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<hole x="11.557" y="0" drill="4.064"/>
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<package name="867B-V">
<description>Pressure Side Ported (AP, GP) Unibody Package 867B-04
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<br>Horizontal Mount</description>
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<package name="867C-V">
<description>Pressure Side Ported (DP) Unibody Package 867C-05
<br>Vertical Mount</description>
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repository: bgvsan/DigitalTyreGauge

path: /Cad/Tyre pressure/untitled.sch

repo_name: bgvsan/DigitalTyreGauge


text:
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<wire x1="6.604" y1="-5.08" x2="6.604" y2="-4.572" width="0.1524" layer="21"/>
<wire x1="-1.778" y1="-5.588" x2="-1.778" y2="-9.398" width="0.1524" layer="21"/>
<wire x1="-1.778" y1="-11.684" x2="1.778" y2="-11.684" width="0.1524" layer="21"/>
<wire x1="1.778" y1="-9.398" x2="1.778" y2="-5.588" width="0.1524" layer="21"/>
<wire x1="1.778" y1="-9.398" x2="2.286" y2="-9.398" width="0.1524" layer="21"/>
<wire x1="2.286" y1="-9.398" x2="1.778" y2="-11.684" width="0.1524" layer="21"/>
<wire x1="-1.778" y1="-9.398" x2="-2.286" y2="-9.398" width="0.1524" layer="21"/>
<wire x1="-2.286" y1="-9.398" x2="-1.778" y2="-11.684" width="0.1524" layer="21"/>
<wire x1="-1.778" y1="-9.398" x2="1.778" y2="-9.398" width="0.1524" layer="21"/>
<wire x1="-1.778" y1="-5.588" x2="-2.286" y2="-5.08" width="0.1524" layer="21" curve="90"/>
<wire x1="1.778" y1="-5.588" x2="2.286" y2="-5.08" width="0.1524" layer="21" curve="-90"/>
<wire x1="4.318" y1="-1.016" x2="8.382" y2="-1.016" width="0.1524" layer="21"/>
<wire x1="8.382" y1="-1.016" x2="9.144" y2="-1.016" width="0.1524" layer="21"/>
<wire x1="9.144" y1="-1.016" x2="12.192" y2="-1.016" width="0.1524" layer="21"/>
<wire x1="-4.318" y1="-1.016" x2="-8.382" y2="-1.016" width="0.1524" layer="21"/>
<wire x1="-8.382" y1="-1.016" x2="-9.144" y2="-1.016" width="0.1524" layer="21"/>
<wire x1="-9.144" y1="-1.016" x2="-12.192" y2="-1.016" width="0.1524" layer="21"/>
<wire x1="8.382" y1="0" x2="8.382" y2="4.572" width="0.1524" layer="21"/>
<wire x1="-8.382" y1="0" x2="-8.382" y2="4.572" width="0.1524" layer="21"/>
<wire x1="8.382" y1="-1.016" x2="8.382" y2="-4.572" width="0.1524" layer="21"/>
<wire x1="-8.382" y1="-1.016" x2="-8.382" y2="-4.572" width="0.1524" layer="21"/>
<wire x1="-9.144" y1="-4.572" x2="-9.144" y2="-1.016" width="0.1524" layer="21"/>
<wire x1="9.144" y1="-4.572" x2="9.144" y2="-1.016" width="0.1524" layer="21"/>
<pad name="1" x="-6.35" y="0" drill="1.016" shape="long" rot="R90"/>
<pad name="2" x="-3.81" y="0" drill="1.016" shape="long" rot="R90"/>
<pad name="3" x="-1.27" y="0" drill="1.016" shape="long" rot="R90"/>
<pad name="4" x="1.27" y="0" drill="1.016" shape="long" rot="R90"/>
<pad name="5" x="3.81" y="0" drill="1.016" shape="long" rot="R90"/>
<pad name="6" x="6.35" y="0" drill="1.016" shape="long" rot="R90"/>
<text x="3.81" y="-7.62" size="1.27" layer="25">>NAME</text>
<text x="-7.62" y="5.08" size="1.27" layer="27">>VALUE</text>
</package>
</packages>
<symbols>
<symbol name="MPX_SYMB">
<wire x1="-10.16" y1="10.16" x2="-10.16" y2="-10.16" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-10.16" x2="15.24" y2="-10.16" width="0.254" layer="94"/>
<wire x1="15.24" y1="-10.16" x2="15.24" y2="10.16" width="0.254" layer="94"/>
<wire x1="15.24" y1="10.16" x2="-10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="0" y1="-5.08" x2="0" y2="-7.62" width="0.254" layer="94"/>
<wire x1="2.54" y1="-2.54" x2="-2.54" y2="2.54" width="0.254" layer="94"/>
<circle x="0" y="0" radius="5.08" width="0.254" layer="94"/>
<text x="-2.54" y="-12.7" size="1.27" layer="95">>NAME</text>
<text x="-2.54" y="11.43" size="1.27" layer="96">>VALUE</text>
<pin name="VS" x="-5.08" y="15.24" length="middle" direction="pwr" rot="R270"/>
<pin name="GND" x="-5.08" y="-15.24" length="middle" direction="pwr" rot="R90"/>
<pin name="VOUT" x="20.32" y="0" length="middle" direction="out" rot="R180"/>
<pin name="NC@1" x="-10.16" y="2.54" visible="off" length="point" direction="nc"/>
<pin name="NC@5" x="-10.16" y="0" visible="off" length="point" direction="nc"/>
<pin name="NC@6" x="-10.16" y="-2.54" visible="off" length="point" direction="nc"/>
<polygon width="0.254" layer="94">
<vertex x="-2.54" y="2.54"/>
<vertex x="0" y="1.27"/>
<vertex x="-1.27" y="0"/>
</polygon>
</symbol>
</symbols>
<devicesets>
<deviceset name="MPX*****" prefix="PS" uservalue="yes">
<description>Generic MPX pressure sensor</description>
<gates>
<gate name="G$1" symbol="MPX_SYMB" x="0" y="0"/>
</gates>
<devices>
