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 		(layer "F.Cu")
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 		(uuid "8858a868-441a-45cd-8e3c-94e8617ebe75")
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@@ -40550,11 +40414,19 @@
 	(segment
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 		(layer "F.Cu")
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 	)
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@@ -40574,211 +40446,307 @@
 	(segment
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 		(layer "F.Cu")
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 		(layer "F.Cu")
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+	)
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+	)
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+	)
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+	)
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+	)
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+		(uuid "85a0c34f-e656-4e65-8f4c-82177a75112e")
+	)
+	(segment
+		(start 233.5 161.5)
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+		(uuid "86247c56-b95d-46c5-83a5-a05b463183a4")
+	)
 	(zone
 		(net 5)
 		(net_name "GNDPWR")
diff --git a/pcb/main board/main board.kicad_prl b/pcb/main board/main board.kicad_prl
index bdf76ea..07288f8 100644
--- a/pcb/main board/main board.kicad_prl	
+++ b/pcb/main board/main board.kicad_prl	
@@ -5,7 +5,7 @@
     "auto_track_width": true,
     "hidden_netclasses": [],
     "hidden_nets": [],
-    "high_contrast_mode": 1,
+    "high_contrast_mode": 0,
     "net_color_mode": 1,
     "opacity": {
       "images": 0.6,
diff --git a/pcb/main board/main board.kicad_sch b/pcb/main board/main board.kicad_sch
index d9c32d9..bc29735 100644
--- a/pcb/main board/main board.kicad_sch	
+++ b/pcb/main board/main board.kicad_sch	
@@ -7495,28 +7495,6 @@
 			)
 		)
 	)
-	(global_label "Motor 3 Direction Pin 2"
-		(shape input)
-		(at 245.11 43.18 0)
-		(fields_autoplaced yes)
-		(effects
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-			)
-			(justify left)
-		)
-		(uuid "325b835b-0cfa-4cef-8243-dff49eb990ee")
-		(property "Intersheetrefs" "${INTERSHEET_REFS}"
-			(at 271.1364 43.18 0)
-			(effects
-				(font
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-				)
-				(justify left)
-				(hide yes)
-			)
-		)
-	)
 	(global_label "Servo 3 PWM"
 		(shape input)
 		(at 163.83 148.59 270)
@@ -7935,6 +7913,28 @@
 			)
 		)
 	)
+	(global_label "Motor 4 Direction Pin 1"
+		(shape input)
+		(at 245.11 40.64 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left)
+		)
+		(uuid "9b46a280-8eba-48e8-bd39-5b2236909c48")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 40.64 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+				(hide yes)
+			)
+		)
+	)
 	(global_label "Servo 1 PWM"
 		(shape input)
 		(at 140.97 55.88 180)
@@ -8001,28 +8001,6 @@
 			)
 		)
 	)
-	(global_label "Motor 3 Direction Pin 1"
-		(shape input)
-		(at 245.11 40.64 0)
-		(fields_autoplaced yes)
-		(effects
-			(font
-				(size 1.27 1.27)
-			)
-			(justify left)
-		)
-		(uuid "a63a7c0f-2cf6-4b62-891b-3f34eac2c88a")
-		(property "Intersheetrefs" "${INTERSHEET_REFS}"
-			(at 271.1364 40.64 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(justify left)
-				(hide yes)
-			)
-		)
-	)
 	(global_label "Motor 2 Activation Pin"
 		(shape input)
 		(at 140.97 48.26 180)
@@ -8111,9 +8089,9 @@
 			)
 		)
 	)
-	(global_label "Motor 4 Direction Pin 1"
+	(global_label "Motor 4 Direction Pin 2"
 		(shape input)
-		(at 245.11 45.72 0)
+		(at 245.11 43.18 0)
 		(fields_autoplaced yes)
 		(effects
 			(font
@@ -8121,9 +8099,31 @@
 			)
 			(justify left)
 		)
-		(uuid "c3deda5a-e9ab-4c49-b4a3-0ad22554eaa6")
+		(uuid "c73c9ede-9597-436d-b2e0-b4cad4189aef")
 		(property "Intersheetrefs" "${INTERSHEET_REFS}"
-			(at 271.1364 45.72 0)
+			(at 271.1364 43.18 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+				(hide yes)
+			)
+		)
+	)
+	(global_label "Motor 3 Direction Pin 2"
+		(shape input)
+		(at 245.11 48.26 0)
+		(fields_autoplaced yes)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left)
+		)
+		(uuid "caa854d6-43c5-4c70-bd57-6d47ec58f35b")
+		(property "Intersheetrefs" "${INTERSHEET_REFS}"
+			(at 271.1364 48.26 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -8331,9 +8331,9 @@
 			)
 		)
 	)
-	(global_label "Motor 4 Direction Pin 2"
+	(global_label "Motor 3 Direction Pin 1"
 		(shape input)
-		(at 245.11 48.26 0)
+		(at 245.11 45.72 0)
 		(fields_autoplaced yes)
 		(effects
 			(font
@@ -8341,9 +8341,9 @@
 			)
 			(justify left)
 		)
-		(uuid "fd40fe6a-a24d-4740-a65e-6cce68e6faa2")
+		(uuid "f26fb7c8-c405-4cb5-b07b-065fa46ef603")
 		(property "Intersheetrefs" "${INTERSHEET_REFS}"
-			(at 271.1364 48.26 0)
+			(at 271.1364 45.72 0)
 			(effects
 				(font
 					(size 1.27 1.27)
diff --git a/pcb/main board/motors and steppers drivers.kicad_sch b/pcb/main board/motors and steppers drivers.kicad_sch
index 05d6f19..a38cd57 100644
--- a/pcb/main board/motors and steppers drivers.kicad_sch	
+++ b/pcb/main board/motors and steppers drivers.kicad_sch	
@@ -4634,7 +4634,7 @@
 				(justify left)
 			)
 		)
-		(property "Footprint" "Package_TO_SOT_THT:TO-220-15_P2.54x2.54mm_StaggerOdd_Lead5.84mm_TabDown"
+		(property "Footprint" "Package_TO_SOT_THT:TO-220-15_P2.54x5.08mm_StaggerOdd_Lead4.58mm_Vertical"
 			(at 68.58 74.93 0)
 			(effects
 				(font
@@ -6662,7 +6662,7 @@
 				(justify left)
 			)
 		)
-		(property "Footprint" "Package_TO_SOT_THT:TO-220-15_P2.54x2.54mm_StaggerOdd_Lead5.84mm_TabDown"
+		(property "Footprint" "Package_TO_SOT_THT:TO-220-15_P2.54x5.08mm_StaggerOdd_Lead4.58mm_Vertical"
 			(at 200.66 74.93 0)
 			(effects
 				(font