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diff --git a/pcb/main board/main board.kicad_pcb b/pcb/main board/main board.kicad_pcb
index 2f50689..6f0301f 100644
--- a/pcb/main board/main board.kicad_pcb	
+++ b/pcb/main board/main board.kicad_pcb	
@@ -211,7 +211,7 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "02ceebd5-2fa7-49fd-bdbb-0e69f850af7e")
-		(at 231.1125 218.2075 90)
+		(at 235.5 218 90)
 		(descr "Through hole straight pin header, 1x02, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x02 2.54mm single row")
 		(property "Reference" "J3"
@@ -464,7 +464,7 @@
 	(footprint "Inductor_SMD:L_APV_APH1040"
 		(layer "F.Cu")
 		(uuid "035e95a1-547d-44d0-8856-9d1442543503")
-		(at 73.5 239 -90)
+		(at 195 205.25 -90)
 		(descr "Inductor, APV, APH1040, 10.8x10.0x3.8mm, (http://en.apvind.com/public/upload/20240408/996aafa961154ed753e4983e7eb80fa7.pdf), generated with kicad-footprint-generator gen_inductor.py")
 		(tags "Inductor molded power shielded")
 		(property "Reference" "L2"
@@ -705,7 +705,7 @@
 	(footprint "Capacitor_THT:C_Disc_D4.3mm_W1.9mm_P5.00mm"
 		(layer "F.Cu")
 		(uuid "0b24ff0c-2cc1-444b-a717-e360b7cf8467")
-		(at 63.5 231 90)
+		(at 185 197.3625 90)
 		(descr "C, Disc series, Radial, pin pitch=5.00mm, diameter*width=4.3*1.9mm^2, Capacitor, http://www.vishay.com/docs/45233/krseries.pdf")
 		(tags "C Disc series Radial pin pitch 5.00mm diameter 4.3mm width 1.9mm Capacitor")
 		(property "Reference" "C8"
@@ -868,7 +868,7 @@
 	(footprint "Module:Pololu_Breakout-16_15.2x20.3mm"
 		(layer "F.Cu")
 		(uuid "0c3ca70c-f1dc-4764-903f-1b7df7495604")
-		(at 272.34 105.89 180)
+		(at 274.34 109.7 180)
 		(descr "Pololu Breakout 16-pin 15.2x20.3mm 0.6x0.8\\")
 		(tags "Pololu Breakout")
 		(property "Reference" "A3"
@@ -1317,7 +1317,7 @@
 	(footprint "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm"
 		(layer "F.Cu")
 		(uuid "0dc0083a-60e5-44ea-bd4c-6ecac8fe01f2")
-		(at 76.95 216.475 -90)
+		(at 198.45 182.8375 -90)
 		(descr "SOIC, 8 Pin (JEDEC MS-012AA, https://www.analog.com/media/en/package-pcb-resources/package/pkg_pdf/soic_narrow-r/r_8.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
 		(tags "SOIC SO")
 		(property "Reference" "Q2"
@@ -1700,7 +1700,7 @@
 	(footprint "Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal"
 		(layer "F.Cu")
 		(uuid "0e7f3275-f993-4f10-95af-592d331e8305")
-		(at 86.5 234.66 90)
+		(at 208 180.84 -90)
 		(descr "Resistor, Axial_DIN0207 series, Axial, Horizontal, pin pitch=10.16mm, 0.25W = 1/4W, length*diameter=6.3*2.5mm^2, http://cdn-reichelt.de/documents/datenblatt/B400/1_4W%23YAG.pdf")
 		(tags "Resistor Axial_DIN0207 series Axial Horizontal pin pitch 10.16mm 0.25W = 1/4W length 6.3mm diameter 2.5mm")
 		(property "Reference" "R2"
@@ -1754,16 +1754,6 @@
 		(sheetname "/")
 		(sheetfile "main board.kicad_sch")
 		(attr through_hole)
-		(fp_line
-			(start 9.12 0)
-			(end 8.35 0)
-			(stroke
-				(width 0.12)
-				(type solid)
-			)
-			(layer "F.SilkS")
-			(uuid "406f933c-953b-42a2-aefb-2e9196c768c9")
-		)
 		(fp_line
 			(start 1.04 0)
 			(end 1.81 0)
@@ -1774,6 +1764,16 @@
 			(layer "F.SilkS")
 			(uuid "352176c8-833d-49f0-8955-e03a9b592f5e")
 		)
+		(fp_line
+			(start 9.12 0)
+			(end 8.35 0)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "406f933c-953b-42a2-aefb-2e9196c768c9")
+		)
 		(fp_rect
 			(start 1.81 -1.37)
 			(end 8.35 1.37)
@@ -1796,16 +1796,6 @@
 			(layer "F.CrtYd")
 			(uuid "bec5aa27-10f9-439c-becb-a4e4063ea00e")
 		)
-		(fp_line
-			(start 10.16 0)
-			(end 8.23 0)
-			(stroke
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-				(type solid)
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-			(layer "F.Fab")
-			(uuid "895a00a4-36a4-4c97-8aab-3c333fdb5298")
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 		(fp_line
 			(start 0 0)
 			(end 1.93 0)
@@ -1816,6 +1806,16 @@
 			(layer "F.Fab")
 			(uuid "d71df539-3f49-4c9d-957a-556213aed751")
 		)
+		(fp_line
+			(start 10.16 0)
+			(end 8.23 0)
+			(stroke
