diff --git a/pcb/main board/#auto_saved_files# b/pcb/main board/#auto_saved_files#
deleted file mode 100644
index 6c05a17..0000000
--- a/pcb/main board/#auto_saved_files#	
+++ /dev/null
@@ -1 +0,0 @@
-/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main robot/pcb/main board/_autosave-main board.kicad_sch
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diff --git a/pcb/main board/main board-backups/main board-2025-10-03_214300.zip b/pcb/main board/main board-backups/main board-2025-10-03_214300.zip
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diff --git a/pcb/main board/main board.kicad_sch b/pcb/main board/main board.kicad_sch
index 3793124..4509d5d 100644
--- a/pcb/main board/main board.kicad_sch	
+++ b/pcb/main board/main board.kicad_sch	
@@ -147,6 +147,206 @@
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@@ -9157,6 +9754,72 @@
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 		)
 		(property "Description" "14A Id, 30V Vds, HEXFET N-Channel MOSFET, SO-8"
-			(at 76.2 81.28 0)
+			(at 74.93 73.66 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9314,6 +9977,72 @@
 			)
 		)
 	)
+	(symbol
+		(lib_id "power:GNDPWR")
+		(at 382.27 173.99 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "24a70a44-6a2c-429a-92f3-382028c7ec4e")
+		(property "Reference" "#PWR024"
+			(at 382.27 179.07 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Value" "GNDPWR"
+			(at 382.143 177.8 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Footprint" ""
+			(at 382.27 175.26 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" ""
+			(at 382.27 175.26 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Power symbol creates a global label with name \"GNDPWR\" , global ground"
+			(at 382.27 173.99 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "1"
+			(uuid "e87823fd-aa3a-441f-b55f-88fb766c66e8")
+		)
+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR024")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "power:GNDPWR")
 		(at 316.23 22.86 0)
@@ -9382,7 +10111,7 @@
 	)
 	(symbol
 		(lib_id "Regulator_Switching:LM3150MH")
-		(at 50.8 73.66 0)
+		(at 50.8 66.04 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -9391,7 +10120,7 @@
 		(fields_autoplaced yes)
 		(uuid "2c66f152-3e59-4c94-ab1e-b7779424fdd4")
 		(property "Reference" "U6"
-			(at 50.8 55.88 0)
+			(at 50.8 48.26 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9399,7 +10128,7 @@
 			)
 		)
 		(property "Value" "LM3150MH"
-			(at 50.8 58.42 0)
+			(at 50.8 50.8 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9407,7 +10136,7 @@
 			)
 		)
 		(property "Footprint" "Package_SO:HTSSOP-14-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask3x3.1mm"
-			(at 53.34 87.63 0)
+			(at 53.34 80.01 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9417,7 +10146,7 @@
 			)
 		)
 		(property "Datasheet" "http://www.ti.com/lit/ds/symlink/lm3150.pdf"
-			(at 101.6 85.09 0)
+			(at 101.6 77.47 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9426,7 +10155,7 @@
 			)
 		)
 		(property "Description" "42V Wide Vin synchronous Buck controller, HTSSOP-14"
-			(at 50.8 73.66 0)
+			(at 50.8 66.04 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9507,7 +10236,7 @@
 				(justify left)
 			)
 		)
-		(property "Value" "Motor Conn 2"
+		(property "Value" "Motor 2 Conn"
 			(at 392.43 102.8699 0)
 			(effects
 				(font
@@ -9815,7 +10544,7 @@
 	)
 	(symbol
 		(lib_id "Transistor_FET:IRF8721PBF-1")
-		(at 76.2 63.5 0)
+		(at 74.93 55.88 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -9824,7 +10553,7 @@
 		(fields_autoplaced yes)
 		(uuid "39931dc4-6d11-4f18-b37f-079ca13fc88a")
 		(property "Reference" "Q1"
-			(at 82.55 62.2299 0)
+			(at 81.28 54.6099 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9833,7 +10562,7 @@
 			)
 		)
 		(property "Value" "IRF8714PBF"
-			(at 82.55 64.7699 0)
+			(at 81.28 57.1499 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9842,7 +10571,7 @@
 			)
 		)
 		(property "Footprint" "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm"
-			(at 81.28 65.405 0)
+			(at 80.01 57.785 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9853,7 +10582,7 @@
 			)
 		)
 		(property "Datasheet" "http://www.irf.com/product-info/datasheets/data/irf8721pbf-1.pdf"
-			(at 81.28 67.31 0)
+			(at 80.01 59.69 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9863,7 +10592,7 @@
 			)
 		)
 		(property "Description" "14A Id, 30V Vds, HEXFET N-Channel MOSFET, SO-8"
-			(at 76.2 63.5 0)
+			(at 74.93 55.88 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -9904,6 +10633,76 @@
 			)
 		)
 	)
+	(symbol
+		(lib_id "Device:C_Polarized_Small_US")
+		(at 24.13 27.94 0)
+		(mirror y)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(uuid "3d154c6e-2da8-4363-8693-f19ecbe5e3c1")
+		(property "Reference" "C5"
+			(at 21.59 26.2381 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(property "Value" "680uF"
+			(at 21.59 28.7781 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(property "Footprint" ""
+			(at 24.13 27.94 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" "~"
+			(at 24.13 27.94 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Polarized capacitor, small US symbol"
+			(at 24.13 27.94 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "1"
+			(uuid "26a6c131-adf1-4acc-b420-f630303ddaae")
+		)
+		(pin "2"
+			(uuid "a4323ee0-def1-4940-bc42-ad43a43981c3")
+		)
+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "C5")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "power:GNDPWR")
 		(at 234.95 81.28 0)
@@ -10106,79 +10905,9 @@
 			)
 		)
 	)
-	(symbol
-		(lib_id "Device:C_Polarized")
-		(at 24.13 27.94 0)
-		(mirror y)
-		(unit 1)
-		(exclude_from_sim no)
-		(in_bom yes)
-		(on_board yes)
-		(dnp no)
-		(uuid "46304651-a9d2-43a8-a533-113577ef1047")
-		(property "Reference" "C5"
-			(at 20.32 25.7809 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(justify left)
-			)
-		)
-		(property "Value" "680uF"
-			(at 20.32 28.3209 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(justify left)
-			)
-		)
-		(property "Footprint" ""
-			(at 23.1648 31.75 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(hide yes)
