(kicad_sch (version 20231120) (generator "mcnanovna_gen") (generator_version "1.0") (uuid "6250fcb3-cac5-5181-8d41-87bb21491cd0") (paper "A3") (title_block (title "ESP32 + TMC2209 Antenna Positioner Wiring") (date "2026-02-01") (rev "1") (company "mcnanovna") (comment 1 "Pin assignments from firmware/include/config.h") (comment 2 "Module-level wiring diagram for breadboard/perfboard") ) (lib_symbols (symbol "positioner:ESP32_DevKit_38pin" (exclude_from_sim no) (in_bom yes) (on_board yes) (property "Reference" "U" (at 0 27.94 0) (effects (font (size 1.27 1.27)))) (property "Value" "ESP32_DevKit_38pin" (at 0 -27.94 0) (effects (font (size 1.27 1.27)))) (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Description" "ESP32 DevKit V1 38-pin module" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (symbol "ESP32_DevKit_38pin_0_1" (rectangle (start -15.00 25.40) (end 15.00 -25.40) (stroke (width 0.254) (type default)) (fill (type background)) ) ) (symbol "ESP32_DevKit_38pin_1_1" (pin power_out line (at -18.81 22.86 0) (length 3.81) (name "3V3" (effects (font (size 1.27 1.27)))) (number "1" (effects (font (size 1.27 1.27)))) ) (pin input line (at -18.81 20.32 0) (length 3.81) (name "EN" (effects (font (size 1.27 1.27)))) (number "2" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 17.78 0) (length 3.81) (name "VP/IO36" (effects (font (size 1.27 1.27)))) (number "3" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 15.24 0) (length 3.81) (name "VN/IO39" (effects (font (size 1.27 1.27)))) (number "4" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 12.70 0) (length 3.81) (name "IO34" (effects (font (size 1.27 1.27)))) (number "5" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 10.16 0) (length 3.81) (name "IO35" (effects (font (size 1.27 1.27)))) (number "6" (effects (font (size 1.27 1.27)))) ) (pin output line (at -18.81 7.62 0) (length 3.81) (name "IO32/φ_STEP" (effects (font (size 1.27 1.27)))) (number "7" (effects (font (size 1.27 1.27)))) ) (pin output line (at -18.81 5.08 0) (length 3.81) (name "IO33/φ_DIR" (effects (font (size 1.27 1.27)))) (number "8" (effects (font (size 1.27 1.27)))) ) (pin output line (at -18.81 2.54 0) (length 3.81) (name "IO25/θ_STEP" (effects (font (size 1.27 1.27)))) (number "9" (effects (font (size 1.27 1.27)))) ) (pin output line (at -18.81 0.00 0) (length 3.81) (name "IO26/θ_DIR" (effects (font (size 1.27 1.27)))) (number "10" (effects (font (size 1.27 1.27)))) ) (pin output line (at -18.81 -2.54 0) (length 3.81) (name "IO27/θ_EN" (effects (font (size 1.27 1.27)))) (number "11" (effects (font (size 1.27 1.27)))) ) (pin output line (at -18.81 -5.08 0) (length 3.81) (name "IO14/φ_EN" (effects (font (size 1.27 1.27)))) (number "12" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 -7.62 0) (length 3.81) (name "IO12" (effects (font (size 1.27 1.27)))) (number "13" (effects (font (size 1.27 1.27)))) ) (pin power_in line (at -18.81 -10.16 0) (length 3.81) (name "GND" (effects (font (size 1.27 1.27)))) (number "14" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 -12.70 0) (length 3.81) (name "IO13" (effects (font (size 1.27 1.27)))) (number "15" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 -15.24 0) (length 3.81) (name "SD2" (effects (font (size 1.27 1.27)))) (number "16" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 -17.78 0) (length 3.81) (name "SD3" (effects (font (size 1.27 1.27)))) (number "17" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -18.81 -20.32 0) (length 3.81) (name "CMD" (effects (font (size 1.27 1.27)))) (number "18" (effects (font (size 1.27 1.27)))) ) (pin power_in line (at -18.81 -22.86 0) (length 3.81) (name "5V" (effects (font (size 1.27 1.27)))) (number "19" (effects (font (size 1.27 1.27)))) ) (pin power_in line (at 18.81 22.86 180) (length 3.81) (name "GND" (effects (font (size 1.27 1.27)))) (number "38" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 20.32 180) (length 3.81) (name "IO23" (effects (font (size 1.27 1.27)))) (number "37" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 17.78 180) (length 3.81) (name "IO22" (effects (font (size 1.27 1.27)))) (number "36" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 15.24 180) (length 3.81) (name "TX0/IO1" (effects (font (size 1.27 1.27)))) (number "35" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 12.70 180) (length 3.81) (name "RX0/IO3" (effects (font (size 1.27 1.27)))) (number "34" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 10.16 180) (length 3.81) (name "IO21" (effects (font (size 1.27 1.27)))) (number "33" (effects (font (size 1.27 1.27)))) ) (pin power_in line (at 18.81 7.62 180) (length 3.81) (name "GND" (effects (font (size 1.27 1.27)))) (number "32" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 5.08 180) (length 3.81) (name "IO19" (effects (font (size 1.27 1.27)))) (number "31" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 2.54 180) (length 3.81) (name "IO18" (effects (font (size 1.27 1.27)))) (number "30" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 0.00 180) (length 3.81) (name "IO5" (effects (font (size 1.27 1.27)))) (number "29" (effects (font (size 1.27 1.27)))) ) (pin output line (at 18.81 -2.54 180) (length 3.81) (name "IO17/TMC_TX" (effects (font (size 1.27 1.27)))) (number "28" (effects (font (size 1.27 1.27)))) ) (pin input line (at 18.81 -5.08 180) (length 3.81) (name "IO16/TMC_RX" (effects (font (size 1.27 1.27)))) (number "27" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 -7.62 180) (length 3.81) (name "IO4" (effects (font (size 1.27 1.27)))) (number "26" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 -10.16 180) (length 3.81) (name "IO0" (effects (font (size 1.27 1.27)))) (number "25" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 -12.70 180) (length 3.81) (name "IO2" (effects (font (size 1.27 1.27)))) (number "24" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 -15.24 180) (length 3.81) (name "IO15" (effects (font (size 1.27 1.27)))) (number "23" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 -17.78 180) (length 3.81) (name "SD1" (effects (font (size 1.27 1.27)))) (number "22" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 -20.32 180) (length 3.81) (name "SD0" (effects (font (size 1.27 1.27)))) (number "21" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 18.81 -22.86 180) (length 3.81) (name "CLK" (effects (font (size 1.27 1.27)))) (number "20" (effects (font (size 1.27 1.27)))) ) ) ) (symbol "positioner:TMC2209_SilentStepStick" (exclude_from_sim no) (in_bom yes) (on_board yes) (property "Reference" "U" (at 0 13.97 0) (effects (font (size 1.27 1.27)))) (property "Value" "TMC2209_SilentStepStick" (at 0 -13.97 0) (effects (font (size 1.27 1.27)))) (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Description" "TMC2209 stepper driver breakout board" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (symbol "TMC2209_SilentStepStick_0_1" (rectangle (start -9.00 11.43) (end 9.00 -11.43) (stroke (width 0.254) (type default)) (fill (type background)) ) ) (symbol "TMC2209_SilentStepStick_1_1" (pin power_in line (at -11.54 8.89 0) (length 2.54) (name "VM" (effects (font (size 1.27 1.27)))) (number "1" (effects (font (size 1.27 1.27)))) ) (pin power_in line (at -11.54 6.35 0) (length 2.54) (name "GND" (effects (font (size 1.27 1.27)))) (number "2" (effects (font (size 1.27 1.27)))) ) (pin output line (at -11.54 3.81 0) (length 2.54) (name "2B" (effects (font (size 1.27 1.27)))) (number "3" (effects (font (size 1.27 1.27)))) ) (pin output line (at -11.54 1.27 0) (length 2.54) (name "2A" (effects (font (size 1.27 1.27)))) (number "4" (effects (font (size 1.27 1.27)))) ) (pin output line (at -11.54 -1.27 0) (length 2.54) (name "1A" (effects (font (size 1.27 1.27)))) (number "5" (effects (font (size 1.27 1.27)))) ) (pin output line (at -11.54 -3.81 0) (length 2.54) (name "1B" (effects (font (size 1.27 1.27)))) (number "6" (effects (font (size 1.27 1.27)))) ) (pin power_in line (at -11.54 -6.35 0) (length 2.54) (name "VIO" (effects (font (size 1.27 1.27)))) (number "7" (effects (font (size 1.27 1.27)))) ) (pin power_in line (at -11.54 -8.89 0) (length 2.54) (name "GND" (effects (font (size 1.27 1.27)))) (number "8" (effects (font (size 1.27 1.27)))) ) (pin input line (at 11.54 8.89 180) (length 2.54) (name "EN" (effects (font (size 1.27 1.27)))) (number "9" (effects (font (size 1.27 1.27)))) ) (pin input line (at 11.54 6.35 180) (length 2.54) (name "MS1" (effects (font (size 1.27 1.27)))) (number "10" (effects (font (size 1.27 1.27)))) ) (pin input line (at 11.54 3.81 180) (length 2.54) (name "MS2" (effects (font (size 1.27 1.27)))) (number "11" (effects (font (size 1.27 1.27)))) ) (pin bidirectional line (at 11.54 1.27 180) (length 2.54) (name "PDN_UART" (effects (font (size 1.27 1.27)))) (number "12" (effects (font (size 1.27 1.27)))) ) (pin input line (at 11.54 -1.27 180) (length 2.54) (name "STEP" (effects (font (size 1.27 1.27)))) (number "13" (effects (font (size 1.27 1.27)))) ) (pin input line (at 11.54 -3.81 180) (length 2.54) (name "DIR" (effects (font (size 1.27 1.27)))) (number "14" (effects (font (size 1.27 1.27)))) ) (pin output line (at 11.54 -6.35 180) (length 2.54) (name "DIAG" (effects (font (size 1.27 1.27)))) (number "15" (effects (font (size 1.27 1.27)))) ) (pin input line (at 11.54 -8.89 180) (length 2.54) (name "CLK" (effects (font (size 1.27 1.27)))) (number "16" (effects (font (size 1.27 1.27)))) ) ) ) (symbol "positioner:NEMA17_Motor" (exclude_from_sim no) (in_bom yes) (on_board yes) (property "Reference" "J" (at 0 8.89 0) (effects (font (size 1.27 1.27)))) (property "Value" "NEMA17_Motor" (at 0 -8.89 0) (effects (font (size 1.27 1.27)))) (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Description" "NEMA 17 stepper motor connector" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (symbol "NEMA17_Motor_0_1" (rectangle (start -6.00 6.35) (end 6.00 -6.35) (stroke (width 0.254) (type default)) (fill (type background)) ) (polyline (pts (xy -2.00 3.00) (xy -2.00 1.50) (xy -1.00 1.20) (xy -3.00 0.60) (xy -1.00 0.00) (xy -2.00 -0.30)) (stroke (width 0.254) (type default)) (fill (type none)) ) (polyline (pts (xy 2.00 3.00) (xy 2.00 1.50) (xy 1.00 1.20) (xy 3.00 0.60) (xy 1.00 0.00) (xy 2.00 -0.30)) (stroke (width 0.254) (type default)) (fill (type none)) ) (text "M" (at 0.00 -3.50 0) (effects (font (size 2.0 2.0))) ) ) (symbol "NEMA17_Motor_1_1" (pin passive line (at -8.54 3.81 0) (length 2.54) (name "A1" (effects (font (size 1.27 1.27)))) (number "1" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -8.54 1.27 0) (length 2.54) (name "A2" (effects (font (size 1.27 1.27)))) (number "2" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -8.54 -1.27 0) (length 2.54) (name "B1" (effects (font (size 1.27 1.27)))) (number "3" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -8.54 -3.81 0) (length 2.54) (name "B2" (effects (font (size 1.27 1.27)))) (number "4" (effects (font (size 1.27 1.27)))) ) ) ) (symbol "positioner:Barrel_Jack_DC" (exclude_from_sim no) (in_bom yes) (on_board yes) (property "Reference" "J" (at 0 7.62 0) (effects (font (size 1.27 1.27)))) (property "Value" "Barrel_Jack_DC" (at 0 -7.62 0) (effects (font (size 1.27 1.27)))) (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Description" "DC barrel jack power input" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (symbol "Barrel_Jack_DC_0_1" (rectangle (start -5.00 5.08) (end 5.00 -5.08) (stroke (width 0.254) (type default)) (fill (type background)) ) ) (symbol "Barrel_Jack_DC_1_1" (pin passive line (at -7.54 2.54 0) (length 2.54) (name "+12V" (effects (font (size 1.27 1.27)))) (number "1" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -7.54 0.00 0) (length 2.54) (name "GND" (effects (font (size 1.27 1.27)))) (number "2" (effects (font (size 1.27 1.27)))) ) (pin passive line (at -7.54 -2.54 0) (length 2.54) (name "Shield" (effects (font (size 1.27 1.27)))) (number "3" (effects (font (size 1.27 1.27)))) ) ) ) (symbol "positioner:R" (exclude_from_sim no) (in_bom yes) (on_board yes) (property "Reference" "R" (at 2.54 0 90) (effects (font (size 1.27 1.27)))) (property "Value" "R" (at -2.54 0 90) (effects (font (size 1.27 1.27)))) (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (symbol "R_0_1" (rectangle (start -1.02 3.81) (end 1.02 -3.81) (stroke (width 0.254) (type default)) (fill (type background)) ) ) (symbol "R_1_1" (pin passive line (at 0.00 6.35 270) (length 2.54) (name "~" (effects (font (size 1.27 1.27)))) (number "1" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 0.00 -6.35 90) (length 2.54) (name "~" (effects (font (size 1.27 1.27)))) (number "2" (effects (font (size 1.27 1.27)))) ) ) ) (symbol "positioner:C_Polarized" (exclude_from_sim no) (in_bom yes) (on_board yes) (property "Reference" "C" (at 2.54 0 0) (effects (font (size 1.27 1.27)))) (property "Value" "C_Polarized" (at -2.54 0 0) (effects (font (size 1.27 