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<signal name="+3V3">
<contactref element="C2" pad="P$1"/>
<contactref element="C4" pad="P$1"/>
<contactref element="C5" pad="P$1"/>
<contactref element="C3" pad="P$1"/>
<contactref element="C1" pad="P$1"/>
<contactref element="U1" pad="1"/>
<contactref element="U1" pad="19"/>
<contactref element="U1" pad="32"/>
<contactref element="U1" pad="48"/>
<contactref element="U1" pad="64"/>
<contactref element="U1" pad="13"/>
<contactref element="U3" pad="12"/>
<contactref element="C10" pad="P$1"/>
<contactref element="U4" pad="1"/>
<contactref element="U4" pad="10"/>
<contactref element="C11" pad="P$1"/>
<contactref element="C12" pad="P$1"/>
<contactref element="L1" pad="1"/>
<contactref element="C24" pad="P$2"/>
<contactref element="U2" pad="26"/>
<contactref element="SWD" pad="6"/>
<contactref element="R6" pad="P$1"/>
<contactref element="R9" pad="P$1"/>
<contactref element="C26" pad="P$1"/>
<contactref element="C27" pad="P$1"/>
<polygon width="0.127" layer="15">
<vertex x="0.3" y="30.9"/>
<vertex x="2.1" y="34.6"/>
<vertex x="10.4" y="42.9"/>
<vertex x="14.1" y="44.7"/>
<vertex x="30.9" y="44.7"/>
<vertex x="34.7" y="42.8"/>
<vertex x="42.9" y="34.6"/>
<vertex x="44.7" y="30.9"/>
<vertex x="44.7" y="17.6"/>
<vertex x="20.1" y="17.6"/>
<vertex x="20.1" y="23.8"/>
<vertex x="6.4" y="23.8"/>
<vertex x="6.4" y="22"/>
<vertex x="0.3" y="22"/>
</polygon>
<wire x1="2.076" y1="19.8" x2="2.076" y2="23.176" width="0.8128" layer="1"/>
<polygon width="0.127" layer="1" thermals="no">
<vertex x="2.8" y="23.1"/>
<vertex x="0.3" y="23.1"/>
<vertex x="0.3" y="26.1"/>
<vertex x="2.8" y="26.1"/>
</polygon>
<via x="0.8" y="24.1" extent="1-16" drill="0.5"/>
<via x="0.9" y="25.3" extent="1-16" drill="0.5"/>
<via x="2.2" y="25.3" extent="1-16" drill="0.5"/>
<wire x1="2.076" y1="19.8" x2="2.076" y2="18.874" width="0.254" layer="1"/>
<via x="12.4" y="43" extent="1-16" drill="0.4"/>
<wire x1="13.3" y1="43.05" x2="12.65" y2="43.05" width="0.4064" layer="1"/>
<wire x1="12.65" y1="43.05" x2="12.4" y2="43" width="0.4064" layer="1"/>
<wire x1="11.97" y1="37.5" x2="12.9" y2="37.5" width="0.254" layer="1"/>
<wire x1="12.9" y1="37.5" x2="12.93" y2="37.47" width="0.254" layer="1"/>
<via x="12" y="36.7" extent="1-16" drill="0.4"/>
<wire x1="12" y1="36.7" x2="12" y2="37.47" width="0.254" layer="1"/>
<wire x1="12" y1="37.47" x2="11.97" y2="37.5" width="0.254" layer="1"/>
<via x="12.4" y="35.5" extent="1-16" drill="0.4"/>
<wire x1="10.93" y1="35.47" x2="12.13" y2="35.47" width="0.254" layer="1"/>
<wire x1="12.13" y1="35.47" x2="12.4" y2="35.5" width="0.254" layer="1"/>
<via x="27.3" y="28" extent="1-16" drill="0.4"/>
<wire x1="26.52" y1="28.58" x2="27.22" y2="28.02" width="0.4064" layer="1"/>
<wire x1="27.22" y1="28.02" x2="27.3" y2="28" width="0.4064" layer="1"/>
<via x="22.5" y="36.3" extent="1-16" drill="0.4"/>
<wire x1="22.51" y1="37.13" x2="22.51" y2="36.31" width="0.254" layer="1"/>
<wire x1="22.51" y1="36.31" x2="22.5" y2="36.3" width="0.254" layer="1"/>
<wire x1="22.5" y1="36.3" x2="22.5" y2="35.54" width="0.254" layer="1"/>
<wire x1="22.5" y1="35.54" x2="22.43" y2="35.47" width="0.254" layer="1"/>
<via x="32.5" y="37.9" extent="1-16" drill="0.4"/>
<wire x1="34.5625625" y1="39.6658625" x2="32.75165" y2="38.15165" width="0.254" layer="1"/>
<wire x1="32.75165" y1="38.15165" x2="32.5" y2="37.9" width="0.254" layer="1"/>
<via x="35" y="29.9" extent="1-16" drill="0.4"/>
<wire x1="33.95" y1="30.7" x2="34.2" y2="30.7" width="0.254" layer="1"/>
<wire x1="34.2" y1="30.7" x2="35" y2="29.9" width="0.254" layer="1"/>
<wire x1="33.95" y1="29.3" x2="34.4" y2="29.3" width="0.254" layer="1"/>
<wire x1="34.4" y1="29.3" x2="35" y2="29.9" width="0.254" layer="1"/>
<via x="26.3" y="26.8" extent="1-16" drill="0.4"/>