-			)
-		)
-		(property "Datasheet" "~"
-			(at 24.13 27.94 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(hide yes)
-			)
-		)
-		(property "Description" "Polarized capacitor"
-			(at 24.13 27.94 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(hide yes)
-			)
-		)
-		(pin "2"
-			(uuid "a0c9fda5-b5ae-496d-a43c-c920a31d4821")
-		)
-		(pin "1"
-			(uuid "b4b1722b-7cb4-4449-9e66-5754c82cc992")
-		)
-		(instances
-			(project "main board"
-				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
-					(reference "C5")
-					(unit 1)
-				)
-			)
-		)
-	)
 	(symbol
 		(lib_id "Device:C_Small")
-		(at 38.1 88.9 0)
+		(at 38.1 81.28 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -10186,7 +10915,7 @@
 		(dnp no)
 		(uuid "48cf803b-80d1-4a6d-ac27-089426d4cc34")
 		(property "Reference" "C9"
-			(at 44.45 88.9063 90)
+			(at 44.45 81.2863 90)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10194,7 +10923,7 @@
 			)
 		)
 		(property "Value" "15nF"
-			(at 41.91 88.9063 90)
+			(at 41.91 81.2863 90)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10202,7 +10931,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 38.1 88.9 0)
+			(at 38.1 81.28 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10211,7 +10940,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 38.1 88.9 0)
+			(at 38.1 81.28 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10220,7 +10949,7 @@
 			)
 		)
 		(property "Description" "Unpolarized capacitor, small symbol"
-			(at 38.1 88.9 0)
+			(at 38.1 81.28 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10244,17 +10973,17 @@
 		)
 	)
 	(symbol
-		(lib_id "Device:C_Polarized")
-		(at 71.12 31.75 0)
+		(lib_id "Connector_Generic:Conn_01x04")
+		(at 389.89 149.86 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
 		(dnp no)
 		(fields_autoplaced yes)
-		(uuid "5667ed9e-f565-4c07-a4fc-6ee2e2f856d6")
-		(property "Reference" "C6"
-			(at 74.93 29.5909 0)
+		(uuid "4a19494b-92bc-4a0e-8ad8-b96e252d865a")
+		(property "Reference" "J5"
+			(at 392.43 149.8599 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10262,8 +10991,8 @@
 				(justify left)
 			)
 		)
-		(property "Value" "220uF"
-			(at 74.93 32.1309 0)
+		(property "Value" "I2C 0 Conn"
+			(at 392.43 152.3999 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10272,7 +11001,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 72.0852 35.56 0)
+			(at 389.89 149.86 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10281,7 +11010,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 71.12 31.75 0)
+			(at 389.89 149.86 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10289,8 +11018,82 @@
 				(hide yes)
 			)
 		)
-		(property "Description" "Polarized capacitor"
-			(at 71.12 31.75 0)
+		(property "Description" "Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)"
+			(at 389.89 149.86 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "3"
+			(uuid "8ba14d24-8fe3-47ca-9658-57157a1f1792")
+		)
+		(pin "2"
+			(uuid "b417cace-d114-4c01-b5ea-b5152a9dc3be")
+		)
+		(pin "1"
+			(uuid "7be429e3-43a9-429a-a793-8e975c426627")
+		)
+		(pin "4"
+			(uuid "b48d76e0-99b5-487d-8c32-e70c721f574d")
+		)
+		(instances
+			(project ""
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "J5")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "Device:R_US")
+		(at 104.14 76.2 90)
+		(mirror x)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(uuid "4e4ae4c7-334b-4336-804c-6c4b9f508b4d")
+		(property "Reference" "R4"
+			(at 104.14 82.55 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Value" "10kΩ"
+			(at 104.14 80.01 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Footprint" ""
+			(at 104.394 77.216 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" "~"
+			(at 104.14 76.2 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Resistor, US symbol"
+			(at 104.14 76.2 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10299,15 +11102,15 @@
 			)
 		)
 		(pin "2"
-			(uuid "201a6640-7b23-4047-acd0-5916360ba7aa")
+			(uuid "a6601a76-6c86-44cb-adec-ef9bb515eb4b")
 		)
 		(pin "1"
-			(uuid "26450675-6eb0-43f7-9169-b365d35d729b")
+			(uuid "a0a4b1b4-e464-400f-93ce-bca221042a51")
 		)
 		(instances
-			(project ""
+			(project "main board"
 				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
-					(reference "C6")
+					(reference "R4")
 					(unit 1)
 				)
 			)
@@ -10315,7 +11118,7 @@
 	)
 	(symbol
 		(lib_id "Device:L")
-		(at 86.36 71.12 90)
+		(at 85.09 63.5 90)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -10324,15 +11127,15 @@
 		(fields_autoplaced yes)
 		(uuid "5bd47a0b-eda1-4869-b328-c1cfb7dee816")
 		(property "Reference" "L2"
-			(at 86.36 66.04 90)
+			(at 85.09 58.42 90)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
 			)
 		)
-		(property "Value" "L"
-			(at 86.36 68.58 90)
+		(property "Value" "1.8uH"
+			(at 85.09 60.96 90)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10340,7 +11143,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 86.36 71.12 0)
+			(at 85.09 63.5 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10349,7 +11152,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 86.36 71.12 0)
+			(at 85.09 63.5 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10358,7 +11161,7 @@
 			)
 		)
 		(property "Description" "Inductor"
-			(at 86.36 71.12 0)
+			(at 85.09 63.5 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10383,7 +11186,7 @@
 	)
 	(symbol
 		(lib_id "power:GNDPWR")
-		(at 246.38 226.06 0)
+		(at 233.68 186.69 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -10392,7 +11195,7 @@
 		(fields_autoplaced yes)
 		(uuid "5d87ddd6-e425-47a9-8ea7-0f9925a1649b")
 		(property "Reference" "#PWR012"
-			(at 246.38 231.14 0)
+			(at 233.68 191.77 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10401,7 +11204,7 @@
 			)
 		)
 		(property "Value" "GNDPWR"
-			(at 246.253 229.87 0)
+			(at 233.553 190.5 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10409,7 +11212,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 246.38 227.33 0)
+			(at 233.68 187.96 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10418,7 +11221,7 @@
 			)
 		)