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+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "895a00a4-36a4-4c97-8aab-3c333fdb5298")
+		)
 		(fp_rect
 			(start 1.93 -1.25)
 			(end 8.23 1.25)
@@ -1839,7 +1839,7 @@
 			)
 		)
 		(pad "1" thru_hole circle
-			(at 0 0 90)
+			(at 0 0 270)
 			(size 1.6 1.6)
 			(drill 0.8)
 			(layers "*.Cu" "*.Mask")
@@ -1849,7 +1849,7 @@
 			(uuid "c0b53d92-0c39-484a-abb8-ad3ac145f586")
 		)
 		(pad "2" thru_hole circle
-			(at 10.16 0 90)
+			(at 10.16 0 270)
 			(size 1.6 1.6)
 			(drill 0.8)
 			(layers "*.Cu" "*.Mask")
@@ -1874,7 +1874,7 @@
 	(footprint "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal"
 		(layer "F.Cu")
 		(uuid "10acbd83-253f-4d2b-b53d-302bed9e5601")
-		(at 279.3525 209.2075 180)
+		(at 281.66 209.5 180)
 		(descr "Diode, DO-41_SOD81 series, Axial, Horizontal, pin pitch=10.16mm, length*diameter=5.2*2.7mm^2, https://www.diodes.com/assets/Package-Files/DO-41-Plastic.pdf")
 		(tags "Diode DO-41_SOD81 series Axial Horizontal pin pitch 10.16mm  length 5.2mm diameter 2.7mm")
 		(property "Reference" "D3"
@@ -2159,7 +2159,7 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "13b05f57-fb67-41db-a7d9-42ab7d7ddcfb")
-		(at 234.62 74.5 90)
+		(at 266.92 81 90)
 		(descr "Through hole straight pin header, 1x03, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x03 2.54mm single row")
 		(property "Reference" "J12"
@@ -2423,7 +2423,7 @@
 	(footprint "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal"
 		(layer "F.Cu")
 		(uuid "19136324-f94b-43f7-b73f-4e7c6bb4dc5a")
-		(at 258.6925 196.2075 180)
+		(at 261 196.5 180)
 		(descr "Diode, DO-41_SOD81 series, Axial, Horizontal, pin pitch=10.16mm, length*diameter=5.2*2.7mm^2, https://www.diodes.com/assets/Package-Files/DO-41-Plastic.pdf")
 		(tags "Diode DO-41_SOD81 series Axial Horizontal pin pitch 10.16mm  length 5.2mm diameter 2.7mm")
 		(property "Reference" "D5"
@@ -2708,7 +2708,7 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "1a4af8a5-e676-467c-b00e-734dce40252d")
-		(at 281 150.81 180)
+		(at 283 151.43 180)
 		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x04 2.54mm single row")
 		(property "Reference" "J9"
@@ -2983,13 +2983,13 @@
 	(footprint "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal"
 		(layer "F.Cu")
 		(uuid "1bc92c4e-1305-49a2-8f18-dbf4583deb34")
-		(at 220.6125 209.2075 180)
+		(at 225 209.5 180)
 		(descr "Diode, DO-41_SOD81 series, Axial, Horizontal, pin pitch=10.16mm, length*diameter=5.2*2.7mm^2, https://www.diodes.com/assets/Package-Files/DO-41-Plastic.pdf")
 		(tags "Diode DO-41_SOD81 series Axial Horizontal pin pitch 10.16mm  length 5.2mm diameter 2.7mm")
 		(property "Reference" "D15"
 			(at 5.08 -2.47 0)
 			(layer "F.SilkS")
-			(uuid "458d26e9-bd6a-4201-8a98-cd47216bd229")
+			(uuid "d8473b6e-0fd1-48d6-8da1-db2f5b9f1421")
 			(effects
 				(font
 					(size 1 1)
@@ -3000,7 +3000,7 @@
 		(property "Value" "1N4007"
 			(at 5.08 2.47 0)
 			(layer "F.Fab")
-			(uuid "7d806ab1-8b65-485c-b029-2dba777fe6e4")
+			(uuid "ad25d934-2aa4-49b7-bdad-7e1af723d6f5")
 			(effects
 				(font
 					(size 1 1)
@@ -3012,7 +3012,7 @@
 			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "3df35bce-7f90-4046-aba2-ab62ca9d22dc")
+			(uuid "2b22930b-e1ca-486f-adb0-995a3c249e46")
 			(effects
 				(font
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@@ -3024,7 +3024,7 @@
 			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "0a8120c9-db6c-4df7-85f9-0b33e25ff5ce")
+			(uuid "2f7f4963-a5f5-4d21-9a3f-47c6938270d9")
 			(effects
 				(font
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@@ -3268,13 +3268,13 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "2118ad85-678e-4738-aef7-da5d65782976")
-		(at 245.5 107.5 -90)
+		(at 182 140.46)
 		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x04 2.54mm single row")
 		(property "Reference" "J6"
-			(at 0 -2.38 90)
+			(at 0 -2.38 0)
 			(layer "F.SilkS")
-			(uuid "13064250-a30e-4842-87a4-d2fbd1a3a0cf")
+			(uuid "1355ba2b-7228-404b-8e47-cb89143249f8")
 			(effects
 				(font
 					(size 1 1)
@@ -3283,9 +3283,9 @@
 			)
 		)
 		(property "Value" "I2C 1 Conn"