1.27)))) (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide)) (symbol "C_Polarized_0_1" (polyline (pts (xy -2.00 1.00) (xy 2.00 1.00)) (stroke (width 0.508) (type default)) (fill (type none)) ) (arc (start -2.00 -1.00) (mid 0.00 -2.00) (end 2.00 -1.00) (stroke (width 0.508) (type default)) (fill (type none)) ) (polyline (pts (xy -1.00 2.50) (xy 1.00 2.50)) (stroke (width 0.254) (type default)) (fill (type none)) ) (polyline (pts (xy 0.00 1.50) (xy 0.00 3.50)) (stroke (width 0.254) (type default)) (fill (type none)) ) ) (symbol "C_Polarized_1_1" (pin passive line (at 0.00 3.81 270) (length 2.54) (name "+" (effects (font (size 1.27 1.27)))) (number "1" (effects (font (size 1.27 1.27)))) ) (pin passive line (at 0.00 -3.81 90) (length 2.54) (name "-" (effects (font (size 1.27 1.27)))) (number "2" (effects (font (size 1.27 1.27)))) ) ) ) ) (symbol (lib_id "positioner:ESP32_DevKit_38pin") (at 101.60 104.14 0) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "aa623578-ee84-5f87-8549-caea7acabd01") (property "Reference" "U1" (at 101.60 101.14 0) (effects (font (size 1.27 1.27)))) (property "Value" "ESP32 DevKit" (at 101.60 107.14 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "fd741f60-5ca1-571b-a041-1078a6772c74")) (pin "2" (uuid "e9317593-4261-593b-a655-934f3d4be130")) (pin "3" (uuid "7b3728db-3421-5fb9-900f-42e72d02c6c0")) (pin "4" (uuid "c5c12ddc-9398-56ba-b1fc-0b4d63a13996")) (pin "5" (uuid "e1d99dc0-8e84-52bb-ba0e-8a6aaedb017f")) (pin "6" (uuid "0b821d83-9c0c-5580-8b60-6c387f9bb880")) (pin "7" (uuid "10d03589-035e-51f9-b759-46b7439bf753")) (pin "8" (uuid "b774c52c-2f2e-51d8-b16b-d1e992ec77a0")) (pin "9" (uuid "735c8161-03ca-53ab-aed4-a901751cb1b9")) (pin "10" (uuid "d0f13931-00b2-580f-8f0c-1d2a3c1e40a5")) (pin "11" (uuid "ecca5f9b-b7ed-57c3-a064-bd6ddbc3beb6")) (pin "12" (uuid "853fb871-33b3-52a7-ae58-206bfdb6bb13")) (pin "13" (uuid "77e739a5-4e0a-5bd0-9b8a-dedb8f2977f8")) (pin "14" (uuid "ed60f3f3-b5d0-5b7b-97d8-7271ac9f6613")) (pin "15" (uuid "28360c0a-7505-598b-92e3-ee8c162cf40d")) (pin "16" (uuid "becd5c37-f70d-503c-9e1b-5da6a31735d6")) (pin "17" (uuid "fc4f6fb6-e077-5f34-b7f2-a008937e82ef")) (pin "18" (uuid "d77b93b9-bea8-5b81-8aa6-72032a73c69d")) (pin "19" (uuid "3f5cdcb8-b62f-5d27-98da-02dbd112455d")) (pin "38" (uuid "6b48d738-e248-55df-8b9d-e33ee042dd69")) (pin "37" (uuid "f3b91301-cf81-53ed-8d9d-838e763b74e7")) (pin "36" (uuid "70fefa96-3823-5c71-bbbc-efb2c94fa19f")) (pin "35" (uuid "43495565-c7f4-5ff9-93ff-1b6f8ff4351e")) (pin "34" (uuid "c555a226-82ae-5227-83a0-51b5ea4ff077")) (pin "33" (uuid "d9b5ca0f-6f4e-582d-9910-7187b8de29b1")) (pin "32" (uuid "ba9c167d-3500-58d1-9df7-fd0d242dbc18")) (pin "31" (uuid "f6e366c9-9205-5019-83fe-5a301a0dbd58")) (pin "30" (uuid "b383dd57-0a9b-5c44-919a-e94fe0a6fb05")) (pin "29" (uuid "0192164c-d638-5a38-9526-77e69cc89378")) (pin "28" (uuid "69eb878a-1933-50e1-8f2d-c682fcb32df3")) (pin "27" (uuid "015f1ffa-00f5-54eb-9aee-98ed5a615e9d")) (pin "26" (uuid "5f7a295b-bac3-5452-bcaa-942b4b3d67c3")) (pin "25" (uuid "31ae0636-c02a-5094-96ef-c0659d7b488b")) (pin "24" (uuid "c5901273-2718-5667-9942-831092f31e0b")) (pin "23" (uuid "ec0c7bc0-6fc2-5df1-b2cc-90133bdbff70")) (pin "22" (uuid "28218cdd-6067-5ab5-81eb-66e7345818f9")) (pin "21" (uuid "24eac4d4-19aa-5274-b583-d0e4bb2f2c06")) (pin "20" (uuid "48d75b2f-9a37-5bd2-835d-99aa38eebf06")) ) (symbol (lib_id "positioner:TMC2209_SilentStepStick") (at 190.50 68.58 0) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "a1332e96-b47e-50a0-87e5-afced6074876") (property "Reference" "U2" (at 190.50 65.58 0) (effects (font (size 1.27 1.27)))) (property "Value" "TMC2209 θ" (at 190.50 71.58 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "a6501f7e-50b8-5696-8d4e-26e64c65cd45")) (pin "2" (uuid "134a31ca-1b19-5b18-86d4-71f0d1155f19")) (pin "3" (uuid "7ad5327e-b8ae-5161-839d-d4d64f6d2c99")) (pin "4" (uuid "17d0f9b9-8f7c-5095-8244-dcebba473188")) (pin "5" (uuid "de3ef6c9-64af-5b0f-b95a-f3f6ac311a7e")) (pin "6" (uuid "324d8d04-a7a2-5bd1-a3e0-116895d9a600")) (pin "7" (uuid "2280bca4-94d7-5c8f-86a0-2afcaeb90763")) (pin "8" (uuid "f2e20101-d0f9-5ef7-8f8d-4bcab46cdf3d")) (pin "9" (uuid "3981057b-394f-54d1-b25d-e0795425cb01")) (pin "10" (uuid "56f049d1-4d23-509e-af3a-d486bfc69510")) (pin "11" (uuid "f0f5f401-b91a-5388-adeb-f45518cdede9")) (pin "12" (uuid "622ed4b6-93a2-5841-8bad-961364307607")) (pin "13" (uuid "6525de78-acd4-5abc-b1ad-33896b92b681")) (pin "14" (uuid "77f5f899-fdd4-54c9-ba50-248798bb3be5")) (pin "15" (uuid "d6d60aaf-45c9-55fa-a536-0c34c23b4034")) (pin "16" (uuid "b68024b5-6abf-5b68-be06-8c5041e07059")) ) (symbol (lib_id "positioner:TMC2209_SilentStepStick") (at 190.50 139.70 0) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "42348b44-9a12-5d49-9f46-7b317a4d80f8") (property "Reference" "U3" (at 190.50 136.70 0) (effects (font (size 1.27 1.27)))) (property "Value" "TMC2209 φ" (at 190.50 142.70 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "d4aecd9a-8c9d-5bf5-8472-ae3b7e334bd2")) (pin "2" (uuid "6767cd55-32ea-5bea-9b5c-001e1d211d79")) (pin "3" (uuid "e1cd475d-2a09-50a5-9822-12fd60d2bbcb")) (pin "4" (uuid "69f8c8af-f266-5a55-90eb-bc32543f766b")) (pin "5" (uuid "ebaf1ba4-3fdc-5cca-b36e-40529833c2dc")) (pin "6" (uuid "5d0c25f4-be80-5055-9681-8aa53ffcd0e1")) (pin "7" (uuid "6d26b687-f41f-5ea9-b743-ed9f61916eba")) (pin "8" (uuid "a7dd78a8-6908-5213-95cc-70c06deb6af1")) (pin "9" (uuid "bcae2da6-6796-562b-837f-695f1d1caf60")) (pin "10" (uuid "3b784981-93bb-5a4a-81b3-5978b11d607a")) (pin "11" (uuid "587651e1-fcee-52f3-9316-a0fb2d5d542e")) (pin "12" (uuid "6f3982f4-12ff-5f9d-878f-e8bb767b6568")) (pin "13" (uuid "55cae498-3bdc-5cf0-ae2b-1cfc8f4c76a6")) (pin "14" (uuid "6fee3658-5419-5bd0-817e-0afe59225e5d")) (pin "15" (uuid "e45034e7-a6e9-5bba-a6b2-9673085134fd")) (pin "16" (uuid "6193e7a9-2431-505d-b2c9-c3f4369ee61f")) ) (symbol (lib_id "positioner:NEMA17_Motor") (at 243.84 68.58 0) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "30d8eabe-576c-5113-b999-8fb0badf2336") (property "Reference" "J2" (at 243.84 65.58 0) (effects (font (size 1.27 1.27)))) (property "Value" "Motor θ" (at 243.84 71.58 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "1ff164c9-6a47-5a96-aff8-5cecf18de8b0")) (pin "2" (uuid "47fd72dc-e53a-5a43-8a20-8dd55aa612e7")) (pin "3" (uuid "f7fb5fda-88e3-56e5-9c5e-e00b919eed6e")) (pin "4" (uuid "bf625b64-b2d0-55a4-8f95-26f8c54d42ae")) ) (symbol (lib_id "positioner:NEMA17_Motor") (at 243.84 139.70 0) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "183f9282-6b2f-5d29-a73a-f67cb0f96a55") (property "Reference" "J3" (at 243.84 136.70 0) (effects (font (size 1.27 1.27)))) (property "Value" "Motor φ" (at 243.84 142.70 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "e300716b-0caf-54f6-be06-875d5b5fd379")) (pin "2" (uuid "566a33b1-7c98-592b-bfe8-afa863e1daf7")) (pin "3" (uuid "8dc4ddf2-d633-5f82-834a-787d90bd0811")) (pin "4" (uuid "9a59714b-53d6-57cf-85f4-d707365f1f53")) ) (symbol (lib_id "positioner:Barrel_Jack_DC") (at 30.48 104.14 0) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "ba38ae71-4aac-5ea6-955a-216cea900563") (property "Reference" "J1" (at 30.48 101.14 0) (effects (font (size 1.27 1.27)))) (property "Value" "12V DC" (at 30.48 107.14 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "1ca419e8-015a-5447-a1cc-2781235729a9")) (pin "2" (uuid "57261f30-dd1a-528c-9962-31431df1b3c4")) (pin "3" (uuid "4bc66ba7-d920-51bc-a1c5-bdb0a8f46d4f")) ) (symbol (lib_id "positioner:R") (at 154.94 109.22 90) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "bc081cbb-7a31-57e0-8861-00a397a0f293") (property "Reference" "R1" (at 154.94 106.22 0) (effects (font (size 1.27 1.27)))) (property "Value" "1kΩ" (at 154.94 112.22 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "5c853c16-8f5f-5b32-9474-c75523f9e929")) (pin "2" (uuid "51f3a03a-e40d-5227-afdd-97195d6eee9d")) ) (symbol (lib_id "positioner:C_Polarized") (at 48.26 104.14 0) (unit 1) (exclude_from_sim no) (in_bom yes) (on_board yes) (dnp no) (uuid "f5d470ee-7d8a-591c-9d68-05deeebab95a") (property "Reference" "C1" (at 48.26 101.14 0) (effects (font (size 1.27 1.27)))) (property "Value" "100µF" (at 48.26 107.14 0) (effects (font (size 1.27 1.27)))) (pin "1" (uuid "ef5e8e05-0ef6-59a7-8209-b4dcd0cb12c6")) (pin "2" (uuid "581574bc-3750-5cd4-b773-988b7fe013b0")) ) (wire (pts (xy 20.94 101.60) (xy 15.86 101.60)) (stroke (width 0) (type default)) (uuid "a9613dac-0b5d-4d32-a53e-9d22b83f57a7") ) (wire (pts (xy 48.26 100.33) (xy 48.26 95.25)) (stroke (width 0) (type default)) (uuid "1af16bd3-3ab7-472c-83cb-aa52d610bb98") ) (wire (pts (xy 175.96 59.69) (xy 170.88 59.69)) (stroke (width 0) (type