4800
	-1   0    0    1   
$EndComp
$Comp
L Device:D D7
U 1 1 5CC2C10A
P 4550 4000
F 0 "D7" V 4506 4079 50  0000 L CNN
F 1 "D" V 4593 4079 50  0000 L CNN
F 2 "Diode_SMD:D_SMA" H 4550 4000 50  0001 C CNN
F 3 "~" H 4550 4000 50  0001 C CNN
	1    4550 4000
	0    1    1    0   
$EndComp
$Comp
L power:+12V #PWR0138
U 1 1 5CC2CFF0
P 4950 3500
F 0 "#PWR0138" H 4950 3350 50  0001 C CNN
F 1 "+12V" H 4965 3669 50  0000 C CNN
F 2 "" H 4950 3500 50  0001 C CNN
F 3 "" H 4950 3500 50  0001 C CNN
	1    4950 3500
	1    0    0    -1  
$EndComp
Wire Wire Line
	4950 3650 4550 3650
Wire Wire Line
	4550 3650 4550 3850
Connection ~ 4950 3650
Wire Wire Line
	4950 3650 4950 3700
Wire Wire Line
	4550 4150 4550 4350
Wire Wire Line
	4550 4350 4950 4350
Wire Wire Line
	4950 4350 4950 4300
Wire Wire Line
	4950 4350 4950 4400
Connection ~ 4950 4350
$Comp
L power:GND #PWR0139
U 1 1 5CC58176
P 4950 5000
F 0 "#PWR0139" H 4950 4750 50  0001 C CNN
F 1 "GND" H 4950 4850 50  0000 C CNN
F 2 "" H 4950 5000 50  0001 C CNN
F 3 "" H 4950 5000 50  0001 C CNN
	1    4950 5000
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0140
U 1 1 5CC58ECB
P 4250 5000
F 0 "#PWR0140" H 4250 4750 50  0001 C CNN
F 1 "GND" H 4250 4850 50  0000 C CNN
F 2 "" H 4250 5000 50  0001 C CNN
F 3 "" H 4250 5000 50  0001 C CNN
	1    4250 5000
	1    0    0    -1  
$EndComp
Text GLabel 4200 4600 0    50   Input ~ 0
RELAY1
Wire Wire Line
	4200 4600 4250 4600
Wire Wire Line
	4250 4650 4250 4600
Connection ~ 4250 4600
Wire Wire Line
	4250 4600 4300 4600
Wire Wire Line
	4250 4950 4250 5000
Wire Wire Line
	4600 4600 4650 4600
Wire Wire Line
	4950 4800 4950 5000
$Comp
L Connector:Screw_Terminal_01x02 J9
U 1 1 5CC91AEA
P 5600 3550
F 0 "J9" H 5550 3650 50  0000 L CNN
F 1 "RELAY1_CONN" V 5700 3250 50  0000 L CNN
F 2 "TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal" H 5600 3550 50  0001 C CNN
F 3 "~" H 5600 3550 50  0001 C CNN
	1    5600 3550
	1    0    0    -1  
$EndComp
Wire Wire Line
	5350 3700 5350 3650
Wire Wire Line
	5350 3650 5400 3650
Wire Wire Line
	5400 3550 5350 3550
Wire Wire Line
	5350 3550 5350 3500
$Comp
L power:GND #PWR0141
U 1 1 5CCA9E90
P 5350 5000
F 0 "#PWR0141" H 5350 4750 50  0001 C CNN
F 1 "GND" H 5350 4850 50  0000 C CNN
F 2 "" H 5350 5000 50  0001 C CNN
F 3 "" H 5350 5000 50  0001 C CNN
	1    5350 5000
	1    0    0    -1  
$EndComp
Wire Wire Line
	5350 4300 5350 5000
$Comp
L power:+12V #PWR0142
U 1 1 5CCB6114
P 5350 3500
F 0 "#PWR0142" H 5350 3350 50  0001 C CNN
F 1 "+12V" H 5365 3669 50  0000 C CNN
F 2 "" H 5350 3500 50  0001 C CNN
F 3 "" H 5350 3500 50  0001 C CNN
	1    5350 3500
	1    0    0    -1  
$EndComp
Wire Wire Line
	4950 3500 4950 3650
$Comp
L Actuator_2020-rescue:SANYOU_SRD_Form_B-Relay K2
U 1 1 5CCDED83
P 5150 6050
F 0 "K2" V 5400 5750 50  0000 L CNN
F 1 "SANYOU_SRD_Form_B" V 5500 5450 50  0000 L CNN
F 2 "Relay_THT:Relay_SPDT_SANYOU_SRD_Series_Form_C" H 6450 6000 50  0001 C CNN
F 3 "http://www.sanyourelay.ca/public/products/pdf/SRD.pdf" H 5150 6050 50  0001 C CNN
	1    5150 6050
	1    0    0    -1  
$EndComp
$Comp
L Transistor_BJT:BC547 Q7
U 1 1 5CCDED8D
P 4850 6650
F 0 "Q7" H 5041 6694 50  0000 L CNN
F 1 "BC547" H 5041 6607 50  0000 L CNN
F 2 "Package_TO_SOT_THT:TO-92_Inline" H 5050 6575 50  0001 L CIN
F 3 "http://www.fairchildsemi.com/ds/BC/BC547.pdf" H 4850 6650 50  0001 L CNN
	1    4850 6650
	1    0    0    -1  
$EndComp
$Comp
L Device:R R16
U 1 1 5CCDED97
P 4450 6650
F 0 "R16" V 4350 6700 50  0000 C CNN
F 1 "1K" V 4350 6550 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 4380 6650 50  0001 C CNN
F 3 "~" H 4450 6650 50  0001 C CNN
	1    4450 6650
	0    1    1    0   
$EndComp
$Comp
L Device:R R14
U 1 1 5CCDEDA1
P 4250 6850