-			(at 0 10 90)
+			(at 0 10 0)
 			(layer "F.Fab")
-			(uuid "e27bcbd2-0f0a-4807-bf86-81106dd3597d")
+			(uuid "76507be0-e6a2-46d5-8ab5-8788e3146b48")
 			(effects
 				(font
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@@ -3294,10 +3294,10 @@
 			)
 		)
 		(property "Datasheet" ""
-			(at 0 0 90)
+			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "fa7f1d12-4887-4d09-989b-f62d5d1966c6")
+			(uuid "5bbe30da-935a-4ea3-bdf4-15fe7a870530")
 			(effects
 				(font
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@@ -3306,10 +3306,10 @@
 			)
 		)
 		(property "Description" "Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)"
-			(at 0 0 90)
+			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "e99c1ef5-ee1a-4189-8fbe-553942600149")
+			(uuid "468b8bd9-6934-4ded-a7af-79935663f3a2")
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -3323,14 +3323,24 @@
 		(sheetfile "main board.kicad_sch")
 		(attr through_hole)
 		(fp_line
-			(start -1.38 9)
-			(end 1.38 9)
+			(start -1.38 -1.38)
+			(end 0 -1.38)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "0467ce15-39bc-46a0-a283-5453c3d3a315")
+			(uuid "a77f8872-aa7b-4450-a11c-b20720c7f7d9")
+		)
+		(fp_line
+			(start -1.38 0)
+			(end -1.38 -1.38)
+			(stroke
+				(width 0.12)
+				(type solid)
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+			(layer "F.SilkS")
+			(uuid "4417237a-51ed-4811-a086-c614094aad6d")
 		)
 		(fp_line
 			(start -1.38 1.27)
@@ -3352,6 +3362,16 @@
 			(layer "F.SilkS")
 			(uuid "42d125dc-5502-4154-82e3-6265157ebb1c")
 		)
+		(fp_line
+			(start -1.38 9)
+			(end 1.38 9)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "0467ce15-39bc-46a0-a283-5453c3d3a315")
+		)
 		(fp_line
 			(start 1.38 1.27)
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@@ -3362,46 +3382,6 @@
 			(layer "F.SilkS")
 			(uuid "db9718fe-7019-4bfc-be3e-dbc0f8cefe28")
 		)
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@@ -3412,6 +3392,16 @@
 			(layer "F.CrtYd")
 			(uuid "95b66f61-6ffb-4b95-9aca-3b0988ee8dd1")
 		)
+		(fp_line
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 			(start 1.77 -1.77)
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@@ -3423,24 +3413,14 @@
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 		)
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-			(start -1.27 8.89)
-			(end -1.27 -0.635)
+			(start 1.77 9.39)
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 			(stroke
-				(width 0.1)
+				(width 0.05)
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-			(layer "F.Fab")
-			(uuid "1cccee71-80e5-465d-84c9-96b00a37d5c0")
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-			(layer "F.Fab")
-			(uuid "ab195b13-eb9c-478a-8025-ce80bb5f4795")
+			(layer "F.CrtYd")
+			(uuid "32d9b53d-5f5d-494e-bd91-f033bbed2b10")
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@@ -3452,6 +3432,16 @@
 			(layer "F.Fab")
 			(uuid "c0147b0e-e8bb-4bfc-9030-523d7df6d517")
 		)
+		(fp_line
+			(start -1.27 8.89)
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 		(fp_text user "${REFERENCE}"
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@@ -27283,13 +27283,13 @@
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 		(layer "F.Cu")
 		(uuid "cd6cc9c5-d905-4bdb-a7cc-d512d538c11a")
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 		(property "Reference" "R3"
@@ -29300,7 +29300,7 @@
 	(footprint "Capacitor_THT:C_Disc_D4.3mm_W1.9mm_P5.00mm"
 		(layer "F.Cu")
 		(uuid "cdb4ca35-0bc2-41bd-8176-9f9421200ca3")
-		(at 83.5 231 90)
+		(at 205 197.3625 90)
 		(descr "C, Disc series, Radial, pin pitch=5.00mm, diameter*width=4.3*1.9mm^2, Capacitor, http://www.vishay.com/docs/45233/krseries.pdf")
 		(tags "C Disc series Radial pin pitch 5.00mm diameter 4.3mm width 1.9mm Capacitor")
 		(property "Reference" "C9"
@@ -29463,13 +29463,13 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "d12db6b8-8cc2-4bb6-8fad-b2ab04e5897b")
-		(at 246.5 97.5 -90)
+		(at 182 126.96)
 		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x04 2.54mm single row")
