<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="7.3.0">
<drawing>
<board>
<plain>
<wire x1="0" y1="0" x2="40" y2="0" width="0" layer="20"/>
<wire x1="40" y1="0" x2="40" y2="40" width="0" layer="20"/>
<wire x1="40" y1="40" x2="0" y2="40" width="0" layer="20"/>
<wire x1="0" y1="40" x2="0" y2="0" width="0" layer="20"/>
<text>V+</text>
<text>V-</text>
<text>MOTOR-A</text>
<text>MOTOR-B</text>
<text>3.5</text>
<text>3.5</text>
<text>27.5</text>
<text>9</text>
<text>33</text>
<text>3.5</text>
</plain>
<libraries>
<library name="adafruit">
<packages>
<package name="C0603">
<description>&lt;b&gt;CAPACITOR&lt;/b&gt;&lt;p&gt;
chip</description>
</package>
<package name="E5-8,5">
<description>&lt;b&gt;ELECTROLYTIC CAPACITOR&lt;/b&gt;&lt;p&gt;
grid 5.08 mm, diameter 8.5 mm</description>
</package>
<package name="CHIP-LED0603">
<description>&lt;b&gt;Hyper CHIPLED Hyper-Bright LED&lt;/b&gt;&lt;p&gt;
LB Q993&lt;br&gt;
Source: http://www.osram.convergy.de/ ... Lb_q993.pdf</description>
</package>
<package name="R0603">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;&lt;p&gt;
chip</description>
</package>
<package name="R2512">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;&lt;p&gt;
chip</description>
</package>
</packages>
</library>
<library name="jst-ph">
<packages>
<package name="JST-PH6">
</package>
<package name="JST-PH4">
</package>
</packages>
</library>
<library name="SparkFun-Connectors">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find connectors and sockets- basically anything that can be plugged into or onto.&lt;br&gt;&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
&lt;br&gt;&lt;br&gt;
&lt;b&gt;Licensing:&lt;/b&gt; Creative Commons ShareAlike 4.0 International - https://creativecommons.org/licenses/by-sa/4.0/ 
&lt;br&gt;&lt;br&gt;
You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
<packages>
<package name="2X3">
</package>
<package name="SCREWTERMINAL-3.5MM-2">
</package>
</packages>
</library>
<library name="SparkFun-DigitalIC">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find all manner of digital ICs- microcontrollers, memory chips, logic chips, FPGAs, etc.&lt;br&gt;&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
&lt;br&gt;&lt;br&gt;
&lt;b&gt;Licensing:&lt;/b&gt; Creative Commons ShareAlike 4.0 International - https://creativecommons.org/licenses/by-sa/4.0/ 
&lt;br&gt;&lt;br&gt;
You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
<packages>
<package name="TQFP32-08">
<description>&lt;B&gt;Thin Plasic Quad Flat Package&lt;/B&gt; Grid 0.8 mm</description>
</package>
</packages>
</library>
<library name="mosfet">
<packages>
<package name="SON5X6">
</package>
</packages>
</library>
<library name="SparkFun-Electromechanical">
<description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
In this library you'll find anything that moves- switches, relays, buttons, potentiometers. Also, anything that goes on a board but isn't electrical in nature- screws, standoffs, etc.&lt;br&gt;&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
&lt;br&gt;&lt;br&gt;
&lt;b&gt;Licensing:&lt;/b&gt; Creative Commons ShareAlike 4.0 International - https://creativecommons.org/licenses/by-sa/4.0/ 
&lt;br&gt;&lt;br&gt;
You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
<packages>
<package name="STAND-OFF">
<description>&lt;b&gt;Stand Off&lt;/b&gt;&lt;p&gt;
This is the mechanical footprint for a #4 phillips button head screw. Use the keepout ring to avoid running the screw head into surrounding components. SKU : PRT-00447</description>
</package>
</packages>
</library>
<library name="drv8x">
<packages>
<package name="VQFN24">
</package>
</packages>
</library>
<library name="OPL-crystal-osctllator">
<packages>
<package name="X2-SMD-5.0X3.2X1.3MM">
<description>3.2mm*5mm dimension &lt;br&gt;
8MHz available</description>
</package>
</packages>
</library>
<library name="ipc-7351-transistor">
<description>&lt;b&gt;IPC-7351 compliant SMT transistors&lt;/b&gt;&lt;br&gt;
&lt;br&gt;
Symbols copied from CadSoft transistor.lbr.&lt;br&gt;
Packages generated using genpkg_sot.ulp.&lt;br&gt;
Devices are Fairchild Semiconductor types.&lt;br&gt;
&lt;br&gt;
Weartronics 2006&lt;br&gt;
http://www.weartronics.com/</description>
<packages>
<package name="SOT95P280X135-3N">
</package>
</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<elements>