<wire x1="26.35" y1="25.9" x2="26.35" y2="26.75" width="0.254" layer="1"/>
<wire x1="26.35" y1="26.75" x2="26.3" y2="26.8" width="0.254" layer="1"/>
<wire x1="26.35" y1="25.9" x2="26.35" y2="24.63" width="0.254" layer="1"/>
<wire x1="26.35" y1="24.63" x2="26.05" y2="24.625" width="0.254" layer="1"/>
<wire x1="26.05" y1="24.625" x2="25.125" y2="23.4" width="0.254" layer="1"/>
<wire x1="26.35" y1="24.63" x2="26.68" y2="23.9" width="0.254" layer="1"/>
<wire x1="26.68" y1="23.9" x2="27.8" y2="23.9" width="0.254" layer="1"/>
<wire x1="27.8" y1="23.9" x2="28.075" y2="23.625" width="0.254" layer="1"/>
<wire x1="28.075" y1="23.625" x2="28.075" y2="23.4" width="0.254" layer="1"/>
<via x="22.4" y="21" extent="1-16" drill="0.4"/>
<wire x1="21.85" y1="19.5822" x2="21.85" y2="20.45" width="0.254" layer="16"/>
<wire x1="21.85" y1="20.45" x2="22.4" y2="21" width="0.254" layer="16"/>
<wire x1="22.85" y1="21.98" x2="22.85" y2="21.45" width="0.254" layer="1"/>
<wire x1="22.85" y1="21.45" x2="22.4" y2="21" width="0.254" layer="1"/>
<via x="20.42" y="27.36" extent="1-16" drill="0.4"/>
<wire x1="20.42" y1="27.36" x2="20.43" y2="26.57" width="0.254" layer="1"/>
<wire x1="20.43" y1="26.57" x2="20.43" y2="25.97" width="0.254" layer="1"/>
<via x="13.93" y="28" extent="1-16" drill="0.4"/>
<via x="18.54" y="23.81" extent="1-16" drill="0.4"/>
<wire x1="18.54" y1="23.81" x2="18.53" y2="23.8" width="0.254" layer="1"/>
<wire x1="18.53" y1="23.8" x2="17.85" y2="23.8" width="0.254" layer="1"/>
<wire x1="17.85" y1="23.8" x2="17.3" y2="23.25" width="0.254" layer="1"/>
<wire x1="17.3" y1="23.25" x2="17.3" y2="22.695" width="0.254" layer="1"/>
<wire x1="20.43" y1="25.97" x2="20.97" y2="25.43" width="0.254" layer="1"/>
<wire x1="20.97" y1="25.43" x2="21.18" y2="25.43" width="0.254" layer="1"/>
<wire x1="13.93" y1="28" x2="13.93" y2="25.97" width="0.254" layer="1"/>
<wire x1="12.01" y1="25.87" x2="12.01" y2="27.11" width="0.254" layer="1"/>
<wire x1="12.01" y1="27.11" x2="12.8" y2="28" width="0.254" layer="1"/>
<wire x1="12.8" y1="28" x2="13.93" y2="28" width="0.254" layer="1"/>
<via x="8.28" y="26.57" extent="1-16" drill="0.4"/>
<wire x1="9.23" y1="28.7" x2="10" y2="29.47" width="0.254" layer="1"/>
<wire x1="10" y1="29.47" x2="10.93" y2="29.47" width="0.254" layer="1"/>
<contactref element="C20" pad="P$1"/>
<contactref element="R11" pad="P$1"/>
<wire x1="7.95" y1="14.34" x2="6.61" y2="14.34" width="0.254" layer="1"/>
<wire x1="6.61" y1="14.34" x2="2.076" y2="18.874" width="0.254" layer="1"/>
<contactref element="C29" pad="P$1"/>
<wire x1="9.23" y1="28.7" x2="9.23" y2="27.44" width="0.254" layer="1"/>
<wire x1="8.28" y1="26.57" x2="8.36" y2="26.57" width="0.254" layer="1"/>
<wire x1="8.36" y1="26.57" x2="9.23" y2="27.44" width="0.254" layer="1"/>
<contactref element="ABS_3V" pad="P$1"/>
<contactref element="U5" pad="1"/>
<contactref element="U5" pad="14"/>
<contactref element="LNK" pad="6"/>
<contactref element="U5" pad="3"/>
<contactref element="C30" pad="P$1"/>
<contactref element="C31" pad="P$1"/>
<via x="20.4" y="39.9" extent="1-16" drill="0.4"/>
<wire x1="20.4" y1="39.9" x2="20.45" y2="40.45" width="0.4064" layer="1"/>
<wire x1="20.45" y1="40.45" x2="20.15" y2="42.6" width="0.4064" layer="1"/>
<wire x1="28.75" y1="34" x2="28.75" y2="32.7" width="0.4064" layer="1"/>
<wire x1="28.8" y1="33.65" x2="28.75" y2="34" width="0.2" layer="1"/>
<via x="31.1" y="36.2" extent="1-16" drill="0.4"/>
<via x="27.7" y="34.6" extent="1-16" drill="0.4"/>
<wire x1="27.7" y1="34.6" x2="27.7" y2="34.8014" width="0.2" layer="1"/>
<wire x1="27.7" y1="34.8014" x2="27.2014" y2="35.3" width="0.2" layer="1"/>
<wire x1="27.7" y1="34.6" x2="28.15" y2="34.6" width="0.2" layer="1"/>
<wire x1="28.15" y1="34.6" x2="28.75" y2="34" width="0.2" layer="1"/>