F 0 "R14" V 4150 6950 50  0000 C CNN
F 1 "10K" V 4150 6800 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 4180 6850 50  0001 C CNN
F 3 "~" H 4250 6850 50  0001 C CNN
	1    4250 6850
	-1   0    0    1   
$EndComp
$Comp
L Device:D D8
U 1 1 5CCDEDAB
P 4550 6050
F 0 "D8" V 4506 6129 50  0000 L CNN
F 1 "D" V 4593 6129 50  0000 L CNN
F 2 "Diode_SMD:D_SMA" H 4550 6050 50  0001 C CNN
F 3 "~" H 4550 6050 50  0001 C CNN
	1    4550 6050
	0    1    1    0   
$EndComp
$Comp
L power:+12V #PWR0143
U 1 1 5CCDEDB5
P 4950 5550
F 0 "#PWR0143" H 4950 5400 50  0001 C CNN
F 1 "+12V" H 4965 5719 50  0000 C CNN
F 2 "" H 4950 5550 50  0001 C CNN
F 3 "" H 4950 5550 50  0001 C CNN
	1    4950 5550
	1    0    0    -1  
$EndComp
Wire Wire Line
	4950 5700 4550 5700
Wire Wire Line
	4550 5700 4550 5900
Connection ~ 4950 5700
Wire Wire Line
	4950 5700 4950 5750
Wire Wire Line
	4550 6200 4550 6400
Wire Wire Line
	4550 6400 4950 6400
Wire Wire Line
	4950 6400 4950 6350
Wire Wire Line
	4950 6400 4950 6450
Connection ~ 4950 6400
$Comp
L power:GND #PWR0144
U 1 1 5CCDEDC8
P 4950 7050
F 0 "#PWR0144" H 4950 6800 50  0001 C CNN
F 1 "GND" H 4950 6900 50  0000 C CNN
F 2 "" H 4950 7050 50  0001 C CNN
F 3 "" H 4950 7050 50  0001 C CNN
	1    4950 7050
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0145
U 1 1 5CCDEDD2
P 4250 7050
F 0 "#PWR0145" H 4250 6800 50  0001 C CNN
F 1 "GND" H 4250 6900 50  0000 C CNN
F 2 "" H 4250 7050 50  0001 C CNN
F 3 "" H 4250 7050 50  0001 C CNN
	1    4250 7050
	1    0    0    -1  
$EndComp
Text GLabel 4200 6650 0    50   Input ~ 0
RELAY2
Wire Wire Line
	4200 6650 4250 6650
Wire Wire Line
	4250 6700 4250 6650
Connection ~ 4250 6650
Wire Wire Line
	4250 6650 4300 6650
Wire Wire Line
	4250 7000 4250 7050
Wire Wire Line
	4600 6650 4650 6650
Wire Wire Line
	4950 6850 4950 7050
$Comp
L Connector:Screw_Terminal_01x02 J10
U 1 1 5CCDEDE4
P 5600 5600
F 0 "J10" H 5500 5700 50  0000 L CNN
F 1 "RELAY2_CONN" V 5700 5350 50  0000 L CNN
F 2 "TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal" H 5600 5600 50  0001 C CNN
F 3 "~" H 5600 5600 50  0001 C CNN
	1    5600 5600
	1    0    0    -1  
$EndComp
Wire Wire Line
	5350 5750 5350 5700
Wire Wire Line
	5350 5700 5400 5700
Wire Wire Line
	5400 5600 5350 5600
Wire Wire Line
	5350 5600 5350 5550
$Comp
L power:GND #PWR0146
U 1 1 5CCDEDF2
P 5350 7050
F 0 "#PWR0146" H 5350 6800 50  0001 C CNN
F 1 "GND" H 5350 6900 50  0000 C CNN
F 2 "" H 5350 7050 50  0001 C CNN
F 3 "" H 5350 7050 50  0001 C CNN
	1    5350 7050
	1    0    0    -1  
$EndComp
Wire Wire Line
	5350 6350 5350 7050
$Comp
L power:+12V #PWR0147
U 1 1 5CCDEDFD
P 5350 5550
F 0 "#PWR0147" H 5350 5400 50  0001 C CNN
F 1 "+12V" H 5365 5719 50  0000 C CNN
F 2 "" H 5350 5550 50  0001 C CNN
F 3 "" H 5350 5550 50  0001 C CNN
	1    5350 5550
	1    0    0    -1  
$EndComp
Wire Wire Line
	4950 5550 4950 5700
$Comp
L Connector_Generic:Conn_01x04 J8
U 1 1 5CC457B7
P 800 1100
F 0 "J8" H 800 1300 50  0000 C CNN
F 1 "SERIAL_CONNECTOR" H 600 800 50  0000 C CNN
F 2 "Connector_JST:JST_EH_B04B-EH-A_1x04_P2.50mm_Vertical" H 800 1100 50  0001 C CNN
F 3 "~" H 800 1100 50  0001 C CNN
	1    800  1100
	-1   0    0    1   
$EndComp
Wire Wire Line
	1000 900  1350 900 
Connection ~ 1350 900 
Wire Wire Line
	1000 1000 1350 1000
Connection ~ 1350 1000
Wire Wire Line
	1000 1100 1350 1100
Connection ~ 1350 1100
Wire Wire Line
	1000 1200 1350 1200
Connection ~ 1350 1200
$Comp
L Connector_Generic:Conn_01x04 J13
U 1 1 5CC8F207
P 2050 1100
F 0 "J13" H 2050 1300 50  0000 C CNN
F 1 "I2C_CONNECTOR" H 1850 800 50  0000 C CNN
F 2 "Connector_JST:JST_EH_B04B-EH-A_1x04_P2.50mm_Vertical" H 2050 1100 50  0001 C CNN
F 3 "~" H 2050 1100 50  0001 C CNN