default)) (uuid "c35d86a3-0496-4ef3-94df-63ba5b61cec2") ) (wire (pts (xy 175.96 130.81) (xy 170.88 130.81)) (stroke (width 0) (type default)) (uuid "b5d91d14-9cd7-4517-861a-51fd32086cbd") ) (wire (pts (xy 20.94 104.14) (xy 15.86 104.14)) (stroke (width 0) (type default)) (uuid "929be9fb-07aa-45dd-9d8a-eefea57e5b34") ) (wire (pts (xy 48.26 107.95) (xy 48.26 113.03)) (stroke (width 0) (type default)) (uuid "698bee9f-c50b-4007-ac59-f3e002197647") ) (wire (pts (xy 82.79 114.30) (xy 77.71 114.30)) (stroke (width 0) (type default)) (uuid "307d0250-db5a-4e0d-8ff5-7417c551b9b0") ) (wire (pts (xy 120.41 81.28) (xy 125.49 81.28)) (stroke (width 0) (type default)) (uuid "655f1f6a-96ff-4ccd-b8c6-7df6c209da03") ) (wire (pts (xy 175.96 62.23) (xy 170.88 62.23)) (stroke (width 0) (type default)) (uuid "a0d86d36-469e-473a-b90c-1f67f75d8253") ) (wire (pts (xy 175.96 77.47) (xy 170.88 77.47)) (stroke (width 0) (type default)) (uuid "85f2d037-8fe8-4dc1-81e8-bfd5d286e940") ) (wire (pts (xy 175.96 133.35) (xy 170.88 133.35)) (stroke (width 0) (type default)) (uuid "b2ebed3c-07af-4892-a91a-1f09b056c87b") ) (wire (pts (xy 175.96 148.59) (xy 170.88 148.59)) (stroke (width 0) (type default)) (uuid "86841657-475b-4414-aa62-17eda9fe9eff") ) (wire (pts (xy 82.79 127.00) (xy 77.71 127.00)) (stroke (width 0) (type default)) (uuid "80cb9713-5c1f-4d00-8b48-4e7349a04e21") ) (wire (pts (xy 175.96 74.93) (xy 170.88 74.93)) (stroke (width 0) (type default)) (uuid "052d873e-97a5-488d-a2ae-d42fbcb446c8") ) (wire (pts (xy 175.96 146.05) (xy 170.88 146.05)) (stroke (width 0) (type default)) (uuid "82381857-54d9-41f7-a3c3-7b2d382ba008") ) (wire (pts (xy 82.79 101.60) (xy 57.39 101.60)) (stroke (width 0) (type default)) (uuid "a414f22a-4afb-4577-988b-aca10092c69d") ) (wire (pts (xy 205.04 69.85) (xy 210.12 69.85)) (stroke (width 0) (type default)) (uuid "33adc56e-d501-41d9-bfa2-9fe830892ff7") ) (wire (pts (xy 82.79 104.14) (xy 77.71 104.14)) (stroke (width 0) (type default)) (uuid "629077fd-d6d4-4b2a-b3b9-0cd8a353afca") ) (wire (pts (xy 205.04 72.39) (xy 210.12 72.39)) (stroke (width 0) (type default)) (uuid "ff1acdbc-2c8c-4dd1-a5d6-2c5f779a894f") ) (wire (pts (xy 82.79 106.68) (xy 57.39 106.68)) (stroke (width 0) (type default)) (uuid "acc6de1f-16a2-4ccc-b1d8-51969de677a2") ) (wire (pts (xy 205.04 59.69) (xy 210.12 59.69)) (stroke (width 0) (type default)) (uuid "2de94298-e712-494f-8949-7b0dd0459daf") ) (wire (pts (xy 82.79 96.52) (xy 57.39 96.52)) (stroke (width 0) (type default)) (uuid "6dd96f2d-8c2a-4a70-9a36-ea29b0bda345") ) (wire (pts (xy 205.04 140.97) (xy 210.12 140.97)) (stroke (width 0) (type default)) (uuid "30d7d8a3-859e-40da-a0bc-d446d8ad1b0b") ) (wire (pts (xy 82.79 99.06) (xy 77.71 99.06)) (stroke (width 0) (type default)) (uuid "13f4dfd4-6fe9-4a01-b302-0400ec1dc36a") ) (wire (pts (xy 205.04 143.51) (xy 210.12 143.51)) (stroke (width 0) (type default)) (uuid "b36037dc-ad8f-48df-99c4-c7952aae2765") ) (wire (pts (xy 82.79 109.22) (xy 77.71 109.22)) (stroke (width 0) (type default)) (uuid "7bbf061a-8c70-4c4e-9277-b53592e87a88") ) (wire (pts (xy 205.04 130.81) (xy 210.12 130.81)) (stroke (width 0) (type default)) (uuid "8db584cd-7227-4671-8a81-99c7b4c9c529") ) (wire (pts (xy 120.41 106.68) (xy 148.59 106.68)) (stroke (width 0) (type default)) (uuid "0e39bdfe-641d-4cb3-9ed6-aaa39bfa1f5e") ) (wire (pts (xy 148.59 106.68) (xy 148.59 109.22)) (stroke (width 0) (type default)) (uuid "a7f97713-ebe8-47dd-af2a-0034106326bd") ) (wire (pts (xy 161.29 109.22) (xy 166.37 109.22)) (stroke (width 0) (type default)) (uuid "db65666d-bbcf-428c-b58c-c09eade1276a") ) (wire (pts (xy 120.41 109.22) (xy 125.49 109.22)) (stroke (width 0) (type default)) (uuid "a341c10a-9c49-4a1c-911e-efb26a8a89bd") ) (wire (pts (xy 205.04 67.31) (xy 210.12 67.31)) (stroke (width 0) (type default)) (uuid "70567c67-30a8-4b2d-8259-ab29ba7880dc") ) (wire (pts (xy 205.04 138.43) (xy 210.12 138.43)) (stroke (width 0) (type default)) (uuid "6af12612-7f30-4b77-b2d4-7b77c96a9c87") ) (wire (pts (xy 205.04 62.23) (xy 210.12 62.23)) (stroke (width 0) (type default)) (uuid "d18c7c84-890c-4f82-a6d5-bbcb7ce0522d") ) (wire (pts (xy 205.04 64.77) (xy 210.12 64.77)) (stroke (width 0) (type default)) (uuid "2317e464-02cb-4a12-aea1-d6775713d2f4") ) (wire (pts (xy 205.04 133.35) (xy 210.12 133.35)) (stroke (width 0) (type