 		(property "Reference" "J5"
-			(at 0 -2.38 90)
+			(at 0 -2.38 0)
 			(layer "F.SilkS")
-			(uuid "cf5a3f7a-74b2-4ac2-add9-f2c466666e3f")
+			(uuid "1746eb2d-a56d-4f61-961e-6cc5bd4a02be")
 			(effects
 				(font
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@@ -29478,9 +29478,9 @@
 			)
 		)
 		(property "Value" "I2C 0 Conn"
-			(at 0 10 90)
+			(at 0 10 0)
 			(layer "F.Fab")
-			(uuid "760a548b-390f-4069-9e81-f0dddf81dbb8")
+			(uuid "556ec6a3-7d11-422a-94e2-67696f528ec5")
 			(effects
 				(font
 					(size 1 1)
@@ -29489,10 +29489,10 @@
 			)
 		)
 		(property "Datasheet" ""
-			(at 0 0 90)
+			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "6ae71cf5-c7af-4bd6-8ded-84e7c9b2c2af")
+			(uuid "4844c265-d3bd-4a59-a976-6be08870003f")
 			(effects
 				(font
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@@ -29501,10 +29501,10 @@
 			)
 		)
 		(property "Description" "Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)"
-			(at 0 0 90)
+			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "e43fc30b-fb74-4023-ba56-415eb5f2bb2c")
+			(uuid "e476ae80-0a91-4833-8bdd-b4ad5366ed6d")
 			(effects
 				(font
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@@ -29518,14 +29518,24 @@
 		(sheetfile "main board.kicad_sch")
 		(attr through_hole)
 		(fp_line
-			(start -1.38 9)
-			(end 1.38 9)
+			(start -1.38 -1.38)
+			(end 0 -1.38)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "3b546607-af94-4ce2-a3b3-fa4974d1245b")
+			(uuid "8f4bb30e-2d65-4cde-8a0e-208b016837a9")
+		)
+		(fp_line
+			(start -1.38 0)
+			(end -1.38 -1.38)
+			(stroke
+				(width 0.12)
+				(type solid)
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+			(layer "F.SilkS")
+			(uuid "9435c03e-0ee0-443c-93ae-7adf0f2833fd")
 		)
 		(fp_line
 			(start -1.38 1.27)
@@ -29547,6 +29557,16 @@
 			(layer "F.SilkS")
 			(uuid "09c0f8da-e29a-404a-8989-43cb70218e6e")
 		)
+		(fp_line
+			(start -1.38 9)
+			(end 1.38 9)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "3b546607-af94-4ce2-a3b3-fa4974d1245b")
+		)
 		(fp_line
 			(start 1.38 1.27)
 			(end 1.38 9)
@@ -29557,46 +29577,6 @@
 			(layer "F.SilkS")
 			(uuid "a575a14a-6498-4799-85e1-7e213444c0e7")
 		)
-		(fp_line
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-				(type solid)
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-			(uuid "9435c03e-0ee0-443c-93ae-7adf0f2833fd")
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-			(end 0 -1.38)
-			(stroke
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-				(type solid)
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-			(layer "F.SilkS")
-			(uuid "8f4bb30e-2d65-4cde-8a0e-208b016837a9")
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-			(stroke
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-			(layer "F.CrtYd")
-			(uuid "d8e59767-208c-4878-92ea-3efdc47116b5")
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-			(uuid "b394e4a9-f75d-434d-bf5b-1675a6816367")
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 		(fp_line
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@@ -29607,6 +29587,16 @@
 			(layer "F.CrtYd")
 			(uuid "3a1a5212-cfc1-446b-a570-08714d2b9d2e")
 		)
+		(fp_line
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+			(end 1.77 9.39)
+			(stroke
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+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "d8e59767-208c-4878-92ea-3efdc47116b5")
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 		(fp_line
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@@ -29618,24 +29608,14 @@
 			(uuid "2b1dd1fe-7057-4f27-bc71-e2a1b79f9dcc")
 		)
 		(fp_line
-			(start -1.27 8.89)
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+			(start 1.77 9.39)
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 			(stroke
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+				(width 0.05)
 				(type solid)
 			)
-			(layer "F.Fab")
-			(uuid "df4b05c1-5fba-4df9-916a-498983f69383")
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-				(type solid)
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-			(layer "F.Fab")