	1    2050 1100
	-1   0    0    1   
$EndComp
Wire Wire Line
	2250 900  2600 900 
Connection ~ 2600 900 
Wire Wire Line
	2250 1000 2600 1000
Connection ~ 2600 1000
Wire Wire Line
	2250 1100 2600 1100
Connection ~ 2600 1100
Wire Wire Line
	2250 1200 2600 1200
Connection ~ 2600 1200
$Comp
L Transistor_FET:VP0610T Q5
U 1 1 5CCFE9B9
P 1250 2450
F 0 "Q5" V 1587 2450 50  0000 C CNN
F 1 "AP2305GN-HF-3" V 1500 2500 50  0000 C CNN
F 2 "Package_TO_SOT_SMD:SOT-23" H 1450 2375 50  0001 L CIN
F 3 "https://www.tme.eu/Document/26bedb68372be83c2861fdd841ae88e6/AP2305GN-3.pdf" H 1250 2450 50  0001 L CNN
	1    1250 2450
	0    -1   -1   0   
$EndComp
Wire Wire Line
	950  2450 1000 2450
Wire Wire Line
	1250 2650 1250 2750
Wire Wire Line
	1250 2750 1600 2750
Wire Wire Line
	950  2550 1000 2550
Wire Wire Line
	1000 2550 1000 2750
Wire Wire Line
	1000 2750 1250 2750
Connection ~ 1250 2750
Wire Wire Line
	1000 2450 1000 2350
Wire Wire Line
	1000 2350 1050 2350
Wire Wire Line
	1450 2350 1600 2350
Text Notes 650  2900 0    50   ~ 0
11V-15V
Wire Wire Line
	7350 4800 7750 4800
Wire Wire Line
	7750 4800 7750 4900
Wire Wire Line
	7750 4900 7700 4900
Wire Wire Line
	7350 4550 7350 4800
Wire Wire Line
	3850 2450 3900 2450
$Comp
L Transistor_FET:BS170 Q2
U 1 1 5CB848A4
P 1650 6300
F 0 "Q2" H 1856 6344 50  0000 L CNN
F 1 "BS170" H 1856 6257 50  0000 L CNN
F 2 "Package_TO_SOT_THT:TO-92_Inline" H 1850 6225 50  0001 L CIN
F 3 "http://www.fairchildsemi.com/ds/BS/BS170.pdf" H 1650 6300 50  0001 L CNN
	1    1650 6300
	1    0    0    -1  
$EndComp
$Comp
L Device:R R6
U 1 1 5CB85EB9
P 1250 6300
F 0 "R6" V 1150 6350 50  0000 C CNN
F 1 "1K" V 1150 6200 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 1180 6300 50  0001 C CNN
F 3 "~" H 1250 6300 50  0001 C CNN
	1    1250 6300
	0    1    1    0   
$EndComp
$Comp
L Device:R R4
U 1 1 5CB8656E
P 1050 6500
F 0 "R4" V 950 6600 50  0000 C CNN
F 1 "10K" V 950 6450 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 980 6500 50  0001 C CNN
F 3 "~" H 1050 6500 50  0001 C CNN
	1    1050 6500
	-1   0    0    1   
$EndComp
Wire Wire Line
	1100 6300 1050 6300
Wire Wire Line
	1050 6350 1050 6300
Connection ~ 1050 6300
Wire Wire Line
	1050 6300 1000 6300
Wire Wire Line
	1400 6300 1450 6300
Wire Wire Line
	1750 6500 1750 6700
Wire Wire Line
	1050 6650 1050 6700
$Comp
L power:GND #PWR0123
U 1 1 5CB965D4
P 1050 6700
F 0 "#PWR0123" H 1050 6450 50  0001 C CNN
F 1 "GND" H 1050 6550 50  0000 C CNN
F 2 "" H 1050 6700 50  0001 C CNN
F 3 "" H 1050 6700 50  0001 C CNN
	1    1050 6700
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0124
U 1 1 5CB96BE5
P 1750 6700
F 0 "#PWR0124" H 1750 6450 50  0001 C CNN
F 1 "GND" H 1750 6550 50  0000 C CNN
F 2 "" H 1750 6700 50  0001 C CNN
F 3 "" H 1750 6700 50  0001 C CNN
	1    1750 6700
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x02 J4
U 1 1 5CB9EE0F
P 1450 5900
F 0 "J4" V 1450 6050 50  0000 C CNN
F 1 "MOSFET3_CONN" V 1550 5800 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical" H 1450 5900 50  0001 C CNN
F 3 "~" H 1450 5900 50  0001 C CNN
	1    1450 5900
	-1   0    0    1   
$EndComp
$Comp
L Device:D D3
U 1 1 5CB9FDAC
P 1900 5850
F 0 "D3" V 1856 5929 50  0000 L CNN
F 1 "D" V 1943 5929 50  0000 L CNN
F 2 "Diode_SMD:D_SMA" H 1900 5850 50  0001 C CNN
F 3 "~" H 1900 5850 50  0001 C CNN
	1    1900 5850
	0    1    1    0   
$EndComp
Wire Wire Line
	1750 6100 1750 6050
Wire Wire Line
	1900 6050 1900 6000
Wire Wire Line
	1750 6050 1900 6050
Wire Wire Line
	1650 5900 1700 5900
Wire Wire Line
	1700 5900 1700 6050
Wire Wire Line
	1700 6050 1750 6050
Connection ~ 1750 6050
Wire Wire Line
	1650 5800 1700 5800
Wire Wire Line
	1700 5800 1700 5650
Wire Wire Line