 		(property "Datasheet" ""
-			(at 246.38 227.33 0)
+			(at 233.68 187.96 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -10427,7 +11230,7 @@
 			)
 		)
 		(property "Description" "Power symbol creates a global label with name \"GNDPWR\" , global ground"
-			(at 246.38 226.06 0)
+			(at 233.68 186.69 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -11127,8 +11930,7 @@
 	)
 	(symbol
 		(lib_id "Device:R_US")
-		(at 31.75 73.66 90)
-		(mirror x)
+		(at 31.75 66.04 90)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -11136,7 +11938,7 @@
 		(dnp no)
 		(uuid "813ef556-1d42-494b-9037-270dd1dc9b0f")
 		(property "Reference" "R2"
-			(at 31.75 80.01 90)
+			(at 31.75 59.69 90)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -11144,7 +11946,7 @@
 			)
 		)
 		(property "Value" "82.5kΩ"
-			(at 31.75 77.47 90)
+			(at 31.75 62.23 90)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -11152,7 +11954,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 32.004 74.676 90)
+			(at 32.004 65.024 90)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -11161,7 +11963,7 @@
 			)
 		)
 		(property "Datasheet" "~"
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 		(lib_id "Device:C_Small")
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@@ -11204,7 +12006,7 @@
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 		(uuid "815358f6-c327-4a29-9a72-b1f6c9255087")
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@@ -11525,6 +12327,72 @@
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+	(symbol
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+		(at 382.27 166.37 0)
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+		(in_bom yes)
+		(on_board yes)
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+		(fields_autoplaced yes)
+		(uuid "87731208-dbab-4d04-864d-4e13377e053a")
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+		(pin "1"
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+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
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+					(unit 1)
+				)
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 		(lib_id "Driver_Motor:L298HN")
 		(at 330.2 105.41 0)
@@ -11635,6 +12503,76 @@
 			)
 		)
 	)
+	(symbol
+		(lib_id "Device:C_Polarized_Small_US")
+		(at 110.49 71.12 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "8d6afbe1-f1cc-4b0e-b7bb-af9ae9ac952f")
+		(property "Reference" "C13"
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+				(justify left)
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+		(property "Value" "120uF"
+			(at 113.03 71.9581 0)
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+		(property "Footprint" ""
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+				(font
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+				(hide yes)
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+		)
+		(property "Description" "Polarized capacitor, small US symbol"
+			(at 110.49 71.12 0)
+			(effects
+				(font
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+				(hide yes)
+			)
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+		(pin "1"
+			(uuid "1b4f5292-d890-44fd-84f2-ef5f20b2e7d4")
+		)
+		(pin "2"
+			(uuid "4373f945-f31c-4f7a-937f-aaf2d7ed9df5")
+		)
+		(instances
+			(project ""
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "C13")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "Connector_Generic:Conn_01x02")
 		(at 389.89 49.53 0)
@@ -11654,7 +12592,7 @@
 				(justify left)
 			)
 		)
-		(property "Value" "Motor Conn 1"
+		(property "Value" "Motor 1 Conn"
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 	)
 	(symbol
 		(lib_id "Device:R_US")
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@@ -11716,7 +12654,7 @@
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 		(uuid "94d0ef08-86a5-408a-a21a-a75def6bca55")
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@@ -11724,7 +12662,7 @@
 			)
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 		(property "Value" "73.2kΩ"
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 		(property "Description" "Resistor, US symbol"
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@@ -11784,7 +12722,7 @@
 		(dnp no)
 		(uuid "98d9ba97-2604-4832-a6c7-8cad21e152a7")
 		(property "Reference" "C12"
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 		(property "Description" "Unpolarized capacitor, small symbol"
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 			(effects
 				(font
 					(size 1.27 1.27)
@@ -12149,6 +13087,72 @@
 			)
 		)
 	)
+	(symbol
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+		(at 212.09 53.34 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "ac2bc74d-a9ab-403b-b6f2-05a26ac40775")
+		(property "Reference" "#PWR025"
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+				(hide yes)
+			)
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+		(property "Value" "+5VL"
+			(at 212.09 48.26 0)
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+		(property "Datasheet" ""
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+			(effects
+				(font
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+				(hide yes)
+			)
+		)
+		(property "Description" "Power symbol creates a global label with name \"+5VL\""
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+				(font
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+				(hide yes)
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+		(pin "1"
+			(uuid "9ad402de-dff4-4a04-9540-da0ca74279d8")
+		)
+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR025")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "Device:C")
 		(at 340.36 22.86 270)
@@ -12219,7 +13223,7 @@
 	)
 	(symbol
 		(lib_id "Device:C_Small")
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@@ -12228,7 +13232,7 @@
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 		(uuid "b0c78470-91cf-4bbd-ac32-cd4fc01a21aa")
 		(property "Reference" "C10"
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 		(property "Description" "Unpolarized capacitor, small symbol"
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@@ -12304,7 +13308,7 @@
 				(justify left)
 			)
 		)