<device name="-1317" package="1317">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-1317A" package="1317A">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-1351" package="1351">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-1368" package="1368">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-1369" package="1369">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-482" package="482">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-482A" package="482A">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-482B" package="482B">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-482C" package="482C">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="NC@1" pad="1"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="4"/>
<connect gate="G$1" pin="VS" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867-H" package="867-H">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867-V" package="867-V">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867B-H" package="867B-H">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867B-V" package="867B-V">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867C-H" package="867C-H">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867C-V" package="867C-V">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867E-H" package="867E-H">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867E-V" package="867E-V">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867F-H" package="867F-H">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-867F-V" package="867F-V">
<connects>
<connect gate="G$1" pin="GND" pad="2"/>
<connect gate="G$1" pin="NC@1" pad="4"/>
<connect gate="G$1" pin="NC@5" pad="5"/>
<connect gate="G$1" pin="NC@6" pad="6"/>
<connect gate="G$1" pin="VOUT" pad="1"/>
<connect gate="G$1" pin="VS" pad="3"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<classes>
<class number="0" name="default" width="0.381" drill="0">
</class>
</classes>
<parts>
<part name="U$1" library="pic18fxx20" deviceset="PIC18*2520" device="-E/SO" technology="F"/>
<part name="SUPPLY1" library="SparkFun-PowerSymbols" library_urn="urn:adsk.eagle:library:530" deviceset="VCC" device=""/>
<part name="GND1" library="SparkFun-PowerSymbols" library_urn="urn:adsk.eagle:library:530" deviceset="GND" device=""/>
<part name="GND2" library="SparkFun-PowerSymbols" library_urn="urn:adsk.eagle:library:530" deviceset="GND" device=""/>
<part name="GND3" library="SparkFun-PowerSymbols" library_urn="urn:adsk.eagle:library:530" deviceset="GND" device=""/>
<part name="J1" library="SparkFun-Connectors" library_urn="urn:adsk.eagle:library:513" deviceset="CONN_02" device="" package3d_urn="urn:adsk.eagle:package:38039/1"/>
<part name="U$2" library="128X64 Oled" deviceset="128_64_OLED_SPI" device=""/>
<part name="IC1" library="linear" library_urn="urn:adsk.eagle:library:262" deviceset="MCP1703" device="CB" package3d_urn="urn:adsk.eagle:package:16489/2"/>
<part name="C1" library="BeagleBone_Blue_R3" library_urn="urn:adsk.eagle:library:5828899" deviceset="CAPACITOR-N" device="0805" package3d_urn="urn:adsk.eagle:package:5829534/4" value="1uF"/>
<part name="GND4" library="SparkFun-PowerSymbols" library_urn="urn:adsk.eagle:library:530" deviceset="GND" device=""/>
<part name="C2" library="BeagleBone_Blue_R3" library_urn="urn:adsk.eagle:library:5828899" deviceset="CAPACITOR-N" device="0805" package3d_urn="urn:adsk.eagle:package:5829534/4" value="1uF"/>
<part name="ICSP" library="SparkFun-Connectors" library_urn="urn:adsk.eagle:library:513" deviceset="PIC_ICSP_6_PIN" device="" package3d_urn="urn:adsk.eagle:package:38117/1"/>
<part name="R1" library="BeagleBone_Black_Wireless" library_urn="urn:adsk.eagle:library:6644236" deviceset="R-US_" device="R0805" package3d_urn="urn:adsk.eagle:package:8118506/2" value="2"/>
<part name="R2" library="BeagleBone_Black_Wireless" library_urn="urn:adsk.eagle:library:6644236" deviceset="R-US_" device="R0805" package3d_urn="urn:adsk.eagle:package:8118506/2" value="3"/>
<part name="GND5" library="SparkFun-PowerSymbols" library_urn="urn:adsk.eagle:library:530" deviceset="GND" device=""/>
<part name="GND6" library="BeagleBone_Blue_R3" library_urn="urn:adsk.eagle:library:5828899" deviceset="GND-BAR" device=""/>
<part name="LED1" library="Fidget Spinner Example" library_urn="urn:adsk.eagle:library:9489508" deviceset="LED" device="CHIP-LED0805" package3d_urn="urn:adsk.eagle:package:9489530/2"/>
<part name="R3" library="BeagleBone_Black_Wireless" library_urn="urn:adsk.eagle:library:6644236" deviceset="R-US_" device="R0805" package3d_urn="urn:adsk.eagle:package:8118506/2" value="320"/>
<part name="GND7" library="SparkFun-PowerSymbols" library_urn="urn:adsk.eagle:library:530" deviceset="GND" device=""/>