<wire x1="30.1986" y1="35.3" x2="30.1" y2="35.3" width="0.2" layer="1"/>
<wire x1="30.1" y1="35.3" x2="29.4" y2="34.6" width="0.2" layer="1"/>
<wire x1="29.4" y1="34.6" x2="29.35" y2="34.6" width="0.2" layer="1"/>
<wire x1="29.35" y1="34.6" x2="28.75" y2="34" width="0.2" layer="1"/>
<wire x1="30.1986" y1="36.1" x2="31" y2="36.1" width="0.127" layer="1"/>
<wire x1="31" y1="36.1" x2="31.1" y2="36.2" width="0.127" layer="1"/>
<contactref element="R12" pad="P$1"/>
<via x="34.9" y="18" extent="1-16" drill="0.4"/>
<wire x1="36.4" y1="5.4" x2="36.7" y2="5.35" width="0.127" layer="1"/>
<wire x1="35" y1="18" x2="34.9" y2="18" width="0.127" layer="1"/>
<contactref element="TEMP1" pad="P$1"/>
<wire x1="34.9" y1="18" x2="35.72" y2="17.1" width="0.127" layer="1"/>
<wire x1="35.72" y1="17.1" x2="35.72" y2="6" width="0.127" layer="1"/>
<wire x1="35.72" y1="6" x2="36.45" y2="5.35" width="0.127" layer="1"/>
<wire x1="36.45" y1="5.35" x2="36.7" y2="5.35" width="0.127" layer="1"/>
</signal>
<signal name="N$24">
<contactref element="C6" pad="P$1"/>
<contactref element="U1" pad="7"/>
<contactref element="SWD" pad="2"/>
<wire x1="10" y1="30.6" x2="9.4" y2="30" width="0.127" layer="1"/>
<wire x1="10" y1="32.2" x2="10" y2="30.6" width="0.127" layer="1"/>
<wire x1="10.2" y1="32.4" x2="10" y2="32.2" width="0.127" layer="1"/>
<wire x1="10.8" y1="32.4" x2="10.2" y2="32.4" width="0.127" layer="1"/>
<wire x1="9.4" y1="30" x2="9.23" y2="29.97" width="0.127" layer="1"/>
<wire x1="10.8" y1="32.4" x2="10.93" y2="32.47" width="0.127" layer="1"/>
<wire x1="34.9" y1="33.1" x2="35" y2="33.1" width="0.127" layer="1"/>
<wire x1="35" y1="33.1" x2="35.3" y2="33.4" width="0.127" layer="1"/>
<wire x1="35.3" y1="33.4" x2="36.4" y2="33.4" width="0.127" layer="1"/>
<wire x1="12.4" y1="33.4" x2="33.9" y2="33.4" width="0.127" layer="16"/>
<wire x1="33.9" y1="33.4" x2="34.2" y2="33.1" width="0.127" layer="16"/>
<wire x1="34.2" y1="33.1" x2="34.9" y2="33.1" width="0.127" layer="16"/>
<wire x1="11.6" y1="32.6" x2="12.4" y2="33.4" width="0.127" layer="1"/>
<wire x1="11" y1="32.6" x2="11.6" y2="32.6" width="0.127" layer="1"/>
<wire x1="36.4" y1="33.4" x2="38.805203125" y2="35.423221875" width="0.127" layer="1"/>
<wire x1="11" y1="32.6" x2="10.93" y2="32.47" width="0.127" layer="1"/>
<via x="34.9" y="33.1" extent="1-16" drill="0.3048"/>
<via x="12.4" y="33.4" extent="1-16" drill="0.3048"/>
</signal>
<signal name="N$33">
<contactref element="R1" pad="P$2"/>
<contactref element="U1" pad="60"/>
<wire x1="15" y1="37.6" x2="15" y2="38.7" width="0.127" layer="1"/>
<wire x1="15" y1="37.6" x2="14.93" y2="37.47" width="0.127" layer="1"/>
<wire x1="15" y1="38.7" x2="15" y2="38.93" width="0.3048" layer="1"/>
<wire x1="15" y1="38.93" x2="14.74" y2="38.81" width="0.3048" layer="1"/>
</signal>
<signal name="N$23">
<contactref element="C7" pad="P$1"/>
<contactref element="U1" pad="30"/>
<wire x1="19.4" y1="25.8" x2="19.43" y2="25.55" width="0.127" layer="1"/>
<wire x1="19.8" y1="24" x2="19.86" y2="23.83" width="0.127" layer="1"/>
<wire x1="19.4" y1="25.8" x2="19.43" y2="25.97" width="0.127" layer="1"/>
<wire x1="19.8" y1="24" x2="19.8" y2="24.8" width="0.254" layer="1"/>
<wire x1="19.8" y1="24.8" x2="19.43" y2="25.35" width="0.254" layer="1"/>
<wire x1="19.43" y1="25.35" x2="19.43" y2="25.55" width="0.254" layer="1"/>
</signal>
<signal name="N$6">
<contactref element="U1" pad="49"/>
<contactref element="SWD" pad="5"/>
<wire x1="20.4" y1="36.4" x2="20.4" y2="37.4" width="0.127" layer="1"/>
<wire x1="21.2" y1="35.6" x2="20.4" y2="36.4" width="0.127" layer="16"/>
<wire x1="25.2" y1="35.4" x2="24.8" y2="35.6" width="0.127" layer="16"/>
<wire x1="24.8" y1="35.6" x2="21.2" y2="35.6" width="0.127" layer="16"/>
<wire x1="33.4" y1="33.1" x2="32.5" y2="32.1" width="0.127" layer="1"/>