-		(property "Value" "Motor Conn 3"
+		(property "Value" "Motor 3 Conn"
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 	)
 	(symbol
 		(lib_id "Device:C_Small")
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 		(uuid "c443b14d-b1f4-465b-b304-9b7460751027")
 		(property "Reference" "C11"
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 		(property "Value" "100nF"
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 		(property "Description" "Unpolarized capacitor, small symbol"
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@@ -12734,7 +13738,7 @@
 	)
 	(symbol
 		(lib_id "MCU_Module:RaspberryPi_Pico_W")
-		(at 147.32 186.69 0)
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 		(uuid "cad64f1a-0ba0-4774-9597-6ecb7a26e9ba")
 		(property "Reference" "A2"
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 		(property "Value" "RaspberryPi_Pico_W"
-			(at 149.4633 223.52 0)
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 			)
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 		(property "Footprint" "Module:RaspberryPi_Pico_W_SMD_HandSolder"
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 			)
 		)
 		(property "Datasheet" "https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf"
-			(at 147.32 236.22 0)
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@@ -12918,7 +13922,7 @@
 	)
 	(symbol
 		(lib_id "power:+12V")
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@@ -12927,7 +13931,7 @@
 		(fields_autoplaced yes)
 		(uuid "cae0eaf2-dd1c-4bab-941d-9de88269fa3f")
 		(property "Reference" "#PWR019"
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 		(property "Description" "Power symbol creates a global label with name \"+12V\""
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 		(fields_autoplaced yes)
 		(uuid "db736ec8-3ed3-4309-a1cd-eccadc8ad872")
 		(property "Reference" "#PWR05"
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 		(property "Footprint" ""
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+			(at 68.58 58.42 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13374,7 +14378,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 68.58 66.04 0)
+			(at 68.58 58.42 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13383,7 +14387,7 @@
 			)
 		)
 		(property "Description" "Unpolarized capacitor, small symbol"
-			(at 68.58 66.04 0)
+			(at 68.58 58.42 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13475,25 +14479,26 @@
 		)
 	)
 	(symbol
-		(lib_id "Device:R_US")
-		(at 69.85 76.2 90)
+		(lib_id "power:GNDPWR")
+		(at 382.27 154.94 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
 		(dnp no)
 		(fields_autoplaced yes)
-		(uuid "e5b422c3-2414-4c9b-ab36-73cdc7322201")
-		(property "Reference" "R1"
-			(at 69.85 69.85 90)
+		(uuid "df8f1cab-9080-4297-ae64-be182ba5f090")
+		(property "Reference" "#PWR022"
+			(at 382.27 160.02 0)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
+				(hide yes)
 			)
 		)
-		(property "Value" "665Ω"
-			(at 69.85 72.39 90)
+		(property "Value" "GNDPWR"
+			(at 382.143 158.75 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13501,7 +14506,74 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 70.104 75.184 90)
+			(at 382.27 156.21 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" ""
+			(at 382.27 156.21 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Power symbol creates a global label with name \"GNDPWR\" , global ground"
+			(at 382.27 154.94 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "1"
+			(uuid "3c3f9a7f-ec53-4dc4-9b16-2e0289f602e7")
+		)
+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR022")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "Device:C_Polarized_Small_US")
+		(at 71.12 31.75 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "e0addc8e-54cd-4ee0-91d3-fc0a28752ed4")
+		(property "Reference" "C6"
+			(at 73.66 30.0481 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(property "Value" "220uF"
+			(at 73.66 32.5881 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(property "Footprint" ""
+			(at 71.12 31.75 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13510,7 +14582,75 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 69.85 76.2 0)
+			(at 71.12 31.75 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Polarized capacitor, small US symbol"
+			(at 71.12 31.75 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "1"
+			(uuid "f8796f17-846f-4713-b33a-9263643244a4")
+		)
+		(pin "2"
+			(uuid "e194001b-54b7-4928-b684-642f40b8d79f")
+		)
+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "C6")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "Device:R_US")
+		(at 68.58 68.58 90)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "e5b422c3-2414-4c9b-ab36-73cdc7322201")
+		(property "Reference" "R1"
+			(at 68.58 62.23 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Value" "665Ω"
+			(at 68.58 64.77 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Footprint" ""
+			(at 68.834 67.564 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" "~"
+			(at 68.58 68.58 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13519,7 +14659,7 @@
 			)
 		)
 		(property "Description" "Resistor, US symbol"
-			(at 69.85 76.2 0)
+			(at 68.58 68.58 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13544,7 +14684,7 @@
 	)
 	(symbol
 		(lib_id "MCU_Module:RaspberryPi_Pico")
-		(at 246.38 187.96 0)
+		(at 233.68 148.59 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -13553,7 +14693,7 @@
 		(fields_autoplaced yes)
 		(uuid "e9175b30-8e53-4da9-b6d2-f5dcb4fe246f")
 		(property "Reference" "A1"
-			(at 248.5233 222.25 0)
+			(at 235.8233 182.88 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13562,7 +14702,7 @@
 			)
 		)
 		(property "Value" "RaspberryPi_Pico"
-			(at 248.5233 224.79 0)
+			(at 235.8233 185.42 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13571,7 +14711,7 @@
 			)
 		)
 		(property "Footprint" "Module:RaspberryPi_Pico_Common_Unspecified"
-			(at 246.38 234.95 0)
+			(at 233.68 195.58 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13580,7 +14720,7 @@
 			)
 		)
 		(property "Datasheet" "https://datasheets.raspberrypi.com/pico/pico-datasheet.pdf"