	1700 5650 1800 5650
Wire Wire Line
	1900 5700 1900 5650
$Comp
L power:+12V #PWR0125
U 1 1 5CBAFC88
P 1800 5600
F 0 "#PWR0125" H 1800 5450 50  0001 C CNN
F 1 "+12V" H 1815 5769 50  0000 C CNN
F 2 "" H 1800 5600 50  0001 C CNN
F 3 "" H 1800 5600 50  0001 C CNN
	1    1800 5600
	1    0    0    -1  
$EndComp
Wire Wire Line
	1800 5600 1800 5650
Connection ~ 1800 5650
Wire Wire Line
	1800 5650 1900 5650
Text GLabel 1000 6300 0    50   Input ~ 0
MOSFET3
$Comp
L Transistor_FET:BS170 Q4
U 1 1 5CBBCF37
P 3250 6300
F 0 "Q4" H 3456 6344 50  0000 L CNN
F 1 "BS170" H 3456 6257 50  0000 L CNN
F 2 "Package_TO_SOT_THT:TO-92_Inline" H 3450 6225 50  0001 L CIN
F 3 "http://www.fairchildsemi.com/ds/BS/BS170.pdf" H 3250 6300 50  0001 L CNN
	1    3250 6300
	1    0    0    -1  
$EndComp
$Comp
L Device:R R11
U 1 1 5CBBCF41
P 2850 6300
F 0 "R11" V 2750 6350 50  0000 C CNN
F 1 "1K" V 2750 6200 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 2780 6300 50  0001 C CNN
F 3 "~" H 2850 6300 50  0001 C CNN
	1    2850 6300
	0    1    1    0   
$EndComp
$Comp
L Device:R R8
U 1 1 5CBBCF4B
P 2650 6500
F 0 "R8" V 2550 6600 50  0000 C CNN
F 1 "10K" V 2550 6450 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 2580 6500 50  0001 C CNN
F 3 "~" H 2650 6500 50  0001 C CNN
	1    2650 6500
	-1   0    0    1   
$EndComp
Wire Wire Line
	2700 6300 2650 6300
Wire Wire Line
	2650 6350 2650 6300
Connection ~ 2650 6300
Wire Wire Line
	2650 6300 2600 6300
Wire Wire Line
	3000 6300 3050 6300
Wire Wire Line
	3350 6500 3350 6700
Wire Wire Line
	2650 6650 2650 6700
$Comp
L power:GND #PWR0126
U 1 1 5CBBCF5C
P 2650 6700
F 0 "#PWR0126" H 2650 6450 50  0001 C CNN
F 1 "GND" H 2650 6550 50  0000 C CNN
F 2 "" H 2650 6700 50  0001 C CNN
F 3 "" H 2650 6700 50  0001 C CNN
	1    2650 6700
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0127
U 1 1 5CBBCF66
P 3350 6700
F 0 "#PWR0127" H 3350 6450 50  0001 C CNN
F 1 "GND" H 3350 6550 50  0000 C CNN
F 2 "" H 3350 6700 50  0001 C CNN
F 3 "" H 3350 6700 50  0001 C CNN
	1    3350 6700
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x02 J7
U 1 1 5CBBCF70
P 3050 5900
F 0 "J7" V 3050 6050 50  0000 C CNN
F 1 "MOSFET4_CONN" V 3150 5800 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical" H 3050 5900 50  0001 C CNN
F 3 "~" H 3050 5900 50  0001 C CNN
	1    3050 5900
	-1   0    0    1   
$EndComp
$Comp
L Device:D D5
U 1 1 5CBBCF7A
P 3500 5850
F 0 "D5" V 3456 5929 50  0000 L CNN
F 1 "D" V 3543 5929 50  0000 L CNN
F 2 "Diode_SMD:D_SMA" H 3500 5850 50  0001 C CNN
F 3 "~" H 3500 5850 50  0001 C CNN
	1    3500 5850
	0    1    1    0   
$EndComp
Wire Wire Line
	3350 6100 3350 6050
Wire Wire Line
	3500 6050 3500 6000
Wire Wire Line
	3350 6050 3500 6050
Wire Wire Line
	3250 5900 3300 5900
Wire Wire Line
	3300 5900 3300 6050
Wire Wire Line
	3300 6050 3350 6050
Connection ~ 3350 6050
Wire Wire Line
	3250 5800 3300 5800
Wire Wire Line
	3300 5800 3300 5650
Wire Wire Line
	3300 5650 3400 5650
Wire Wire Line
	3500 5700 3500 5650
$Comp
L power:+12V #PWR0128
U 1 1 5CBBCF8F
P 3400 5600
F 0 "#PWR0128" H 3400 5450 50  0001 C CNN
F 1 "+12V" H 3415 5769 50  0000 C CNN
F 2 "" H 3400 5600 50  0001 C CNN
F 3 "" H 3400 5600 50  0001 C CNN
	1    3400 5600
	1    0    0    -1  
$EndComp
Wire Wire Line
	3400 5600 3400 5650
Connection ~ 3400 5650
Wire Wire Line
	3400 5650 3500 5650
Text GLabel 2600 6300 0    50   Input ~ 0
MOSFET4
$Comp
L Transistor_FET:BS170 Q1
U 1 1 5CBC524E
P 1650 4700
F 0 "Q1" H 1856 4744 50  0000 L CNN
F 1 "BS170" H 1856 4657 50  0000 L CNN
F 2 "Package_TO_SOT_THT:TO-92_Inline" H 1850 4625 50  0001 L CIN
F 3 "http://www.fairchildsemi.com/ds/BS/BS170.pdf" H 1650 4700 50  0001 L CNN
	1    1650 4700
	1    0    0    -1  