<wire x1="32.5" y1="32.1" x2="27.7" y2="32.1" width="0.127" layer="1"/>
<wire x1="27.7" y1="32.1" x2="25.9" y2="34" width="0.127" layer="1"/>
<wire x1="25.9" y1="34" x2="25.9" y2="34.7" width="0.127" layer="1"/>
<wire x1="25.9" y1="34.7" x2="25.5" y2="35.4" width="0.127" layer="1"/>
<wire x1="25.5" y1="35.4" x2="25.2" y2="35.4" width="0.127" layer="1"/>
<wire x1="33.4" y1="36.4" x2="33.4" y2="33.1" width="0.127" layer="1"/>
<wire x1="20.4" y1="37.4" x2="20.43" y2="37.47" width="0.127" layer="1"/>
<wire x1="33.4" y1="36.4" x2="35.623221875" y2="38.605203125" width="0.127" layer="1"/>
<via x="20.4" y="36.4" extent="1-16" drill="0.3048"/>
<via x="25.2" y="35.4" extent="1-16" drill="0.3048"/>
</signal>
<signal name="N$7">
<contactref element="U1" pad="46"/>
<contactref element="SWD" pad="3"/>
<wire x1="35.4" y1="34.4" x2="34.8" y2="34.4" width="0.127" layer="1"/>
<wire x1="34.8" y1="34.4" x2="32.7" y2="31.8" width="0.127" layer="1"/>
<wire x1="32.7" y1="31.8" x2="27.6" y2="31.8" width="0.127" layer="1"/>
<wire x1="27.6" y1="31.8" x2="25" y2="34.4" width="0.127" layer="1"/>
<wire x1="25" y1="34.4" x2="22.6" y2="34.4" width="0.127" layer="1"/>
<wire x1="22.6" y1="34.4" x2="22.43" y2="34.47" width="0.127" layer="1"/>
<wire x1="35.4" y1="34.4" x2="37.744540625" y2="36.48388125" width="0.127" layer="1"/>
</signal>
<signal name="N$35">
<contactref element="X1" pad="1"/>
<contactref element="C8" pad="P$1"/>
<contactref element="U1" pad="5"/>
<wire x1="4.23" y1="35.25" x2="5.03" y2="36.05" width="0.254" layer="1"/>
<wire x1="5.03" y1="36.05" x2="6.3" y2="36.05" width="0.254" layer="1"/>
<wire x1="6.3" y1="36.05" x2="8.88" y2="33.47" width="0.254" layer="1"/>
<wire x1="8.88" y1="33.47" x2="10.93" y2="33.47" width="0.254" layer="1"/>
</signal>
<signal name="N$36">
<contactref element="X1" pad="3"/>
<contactref element="C9" pad="P$1"/>
<contactref element="U1" pad="6"/>
<wire x1="6.79" y1="29.96" x2="8.7" y2="31.87" width="0.254" layer="1"/>
<wire x1="8.7" y1="31.87" x2="8.7" y2="32.05" width="0.254" layer="1"/>
<wire x1="8.7" y1="32.05" x2="9.62" y2="32.97" width="0.254" layer="1"/>
<wire x1="9.62" y1="32.97" x2="10.93" y2="32.97" width="0.254" layer="1"/>
</signal>
<signal name="CUR1">
<contactref element="U2" pad="25"/>
<contactref element="U1" pad="25"/>
<wire x1="18.4" y1="22.8" x2="17.8" y2="22.8" width="0.127" layer="1"/>
<wire x1="17.6" y1="23.6" x2="18.4" y2="22.8" width="0.127" layer="16"/>
<wire x1="17.6" y1="24.8" x2="17.6" y2="23.6" width="0.127" layer="16"/>
<wire x1="17" y1="25.2" x2="17.6" y2="24.8" width="0.127" layer="1"/>
<wire x1="17" y1="25.8" x2="17" y2="25.2" width="0.127" layer="1"/>
<wire x1="17.8" y1="22.8" x2="17.8" y2="22.695" width="0.127" layer="1"/>
<wire x1="17" y1="25.8" x2="16.93" y2="25.97" width="0.127" layer="1"/>
<via x="18.4" y="22.8" extent="1-16" drill="0.3048"/>
<via x="17.6" y="24.8" extent="1-16" drill="0.3048" alwaysstop="yes"/>
</signal>
<signal name="CUR2">
<contactref element="U2" pad="24"/>
<contactref element="U1" pad="26"/>
<wire x1="19.2" y1="22.6" x2="18.6" y2="22" width="0.127" layer="1"/>
<wire x1="19.2" y1="24.6" x2="19.2" y2="22.6" width="0.127" layer="1"/>
<wire x1="16.6" y1="27.2" x2="19.2" y2="24.6" width="0.127" layer="16"/>
<wire x1="17.4" y1="27.2" x2="16.6" y2="27.2" width="0.127" layer="1"/>
<wire x1="17.4" y1="26" x2="17.4" y2="27.2" width="0.127" layer="1"/>
<wire x1="18.6" y1="22" x2="18.525" y2="21.97" width="0.127" layer="1"/>
<wire x1="17.4" y1="26" x2="17.43" y2="25.97" width="0.127" layer="1"/>
<via x="19.2" y="24.6" extent="1-16" drill="0.3048"/>
<via x="16.6" y="27.2" extent="1-16" drill="0.3048"/>
</signal>
<signal name="VBAT_SENSE">
<contactref element="R8" pad="P$2"/>
<contactref element="R7" pad="P$1"/>
<contactref element="U1" pad="9"/>