<part name="PS1" library="mpx-freescale" deviceset="MPX*****" device="-867B-H"/>
<part name="BATT" library="SparkFun-Connectors" library_urn="urn:adsk.eagle:library:513" deviceset="CONN_02" device="" package3d_urn="urn:adsk.eagle:package:38039/1"/>
</parts>
<sheets>
<sheet>
<plain>
</plain>
<instances>
<instance part="U$1" gate="G$1" x="58.42" y="86.36" smashed="yes">
<attribute name="NAME" x="27.94" y="119.38" size="1.778" layer="95"/>
<attribute name="VALUE" x="27.94" y="114.3" size="1.778" layer="96"/>
</instance>
<instance part="SUPPLY1" gate="G$1" x="-10.16" y="127" smashed="yes">
<attribute name="VALUE" x="-10.16" y="129.794" size="1.778" layer="96" align="bottom-center"/>
</instance>
<instance part="GND1" gate="1" x="-10.16" y="111.76" smashed="yes">
<attribute name="VALUE" x="-10.16" y="111.506" size="1.778" layer="96" align="top-center"/>
</instance>
<instance part="GND2" gate="1" x="17.78" y="76.2" smashed="yes">
<attribute name="VALUE" x="17.78" y="75.946" size="1.778" layer="96" align="top-center"/>
</instance>
<instance part="GND3" gate="1" x="12.7" y="78.74" smashed="yes">
<attribute name="VALUE" x="12.7" y="78.486" size="1.778" layer="96" align="top-center"/>
</instance>
<instance part="J1" gate="G$1" x="-17.78" y="119.38" smashed="yes">
<attribute name="VALUE" x="-20.32" y="114.554" size="1.778" layer="96" font="vector"/>
<attribute name="NAME" x="-20.32" y="124.968" size="1.778" layer="95" font="vector"/>
</instance>
<instance part="U$2" gate="G$1" x="101.6" y="91.44" smashed="yes"/>
<instance part="IC1" gate="G$1" x="-7.62" y="91.44" smashed="yes">
<attribute name="NAME" x="-15.24" y="97.155" size="1.778" layer="95"/>
<attribute name="VALUE" x="-15.24" y="94.615" size="1.778" layer="96"/>
</instance>
<instance part="C1" gate="G$1" x="-20.32" y="86.36" smashed="yes">
<attribute name="NAME" x="-26.416" y="86.741" size="1.778" layer="95"/>
<attribute name="VALUE" x="-26.416" y="84.201" size="1.778" layer="96"/>
</instance>
<instance part="GND4" gate="1" x="-7.62" y="78.74" smashed="yes">
<attribute name="VALUE" x="-7.62" y="78.486" size="1.778" layer="96" align="top-center"/>
</instance>
<instance part="C2" gate="G$1" x="2.54" y="83.82" smashed="yes">
<attribute name="NAME" x="4.064" y="86.741" size="1.778" layer="95"/>
<attribute name="VALUE" x="4.064" y="81.661" size="1.778" layer="96"/>
</instance>
<instance part="ICSP" gate="G$1" x="-7.62" y="50.8" smashed="yes">
<attribute name="NAME" x="-12.7" y="58.674" size="1.778" layer="95" font="vector"/>
</instance>
<instance part="R1" gate="G$1" x="20.32" y="147.32" smashed="yes" rot="R90">
<attribute name="NAME" x="18.8214" y="143.51" size="1.778" layer="95" rot="R90"/>
<attribute name="VALUE" x="23.622" y="143.51" size="1.778" layer="96" rot="R90"/>
</instance>
<instance part="R2" gate="G$1" x="20.32" y="134.62" smashed="yes" rot="R90">
<attribute name="NAME" x="18.8214" y="130.81" size="1.778" layer="95" rot="R90"/>
<attribute name="VALUE" x="23.622" y="130.81" size="1.778" layer="96" rot="R90"/>
</instance>
<instance part="GND5" gate="1" x="20.32" y="127" smashed="yes">
<attribute name="VALUE" x="20.32" y="126.746" size="1.778" layer="96" align="top-center"/>
</instance>
<instance part="LED1" gate="G$1" x="63.5" y="144.78" smashed="yes">
<attribute name="NAME" x="67.056" y="140.208" size="1.778" layer="95" rot="R90"/>
<attribute name="VALUE" x="69.215" y="140.208" size="1.778" layer="96" rot="R90"/>
</instance>
<instance part="R3" gate="G$1" x="63.5" y="152.4" smashed="yes" rot="R90">
<attribute name="NAME" x="62.0014" y="148.59" size="1.778" layer="95" rot="R90"/>
<attribute name="VALUE" x="66.802" y="148.59" size="1.778" layer="96" rot="R90"/>
</instance>
<instance part="GND7" gate="1" x="63.5" y="137.16" smashed="yes">
<attribute name="VALUE" x="63.5" y="136.906" size="1.778" layer="96" align="top-center"/>
</instance>
<instance part="BATT" gate="G$1" x="0" y="116.84" smashed="yes" rot="R90">
<attribute name="VALUE" x="4.826" y="114.3" size="1.778" layer="96" font="vector" rot="R90"/>
<attribute name="NAME" x="-5.588" y="114.3" size="1.778" layer="95" font="vector" rot="R90"/>
</instance>
</instances>
<busses>
</busses>
<nets>
<net name="VCC" class="0">
<segment>
<pinref part="SUPPLY1" gate="G$1" pin="VCC"/>
<pinref part="J1" gate="G$1" pin="2"/>
<wire x1="-10.16" y1="127" x2="-10.16" y2="124.46" width="0.1524" layer="91"/>
<pinref part="BATT" gate="G$1" pin="2"/>
<wire x1="-10.16" y1="124.46" x2="-10.16" y2="121.92" width="0.1524" layer="91"/>
<wire x1="-2.54" y1="124.46" x2="-10.16" y2="124.46" width="0.1524" layer="91"/>
<junction x="-10.16" y="124.46"/>
</segment>
<segment>
<pinref part="ICSP" gate="G$1" pin="VCC"/>
<wire x1="0" y1="53.34" x2="10.16" y2="53.34" width="0.1524" layer="91"/>