<element name="C1" library="adafruit" package="C0603" value="100n">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C10" library="adafruit" package="C0603" value="1u">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C11" library="adafruit" package="C0603" value="1u">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C12" library="adafruit" package="E5-8,5" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C13" library="adafruit" package="E5-8,5" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C2" library="adafruit" package="C0603" value="100n">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C3" library="adafruit" package="C0603" value="100n">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C4" library="adafruit" package="C0603" value="100n">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C5" library="adafruit" package="C0603" value="22">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C6" library="adafruit" package="C0603" value="22">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C7" library="adafruit" package="C0603" value="1u">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C8" library="adafruit" package="C0603" value="100n">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C9" library="adafruit" package="C0603" value="100n">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="CONTROL" library="jst-ph" package="JST-PH6" value=""/>
<element name="ENCODER" library="jst-ph" package="JST-PH4" value=""/>
<element name="ISP" library="SparkFun-Connectors" package="2X3" value="">
<attribute name="VALUE"/>
</element>
<element name="VIN" library="adafruit" package="CHIP-LED0603" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="ERR" library="adafruit" package="CHIP-LED0603" value="">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="M328P" library="SparkFun-DigitalIC" package="TQFP32-08" value="ATMEGA168">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="Q1" library="mosfet" package="SON5X6" value="NEXFET_SINGLECSD18537NQ5A">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="Q2" library="mosfet" package="SON5X6" value="NEXFET_SINGLECSD18537NQ5A">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="Q3" library="mosfet" package="SON5X6" value="NEXFET_SINGLECSD18537NQ5A">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="Q4" library="mosfet" package="SON5X6" value="NEXFET_SINGLECSD18537NQ5A">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R1" library="adafruit" package="R0603" value="1k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R5" library="adafruit" package="R0603" value="200k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R3" library="adafruit" package="R0603" value="1k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R4" library="adafruit" package="R0603" value="1k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R2" library="adafruit" package="R0603" value="1k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="RSENSE" library="adafruit" package="R2512" value="0.01">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="STANDOFF1" library="SparkFun-Electromechanical" package="STAND-OFF" value="STAND-OFF"/>
<element name="STANDOFF2" library="SparkFun-Electromechanical" package="STAND-OFF" value="STAND-OFF"/>
<element name="STANDOFF3" library="SparkFun-Electromechanical" package="STAND-OFF" value="STAND-OFF"/>
<element name="STANDOFF4" library="SparkFun-Electromechanical" package="STAND-OFF" value="STAND-OFF"/>
<element name="8701" library="drv8x" package="VQFN24" value="DRV8701">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="Y1" library="OPL-crystal-osctllator" package="X2-SMD-5.0X3.2X1.3MM" value="20M">
<attribute name="MPN" value="X053201602002"/>
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="MTR" library="SparkFun-Connectors" package="SCREWTERMINAL-3.5MM-2" value="M023.5MM">
<attribute name="VALUE"/>
</element>
<element name="PSU" library="SparkFun-Connectors" package="SCREWTERMINAL-3.5MM-2" value="M023.5MM">
<attribute name="VALUE"/>
</element>
<element name="R13" library="adafruit" package="R0603" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R14" library="adafruit" package="R0603" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R8" library="adafruit" package="R0603" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R9" library="adafruit" package="R0603" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R10" library="adafruit" package="R0603" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R11" library="adafruit" package="R0603" value="10k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="Q5" library="ipc-7351-transistor" package="SOT95P280X135-3N" value="MOSFET-NCH_SOT-23">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R12" library="adafruit" package="R0603" value="10k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R7" library="adafruit" package="R0603" value="330">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R6" library="adafruit" package="R0603" value="68k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