<wire x1="7" y1="25.2" x2="5.6" y2="25.2" width="0.127" layer="1"/>
<wire x1="5.6" y1="25.2" x2="5.37" y2="25.14" width="0.127" layer="1"/>
<wire x1="7" y1="25.2" x2="7.28" y2="25.14" width="0.127" layer="1"/>
<wire x1="13.4" y1="31.6" x2="11" y2="31.6" width="0.127" layer="1"/>
<wire x1="11.8" y1="31.6" x2="13.4" y2="31.6" width="0.127" layer="16"/>
<wire x1="7.2" y1="27" x2="11.8" y2="31.6" width="0.127" layer="16"/>
<wire x1="7.2" y1="25.2" x2="7.2" y2="27" width="0.127" layer="1"/>
<wire x1="11" y1="31.6" x2="10.93" y2="31.47" width="0.127" layer="1"/>
<wire x1="7.2" y1="25.2" x2="7.28" y2="25.14" width="0.127" layer="1"/>
<via x="13.4" y="31.6" extent="1-16" drill="0.3048"/>
<via x="7.2" y="27" extent="1-16" drill="0.3048"/>
</signal>
<signal name="AS5047_CS">
<contactref element="U3" pad="1"/>
<contactref element="U1" pad="33"/>
<wire x1="20.6" y1="26.6" x2="20.6" y2="25.6" width="0.127" layer="16"/>
<wire x1="21.6" y1="26.6" x2="20.6" y2="26.6" width="0.127" layer="16"/>
<wire x1="22.4" y1="27.4" x2="21.6" y2="26.6" width="0.127" layer="1"/>
<wire x1="22.4" y1="28" x2="22.4" y2="27.4" width="0.127" layer="1"/>
<wire x1="20.6" y1="25.6" x2="20.55" y2="25.4178" width="0.127" layer="16"/>
<wire x1="22.4" y1="28" x2="22.43" y2="27.97" width="0.127" layer="1"/>
<via x="21.6" y="26.6" extent="1-16" drill="0.3048"/>
</signal>
<signal name="AS5047_SCK">
<contactref element="U3" pad="2"/>
<contactref element="U1" pad="34"/>
<wire x1="21.2" y1="23.8" x2="21.2" y2="25.4178" width="0.127" layer="16"/>
<wire x1="23.4" y1="23.8" x2="21.2" y2="23.8" width="0.127" layer="16"/>
<wire x1="23.4" y1="28.2" x2="23.4" y2="23.8" width="0.127" layer="1"/>
<wire x1="23.2" y1="28.4" x2="23.4" y2="28.2" width="0.127" layer="1"/>
<wire x1="22.6" y1="28.4" x2="23.2" y2="28.4" width="0.127" layer="1"/>
<wire x1="22.6" y1="28.4" x2="22.43" y2="28.47" width="0.127" layer="1"/>
<via x="23.4" y="23.8" extent="1-16" drill="0.3048"/>
</signal>
<signal name="AS5047_MISO">
<contactref element="U3" pad="3"/>
<contactref element="U1" pad="35"/>
<wire x1="22" y1="26.2" x2="22" y2="25.6" width="0.127" layer="16"/>
<wire x1="22.2" y1="26.4" x2="22" y2="26.2" width="0.127" layer="16"/>
<wire x1="22.2" y1="27.4" x2="22.2" y2="26.4" width="0.127" layer="16"/>
<wire x1="21.6" y1="27.4" x2="22.2" y2="27.4" width="0.127" layer="16"/>
<wire x1="21.6" y1="28.8" x2="21.6" y2="27.4" width="0.127" layer="1"/>
<wire x1="21.8" y1="29" x2="21.6" y2="28.8" width="0.127" layer="1"/>
<wire x1="22.4" y1="29" x2="21.8" y2="29" width="0.127" layer="1"/>
<wire x1="22" y1="25.6" x2="21.85" y2="25.4178" width="0.127" layer="16"/>
<wire x1="22.4" y1="29" x2="22.43" y2="28.97" width="0.127" layer="1"/>
<via x="21.6" y="27.4" extent="1-16" drill="0.3048"/>
</signal>
<signal name="AS5047_MOSI">
<contactref element="U3" pad="4"/>
<contactref element="U1" pad="36"/>
<wire x1="22.6" y1="29" x2="22.6" y2="25.6" width="0.127" layer="16"/>
<wire x1="23.6" y1="29" x2="22.6" y2="29" width="0.127" layer="16"/>
<wire x1="23.2" y1="29.4" x2="23.6" y2="29" width="0.127" layer="1"/>
<wire x1="22.6" y1="29.4" x2="23.2" y2="29.4" width="0.127" layer="1"/>
<wire x1="22.6" y1="25.6" x2="22.5" y2="25.4178" width="0.127" layer="16"/>
<wire x1="22.6" y1="29.4" x2="22.43" y2="29.47" width="0.127" layer="1"/>
<via x="23.6" y="29" extent="1-16" drill="0.3048"/>
</signal>
<signal name="AS5047_A">
<contactref element="U3" pad="7"/>
<contactref element="U1" pad="37"/>
<wire x1="24.4" y1="26.4" x2="24.4" y2="25.6" width="0.127" layer="16"/>
<wire x1="24.2" y1="26.6" x2="24.4" y2="26.4" width="0.127" layer="1"/>
<wire x1="24.2" y1="29.2" x2="24.2" y2="26.6" width="0.127" layer="1"/>
<wire x1="23.4" y1="30" x2="24.2" y2="29.2" width="0.127" layer="1"/>
<wire x1="22.6" y1="30" x2="23.4" y2="30" width="0.127" layer="1"/>