$EndComp
$Comp
L Device:R R5
U 1 1 5CBC5258
P 1250 4700
F 0 "R5" V 1150 4750 50  0000 C CNN
F 1 "1K" V 1150 4600 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 1180 4700 50  0001 C CNN
F 3 "~" H 1250 4700 50  0001 C CNN
	1    1250 4700
	0    1    1    0   
$EndComp
$Comp
L Device:R R3
U 1 1 5CBC5262
P 1050 4900
F 0 "R3" V 950 5000 50  0000 C CNN
F 1 "10K" V 950 4850 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 980 4900 50  0001 C CNN
F 3 "~" H 1050 4900 50  0001 C CNN
	1    1050 4900
	-1   0    0    1   
$EndComp
Wire Wire Line
	1100 4700 1050 4700
Wire Wire Line
	1050 4750 1050 4700
Connection ~ 1050 4700
Wire Wire Line
	1050 4700 1000 4700
Wire Wire Line
	1400 4700 1450 4700
Wire Wire Line
	1750 4900 1750 5100
Wire Wire Line
	1050 5050 1050 5100
$Comp
L power:GND #PWR0129
U 1 1 5CBC5273
P 1050 5100
F 0 "#PWR0129" H 1050 4850 50  0001 C CNN
F 1 "GND" H 1050 4950 50  0000 C CNN
F 2 "" H 1050 5100 50  0001 C CNN
F 3 "" H 1050 5100 50  0001 C CNN
	1    1050 5100
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0130
U 1 1 5CBC527D
P 1750 5100
F 0 "#PWR0130" H 1750 4850 50  0001 C CNN
F 1 "GND" H 1750 4950 50  0000 C CNN
F 2 "" H 1750 5100 50  0001 C CNN
F 3 "" H 1750 5100 50  0001 C CNN
	1    1750 5100
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x02 J3
U 1 1 5CBC5287
P 1450 4300
F 0 "J3" V 1450 4450 50  0000 C CNN
F 1 "MOSFET1_CONN" V 1550 4200 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical" H 1450 4300 50  0001 C CNN
F 3 "~" H 1450 4300 50  0001 C CNN
	1    1450 4300
	-1   0    0    1   
$EndComp
$Comp
L Device:D D2
U 1 1 5CBC5291
P 1900 4250
F 0 "D2" V 1856 4329 50  0000 L CNN
F 1 "D" V 1943 4329 50  0000 L CNN
F 2 "Diode_SMD:D_SMA" H 1900 4250 50  0001 C CNN
F 3 "~" H 1900 4250 50  0001 C CNN
	1    1900 4250
	0    1    1    0   
$EndComp
Wire Wire Line
	1750 4500 1750 4450
Wire Wire Line
	1900 4450 1900 4400
Wire Wire Line
	1750 4450 1900 4450
Wire Wire Line
	1650 4300 1700 4300
Wire Wire Line
	1700 4300 1700 4450
Wire Wire Line
	1700 4450 1750 4450
Connection ~ 1750 4450
Wire Wire Line
	1650 4200 1700 4200
Wire Wire Line
	1700 4200 1700 4050
Wire Wire Line
	1700 4050 1800 4050
Wire Wire Line
	1900 4100 1900 4050
$Comp
L power:+12V #PWR0131
U 1 1 5CBC52A6
P 1800 4000
F 0 "#PWR0131" H 1800 3850 50  0001 C CNN
F 1 "+12V" H 1815 4169 50  0000 C CNN
F 2 "" H 1800 4000 50  0001 C CNN
F 3 "" H 1800 4000 50  0001 C CNN
	1    1800 4000
	1    0    0    -1  
$EndComp
Wire Wire Line
	1800 4000 1800 4050
Connection ~ 1800 4050
Wire Wire Line
	1800 4050 1900 4050
Text GLabel 1000 4700 0    50   Input ~ 0
MOSFET1
$Comp
L Transistor_FET:BS170 Q3
U 1 1 5CBC52B4
P 3250 4700
F 0 "Q3" H 3456 4744 50  0000 L CNN
F 1 "BS170" H 3456 4657 50  0000 L CNN
F 2 "Package_TO_SOT_THT:TO-92_Inline" H 3450 4625 50  0001 L CIN
F 3 "http://www.fairchildsemi.com/ds/BS/BS170.pdf" H 3250 4700 50  0001 L CNN
	1    3250 4700
	1    0    0    -1  
$EndComp
$Comp
L Device:R R10
U 1 1 5CBC52BE
P 2850 4700
F 0 "R10" V 2750 4750 50  0000 C CNN
F 1 "1K" V 2750 4600 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 2780 4700 50  0001 C CNN
F 3 "~" H 2850 4700 50  0001 C CNN
	1    2850 4700
	0    1    1    0   
$EndComp
$Comp
L Device:R R7
U 1 1 5CBC52C8
P 2650 4900
F 0 "R7" V 2550 5000 50  0000 C CNN
F 1 "10K" V 2550 4850 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 2580 4900 50  0001 C CNN
F 3 "~" H 2650 4900 50  0001 C CNN
	1    2650 4900
	-1   0    0    1   
$EndComp
Wire Wire Line
	2700 4700 2650 4700
Wire Wire Line
	2650 4750 2650 4700
Connection ~ 2650 4700
Wire Wire Line
	2650 4700 2600 4700
Wire Wire Line
	3000 4700 3050 4700
Wire Wire Line
	3350 4900 3350 5100
Wire Wire Line