-			(at 246.38 237.49 0)
+			(at 233.68 198.12 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13589,7 +14729,7 @@
 			)
 		)
 		(property "Description" "Versatile and inexpensive microcontroller module powered by RP2040 dual-core Arm Cortex-M0+ processor up to 133 MHz, 264kB SRAM, 2MB QSPI flash; also supports Raspberry Pi Pico 2"
-			(at 246.38 240.03 0)
+			(at 233.68 200.66 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13726,6 +14866,72 @@
 			)
 		)
 	)
+	(symbol
+		(lib_id "power:+5VP")
+		(at 119.38 63.5 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "ec1cf39f-b03b-4e5b-be6e-e3566d36b22f")
+		(property "Reference" "#PWR020"
+			(at 119.38 67.31 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Value" "+5VP"
+			(at 119.38 58.42 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Footprint" ""
+			(at 119.38 63.5 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" ""
+			(at 119.38 63.5 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Power symbol creates a global label with name \"+5VP\""
+			(at 119.38 63.5 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "1"
+			(uuid "60cb180c-534b-46fb-9c8d-21734d25977f")
+		)
+		(instances
+			(project ""
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR020")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "Diode:1N4007")
 		(at 382.27 35.56 270)
@@ -13816,7 +15022,7 @@
 	)
 	(symbol
 		(lib_id "power:GNDPWR")
-		(at 50.8 93.98 0)
+		(at 50.8 86.36 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -13825,7 +15031,7 @@
 		(fields_autoplaced yes)
 		(uuid "f92b47c1-814b-41ce-8190-0ffe7b438fc4")
 		(property "Reference" "#PWR018"
-			(at 50.8 99.06 0)
+			(at 50.8 91.44 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13834,7 +15040,7 @@
 			)
 		)
 		(property "Value" "GNDPWR"
-			(at 50.673 97.79 0)
+			(at 50.673 90.17 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13842,7 +15048,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 50.8 95.25 0)
+			(at 50.8 87.63 0)
 			(effects
 				(font
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@@ -13851,7 +15057,7 @@
 			)
 		)
 		(property "Datasheet" ""
-			(at 50.8 95.25 0)
+			(at 50.8 87.63 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13860,7 +15066,7 @@
 			)
 		)
 		(property "Description" "Power symbol creates a global label with name \"GNDPWR\" , global ground"
-			(at 50.8 93.98 0)
+			(at 50.8 86.36 0)
 			(effects
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diff --git a/pcb/main board/main board.kicad_sch-bak b/pcb/main board/main board.kicad_sch-bak
index a3b9f4d..0ecb6a8 100644
--- a/pcb/main board/main board.kicad_sch-bak	
+++ b/pcb/main board/main board.kicad_sch-bak	
@@ -147,6 +147,1101 @@
 			)
 			(embedded_fonts no)
 		)
+		(symbol "Device:C"
+			(pin_numbers
+				(hide yes)
+			)
+			(pin_names
+				(offset 0.254)
+			)
+			(exclude_from_sim no)
+			(in_bom yes)
+			(on_board yes)
+			(property "Reference" "C"
+				(at 0.635 2.54 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(justify left)
+				)
+			)
+			(property "Value" "C"
+				(at 0.635 -2.54 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(justify left)
+				)
+			)
+			(property "Footprint" ""
+				(at 0.9652 -3.81 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Datasheet" "~"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Description" "Unpolarized capacitor"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_keywords" "cap capacitor"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_fp_filters" "C_*"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(symbol "C_0_1"
+				(polyline
+					(pts
+						(xy -2.032 0.762) (xy 2.032 0.762)
+					)
+					(stroke
+						(width 0.508)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+				(polyline
+					(pts
+						(xy -2.032 -0.762) (xy 2.032 -0.762)
+					)
+					(stroke
+						(width 0.508)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+			)
+			(symbol "C_1_1"
+				(pin passive line
+					(at 0 3.81 270)
+					(length 2.794)
+					(name "~"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+					(number "1"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+				)
+				(pin passive line
+					(at 0 -3.81 90)
+					(length 2.794)
+					(name "~"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+					(number "2"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+				)
+			)
+			(embedded_fonts no)
+		)
+		(symbol "Device:C_Polarized_Small_US"
+			(pin_numbers
+				(hide yes)
+			)
+			(pin_names
+				(offset 0.254)
+				(hide yes)
+			)
+			(exclude_from_sim no)
+			(in_bom yes)
+			(on_board yes)
+			(property "Reference" "C"
+				(at 0.254 1.778 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(justify left)
+				)
+			)
+			(property "Value" "C_Polarized_Small_US"
+				(at 0.254 -2.032 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(justify left)
+				)
+			)
+			(property "Footprint" ""
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Datasheet" "~"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Description" "Polarized capacitor, small US symbol"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_keywords" "cap capacitor"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_fp_filters" "CP_*"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(symbol "C_Polarized_Small_US_0_1"
+				(polyline
+					(pts
+						(xy -1.524 0.508) (xy 1.524 0.508)
+					)
+					(stroke
+						(width 0.3048)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
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+				(polyline
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+						(xy -1.27 1.524) (xy -0.762 1.524)
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+						(width 0)
+						(type default)
+					)
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+						(xy -1.016 1.27) (xy -1.016 1.778)
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+						(width 0)
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+				(arc
+					(start -1.524 -0.762)
+					(mid 0 -0.3734)
+					(end 1.524 -0.762)
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+						(width 0.3048)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+			)