-			(uuid "cebb740b-a5a5-4890-8b28-0d00d3ed92d3")
+			(layer "F.CrtYd")
+			(uuid "b394e4a9-f75d-434d-bf5b-1675a6816367")
 		)
 		(fp_line
 			(start -1.27 -0.635)
@@ -29647,6 +29627,16 @@
 			(layer "F.Fab")
 			(uuid "34c52924-0bb8-4204-a283-a965c994af25")
 		)
+		(fp_line
+			(start -1.27 8.89)
+			(end -1.27 -0.635)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "df4b05c1-5fba-4df9-916a-498983f69383")
+		)
 		(fp_line
 			(start -0.635 -1.27)
 			(end 1.27 -1.27)
@@ -29667,8 +29657,18 @@
 			(layer "F.Fab")
 			(uuid "9e19703c-6ead-4372-bc58-a484de3d8c3c")
 		)
+		(fp_line
+			(start 1.27 8.89)
+			(end -1.27 8.89)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "cebb740b-a5a5-4890-8b28-0d00d3ed92d3")
+		)
 		(fp_text user "${REFERENCE}"
-			(at 0 3.81 0)
+			(at 0 3.81 90)
 			(layer "F.Fab")
 			(uuid "804a872e-8b60-4833-9077-b31cac1e7b9a")
 			(effects
@@ -29679,7 +29679,7 @@
 			)
 		)
 		(pad "1" thru_hole rect
-			(at 0 0 270)
+			(at 0 0)
 			(size 1.7 1.7)
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
@@ -29690,7 +29690,7 @@
 			(uuid "d5388da2-2fde-4395-9dcd-032f94ad6457")
 		)
 		(pad "2" thru_hole circle
-			(at 0 2.54 270)
+			(at 0 2.54)
 			(size 1.7 1.7)
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
@@ -29701,7 +29701,7 @@
 			(uuid "c49b07a6-5c60-48c8-82c0-f72e4657bd80")
 		)
 		(pad "3" thru_hole circle
-			(at 0 5.08 270)
+			(at 0 5.08)
 			(size 1.7 1.7)
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
@@ -29712,7 +29712,7 @@
 			(uuid "8a581a37-f5aa-4e89-b1dc-1e6d67efbbc9")
 		)
 		(pad "4" thru_hole circle
-			(at 0 7.62 270)
+			(at 0 7.62)
 			(size 1.7 1.7)
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
@@ -29738,13 +29738,13 @@
 	(footprint "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal"
 		(layer "F.Cu")
 		(uuid "d149a8d2-a3eb-43cc-aa91-cc732b989474")
-		(at 241.2725 209.2075 180)
+		(at 245.66 209.5 180)
 		(descr "Diode, DO-41_SOD81 series, Axial, Horizontal, pin pitch=10.16mm, length*diameter=5.2*2.7mm^2, https://www.diodes.com/assets/Package-Files/DO-41-Plastic.pdf")
 		(tags "Diode DO-41_SOD81 series Axial Horizontal pin pitch 10.16mm  length 5.2mm diameter 2.7mm")
 		(property "Reference" "D11"
 			(at 5.08 -2.47 0)
 			(layer "F.SilkS")
-			(uuid "19201045-f68d-4afe-a480-eb5a926bc19a")
+			(uuid "94fe6aae-d945-491d-9ea8-27c33f20aac6")
 			(effects
 				(font
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@@ -29755,7 +29755,7 @@
 		(property "Value" "1N4007"
 			(at 5.08 2.47 0)
 			(layer "F.Fab")
-			(uuid "d8eb4308-66a8-479e-a9e3-0990b6fbbcb1")
+			(uuid "7f228418-c79f-41b0-98b9-2f77278bc307")
 			(effects
 				(font
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@@ -29767,7 +29767,7 @@
 			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "9cf21728-3c8a-4f32-bfb0-e220145702a8")
+			(uuid "a4636658-ffd1-4959-8093-a25dec97876b")
 			(effects
 				(font
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@@ -29779,7 +29779,7 @@
 			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "f8143979-9449-4ddd-8fe5-1907e2ab9957")
+			(uuid "f028b8c8-42ab-4985-927f-ce4a200c1542")
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -30023,7 +30023,7 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "e0b7fbf5-ccd9-44e2-8b64-498c45570581")
-		(at 224.92 73.42 90)
+		(at 255.92 81 90)
 		(descr "Through hole straight pin header, 1x03, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x03 2.54mm single row")
 		(property "Reference" "J19"
@@ -30287,13 +30287,13 @@
 	(footprint "Package_TO_SOT_THT:TO-220-15_P2.54x2.54mm_StaggerOdd_Lead5.84mm_TabDown"
 		(layer "F.Cu")
 		(uuid "e1acb8d0-858a-4a03-bab4-bec38ada29ad")
-		(at 237.3325 182.0975 90)
+		(at 241.54 182.35 90)
 		(descr "TO-220-15, Horizontal, RM 1.27mm, Multiwatt-15, staggered type-1, see http://www.st.com/resource/en/datasheet/l298.pdf, generated with kicad-footprint-generator TO_SOT_THT_generate.py")
 		(tags "TO-220-15 Horizontal RM 1.27mm Multiwatt-15 staggered type-1")
 		(property "Reference" "U2"
 			(at 8.89 -24.29 90)