	2650 5050 2650 5100
$Comp
L power:GND #PWR0132
U 1 1 5CBC52D9
P 2650 5100
F 0 "#PWR0132" H 2650 4850 50  0001 C CNN
F 1 "GND" H 2650 4950 50  0000 C CNN
F 2 "" H 2650 5100 50  0001 C CNN
F 3 "" H 2650 5100 50  0001 C CNN
	1    2650 5100
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0133
U 1 1 5CBC52E3
P 3350 5100
F 0 "#PWR0133" H 3350 4850 50  0001 C CNN
F 1 "GND" H 3350 4950 50  0000 C CNN
F 2 "" H 3350 5100 50  0001 C CNN
F 3 "" H 3350 5100 50  0001 C CNN
	1    3350 5100
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x02 J6
U 1 1 5CBC52ED
P 3050 4300
F 0 "J6" V 3050 4450 50  0000 C CNN
F 1 "MOSFET2_CONN" V 3150 4200 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical" H 3050 4300 50  0001 C CNN
F 3 "~" H 3050 4300 50  0001 C CNN
	1    3050 4300
	-1   0    0    1   
$EndComp
$Comp
L Device:D D4
U 1 1 5CBC52F7
P 3500 4250
F 0 "D4" V 3456 4329 50  0000 L CNN
F 1 "D" V 3543 4329 50  0000 L CNN
F 2 "Diode_SMD:D_SMA" H 3500 4250 50  0001 C CNN
F 3 "~" H 3500 4250 50  0001 C CNN
	1    3500 4250
	0    1    1    0   
$EndComp
Wire Wire Line
	3350 4500 3350 4450
Wire Wire Line
	3500 4450 3500 4400
Wire Wire Line
	3350 4450 3500 4450
Wire Wire Line
	3250 4300 3300 4300
Wire Wire Line
	3300 4300 3300 4450
Wire Wire Line
	3300 4450 3350 4450
Connection ~ 3350 4450
Wire Wire Line
	3250 4200 3300 4200
Wire Wire Line
	3300 4200 3300 4050
Wire Wire Line
	3300 4050 3400 4050
Wire Wire Line
	3500 4100 3500 4050
$Comp
L power:+12V #PWR0134
U 1 1 5CBC530C
P 3400 4000
F 0 "#PWR0134" H 3400 3850 50  0001 C CNN
F 1 "+12V" H 3415 4169 50  0000 C CNN
F 2 "" H 3400 4000 50  0001 C CNN
F 3 "" H 3400 4000 50  0001 C CNN
	1    3400 4000
	1    0    0    -1  
$EndComp
Wire Wire Line
	3400 4000 3400 4050
Connection ~ 3400 4050
Wire Wire Line
	3400 4050 3500 4050
Text GLabel 2600 4700 0    50   Input ~ 0
MOSFET2
$Comp
L Actuator_2020-rescue:TLE5206-2G-TLE5206-2G U2
U 1 1 5CC0B60D
P 7000 1650
F 0 "U2" H 7000 2209 50  0000 C CNN
F 1 "TLE5206-2G" H 7000 2122 50  0000 C CNN
F 2 "TLE5206-2G:DPAK127P1500X440-8N" H 7000 1650 50  0001 L BNN
F 3 "" H 7000 1650 50  0001 L BNN
F 4 "None" H 7000 1650 50  0001 L BNN "Field4"
F 5 "Infineon" H 7000 1650 50  0001 L BNN "Field5"
F 6 "Unavailable" H 7000 1650 50  0001 L BNN "Field6"
F 7 "TO-263 Infineon" H 7000 1650 50  0001 L BNN "Field7"
F 8 "Ic h-Bridge 5a Dc Motor D2pak-7 - Tle5206-2g" H 7000 1650 50  0001 L BNN "Field8"
	1    7000 1650
	1    0    0    -1  
$EndComp
$Comp
L Device:CP C8
U 1 1 5CC2EB0D
P 8000 1100
F 0 "C8" V 8050 1150 50  0000 L CNN
F 1 "100uF/16V" V 7850 850 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x5.4" H 8038 950 50  0001 C CNN
F 3 "~" H 8000 1100 50  0001 C CNN
	1    8000 1100
	1    0    0    -1  
$EndComp
$Comp
L Device:C C6
U 1 1 5CC2FF4E
P 7700 1100
F 0 "C6" V 7650 1150 50  0000 L CNN
F 1 "100nF/16V" V 7550 900 43  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 7738 950 50  0001 C CNN
F 3 "~" H 7700 1100 50  0001 C CNN
	1    7700 1100
	1    0    0    -1  
$EndComp
Wire Wire Line
	7400 1350 7450 1350
Wire Wire Line
	7450 1350 7450 900 
Wire Wire Line
	7450 900  7700 900 
Wire Wire Line
	8000 900  8000 950 
Wire Wire Line
	7700 900  7700 950 
Connection ~ 7700 900 
Wire Wire Line
	7700 900  8000 900 
$Comp
L power:GND #PWR0135
U 1 1 5CC50A3D
P 7450 1950
F 0 "#PWR0135" H 7450 1700 50  0001 C CNN
F 1 "GND" V 7450 1750 50  0000 C CNN
F 2 "" H 7450 1950 50  0001 C CNN
F 3 "" H 7450 1950 50  0001 C CNN
	1    7450 1950
	0    -1   -1   0   
$EndComp
Wire Wire Line
	7400 1950 7450 1950
$Comp
L power:GND #PWR0136
U 1 1 5CC610E1
P 7700 1300
F 0 "#PWR0136" H 7700 1050 50  0001 C CNN
F 1 "GND" H 7700 1150 50  0000 C CNN
F 2 "" H 7700 1300 50  0001 C CNN