+			(symbol "C_Polarized_Small_US_1_1"
+				(pin passive line
+					(at 0 2.54 270)
+					(length 2.032)
+					(name "~"
+						(effects
+							(font
+								(size 1.27 1.27)
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+						)
+					)
+					(number "1"
+						(effects
+							(font
+								(size 1.27 1.27)
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+					)
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+					(at 0 -2.54 90)
+					(length 2.032)
+					(name "~"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+					(number "2"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
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+				)
+			)
+			(embedded_fonts no)
+		)
+		(symbol "Device:C_Small"
+			(pin_numbers
+				(hide yes)
+			)
+			(pin_names
+				(offset 0.254)
+				(hide yes)
+			)
+			(exclude_from_sim no)
+			(in_bom yes)
+			(on_board yes)
+			(property "Reference" "C"
+				(at 0.254 1.778 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(justify left)
+				)
+			)
+			(property "Value" "C_Small"
+				(at 0.254 -2.032 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(justify left)
+				)
+			)
+			(property "Footprint" ""
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Datasheet" "~"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Description" "Unpolarized capacitor, small symbol"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_keywords" "capacitor cap"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_fp_filters" "C_*"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(symbol "C_Small_0_1"
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+					(reference "U6")
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 		(lib_id "Connector_Generic:Conn_01x02")
-		(at 373.38 91.44 0)
+		(at 389.89 100.33 0)
 		(unit 1)
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@@ -3494,7 +9584,7 @@
 		(fields_autoplaced yes)
 		(uuid "2cd6e5a0-b496-4ed2-a7eb-0ef7f19ec989")
 		(property "Reference" "J3"
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@@ -3503,7 +9593,7 @@
 			)
 		)
 		(property "Value" "Motor Conn 2"
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@@ -3512,7 +9602,7 @@
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@@ -3521,7 +9611,7 @@
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@@ -3530,7 +9620,7 @@
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 		(property "Description" "Generic connector, single row, 01x02, script generated (kicad-library-utils/schlib/autogen/connector/)"
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@@ -3554,17 +9644,433 @@
 		)
 	)
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-		(at 323.85 68.58 0)
+		(lib_id "Diode:1N4007")
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 		(unit 1)
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 		(on_board yes)
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 		(fields_autoplaced yes)
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-		(property "Reference" "#PWR02"
-			(at 323.85 73.66 0)
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+		(property "Datasheet" "http://www.vishay.com/docs/88503/1n4001.pdf"
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+		(lib_id "Transistor_FET:IRF8721PBF-1")
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+		(uuid "39931dc4-6d11-4f18-b37f-079ca13fc88a")
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+		(property "Datasheet" "http://www.irf.com/product-info/datasheets/data/irf8721pbf-1.pdf"
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+		(lib_id "Device:C_Polarized_Small_US")
+		(at 24.13 27.94 0)
+		(mirror y)
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+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(uuid "3d154c6e-2da8-4363-8693-f19ecbe5e3c1")
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+			)
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+		(property "Datasheet" "~"
+			(at 24.13 27.94 0)
+			(effects
+				(font
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+				(hide yes)
+			)
+		)
+		(property "Description" "Polarized capacitor, small US symbol"
+			(at 24.13 27.94 0)
+			(effects
+				(font
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+				(hide yes)
+			)
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+		(pin "1"
+			(uuid "26a6c131-adf1-4acc-b420-f630303ddaae")
+		)
+		(pin "2"
+			(uuid "a4323ee0-def1-4940-bc42-ad43a43981c3")
+		)
+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "C5")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "power:GNDPWR")
+		(at 234.95 81.28 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "3f19835c-19b6-4ea3-baf7-9e3fbfa4b003")
+		(property "Reference" "#PWR017"
+			(at 234.95 86.36 0)
 			(effects
 				(font
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@@ -3573,7 +10079,7 @@
 			)
 		)
 		(property "Value" "GNDPWR"
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@@ -3581,7 +10087,7 @@
 			)
 		)
 		(property "Footprint" ""
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@@ -3590,7 +10096,7 @@
 			)
 		)
 		(property "Datasheet" ""
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@@ -3599,7 +10105,1291 @@
 			)
 		)
 		(property "Description" "Power symbol creates a global label with name \"GNDPWR\" , global ground"
-			(at 323.85 68.58 0)
+			(at 234.95 81.28 0)
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+				(hide yes)
+			)
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+		(pin "1"
+			(uuid "00c67f0f-8d67-43f4-95ff-c2f624bf7dee")
+		)
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+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR017")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
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+		(at 81.28 27.94 0)
+		(unit 1)
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+		(fields_autoplaced yes)
+		(uuid "40d12483-f031-4959-91ae-caa91910463a")
+		(property "Reference" "#PWR011"
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+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