 			(layer "F.SilkS")
-			(uuid "d323fe1a-567e-4bbd-bd84-67e63054423f")
+			(uuid "c9a46da9-611f-47dd-91fa-8d36d845fc2c")
 			(effects
 				(font
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@@ -30304,7 +30304,7 @@
 		(property "Value" "L298HN"
 			(at 8.89 1.85 90)
 			(layer "F.Fab")
-			(uuid "e5d5ac6c-70ad-4b05-b8f7-b43abaa7ea37")
+			(uuid "145d4f83-b847-426f-a6ec-8850ad03bdd6")
 			(effects
 				(font
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@@ -30316,7 +30316,7 @@
 			(at 0 0 90)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "a64592e0-26d2-49c6-9a84-903f93617122")
+			(uuid "5a9ac6e0-8ee9-4a67-b709-a8ab2b824c0e")
 			(effects
 				(font
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@@ -30328,7 +30328,7 @@
 			(at 0 0 90)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "b42e45b9-2b1a-4e6e-aa9a-2ef5a8ccb17f")
+			(uuid "1442ee09-63c8-4dd3-b6f1-2517cfd35a5a")
 			(effects
 				(font
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@@ -31967,7 +31967,7 @@
 	(footprint "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal"
 		(layer "F.Cu")
 		(uuid "eaaa86f9-30f0-461d-8996-e5d4241cbc3d")
-		(at 258.6925 189.7075 180)
+		(at 261 190 180)
 		(descr "Diode, DO-41_SOD81 series, Axial, Horizontal, pin pitch=10.16mm, length*diameter=5.2*2.7mm^2, https://www.diodes.com/assets/Package-Files/DO-41-Plastic.pdf")
 		(tags "Diode DO-41_SOD81 series Axial Horizontal pin pitch 10.16mm  length 5.2mm diameter 2.7mm")
 		(property "Reference" "D6"
@@ -32252,7 +32252,7 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "f073b584-d18a-4e8d-bee9-27a60b082df8")
-		(at 281 125.81 180)
+		(at 283 127.93 180)
 		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x04 2.54mm single row")
 		(property "Reference" "J8"
@@ -32527,13 +32527,13 @@
 	(footprint "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal"
 		(layer "F.Cu")
 		(uuid "f2b89347-9ccc-4c64-9257-2ec26e925a20")
-		(at 220.6125 189.7075 180)
+		(at 225 190 180)
 		(descr "Diode, DO-41_SOD81 series, Axial, Horizontal, pin pitch=10.16mm, length*diameter=5.2*2.7mm^2, https://www.diodes.com/assets/Package-Files/DO-41-Plastic.pdf")
 		(tags "Diode DO-41_SOD81 series Axial Horizontal pin pitch 10.16mm  length 5.2mm diameter 2.7mm")
 		(property "Reference" "D14"
 			(at 5.08 -2.47 0)
 			(layer "F.SilkS")
-			(uuid "9ca2bd9b-8fa3-4406-a89c-f15b838d9378")
+			(uuid "7f463dab-6c3d-4ca0-9843-f5354a95dbdb")
 			(effects
 				(font
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@@ -32544,7 +32544,7 @@
 		(property "Value" "1N4007"
 			(at 5.08 2.47 0)
 			(layer "F.Fab")
-			(uuid "4714a181-4993-49fa-a237-72d5d623e664")
+			(uuid "ea7efd27-bb3c-4307-a5ab-60deddb7cbc0")
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 				(font
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@@ -32556,7 +32556,7 @@
 			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "049e0a78-960c-4758-873e-2345a4695eb1")
+			(uuid "dc80874d-96c0-4e25-962c-48438585858f")
 			(effects
 				(font
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@@ -32568,7 +32568,7 @@
 			(at 0 0 0)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "08791ce3-0091-47be-91a3-fa28e9253268")
+			(uuid "5528fb0b-9f54-45e9-a57a-a712e1663879")
 			(effects
 				(font
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@@ -32812,7 +32812,7 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "f7935fae-a0d4-4b3d-9f89-eeffe413d113")
-		(at 218.0725 218.2075 90)
+		(at 222.46 218 90)
 		(descr "Through hole straight pin header, 1x02, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x02 2.54mm single row")
 		(property "Reference" "J4"
@@ -33065,7 +33065,7 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "f81f24b2-cd6c-4787-8b36-d090cb216fb6")
-		(at 281 100.81 180)
+		(at 283 104.62 180)
 		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x04 2.54mm single row")
 		(property "Reference" "J7"
@@ -33340,7 +33340,7 @@
 	(footprint "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm"
 		(layer "F.Cu")
 		(uuid "f9784426-7125-44cc-8eb3-eb882cd28420")