default)) (uuid "9b178928-20b8-4e02-9f00-2eb3a49e0965") ) (wire (pts (xy 205.04 135.89) (xy 210.12 135.89)) (stroke (width 0) (type default)) (uuid "6840e6f9-a104-44dc-880b-f07ddf4a6c07") ) (wire (pts (xy 175.96 64.77) (xy 170.88 64.77)) (stroke (width 0) (type default)) (uuid "003f0e96-26b0-431e-bc94-a8c865d11bf0") ) (wire (pts (xy 232.30 64.77) (xy 227.22 64.77)) (stroke (width 0) (type default)) (uuid "cba73a53-c6cd-4861-be63-602351e2123c") ) (wire (pts (xy 175.96 67.31) (xy 170.88 67.31)) (stroke (width 0) (type default)) (uuid "69d44cd9-7eca-4aa9-b0b5-6ef1dac634b9") ) (wire (pts (xy 232.30 67.31) (xy 227.22 67.31)) (stroke (width 0) (type default)) (uuid "0c8e24fd-62ea-4e40-8ac6-a50d11459016") ) (wire (pts (xy 175.96 69.85) (xy 170.88 69.85)) (stroke (width 0) (type default)) (uuid "5122c0f1-fbac-4192-8a88-e12dddc06b47") ) (wire (pts (xy 232.30 69.85) (xy 227.22 69.85)) (stroke (width 0) (type default)) (uuid "51b63cbf-b88e-4b8e-aae9-52ec07c02757") ) (wire (pts (xy 175.96 72.39) (xy 170.88 72.39)) (stroke (width 0) (type default)) (uuid "2e397205-f313-4300-acf0-8f3f5626528d") ) (wire (pts (xy 232.30 72.39) (xy 227.22 72.39)) (stroke (width 0) (type default)) (uuid "5db2c89a-ab53-4803-a781-4850dfab3e0f") ) (wire (pts (xy 175.96 135.89) (xy 170.88 135.89)) (stroke (width 0) (type default)) (uuid "368c01e8-b643-452f-83da-1c42b911b2e2") ) (wire (pts (xy 232.30 135.89) (xy 227.22 135.89)) (stroke (width 0) (type default)) (uuid "31bca09b-7fc3-4768-bb9b-54ecd3c9a86b") ) (wire (pts (xy 175.96 138.43) (xy 170.88 138.43)) (stroke (width 0) (type default)) (uuid "4026c236-ae03-4494-933a-2705decbf57c") ) (wire (pts (xy 232.30 138.43) (xy 227.22 138.43)) (stroke (width 0) (type default)) (uuid "bc8f60fe-0000-4312-bd3e-80fcbfea10d3") ) (wire (pts (xy 175.96 140.97) (xy 170.88 140.97)) (stroke (width 0) (type default)) (uuid "514b57a4-f328-41fb-b4b1-ef0e8a30cba2") ) (wire (pts (xy 232.30 140.97) (xy 227.22 140.97)) (stroke (width 0) (type default)) (uuid "8f377284-2df5-4ee0-b818-32eb8c845314") ) (wire (pts (xy 175.96 143.51) (xy 170.88 143.51)) (stroke (width 0) (type default)) (uuid "5b0b96e1-35d4-4e0b-b936-b353606c786d") ) (wire (pts (xy 232.30 143.51) (xy 227.22 143.51)) (stroke (width 0) (type default)) (uuid "93367af8-0d93-4b83-9ca8-5ef7d0999941") ) (junction (at 148.59 106.68) (diameter 0) (color 0 0 0 0) (uuid "6d5e87e5-6d61-46f1-ae0f-1315ba33eb01") ) (label "+12V" (at 15.86 101.60 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "7856a371-062c-4027-b1d4-cfbf409a361e") ) (label "+12V" (at 48.26 95.25 90) (effects (font (size 1.27 1.27)) (justify left)) (uuid "d60b369a-f68d-4518-ab34-981a35c93017") ) (label "+12V" (at 170.88 59.69 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "d6542572-dcc2-4196-9bc2-96e0bd507358") ) (label "+12V" (at 170.88 130.81 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "9cff4efe-98d1-42b1-b48e-70aa30333d0d") ) (label "GND" (at 15.86 104.14 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "8c1774ec-6dd3-47c3-afce-8735d47d65da") ) (label "GND" (at 48.26 113.03 270) (effects (font (size 1.27 1.27)) (justify left)) (uuid "177f2331-5de5-4986-bcd5-344a8917d951") ) (label "GND" (at 77.71 114.30 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "8d87ada3-0982-437a-aada-ba29d389a135") ) (label "GND" (at 125.49 81.28 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "97be3ae3-76db-48ad-b5f7-5e0a6f02272d") ) (label "GND" (at 170.88 62.23 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "45afbb49-4341-4faa-9157-8d276c6f4688") ) (label "GND" (at 170.88 77.47 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "0cc0f3d8-36b0-49aa-9ffd-85f8b3ec03ae") ) (label "GND" (at 170.88 133.35 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "f494cbcf-baa5-4245-a8af-bc9d5f4dc41f") ) (label "GND" (at 170.88 148.59 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "dd5781ab-3d81-4677-9b94-70dbbacff0a6") ) (label "+5V" (at 77.71 127.00 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "7527e46f-c99a-460d-adf0-57df647a7b1c") ) (label "+5V" (at 170.88 74.93 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "c476ce6f-7564-446e-bf20-e4642df3e175") ) (label "+5V" (at 170.88 146.05 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "d2f44ea2-71ae-4f5a-87fd-2bcc5b39ec68") ) (label "θ_STEP" (at 57.39 