F 3 "" H 7700 1300 50  0001 C CNN
	1    7700 1300
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0137
U 1 1 5CC6149C
P 8000 1300
F 0 "#PWR0137" H 8000 1050 50  0001 C CNN
F 1 "GND" H 8000 1150 50  0000 C CNN
F 2 "" H 8000 1300 50  0001 C CNN
F 3 "" H 8000 1300 50  0001 C CNN
	1    8000 1300
	1    0    0    -1  
$EndComp
Wire Wire Line
	7700 1250 7700 1300
Wire Wire Line
	8000 1250 8000 1300
$Comp
L power:+12V #PWR0148
U 1 1 5CC8182E
P 8000 850
F 0 "#PWR0148" H 8000 700 50  0001 C CNN
F 1 "+12V" H 8015 1019 50  0000 C CNN
F 2 "" H 8000 850 50  0001 C CNN
F 3 "" H 8000 850 50  0001 C CNN
	1    8000 850 
	1    0    0    -1  
$EndComp
Wire Wire Line
	8000 850  8000 900 
Connection ~ 8000 900 
Text GLabel 6550 1550 0    50   Input ~ 0
DC1_1
Text GLabel 6550 1650 0    50   Input ~ 0
DC1_2
Wire Wire Line
	6550 1550 6600 1550
Wire Wire Line
	6550 1650 6600 1650
Text GLabel 7450 1550 2    50   Input ~ 0
DCOUT1_1
Text GLabel 7450 1650 2    50   Input ~ 0
DCOUT1_2
Wire Wire Line
	7400 1550 7450 1550
Wire Wire Line
	7400 1650 7450 1650
Text GLabel 7450 1750 2    50   Input ~ 0
DCEF_1
Wire Wire Line
	7400 1750 7450 1750
Text GLabel 6550 950  0    50   Input ~ 0
DCEF_1
$Comp
L Device:R R9
U 1 1 5CD17770
P 6750 950
F 0 "R9" V 6650 1050 50  0000 C CNN
F 1 "10K" V 6650 900 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 6680 950 50  0001 C CNN
F 3 "~" H 6750 950 50  0001 C CNN
	1    6750 950 
	0    1    1    0   
$EndComp
$Comp
L power:+5V #PWR0149
U 1 1 5CD17D22
P 6950 950
F 0 "#PWR0149" H 6950 800 50  0001 C CNN
F 1 "+5V" V 6950 1150 50  0000 C CNN
F 2 "" H 6950 950 50  0001 C CNN
F 3 "" H 6950 950 50  0001 C CNN
	1    6950 950 
	0    1    1    0   
$EndComp
Wire Wire Line
	6900 950  6950 950 
Wire Wire Line
	6550 950  6600 950 
$Comp
L Connector:Screw_Terminal_01x02 J14
U 1 1 5CD8892B
P 8450 1750
F 0 "J14" V 8450 1850 50  0000 L CNN
F 1 "DCMOTOR_1" V 8600 1500 50  0000 L CNN
F 2 "TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2_1x02_P5.00mm_Horizontal" H 8450 1750 50  0001 C CNN
F 3 "~" H 8450 1750 50  0001 C CNN
	1    8450 1750
	0    1    1    0   
$EndComp
Text GLabel 8350 1500 1    50   Input ~ 0
DCOUT1_1
Text GLabel 8450 1500 1    50   Input ~ 0
DCOUT1_2
Wire Wire Line
	8350 1500 8350 1550
Wire Wire Line
	8450 1500 8450 1550
$Comp
L Actuator_2020-rescue:TLE5206-2G-TLE5206-2G U3
U 1 1 5CDAC8A0
P 7000 3200
F 0 "U3" H 7000 3759 50  0000 C CNN
F 1 "TLE5206-2G" H 7000 3672 50  0000 C CNN
F 2 "TLE5206-2G:DPAK127P1500X440-8N" H 7000 3200 50  0001 L BNN
F 3 "" H 7000 3200 50  0001 L BNN
F 4 "None" H 7000 3200 50  0001 L BNN "Field4"
F 5 "Infineon" H 7000 3200 50  0001 L BNN "Field5"
F 6 "Unavailable" H 7000 3200 50  0001 L BNN "Field6"
F 7 "TO-263 Infineon" H 7000 3200 50  0001 L BNN "Field7"
F 8 "Ic h-Bridge 5a Dc Motor D2pak-7 - Tle5206-2g" H 7000 3200 50  0001 L BNN "Field8"
	1    7000 3200
	1    0    0    -1  
$EndComp
$Comp
L Device:CP C9
U 1 1 5CDAC8AA
P 8000 2650
F 0 "C9" V 8050 2700 50  0000 L CNN
F 1 "100uF/16V" V 7850 2400 50  0000 L CNN
F 2 "Capacitor_SMD:CP_Elec_6.3x5.4" H 8038 2500 50  0001 C CNN
F 3 "~" H 8000 2650 50  0001 C CNN
	1    8000 2650
	1    0    0    -1  
$EndComp
$Comp
L Device:C C7
U 1 1 5CDAC8B4
P 7700 2650
F 0 "C7" V 7650 2700 50  0000 L CNN
F 1 "100nF/16V" V 7550 2450 43  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 7738 2500 50  0001 C CNN
F 3 "~" H 7700 2650 50  0001 C CNN
	1    7700 2650
	1    0    0    -1  
$EndComp
Wire Wire Line
	7400 2900 7450 2900
Wire Wire Line
	7450 2900 7450 2450
Wire Wire Line
	7450 2450 7700 2450
Wire Wire Line
	8000 2450 8000 2500
Wire Wire Line
	7700 2450 7700 2500
Connection ~ 7700 2450
Wire Wire Line
	7700 2450 8000 2450