</segment>
</net>
<net name="GND" class="0">
<segment>
<pinref part="U$1" gate="G$1" pin="VSS@1"/>
<pinref part="GND2" gate="1" pin="GND"/>
<wire x1="20.32" y1="78.74" x2="17.78" y2="78.74" width="0.1524" layer="91"/>
</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="VSS@0"/>
<pinref part="GND3" gate="1" pin="GND"/>
<wire x1="12.7" y1="81.28" x2="20.32" y2="81.28" width="0.1524" layer="91"/>
</segment>
<segment>
<pinref part="GND1" gate="1" pin="GND"/>
<pinref part="J1" gate="G$1" pin="1"/>
<wire x1="-10.16" y1="119.38" x2="-10.16" y2="114.3" width="0.1524" layer="91"/>
<wire x1="-10.16" y1="114.3" x2="-10.16" y2="116.84" width="0.1524" layer="91"/>
<junction x="-10.16" y="114.3"/>
</segment>
<segment>
<pinref part="U$2" gate="G$1" pin="GND"/>
<wire x1="96.52" y1="114.3" x2="86.36" y2="114.3" width="0.1524" layer="91"/>

</segment>
<segment>
<wire x1="2.54" y1="81.28" x2="-7.62" y2="81.28" width="0.1524" layer="91"/>
<pinref part="IC1" gate="G$1" pin="GND"/>
<wire x1="-7.62" y1="81.28" x2="-7.62" y2="83.82" width="0.1524" layer="91"/>
<pinref part="GND4" gate="1" pin="GND"/>
<junction x="-7.62" y="81.28"/>
<pinref part="C2" gate="G$1" pin="2"/>
<junction x="2.54" y="81.28"/>
<pinref part="C1" gate="G$1" pin="2"/>
<wire x1="-20.32" y1="83.82" x2="-20.32" y2="81.28" width="0.1524" layer="91"/>
<wire x1="-20.32" y1="81.28" x2="-7.62" y2="81.28" width="0.1524" layer="91"/>
</segment>
<segment>
<pinref part="ICSP" gate="G$1" pin="GND"/>
<wire x1="0" y1="50.8" x2="10.16" y2="50.8" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="R2" gate="G$1" pin="1"/>
<pinref part="GND5" gate="1" pin="GND"/>
</segment>
<segment>
<pinref part="LED1" gate="G$1" pin="C"/>
<pinref part="GND7" gate="1" pin="GND"/>
</segment>
</net>
<net name="SCL" class="0">
<segment>
<pinref part="U$2" gate="G$1" pin="SCL"/>
<wire x1="96.52" y1="104.14" x2="86.36" y2="104.14" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="SCK/SCL/RC3"/>
<wire x1="71.12" y1="60.96" x2="83.82" y2="60.96" width="0.1524" layer="91"/>