</elements>
<signals>
<signal name="GND">
<contactref element="ISP" pad="6"/>
<contactref element="ENCODER" pad="1"/>
<contactref element="C3" pad="2"/>
<contactref element="C2" pad="2"/>
<contactref element="C1" pad="2"/>
<contactref element="C4" pad="2"/>
<contactref element="C5" pad="2"/>
<contactref element="C6" pad="2"/>
<contactref element="M328P" pad="21"/>
<contactref element="M328P" pad="3"/>
<contactref element="M328P" pad="5"/>
<contactref element="CONTROL" pad="6"/>
<contactref element="ERR" pad="C"/>
<contactref element="VIN" pad="C"/>
<contactref element="RSENSE" pad="1"/>
<contactref element="8701" pad="SN"/>
<contactref element="C13" pad="-"/>
<contactref element="C12" pad="-"/>
<contactref element="8701" pad="GND@1"/>
<contactref element="R5" pad="1"/>
<contactref element="C10" pad="2"/>
<contactref element="C11" pad="2"/>
<contactref element="C8" pad="2"/>
<contactref element="8701" pad="GND@2"/>
<contactref element="8701" pad="GND@3"/>
<contactref element="R3" pad="2"/>
<contactref element="PSU" pad="2"/>
<contactref element="Q5" pad="2"/>
<contactref element="R12" pad="2"/>
</signal>
<signal name="N$9">
<contactref element="M328P" pad="7"/>
<contactref element="Y1" pad="2"/>
<contactref element="C5" pad="1"/>
</signal>
<signal name="N$18">
<contactref element="M328P" pad="8"/>
<contactref element="Y1" pad="1"/>
<contactref element="C6" pad="1"/>
</signal>
<signal name="RESET">
<contactref element="M328P" pad="29"/>
<contactref element="ISP" pad="5"/>
</signal>
<signal name="SCK">
<contactref element="M328P" pad="17"/>
<contactref element="ISP" pad="3"/>
</signal>
<signal name="MISO">
<contactref element="M328P" pad="16"/>
<contactref element="ISP" pad="1"/>
</signal>
<signal name="MOSI">
<contactref element="M328P" pad="15"/>
<contactref element="ISP" pad="4"/>
</signal>
<signal name="A">
<contactref element="M328P" pad="32"/>
<contactref element="R13" pad="1"/>
</signal>
<signal name="B">
<contactref element="M328P" pad="1"/>
<contactref element="R14" pad="1"/>
</signal>
<signal name="DIR">
<contactref element="M328P" pad="9"/>
<contactref element="R8" pad="1"/>
</signal>
<signal name="5V">
<contactref element="M328P" pad="20"/>
<contactref element="M328P" pad="6"/>
<contactref element="M328P" pad="4"/>
<contactref element="C2" pad="1"/>
<contactref element="C3" pad="1"/>
<contactref element="C4" pad="1"/>
<contactref element="M328P" pad="18"/>
<contactref element="C1" pad="1"/>
<contactref element="R2" pad="2"/>
<contactref element="ISP" pad="2"/>
<contactref element="ENCODER" pad="4"/>
<contactref element="CONTROL" pad="1"/>
<contactref element="8701" pad="SLEEP"/>
<contactref element="R11" pad="1"/>
</signal>
<signal name="N$19">
<contactref element="ERR" pad="A"/>
<contactref element="R1" pad="2"/>
</signal>
<signal name="N$3">
<contactref element="Q2" pad="DRAIN@1"/>
<contactref element="Q2" pad="DRAIN@2"/>
<contactref element="Q2" pad="DRAIN@3"/>
<contactref element="Q2" pad="DRAIN@4"/>
<contactref element="Q2" pad="DRAIN@5"/>
<contactref element="Q1" pad="SOURCE@1"/>
<contactref element="Q1" pad="SOURCE@2"/>
<contactref element="Q1" pad="SOURCE@3"/>
<contactref element="8701" pad="SH2"/>
<contactref element="MTR" pad="1"/>
</signal>
<signal name="N$1">
<contactref element="8701" pad="GL1"/>
<contactref element="Q3" pad="GATE"/>
</signal>
<signal name="N$4">
<contactref element="8701" pad="GH2"/>
<contactref element="Q1" pad="GATE"/>
</signal>
<signal name="N$6">
<contactref element="8701" pad="GL2"/>
<contactref element="Q2" pad="GATE"/>
</signal>
<signal name="N$5">
<contactref element="8701" pad="SP"/>
<contactref element="Q2" pad="SOURCE@1"/>
<contactref element="Q2" pad="SOURCE@2"/>
<contactref element="Q2" pad="SOURCE@3"/>
<contactref element="RSENSE" pad="2"/>
<contactref element="Q3" pad="SOURCE@1"/>
<contactref element="Q3" pad="SOURCE@2"/>
<contactref element="Q3" pad="SOURCE@3"/>
</signal>
<signal name="N$2">