<wire x1="24.4" y1="25.6" x2="24.45" y2="25.4178" width="0.127" layer="16"/>
<wire x1="22.6" y1="30" x2="22.43" y2="29.97" width="0.127" layer="1"/>
<via x="24.4" y="26.4" extent="1-16" drill="0.3048"/>
</signal>
<signal name="AS5047_B">
<contactref element="U3" pad="6"/>
<contactref element="U1" pad="38"/>
<wire x1="23.8" y1="28.4" x2="23.8" y2="25.4178" width="0.127" layer="16"/>
<wire x1="24.8" y1="29.4" x2="23.8" y2="28.4" width="0.127" layer="16"/>
<wire x1="24.4" y1="29.4" x2="24.8" y2="29.4" width="0.127" layer="1"/>
<wire x1="23.4" y1="30.4" x2="24.4" y2="29.4" width="0.127" layer="1"/>
<wire x1="22.6" y1="30.4" x2="23.4" y2="30.4" width="0.127" layer="1"/>
<wire x1="22.6" y1="30.4" x2="22.43" y2="30.47" width="0.127" layer="1"/>
<via x="24.8" y="29.4" extent="1-16" drill="0.3048"/>
</signal>
<signal name="AS5047_I">
<contactref element="U3" pad="14"/>
</signal>
<signal name="MOTOR1">
<contactref element="U2" pad="37"/>
<contactref element="U1" pad="14"/>
<wire x1="11.6" y1="22.6" x2="11.6" y2="22" width="0.127" layer="1"/>
<wire x1="11.6" y1="28" x2="11.6" y2="22.6" width="0.127" layer="16"/>
<wire x1="12" y1="28" x2="11.6" y2="28" width="0.127" layer="16"/>
<wire x1="11.8" y1="28.2" x2="12" y2="28" width="0.127" layer="1"/>
<wire x1="11.8" y1="28.8" x2="11.8" y2="28.2" width="0.127" layer="1"/>
<wire x1="11.6" y1="29" x2="11.8" y2="28.8" width="0.127" layer="1"/>
<wire x1="11" y1="29" x2="11.6" y2="29" width="0.127" layer="1"/>
<wire x1="11.6" y1="22" x2="11.575" y2="21.97" width="0.127" layer="1"/>
<wire x1="11" y1="29" x2="10.93" y2="28.97" width="0.127" layer="1"/>
<via x="11.6" y="22.6" extent="1-16" drill="0.3048"/>
<via x="12" y="28" extent="1-16" drill="0.3048"/>
</signal>
<signal name="MOTOR2">
<contactref element="U2" pad="39"/>
<contactref element="U1" pad="15"/>
<wire x1="10.4" y1="21" x2="11.4" y2="21" width="0.127" layer="1"/>
<wire x1="10.4" y1="22.4" x2="10.4" y2="21" width="0.127" layer="1"/>
<wire x1="10.2" y1="22.6" x2="10.4" y2="22.4" width="0.127" layer="1"/>
<wire x1="10.2" y1="23.6" x2="10.2" y2="22.6" width="0.127" layer="1"/>
<wire x1="9.4" y1="24.4" x2="10.2" y2="23.6" width="0.127" layer="1"/>
<wire x1="7.9" y1="24.4" x2="9.4" y2="24.4" width="0.127" layer="1"/>
<wire x1="7.9" y1="25.6" x2="7.9" y2="24.4" width="0.127" layer="1"/>
<wire x1="10.1" y1="28.4" x2="10.1" y2="27.22" width="0.127" layer="1"/>
<wire x1="10.1" y1="27.22" x2="9.4" y2="26.42" width="0.127" layer="1"/>
<wire x1="9.4" y1="26.42" x2="9.02" y2="26.42" width="0.127" layer="1"/>
<wire x1="9.02" y1="26.42" x2="8.6" y2="26" width="0.127" layer="1"/>
<wire x1="8.6" y1="26" x2="8.24" y2="26" width="0.127" layer="1"/>
<wire x1="8.24" y1="26" x2="7.9" y2="25.6" width="0.127" layer="1"/>
<wire x1="10.8" y1="28.4" x2="10.1" y2="28.4" width="0.127" layer="1"/>
<wire x1="11.4" y1="21" x2="11.575" y2="20.97" width="0.127" layer="1"/>
<wire x1="10.8" y1="28.4" x2="10.93" y2="28.47" width="0.127" layer="1"/>
</signal>
<signal name="MOTOR3">
<contactref element="U2" pad="41"/>
<contactref element="U1" pad="16"/>
<wire x1="11" y1="20" x2="11.4" y2="20" width="0.127" layer="1"/>
<wire x1="10.8" y1="19.8" x2="11" y2="20" width="0.127" layer="1"/>
<wire x1="9.8" y1="19.8" x2="10.8" y2="19.8" width="0.127" layer="1"/>
<wire x1="9.8" y1="20" x2="9.8" y2="19.8" width="0.127" layer="1"/>
<wire x1="8.8" y1="21" x2="9.8" y2="20" width="0.127" layer="16"/>
<wire x1="8.8" y1="25.8" x2="8.8" y2="21" width="0.127" layer="16"/>
<wire x1="9.2" y1="25.8" x2="8.8" y2="25.8" width="0.127" layer="16"/>
<wire x1="10.8" y1="27.6" x2="9.2" y2="25.8" width="0.127" layer="1"/>
<wire x1="10.8" y1="28" x2="10.8" y2="27.6" width="0.127" layer="1"/>
<wire x1="11.4" y1="20" x2="11.575" y2="19.97" width="0.127" layer="1"/>