</segment>
</net>
<net name="SDA" class="0">
<segment>
<pinref part="U$2" gate="G$1" pin="SCA"/>
<wire x1="96.52" y1="99.06" x2="86.36" y2="99.06" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="SDI/SDA/RC4"/>
<wire x1="71.12" y1="58.42" x2="83.82" y2="58.42" width="0.1524" layer="91"/>

</segment>
</net>
<net name="9V" class="0">
<segment>
<pinref part="IC1" gate="G$1" pin="VI"/>
<wire x1="-17.78" y1="91.44" x2="-20.32" y2="91.44" width="0.1524" layer="91"/>

<pinref part="C1" gate="G$1" pin="1"/>
<wire x1="-20.32" y1="91.44" x2="-25.4" y2="91.44" width="0.1524" layer="91"/>
<junction x="-20.32" y="91.44"/>
</segment>
<segment>
<wire x1="0" y1="124.46" x2="12.7" y2="124.46" width="0.1524" layer="91"/>

<pinref part="BATT" gate="G$1" pin="1"/>
</segment>
</net>
<net name="3V3" class="0">
<segment>
<pinref part="U$1" gate="G$1" pin="VDD"/>
<wire x1="5.08" y1="71.12" x2="20.32" y2="71.12" width="0.1524" layer="91"/>

</segment>
</net>
<net name="VPP" class="0">
<segment>
<pinref part="ICSP" gate="G$1" pin="VPP"/>
<wire x1="0" y1="55.88" x2="10.16" y2="55.88" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="_MCLR/VPP/RE3"/>
<wire x1="71.12" y1="45.72" x2="83.82" y2="45.72" width="0.1524" layer="91"/>

</segment>
</net>
<net name="PGD" class="0">
<segment>
<pinref part="ICSP" gate="G$1" pin="PGD"/>
<wire x1="0" y1="48.26" x2="10.16" y2="48.26" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="KBI3/PGD/RB7"/>
<wire x1="71.12" y1="73.66" x2="81.28" y2="73.66" width="0.1524" layer="91"/>

</segment>
</net>
<net name="PGC" class="0">
<segment>
<pinref part="ICSP" gate="G$1" pin="PGC"/>
<wire x1="0" y1="45.72" x2="10.16" y2="45.72" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="KBI2/PGC/RB6"/>
<wire x1="71.12" y1="76.2" x2="81.28" y2="76.2" width="0.1524" layer="91"/>

</segment>
</net>
<net name="PGM" class="0">
<segment>
<pinref part="ICSP" gate="G$1" pin="PGM"/>
<wire x1="0" y1="43.18" x2="10.16" y2="43.18" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="KBI1/PGM/RB5"/>
<wire x1="71.12" y1="78.74" x2="81.28" y2="78.74" width="0.1524" layer="91"/>