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-		(uuid "94822bfc-e958-4468-acc3-33b7cd3ac057")
-		(property "Reference" "J2"
-			(at 370.84 50.7999 0)
+		(uuid "8d6afbe1-f1cc-4b0e-b7bb-af9ae9ac952f")
+		(property "Reference" "C13"
+			(at 113.03 69.4181 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -3748,8 +11736,8 @@
 				(justify left)
 			)
 		)
-		(property "Value" "Motor Conn 1"
-			(at 370.84 53.3399 0)
+		(property "Value" "120uF"
+			(at 113.03 71.9581 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -3758,7 +11746,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 368.3 50.8 0)
+			(at 110.49 71.12 0)
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@@ -3767,7 +11755,77 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 368.3 50.8 0)
+			(at 110.49 71.12 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Polarized capacitor, small US symbol"
+			(at 110.49 71.12 0)
+			(effects
+				(font
+					(size 1.27 1.27)
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+				(hide yes)
+			)
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+		(pin "1"
+			(uuid "1b4f5292-d890-44fd-84f2-ef5f20b2e7d4")
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+		(pin "2"
+			(uuid "4373f945-f31c-4f7a-937f-aaf2d7ed9df5")
+		)
+		(instances
+			(project ""
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "C13")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "Connector_Generic:Conn_01x02")
+		(at 389.89 49.53 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "94822bfc-e958-4468-acc3-33b7cd3ac057")
+		(property "Reference" "J2"
+			(at 392.43 49.5299 0)
+			(effects
+				(font
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+				)
+				(justify left)
+			)
+		)
+		(property "Value" "Motor Conn 1"
+			(at 392.43 52.0699 0)
+			(effects
+				(font
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+			)
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+		)
+		(property "Datasheet" "~"
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 			(effects
 				(font
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@@ -3776,7 +11834,7 @@
 			)
 		)
 		(property "Description" "Generic connector, single row, 01x02, script generated (kicad-library-utils/schlib/autogen/connector/)"
-			(at 368.3 50.8 0)
+			(at 389.89 49.53 0)
 			(effects
 				(font
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@@ -3800,26 +11858,25 @@
 		)
 	)
 	(symbol
-		(lib_id "power:+5V")
-		(at 327.66 27.94 0)
+		(lib_id "Device:R_US")
+		(at 97.79 69.85 0)
+		(mirror x)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
 		(dnp no)
-		(fields_autoplaced yes)
-		(uuid "b3964aef-148d-4973-8bf2-1773273b84f6")
-		(property "Reference" "#PWR03"
-			(at 327.66 31.75 0)
+		(uuid "94d0ef08-86a5-408a-a21a-a75def6bca55")
+		(property "Reference" "R3"
+			(at 104.14 69.85 90)
 			(effects
 				(font
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 				)
-				(hide yes)
 			)
 		)
-		(property "Value" "+5V"
-			(at 327.66 22.86 0)
+		(property "Value" "73.2kΩ"
+			(at 101.6 69.85 90)
 			(effects
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@@ -3827,74 +11884,7 @@
 			)
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 		(property "Footprint" ""
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-		(lib_id "Connector_Generic:Conn_01x02")
-		(at 373.38 99.06 0)
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-		(on_board yes)
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-		(uuid "b732f493-afe9-41d8-99f8-1651d9661eb5")
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-				(justify left)
-			)
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-		(property "Footprint" ""
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+			(at 98.806 69.596 90)
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@@ -3903,7 +11893,589 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 373.38 99.06 0)
+			(at 97.79 69.85 0)
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+				(hide yes)
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+		(property "Description" "Resistor, US symbol"
+			(at 97.79 69.85 0)
+			(effects
+				(font
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+				(hide yes)
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+		(pin "2"
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+		(pin "1"
+			(uuid "82da58e2-f136-43b0-93d6-230376ebb06d")
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+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "R3")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "Device:C_Small")
+		(at 92.71 68.58 0)
+		(mirror y)
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+		(in_bom yes)
+		(on_board yes)
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+		(uuid "98d9ba97-2604-4832-a6c7-8cad21e152a7")
+		(property "Reference" "C12"
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+		(property "Datasheet" "http://www.vishay.com/docs/88503/1n4001.pdf"
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+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "C10")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "Connector_Generic:Conn_01x02")
+		(at 389.89 107.95 0)
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+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "b732f493-afe9-41d8-99f8-1651d9661eb5")
+		(property "Reference" "J4"
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+				(font
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+				(justify left)
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+		)
+		(property "Value" "Motor Conn 3"
+			(at 392.43 110.4899 0)
+			(effects
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@@ -3912,7 +12484,7 @@
 			)
 		)
 		(property "Description" "Generic connector, single row, 01x02, script generated (kicad-library-utils/schlib/autogen/connector/)"
-			(at 373.38 99.06 0)
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 			(effects
 				(font
 					(size 1.27 1.27)
@@ -3935,9 +12507,386 @@
 			)
 		)
 	)
+	(symbol
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+		(at 334.01 78.74 0)
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+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "b768855a-3275-454c-83bd-bd2c6618d5ee")