<wire x1="10.8" y1="28" x2="10.93" y2="27.97" width="0.127" layer="1"/>
<via x="9.8" y="20" extent="1-16" drill="0.3048"/>
<via x="9.2" y="25.8" extent="1-16" drill="0.3048"/>
<contactref element="M3" pad="P$1"/>
<wire x1="8.8" y1="25.8" x2="6.1" y2="25.8" width="0.127" layer="16"/>
<wire x1="6.1" y1="25.8" x2="5.5" y2="26.4" width="0.127" layer="16"/>
</signal>
<signal name="DRV8323_MOSI">
<contactref element="U2" pad="30"/>
<contactref element="U1" pad="23"/>
<wire x1="15.2" y1="24.4" x2="15.2" y2="22.8" width="0.127" layer="1"/>
<wire x1="15.2" y1="27.2" x2="15.2" y2="24.4" width="0.127" layer="16"/>
<wire x1="15.8" y1="27.2" x2="15.2" y2="27.2" width="0.127" layer="1"/>
<wire x1="15.8" y1="26" x2="15.8" y2="27.2" width="0.127" layer="1"/>
<wire x1="15.2" y1="22.8" x2="15.3" y2="22.695" width="0.127" layer="1"/>
<wire x1="15.8" y1="26" x2="15.93" y2="25.97" width="0.127" layer="1"/>
<via x="15.2" y="24.4" extent="1-16" drill="0.3048"/>
<via x="15.2" y="27.2" extent="1-16" drill="0.3048"/>
</signal>
<signal name="DRV8323_MISO">
<contactref element="U2" pad="29"/>
<contactref element="U1" pad="22"/>
<wire x1="15.8" y1="25" x2="15.8" y2="22.695" width="0.127" layer="1"/>
<wire x1="15.4" y1="25.4" x2="15.8" y2="25" width="0.127" layer="1"/>
<wire x1="15.4" y1="25.8" x2="15.4" y2="25.4" width="0.127" layer="1"/>
<wire x1="15.4" y1="25.8" x2="15.43" y2="25.97" width="0.127" layer="1"/>
</signal>
<signal name="DRV8323_SCLK">
<contactref element="U2" pad="31"/>
<contactref element="U1" pad="21"/>
<wire x1="14.8" y1="24" x2="14.8" y2="22.695" width="0.127" layer="1"/>
<wire x1="14.66" y1="24.19" x2="14.8" y2="24" width="0.127" layer="1"/>
<wire x1="14.66" y1="24.99" x2="14.66" y2="24.19" width="0.127" layer="1"/>
<wire x1="14.8" y1="25.2" x2="14.66" y2="24.99" width="0.127" layer="1"/>
<wire x1="14.8" y1="25.8" x2="14.8" y2="25.2" width="0.127" layer="1"/>
<wire x1="14.8" y1="25.8" x2="14.93" y2="25.97" width="0.127" layer="1"/>
</signal>
<signal name="DRV8323_CS">
<contactref element="U2" pad="32"/>
<contactref element="U1" pad="39"/>
<wire x1="14.21" y1="23.58" x2="14.2" y2="22.8" width="0.127" layer="1"/>
<wire x1="14.2" y1="23.8" x2="14.21" y2="23.58" width="0.127" layer="2"/>
<wire x1="15.2" y1="25.2" x2="14.66" y2="24.86" width="0.127" layer="2"/>
<wire x1="14.66" y1="24.86" x2="14.66" y2="24.16" width="0.127" layer="2"/>
<wire x1="14.66" y1="24.16" x2="14.2" y2="23.8" width="0.127" layer="2"/>
<wire x1="15.8" y1="25.2" x2="15.2" y2="25.2" width="0.127" layer="2"/>
<wire x1="21" y1="30.4" x2="15.8" y2="25.2" width="0.127" layer="2"/>
<wire x1="21.6" y1="31" x2="21" y2="30.4" width="0.127" layer="1"/>
<wire x1="22.4" y1="31" x2="21.6" y2="31" width="0.127" layer="1"/>
<wire x1="14.2" y1="22.8" x2="14.3" y2="22.695" width="0.127" layer="1"/>
<wire x1="22.4" y1="31" x2="22.43" y2="30.97" width="0.127" layer="1"/>
<via x="14.21" y="23.58" extent="1-16" drill="0.3048"/>
<via x="21" y="30.4" extent="1-16" drill="0.3048"/>
</signal>
<signal name="DEBUG_TX">
<contactref element="U1" pad="51"/>
<contactref element="U5" pad="5"/>
<wire x1="19.43" y1="37.47" x2="19.43" y2="38.23" width="0.127" layer="1"/>
<wire x1="19.43" y1="38.23" x2="19.6" y2="38.4" width="0.127" layer="1"/>
<wire x1="19.6" y1="38.4" x2="20.9" y2="38.4" width="0.127" layer="1"/>
<wire x1="20.9" y1="38.4" x2="21.8" y2="37.8" width="0.127" layer="1"/>
<via x="21.8" y="37.8" extent="1-16" drill="0.3048"/>
<wire x1="21.8" y1="37.8" x2="28" y2="37.8" width="0.127" layer="16"/>
<wire x1="28" y1="37.8" x2="28.9" y2="36.9" width="0.127" layer="16"/>
<wire x1="28.9" y1="36.9" x2="31.6" y2="36.9" width="0.127" layer="16"/>
<wire x1="31.6" y1="36.9" x2="32.1" y2="36.4" width="0.127" layer="16"/>
<via x="32.1" y="36.4" extent="1-16" drill="0.3048"/>