</segment>
</net>
<net name="5V" class="0">
<segment>
<pinref part="IC1" gate="G$1" pin="VO"/>
<wire x1="2.54" y1="91.44" x2="2.54" y2="88.9" width="0.1524" layer="91"/>
<pinref part="C2" gate="G$1" pin="1"/>
<wire x1="2.54" y1="91.44" x2="12.7" y2="91.44" width="0.1524" layer="91"/>
<junction x="2.54" y="91.44"/>

</segment>
<segment>
<pinref part="U$2" gate="G$1" pin="VCC"/>
<wire x1="96.52" y1="109.22" x2="86.36" y2="109.22" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="R1" gate="G$1" pin="2"/>
<wire x1="20.32" y1="152.4" x2="7.62" y2="152.4" width="0.1524" layer="91"/>

</segment>
<segment>
<pinref part="R3" gate="G$1" pin="2"/>
<wire x1="63.5" y1="157.48" x2="48.26" y2="157.48" width="0.1524" layer="91"/>

</segment>
</net>
<net name="3V" class="0">
<segment>
<pinref part="R1" gate="G$1" pin="1"/>
<pinref part="R2" gate="G$1" pin="2"/>
<wire x1="20.32" y1="142.24" x2="20.32" y2="139.7" width="0.1524" layer="91"/>
<wire x1="20.32" y1="139.7" x2="38.1" y2="139.7" width="0.1524" layer="91"/>
<junction x="20.32" y="139.7"/>

</segment>
<segment>
<pinref part="U$1" gate="G$1" pin="VREF+/AN3/RA3"/>
<wire x1="71.12" y1="106.68" x2="81.28" y2="106.68" width="0.1524" layer="91"/>

</segment>
</net>
<net name="ANALOG" class="0">
<segment>
<pinref part="U$1" gate="G$1" pin="AN0/RA0"/>
<wire x1="71.12" y1="114.3" x2="81.28" y2="114.3" width="0.1524" layer="91"/>

</segment>
</net>
<net name="N$1" class="0">
<segment>
<pinref part="LED1" gate="G$1" pin="A"/>
<pinref part="R3" gate="G$1" pin="1"/>
</segment>
</net>
</nets>
</sheet>
<sheet>
<plain>
</plain>
<instances>
<instance part="GND6" gate="1" x="-5.08" y="76.2" smashed="yes"/>
<instance part="PS1" gate="G$1" x="0" y="99.06" smashed="yes">
<attribute name="NAME" x="-2.54" y="86.36" size="1.27" layer="95"/>
<attribute name="VALUE" x="-2.54" y="110.49" size="1.27" layer="96"/>
</instance>
</instances>
<busses>
</busses>
<nets>
<net name="GND" class="0">
<segment>
<pinref part="GND6" gate="1" pin="GND"/>
<wire x1="-5.08" y1="78.74" x2="-5.08" y2="83.82" width="0.1524" layer="91"/>
<pinref part="PS1" gate="G$1" pin="GND"/>
</segment>
</net>
<net name="5V" class="0">
<segment>
<wire x1="-5.08" y1="114.3" x2="-25.4" y2="114.3" width="0.1524" layer="91"/>

<pinref part="PS1" gate="G$1" pin="VS"/>
</segment>
</net>
<net name="ANALOG" class="0">
<segment>
<wire x1="20.32" y1="99.06" x2="33.02" y2="99.06" width="0.1524" layer="91"/>

<pinref part="PS1" gate="G$1" pin="VOUT"/>
</segment>
</net>
</nets>
</sheet>
</sheets>
</schematic>
</drawing>
<compatibility>
<note version="8.2" severity="warning">
Since Version 8.2, EAGLE supports online libraries. The ids
of those online libraries will not be understood (or retained)
with this version.
</note>
<note version="8.3" severity="warning">
Since Version 8.3, EAGLE supports URNs for individual library
assets (packages, symbols, and devices). The URNs of those assets
will not be understood (or retained) with this version.
</note>
<note version="8.3" severity="warning">
Since Version 8.3, EAGLE supports the association of 3D packages
with devices in libraries, schematics, and board files. Those 3D
packages will not be understood (or retained) with this version.
</note>
</compatibility>
</eagle>

license: MIT

license_type: permissive

branch_name: refs/heads/master

extension: sch


text:
#include "igvc_ekf/ekf.h"

EKF::EKF()
{
    // set the covariance matrix to the identity matrix
    this->P_k.setIdentity(11, 11);
    this->P_k *= 1.25;

    // Define the process noise
    this->Q_k.setIdentity(11, 11);
    this->Q_k *= 1.3;