-		(at 104 208.205113 90)
+		(at 188.5 174.294888 -90)
 		(descr "CP, Radial series, Radial, pin pitch=2.50mm, diameter=5mm, height=7mm, Electrolytic Capacitor")
 		(tags "CP Radial series Radial pin pitch 2.50mm diameter 5mm height 7mm Electrolytic Capacitor")
 		(property "Reference" "C10"
@@ -33395,1184 +33395,14 @@
 		(sheetfile "main board.kicad_sch")
 		(attr through_hole)
 		(fp_line
-			(start 1.29 -2.58)
-			(end 1.29 2.58)
+			(start 1.49 1.04)
+			(end 1.49 2.569)
 			(stroke
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 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "dc12d321-f5d5-4e25-99c7-d7602e0b83d4")
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-			(layer "F.SilkS")
-			(uuid "5a60bd18-b473-4a8f-9a70-86bcd0b0e168")
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-			(layer "F.SilkS")
-			(uuid "d0c4f82a-ac74-4f6b-a913-097118fae0b8")
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diff --git a/pcb/main board/main board.kicad_prl b/pcb/main board/main board.kicad_prl
index 4fe8ce6..c233a2c 100644
--- a/pcb/main board/main board.kicad_prl	
+++ b/pcb/main board/main board.kicad_prl	
@@ -13,7 +13,7 @@
       "shapes": 1.0,
       "tracks": 1.0,
       "vias": 1.0,
-      "zones": 0.6
+      "zones": 0.07999999821186066
     },
     "selection_filter": {
       "dimensions": true,
diff --git a/pcb/main board/main board.kicad_sch b/pcb/main board/main board.kicad_sch
index 294a59e..1141247 100644
--- a/pcb/main board/main board.kicad_sch	
+++ b/pcb/main board/main board.kicad_sch	
@@ -7115,6 +7115,28 @@
 		)
 		(uuid "ff97d0bd-165b-4261-9fc7-95f7179b02ce")
 	)
+	(global_label "Motor 2 Direction Pin 2"
+		(shape input)
+		(at 245.11 58.42 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left)
+		)
+		(uuid "0150e068-edca-4740-92df-6c16d3868834")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 58.42 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+				(hide yes)
+			)
+		)
+	)
 	(global_label "Motor 4 Activation Pin"
 		(shape input)
 		(at 140.97 53.34 180)
@@ -7159,28 +7181,6 @@
 			)
 		)
 	)
-	(global_label "Motor 2 Direction Pin 2"
-		(shape input)
-		(at 245.11 48.26 0)
-		(fields_autoplaced yes)
-		(effects
-			(font
-				(size 1.27 1.27)
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-			(justify left)
-		)
-		(uuid "12270abe-a655-4bb9-86ff-440aee9d7aa0")
-		(property "Intersheetrefs" "${INTERSHEET_REFS}"
-			(at 271.1364 48.26 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(justify left)
-				(hide yes)
-			)
-		)
-	)
 	(global_label "I2C 0 SDA"
 		(shape input)
 		(at 204.47 40.64 180)
@@ -7291,6 +7291,28 @@
 			)
 		)
 	)
+	(global_label "Motor 4 Direction Pin 2"
+		(shape input)
+		(at 245.11 43.18 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left)
+		)
+		(uuid "2bbadbbd-abc9-482c-82a5-8ed1abe43021")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 43.18 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+				(hide yes)
+			)
+		)
+	)
 	(global_label "Servo 6 PWM"
 		(shape input)
 		(at 140.97 68.58 180)
@@ -7313,9 +7335,9 @@
 			)
 		)
 	)
-	(global_label "Motor 3 Direction Pin 1"
+	(global_label "Motor 4 Direction Pin 1"
 		(shape input)
-		(at 245.11 50.8 0)
+		(at 245.11 40.64 0)
 		(fields_autoplaced yes)
 		(effects
 			(font
@@ -7323,9 +7345,9 @@
 			)
 			(justify left)
 		)
-		(uuid "32b6e668-ad7f-4866-b607-3a27ce2b663d")
+		(uuid "338eb2d8-feee-42e9-94fc-168b47784683")
 		(property "Intersheetrefs" "${INTERSHEET_REFS}"
-			(at 271.1364 50.8 0)
+			(at 271.1364 40.64 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -7379,9 +7401,9 @@
 			)
 		)
 	)
-	(global_label "Motor 1 Direction Pin 1"
+	(global_label "Motor 3 Direction Pin 2"
 		(shape input)
-		(at 245.11 40.64 0)
+		(at 245.11 48.26 0)
 		(fields_autoplaced yes)
 		(effects
 			(font
@@ -7389,9 +7411,31 @@
 			)
 			(justify left)
 		)
-		(uuid "3f0c1560-bc64-4028-9314-d8f6babddb71")
+		(uuid "3f6b3d76-7ad3-46dd-abc6-53b8d0d41997")
 		(property "Intersheetrefs" "${INTERSHEET_REFS}"
-			(at 271.1364 40.64 0)