+		(property "Reference" "#PWR06"
+			(at 334.01 82.55 0)
+			(effects
+				(font
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+				(hide yes)
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+		(property "Value" "+12V"
+			(at 334.01 73.66 0)
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+		(property "Datasheet" ""
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+				(hide yes)
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+		(property "Description" "Power symbol creates a global label with name \"+12V\""
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+				(hide yes)
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+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR06")
+					(unit 1)
+				)
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+		(at 322.58 22.86 270)
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+					(reference "D7")
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+		(lib_id "Device:C_Small")
+		(at 26.67 73.66 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(uuid "c443b14d-b1f4-465b-b304-9b7460751027")
+		(property "Reference" "C11"
+			(at 33.02 73.6663 90)
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+			(effects
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+				(hide yes)
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+		)
+		(property "Description" "Unpolarized capacitor, small symbol"
+			(at 26.67 73.66 0)
+			(effects
+				(font
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+				(hide yes)
+			)
+		)
+		(pin "2"
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+		)
+		(pin "1"
+			(uuid "f04f5fb7-3a3c-4e0a-af24-14be4a232583")
+		)
+		(instances
+			(project "main board"
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "C11")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "MCU_Module:RaspberryPi_Pico_W")
-		(at 115.57 157.48 0)
+		(at 147.32 186.69 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -3946,7 +12895,7 @@
 		(fields_autoplaced yes)
 		(uuid "cad64f1a-0ba0-4774-9597-6ecb7a26e9ba")
 		(property "Reference" "A2"
-			(at 117.7133 191.77 0)
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@@ -3955,7 +12904,7 @@
 			)
 		)
 		(property "Value" "RaspberryPi_Pico_W"
-			(at 117.7133 194.31 0)
+			(at 149.4633 223.52 0)
 			(effects
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@@ -3964,7 +12913,7 @@
 			)
 		)
 		(property "Footprint" "Module:RaspberryPi_Pico_W_SMD_HandSolder"
-			(at 115.57 204.47 0)
+			(at 147.32 233.68 0)
 			(effects
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@@ -3973,7 +12922,7 @@
 			)
 		)
 		(property "Datasheet" "https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf"
-			(at 115.57 207.01 0)
+			(at 147.32 236.22 0)
 			(effects
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@@ -3982,7 +12931,7 @@
 			)
 		)
 		(property "Description" "Versatile and inexpensive wireless microcontroller module powered by RP2040 dual-core Arm Cortex-M0+ processor up to 133 MHz, 264kB SRAM, 2MB QSPI flash, Infineon CYW43439 2.4GHz 802.11n wireless LAN; also supports Raspberry Pi Pico 2 W"
-			(at 115.57 209.55 0)
+			(at 147.32 238.76 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -4119,9 +13068,705 @@
 			)
 		)
 	)
+	(symbol
+		(lib_id "power:+12V")
+		(at 50.8 44.45 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "cae0eaf2-dd1c-4bab-941d-9de88269fa3f")
+		(property "Reference" "#PWR019"
+			(at 50.8 48.26 0)
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+		(property "Value" "+12V"
+			(at 50.8 39.37 0)
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+		(property "Footprint" ""
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+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR019")
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+			)
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 	(symbol
 		(lib_id "MCU_Module:RaspberryPi_Pico")
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@@ -4130,7 +13775,7 @@
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 		(property "Reference" "A1"
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 		(property "Value" "RaspberryPi_Pico"
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 		(property "Datasheet" "https://datasheets.raspberrypi.com/pico/pico-datasheet.pdf"
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 		(unit 1)
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 		(on_board yes)
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+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" ""
+			(at 50.8 87.63 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -4349,7 +14148,73 @@
 			)
 		)
 		(property "Description" "Power symbol creates a global label with name \"GNDPWR\" , global ground"
-			(at 322.58 116.84 0)
+			(at 50.8 86.36 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "1"
+			(uuid "8b6a565f-98e8-4334-9764-ac96cef239b1")
+		)
+		(instances
+			(project ""
+				(path "/2b41feff-4875-412f-ac81-a28835b7fe51"
+					(reference "#PWR018")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "power:GNDPWR")
+		(at 325.12 125.73 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom yes)
+		(on_board yes)
+		(dnp no)
+		(fields_autoplaced yes)
+		(uuid "fa168a6d-99ff-46d3-953c-8f9a8c845303")
+		(property "Reference" "#PWR01"
+			(at 325.12 130.81 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Value" "GNDPWR"
+			(at 324.993 129.54 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Footprint" ""
+			(at 325.12 127 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" ""
+			(at 325.12 127 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Power symbol creates a global label with name \"GNDPWR\" , global ground"
+			(at 325.12 125.73 0)
 			(effects
 				(font
 					(size 1.27 1.27)
diff --git a/pcb/main board/~main board.kicad_sch.lck b/pcb/main board/~main board.kicad_sch.lck
deleted file mode 100644
index 59fb61b..0000000
--- a/pcb/main board/~main board.kicad_sch.lck	
+++ /dev/null
@@ -1 +0,0 @@
-{"hostname":"aspire-laptop","username":"ulysse-cura"}
\ No newline at end of file