    // Define the measurement noise
    this->R_k.setIdentity(11, 11);
    this->R_k(0, 0) = 3.395864;
    this->R_k(1, 1) = 4.571665;
    this->R_k(3, 3) = 2;
    this->R_k(4, 4) = 2;
    this->R_k(5, 5) = 2;

    // Define the measurement model
    this->H_k.setIdentity(11, 11);

    // Initialize the kalman gain
    this->K_k.setZero(11, 9);

    // Setup identity matrix
    this->I.setIdentity(11, 11);
}

void EKF::init(Eigen::VectorXd x0)
{
    // set the initial state
    this->x_k = x0;

    // init the timer
    this->last_time = ros::Time::now().toNSec() / NSEC_TO_SEC;
}

Eigen::VectorXd EKF::run_filter(Eigen::VectorXd sensors, Eigen::VectorXd u_k)
{
    // local vars
    double cur_time;
    double dt;

    // find time delta
    cur_time = ros::Time::now().toNSec() / NSEC_TO_SEC;
    dt = cur_time - last_time;
    last_time = cur_time;

    // Run prediction
    this->predict(u_k, dt);

    // Update from prediction
    this->update(sensors);

    // Return the new state estimate
    return this->x_k;
}

double EKF::get_convergence()
{
    return this->convergence;
}

void EKF::calculate_dynamics(Eigen::VectorXd u_k, double dt)
{
    // Velocity calculations
    double velocity = 0.5 * WHEEL_RADIUS * (x_k(8) + x_k(9));
    double x_dot    = velocity * cos(x_k(5));
    double y_dot    = velocity * sin(x_k(5));
    double psi_dot  = (WHEEL_RADIUS / WHEELBASE_LEN) * (x_k(8) - x_k(9));

    // Position Calculations
    double x     = x_k(3) + x_dot * dt;
    double y     = x_k(4) + y_dot * dt;
    double psi   = x_k(5) - psi_dot * dt;
    double theta = x_k(2) - psi_dot * dt;

    // GPS calculations
    double lat = x_k(0) + (x_k(6) * dt) * cos(x_k(2)) / EARTH_RADIUS;
    double lon = x_k(1) + (x_k(6) * dt) * sin(x_k(2)) / (EARTH_RADIUS * cos(x_k(0)));

    // GPS Orientation
    x_k(0) = lat;
    x_k(1) = lon;
    x_k(2) = theta;

    // Local Orientation
    x_k(3) = x;
    x_k(4) = y;
    x_k(5) = psi;

    // Velocities
    x_k(6) = velocity;
    x_k(7) = psi_dot;

    // Wheel velocities
    x_k(8) = u_k(0);
    x_k(9) = u_k(1);
}

void EKF::linear_dynamics(Eigen::VectorXd u_k, double dt)
{
    double velocity = x_k(6);
    double left_vel = x_k(8);
    double right_vel = x_k(9);

    double sin_phi = cos(x_k(0));
    double cos_phi = cos(x_k(0));

    double sin_psi = sin(x_k(5));
    double cos_psi = cos(x_k(5));

    double sin_theta = sin(x_k(2));
    double cos_theta = cos(x_k(2));

    this->F_k.setIdentity(11, 11);

    // latitude
    F_k(0, 2) = -dt * velocity * sin_theta / EARTH_RADIUS;
    F_k(0, 6) = dt * cos_theta / EARTH_RADIUS;

    // longitude
    F_k(1, 0) = dt * velocity * sin_phi * sin_theta / (EARTH_RADIUS * pow(cos_phi, 2));
    F_k(1, 2) = dt * velocity * cos_theta / (EARTH_RADIUS * cos_phi);
    F_k(1, 6) = dt * sin_theta / (EARTH_RADIUS * cos_phi);

    // global heading
    F_k(2, 8) = -(WHEEL_RADIUS / WHEELBASE_LEN) * dt;
    F_k(2, 9) = (WHEEL_RADIUS / WHEELBASE_LEN) * dt;

    // X
    F_k(3, 5) = -dt * (0.5 * WHEEL_RADIUS * (left_vel + right_vel)) * sin_psi;
    F_k(3, 8) = 0.5 * WHEEL_RADIUS * dt * cos_psi;
    F_k(3, 9) = 0.5 * WHEEL_RADIUS * dt * cos_psi;

    // Y
    F_k(4, 5) = dt * (0.5 * WHEEL_RADIUS * (left_vel + right_vel)) * cos_psi;
    F_k(4, 8) = 0.5 * WHEEL_RADIUS * dt * sin_psi;
    F_k(4, 9) = 0.5 * WHEEL_RADIUS * dt * sin_psi;