+			(at 271.1364 48.26 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+				(hide yes)
+			)
+		)
+	)
+	(global_label "Motor 3 Direction Pin 1"
+		(shape input)
+		(at 245.11 45.72 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left)
+		)
+		(uuid "431ed1a5-6a2b-43dc-8f54-d3239fec96d2")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 45.72 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -7445,28 +7489,6 @@
 			)
 		)
 	)
-	(global_label "Motor 4 Direction Pin 1"
-		(shape input)
-		(at 245.11 55.88 0)
-		(fields_autoplaced yes)
-		(effects
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-		(uuid "4e5fab8e-24e6-4052-ab8a-bff70fab3117")
-		(property "Intersheetrefs" "${INTERSHEET_REFS}"
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-				(justify left)
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-		)
-	)
 	(global_label "Servo 8 PWM"
 		(shape input)
 		(at 227.33 148.59 270)
@@ -7489,28 +7511,6 @@
 			)
 		)
 	)
-	(global_label "Motor 4 Direction Pin 2"
-		(shape input)
-		(at 245.11 58.42 0)
-		(fields_autoplaced yes)
-		(effects
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-	)
 	(global_label "I2C 0 SCL"
 		(shape input)
 		(at 191.77 50.8 0)
@@ -7709,28 +7709,6 @@
 			)
 		)
 	)
-	(global_label "Motor 3 Direction Pin 2"
-		(shape input)
-		(at 245.11 53.34 0)
-		(fields_autoplaced yes)
-		(effects
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-				(justify left)
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-		)
-	)
 	(global_label "Servo 4 PWM"
 		(shape input)
 		(at 140.97 63.5 180)
@@ -7951,28 +7929,6 @@
 			)
 		)
 	)
-	(global_label "Motor 2 Direction Pin 1"
-		(shape input)
-		(at 245.11 45.72 0)
-		(fields_autoplaced yes)
-		(effects
-			(font
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-		)
-		(uuid "b98802e6-28f5-40dc-9005-ab4c18435d94")
-		(property "Intersheetrefs" "${INTERSHEET_REFS}"
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-			(effects
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-				(justify left)
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-		)
-	)
 	(global_label "Stepper 0 Sleep"
 		(shape input)
 		(at 245.11 66.04 0)
@@ -8017,28 +7973,6 @@
 			)
 		)
 	)
-	(global_label "Motor 1 Direction Pin 2"
-		(shape input)
-		(at 245.11 43.18 0)
-		(fields_autoplaced yes)
-		(effects
-			(font
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-			(justify left)
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-		(uuid "c60dbeba-8228-43bb-a7f4-1ed6d8c49a68")
-		(property "Intersheetrefs" "${INTERSHEET_REFS}"
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-			(effects
-				(font
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-				(justify left)
-				(hide yes)
-			)
-		)
-	)
 	(global_label "I2C 0 SCL"
 		(shape input)
 		(at 107.95 134.62 0)
@@ -8105,6 +8039,72 @@
 			)
 		)
 	)
+	(global_label "Motor 1 Direction Pin 2"
+		(shape input)
+		(at 245.11 53.34 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left)
+		)
+		(uuid "d883dce2-ae28-4c54-9a78-1a789b61a4ff")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 53.34 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+				(hide yes)
+			)
+		)
+	)
+	(global_label "Motor 2 Direction Pin 1"
+		(shape input)
+		(at 245.11 55.88 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left)
+		)
+		(uuid "dd08efbc-0ae1-4861-98ff-4ae4e178829d")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 55.88 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+				(hide yes)
+			)
+		)
+	)
+	(global_label "Motor 1 Direction Pin 1"
+		(shape input)
+		(at 245.11 50.8 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
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+			(justify left)
+		)
+		(uuid "e52c146e-7628-45b5-a1ea-7f8dedb6c8ed")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 50.8 0)
+			(effects
+				(font
+					(size 1.27 1.27)
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+				(justify left)
+				(hide yes)
+			)
+		)
+	)
 	(global_label "Servo 2 PWM"
 		(shape input)
 		(at 140.97 58.42 180)