<wire x1="32.1" y1="36.4" x2="31.6" y2="36.9" width="0.127" layer="1"/>
<wire x1="31.6" y1="36.9" x2="30.1986" y2="36.9" width="0.127" layer="1"/>
</signal>
<signal name="DEBUG_RX">
<contactref element="U1" pad="52"/>
<contactref element="U5" pad="2"/>
<wire x1="18.93" y1="37.47" x2="18.93" y2="38.43" width="0.127" layer="1"/>
<wire x1="18.93" y1="38.43" x2="19.2" y2="38.7" width="0.127" layer="1"/>
<wire x1="19.2" y1="38.7" x2="21.6" y2="38.7" width="0.127" layer="1"/>
<via x="21.6" y="38.7" extent="1-16" drill="0.3048"/>
<wire x1="21.6" y1="38.7" x2="21.6" y2="38.6" width="0.127" layer="16"/>
<wire x1="21.6" y1="38.6" x2="21.1" y2="38.1" width="0.127" layer="16"/>
<wire x1="21.1" y1="38.1" x2="21.1" y2="37.6" width="0.127" layer="16"/>
<wire x1="21.1" y1="37.6" x2="21.5" y2="37.2" width="0.127" layer="16"/>
<wire x1="21.5" y1="37.2" x2="23.3" y2="37.2" width="0.127" layer="16"/>
<wire x1="23.3" y1="37.2" x2="24.3" y2="36.2" width="0.127" layer="16"/>
<wire x1="24.3" y1="36.2" x2="29.9" y2="36.2" width="0.127" layer="16"/>
<wire x1="29.9" y1="36.2" x2="31.4" y2="35.1" width="0.127" layer="16"/>
<via x="31.4" y="35.1" extent="1-16" drill="0.3048"/>
<wire x1="31.4" y1="35.1" x2="30.8" y2="35.7" width="0.127" layer="1"/>
<wire x1="30.8" y1="35.7" x2="30.1986" y2="35.7" width="0.127" layer="1"/>
</signal>
<signal name="RS485_TX">
<contactref element="U4" pad="5"/>
<contactref element="U1" pad="42"/>
<wire x1="25.2" y1="20.8" x2="25.2" y2="21.4" width="0.127" layer="1"/>
<wire x1="25.2" y1="26" x2="25.2" y2="20.8" width="0.127" layer="16"/>
<wire x1="25.4" y1="26.2" x2="25.2" y2="26" width="0.127" layer="16"/>
<wire x1="25.4" y1="30.8" x2="25.4" y2="26.2" width="0.127" layer="16"/>
<wire x1="24.4" y1="30.8" x2="25.4" y2="30.8" width="0.127" layer="16"/>
<wire x1="23.4" y1="31.8" x2="24.4" y2="30.8" width="0.127" layer="1"/>
<wire x1="23.4" y1="32.2" x2="23.4" y2="31.8" width="0.127" layer="1"/>
<wire x1="23.2" y1="32.4" x2="23.4" y2="32.2" width="0.127" layer="1"/>
<wire x1="22.6" y1="32.4" x2="23.2" y2="32.4" width="0.127" layer="1"/>
<wire x1="25.2" y1="21.4" x2="25.125" y2="21.4" width="0.127" layer="1"/>
<wire x1="22.6" y1="32.4" x2="22.43" y2="32.47" width="0.127" layer="1"/>
<via x="25.2" y="20.8" extent="1-16" drill="0.3048"/>
<via x="24.4" y="30.8" extent="1-16" drill="0.3048"/>
</signal>
<signal name="RS485_RX">
<contactref element="U4" pad="2"/>
<contactref element="U1" pad="43"/>
<wire x1="24.4" y1="23" x2="25" y2="23" width="0.127" layer="1"/>
<wire x1="24.4" y1="25.2" x2="24.4" y2="23" width="0.127" layer="1"/>
<wire x1="25.4" y1="26.2" x2="24.4" y2="25.2" width="0.127" layer="1"/>
<wire x1="25.4" y1="30.6" x2="25.4" y2="26.2" width="0.127" layer="1"/>
<wire x1="23" y1="33" x2="25.4" y2="30.6" width="0.127" layer="1"/>
<wire x1="22.6" y1="33" x2="23" y2="33" width="0.127" layer="1"/>
<wire x1="25" y1="23" x2="25.125" y2="22.9" width="0.127" layer="1"/>
<wire x1="22.6" y1="33" x2="22.43" y2="32.97" width="0.127" layer="1"/>
</signal>
<signal name="RS485_DIR">
<contactref element="U4" pad="3"/>
<contactref element="U4" pad="4"/>
<contactref element="U1" pad="41"/>
<wire x1="25.2" y1="22.4" x2="25.2" y2="22" width="0.127" layer="1"/>
<wire x1="25.2" y1="22" x2="25.125" y2="21.9" width="0.127" layer="1"/>
<wire x1="25.2" y1="22.4" x2="25.125" y2="22.4" width="0.127" layer="1"/>
<wire x1="23.4" y1="22.4" x2="25.125" y2="22.4" width="0.127" layer="1"/>
<wire x1="23.4" y1="23" x2="23.4" y2="22.4" width="0.127" layer="1"/>
<wire x1="22.8" y1="23.6" x2="23.4" y2="23" width="0.127" layer="1"/>
<wire x1="22.8" y1="24" x2="22.8" y2="23.6" width="0.127" layer="1"/>
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repository: cmcmurrough/moteus

repo_name: cmcmurrough/moteus

branch_name: refs/heads/main