    // local heading
    F_k(5, 8) = -(WHEEL_RADIUS / WHEELBASE_LEN) * dt;
    F_k(5, 9) = (WHEEL_RADIUS / WHEELBASE_LEN) * dt;

    // velocity
    F_k(6, 8) = 0.5 * WHEEL_RADIUS;
    F_k(6, 9) = 0.5 * WHEEL_RADIUS;

    // angular velocity
    F_k(7, 8) = (WHEEL_RADIUS / WHEELBASE_LEN);
    F_k(7, 9) = -(WHEEL_RADIUS / WHEELBASE_LEN);
}

void EKF::predict(Eigen::VectorXd u_k, double dt)
{
    // Predict current state from past state and control signal
    this->calculate_dynamics(u_k, dt);

    // Linearize the dynamics using a jacobian
    this->linear_dynamics(u_k, dt);

    // Update the covariance matrix
    this->P_k = (F_k * P_k * F_k.transpose()) + this->Q_k;
}

Eigen::VectorXd EKF::get_measurement_model()
{
    // We compare the measurements, z_k, to the current state as a one-to-one mapping
    return this->x_k;
}

void EKF::update(Eigen::VectorXd z_k)
{
    // Calculate the innovation (the difference between predicted measurements and the actual measurements)
    this->yk = z_k - get_measurement_model();

    // Find the covariance of the innovation
    this->Sk = (this->H_k * this->P_k * this->H_k.transpose()) + this->R_k;

    // Convergence calculation
    this->convergence = this->yk.transpose() * this->Sk.inverse() * this->yk;

    // Compute Kalman gain
    this->K_k = this->P_k * H_k.transpose() * Sk.inverse();

    // Use the kalman gain to update the state estimate
    this->x_k = this->x_k + this->K_k * yk;

    // Likewise, update the covariance for the state estimate
    this->P_k = (this->I - this->K_k * this->H_k) * this->P_k;
}

gha_license_id: MIT

extension: cpp


text:
/* SPDX-License-Identifier: Apache-2.0 */
/* Copyright 2020 Gonzalo Maso Talou */
/*
 * CheckpointSavingTask.h
 *
 *  Created on: 24/06/2019
 *      Author: Gonzalo D. Maso Talou
 */

#ifndef CHECKPOINTSAVINGTASK_H_
#define CHECKPOINTSAVINGTASK_H_

#include "AbstractSavingTask.h"

/**
 * Saves a SingleVesselCCOOTree structure in .cco format. Does not save dLim value, thus resume a generation process may differ from the original execution.
 */
class CheckpointSavingTask: public AbstractSavingTask {
	string path;
	string prefix;
public:
	/**
	 * Saves the @p tree in the given path.
	 * @param path	Output directory.
	 * @param prefix	Prefix for the generated files.
	 */
	CheckpointSavingTask(string path, string prefix);
	virtual ~CheckpointSavingTask();

	/**
	 * Saves the tree in its current state in a .cco format.
	 */
	void execute(long long int terminals, AbstractObjectCCOTree *tree);
};

#endif /* CHECKPOINTSAVINGTASK_H_ */

repository: LuizaPizzi/VItA

repo_name: LuizaPizzi/VItA

extension: h


text:
DESCRIPTION = "This module implements an interface to the Linux 2.6.13 and later Inotify \
file/directory change notification system."

SECTION = "libs"
LICENSE = "Artistic-1.0 | GPL-1.0-or-later"
PR = "r0"

MAINTAINER=	"Poky <poky@yoctoproject.org>"
HOMEPAGE=	"https://metacpan.org/release/Linux-Inotify2"

LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/Artistic-1.0;md5=cda03bbdc3c1951996392b872397b798 \
file://${COMMON_LICENSE_DIR}/GPL-1.0-or-later;md5=30c0b8a5048cc2f4be5ff15ef0d8cf61"

SRC_URI = "https://cpan.metacpan.org/authors/id/M/ML/MLEHMANN/Linux-Inotify2-2.3.tar.gz"

SRC_URI[md5sum] = "2ef33c2f80104c6187a950fb7d3075fe"
SRC_URI[sha256sum] = "cb99150f9ffa51dbc3be5ee98d8e91c98cdfeae22eb88e718f2cf367bf270d17"
RDEPENDS:${PN} += "common-sense-perl"

S = "${WORKDIR}/Linux-Inotify2-${PV}"

inherit cpan

BBCLASSEXTEND = "native"

repository: rehsack/meta-cpan

repo_name: rehsack/meta-cpan

gha_language: BitBake

extension: bb