$Comp
L power:GND #PWR0150
U 1 1 5CDAC8C5
P 7450 3500
F 0 "#PWR0150" H 7450 3250 50  0001 C CNN
F 1 "GND" V 7450 3300 50  0000 C CNN
F 2 "" H 7450 3500 50  0001 C CNN
F 3 "" H 7450 3500 50  0001 C CNN
	1    7450 3500
	0    -1   -1   0   
$EndComp
Wire Wire Line
	7400 3500 7450 3500
$Comp
L power:GND #PWR0151
U 1 1 5CDAC8D0
P 7700 2850
F 0 "#PWR0151" H 7700 2600 50  0001 C CNN
F 1 "GND" H 7700 2700 50  0000 C CNN
F 2 "" H 7700 2850 50  0001 C CNN
F 3 "" H 7700 2850 50  0001 C CNN
	1    7700 2850
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0152
U 1 1 5CDAC8DA
P 8000 2850
F 0 "#PWR0152" H 8000 2600 50  0001 C CNN
F 1 "GND" H 8000 2700 50  0000 C CNN
F 2 "" H 8000 2850 50  0001 C CNN
F 3 "" H 8000 2850 50  0001 C CNN
	1    8000 2850
	1    0    0    -1  
$EndComp
Wire Wire Line
	7700 2800 7700 2850
Wire Wire Line
	8000 2800 8000 2850
$Comp
L power:+12V #PWR0153
U 1 1 5CDAC8E6
P 8000 2400
F 0 "#PWR0153" H 8000 2250 50  0001 C CNN
F 1 "+12V" H 8015 2569 50  0000 C CNN
F 2 "" H 8000 2400 50  0001 C CNN
F 3 "" H 8000 2400 50  0001 C CNN
	1    8000 2400
	1    0    0    -1  
$EndComp
Wire Wire Line
	8000 2400 8000 2450
Connection ~ 8000 2450
Text GLabel 6550 3100 0    50   Input ~ 0
DC2_1
Text GLabel 6550 3200 0    50   Input ~ 0
DC2_2
Wire Wire Line
	6550 3100 6600 3100
Wire Wire Line
	6550 3200 6600 3200
Text GLabel 7450 3100 2    50   Input ~ 0
DCOUT2_1
Text GLabel 7450 3200 2    50   Input ~ 0
DCOUT2_2
Wire Wire Line
	7400 3100 7450 3100
Wire Wire Line
	7400 3200 7450 3200
Text GLabel 7450 3300 2    50   Input ~ 0
DCEF_2
Wire Wire Line
	7400 3300 7450 3300
Text GLabel 6550 2500 0    50   Input ~ 0
DCEF_2
$Comp
L Device:R R12
U 1 1 5CDAC8FD
P 6750 2500
F 0 "R12" V 6650 2600 50  0000 C CNN
F 1 "10K" V 6650 2450 50  0000 C CNN
F 2 "Resistor_SMD:R_0603_1608Metric" V 6680 2500 50  0001 C CNN
F 3 "~" H 6750 2500 50  0001 C CNN
	1    6750 2500
	0    1    1    0   
$EndComp
$Comp
L power:+5V #PWR0154
U 1 1 5CDAC907
P 6950 2500
F 0 "#PWR0154" H 6950 2350 50  0001 C CNN
F 1 "+5V" V 6950 2700 50  0000 C CNN
F 2 "" H 6950 2500 50  0001 C CNN
F 3 "" H 6950 2500 50  0001 C CNN
	1    6950 2500
	0    1    1    0   
$EndComp
Wire Wire Line
	6900 2500 6950 2500
Wire Wire Line
	6550 2500 6600 2500
$Comp
L Connector:Screw_Terminal_01x02 J15
U 1 1 5CDAC913
P 8450 3300
F 0 "J15" V 8450 3400 50  0000 L CNN
F 1 "DCMOTOR_2" V 8600 3050 50  0000 L CNN
F 2 "TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2_1x02_P5.00mm_Horizontal" H 8450 3300 50  0001 C CNN
F 3 "~" H 8450 3300 50  0001 C CNN
	1    8450 3300
	0    1    1    0   
$EndComp
Text GLabel 8350 3050 1    50   Input ~ 0
DCOUT2_1
Text GLabel 8450 3050 1    50   Input ~ 0
DCOUT2_2
Wire Wire Line
	8350 3050 8350 3100
Wire Wire Line
	8450 3050 8450 3100
Text GLabel 4950 2050 2    50   Input ~ 0
DCEF_2
Text GLabel 4950 1950 2    50   Input ~ 0
DCEF_1
Wire Notes Line
	3050 500  3050 3450
Wire Notes Line
	4750 3450 4750 3250
Wire Notes Line
	4750 3250 5950 3250
Wire Notes Line
	450  3450 4750 3450
Wire Notes Line
	5950 500  5950 7750
Wire Notes Line
	3750 3450 3750 7800
Wire Notes Line
	5950 4350 8700 4350
Wire Notes Line
	8700 500  8700 5550
Wire Notes Line
	5950 5550 11200 5550
Wire Notes Line
	500  1900 3050 1900
Text Notes 550  1800 0    118  ~ 0
Serial and I2C connectors
Text Notes 500  3300 0    118  ~ 0
12V and 5V 
Text Notes 3100 3350 0    118  ~ 0
Arduino Nano\n
Text Notes 6050 4250 0    118  ~ 0
DC Motor drivers
Text Notes 6000 5450 0    118  ~ 0
Battery Measurement
Text Notes 8750 5450 0    118  ~ 0
Stepper motor drivers\n
Text Notes 3850 7700 0    118  ~ 0
Relays with drivers
Text Notes 600  7650 0    118  ~ 0
MOSFETS for pneumatics
$EndSCHEMATC