<contactref element="Q4" pad="SOURCE@1"/>
<contactref element="Q4" pad="SOURCE@2"/>
<contactref element="Q4" pad="SOURCE@3"/>
<contactref element="Q3" pad="DRAIN@1"/>
<contactref element="Q3" pad="DRAIN@2"/>
<contactref element="Q3" pad="DRAIN@3"/>
<contactref element="Q3" pad="DRAIN@4"/>
<contactref element="Q3" pad="DRAIN@5"/>
<contactref element="8701" pad="SH1"/>
<contactref element="MTR" pad="2"/>
</signal>
<signal name="N$7">
<contactref element="8701" pad="GH1"/>
<contactref element="Q4" pad="GATE"/>
</signal>
<signal name="N$11">
<contactref element="8701" pad="VCP"/>
<contactref element="C7" pad="2"/>
</signal>
<signal name="N$12">
<contactref element="8701" pad="CPL"/>
<contactref element="C9" pad="2"/>
</signal>
<signal name="N$13">
<contactref element="8701" pad="CPH"/>
<contactref element="C9" pad="1"/>
</signal>
<signal name="N$15">
<contactref element="R3" pad="1"/>
<contactref element="8701" pad="VREF"/>
<contactref element="R4" pad="1"/>
</signal>
<signal name="N$16">
<contactref element="C10" pad="1"/>
<contactref element="8701" pad="AVDD"/>
<contactref element="R4" pad="2"/>
<contactref element="R6" pad="1"/>
</signal>
<signal name="N$21">
<contactref element="R5" pad="2"/>
<contactref element="8701" pad="IDRIVE"/>
<contactref element="R6" pad="2"/>
</signal>
<signal name="N$17">
<contactref element="C11" pad="1"/>
<contactref element="8701" pad="DVDD"/>
</signal>
<signal name="PH">
<contactref element="8701" pad="PH"/>
<contactref element="M328P" pad="13"/>
</signal>
<signal name="FAULT">
<contactref element="8701" pad="FAULT"/>
<contactref element="M328P" pad="25"/>
</signal>
<signal name="N$23">
<contactref element="C13" pad="+"/>
<contactref element="C12" pad="+"/>
<contactref element="Q4" pad="DRAIN@1"/>
<contactref element="Q4" pad="DRAIN@2"/>
<contactref element="Q4" pad="DRAIN@3"/>
<contactref element="Q4" pad="DRAIN@4"/>
<contactref element="Q4" pad="DRAIN@5"/>
<contactref element="Q1" pad="DRAIN@1"/>
<contactref element="Q1" pad="DRAIN@2"/>
<contactref element="Q1" pad="DRAIN@3"/>
<contactref element="Q1" pad="DRAIN@4"/>
<contactref element="Q1" pad="DRAIN@5"/>
<contactref element="8701" pad="VM"/>
<contactref element="C7" pad="1"/>
<contactref element="C8" pad="1"/>
<contactref element="PSU" pad="1"/>
</signal>
<signal name="EN">
<contactref element="8701" pad="EN"/>
<contactref element="M328P" pad="14"/>
</signal>
<signal name="RES">
<contactref element="M328P" pad="30"/>
<contactref element="R10" pad="1"/>
</signal>
<signal name="ERR">
<contactref element="M328P" pad="31"/>
<contactref element="R7" pad="1"/>
</signal>
<signal name="STP">
<contactref element="M328P" pad="2"/>
<contactref element="R9" pad="1"/>
</signal>
<signal name="N$24">
<contactref element="M328P" pad="26"/>
<contactref element="R1" pad="1"/>
</signal>
<signal name="N$8">
<contactref element="VIN" pad="A"/>
<contactref element="R2" pad="1"/>
</signal>
<signal name="N$10">
<contactref element="ENCODER" pad="2"/>
<contactref element="R13" pad="2"/>
</signal>
<signal name="N$14">
<contactref element="ENCODER" pad="3"/>
<contactref element="R14" pad="2"/>
</signal>
<signal name="N$31">
<contactref element="CONTROL" pad="2"/>
<contactref element="R8" pad="2"/>
</signal>
<signal name="N$32">
<contactref element="CONTROL" pad="3"/>
<contactref element="R9" pad="2"/>
</signal>
<signal name="N$34">
<contactref element="CONTROL" pad="5"/>
<contactref element="Q5" pad="3"/>
<contactref element="R11" pad="2"/>
</signal>
<signal name="N$33">
<contactref element="CONTROL" pad="4"/>
<contactref element="R10" pad="2"/>
</signal>
<signal name="ISENSE">
<contactref element="8701" pad="SO"/>
<contactref element="M328P" pad="23"/>
</signal>
<signal name="OVC">
<contactref element="M328P" pad="24"/>
<contactref element="8701" pad="SENSE"/>
</signal>
<signal name="N$20">
<contactref element="Q5" pad="1"/>
<contactref element="R12" pad="1"/>
<contactref element="R7" pad="2"/>
</signal>
<signal name="N$22">
<contactref element="M328P" pad="12"/>
</signal>
<signal name="N$25">
<contactref element="M328P" pad="10"/>
</signal>
<signal name="N$26">
<contactref element="M328P" pad="11"/>
</signal>
<signal name="N$27">
<contactref element="M328P" pad="27"/>
</signal>
<signal name="N$28">
<contactref element="M328P" pad="28"/>
</signal>
<signal name="N$29">
<contactref element="M328P" pad="19"/>
</signal>
<signal name="N$30">
<contactref element="M328P" pad="22"/>
</signal>
</signals>
</board>
</drawing>
</eagle>