101.60 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "c1b14937-6d64-4450-86a0-cb7ffb833158") ) (label "θ_STEP" (at 210.12 69.85 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "0faecf2f-464a-45c0-b3bf-1f9570c95b10") ) (label "θ_DIR" (at 77.71 104.14 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "9beb0635-01bd-410a-b120-ec81e27dc83c") ) (label "θ_DIR" (at 210.12 72.39 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "3f2abb55-6f05-4416-ac17-a4002651bd53") ) (label "θ_EN" (at 57.39 106.68 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "64863acb-9dc4-475d-8540-c2d200618d5a") ) (label "θ_EN" (at 210.12 59.69 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "8cf88662-cd56-4772-b68b-d692923c9042") ) (label "φ_STEP" (at 57.39 96.52 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "f77e59bc-4fd4-4361-828c-17a9e4529583") ) (label "φ_STEP" (at 210.12 140.97 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "89f13e4a-629b-4f36-86ec-be25ce75bddf") ) (label "φ_DIR" (at 77.71 99.06 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "1f0715f3-57ec-433c-934f-01aca6ff379d") ) (label "φ_DIR" (at 210.12 143.51 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "dae7ede7-05aa-431f-86f2-a8ca72659b14") ) (label "φ_EN" (at 77.71 109.22 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "af25c0ce-b2ae-4473-8aff-b09efe7cbeb5") ) (label "φ_EN" (at 210.12 130.81 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "e58778d2-3d53-4c0c-9454-33decc117178") ) (label "PDN_UART" (at 166.37 109.22 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "7c8ff8fb-e763-44ac-b992-8333bf803261") ) (label "PDN_UART" (at 125.49 109.22 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "229b6bad-1c82-4e7c-85a5-cc35c3c970e8") ) (label "PDN_UART" (at 210.12 67.31 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "f338d46b-b4ff-4a1a-ab6a-b7e17a1c7390") ) (label "PDN_UART" (at 210.12 138.43 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "b87f294e-094f-4b23-8c45-c4c4266447c1") ) (label "GND" (at 210.12 62.23 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "ecc566df-a2d2-49a1-9759-aeeed16b85f3") ) (label "GND" (at 210.12 64.77 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "91dc2c39-3234-4569-8500-4d8ee8c32108") ) (label "+5V" (at 210.12 133.35 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "2fc17c79-c062-4dae-a978-483cc2788243") ) (label "GND" (at 210.12 135.89 0) (effects (font (size 1.27 1.27)) (justify left)) (uuid "546e4994-109a-4d4c-bc41-71319fc74099") ) (label "Mθ_2B" (at 170.88 64.77 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "4ef21205-a953-4b19-a4c4-9e72b14e0fa6") ) (label "Mθ_2B" (at 227.22 64.77 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "90f779b0-0c31-4564-b35c-dd9c70bd8489") ) (label "Mθ_2A" (at 170.88 67.31 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "fd8bc5b7-cfcb-4ee6-88bc-40af00269e79") ) (label "Mθ_2A" (at 227.22 67.31 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "f4dccdcd-e50e-43e9-a0dc-1bc3d4feb793") ) (label "Mθ_1A" (at 170.88 69.85 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "a95d8bf0-caa5-42b0-9c2d-1b9c379d5cde") ) (label "Mθ_1A" (at 227.22 69.85 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "1b9d00b9-854b-47fc-9857-fa91ad073c9d") ) (label "Mθ_1B" (at 170.88 72.39 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "bed49946-47e7-4f4e-9ef0-e5b280cb8b7d") ) (label "Mθ_1B" (at 227.22 72.39 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "1aa97a1e-842f-42bb-bfc9-bdfc1de6c892") ) (label "Mφ_2B" (at 170.88 135.89 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "6130760f-df8d-4c15-8b9c-af4d1ec7db3f") ) (label "Mφ_2B" (at 227.22 135.89 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "2552ef70-0f25-4178-ac63-d070a65cb7c9") ) (label "Mφ_2A" (at 170.88 138.43 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "8de28c69-1e14-4976-854c-34228efb2c2b") ) (label "Mφ_2A" (at 227.22 138.43 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "0d785832-c8a7-4ffd-93cb-3476b34de642") ) (label "Mφ_1A" (at 170.88 140.97 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "bac0f963-ff59-4584-89be-3946c8b915de") ) (label "Mφ_1A" (at 227.22 140.97 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "acda9922-71ff-4d56-bd50-d826ccd7af69") ) (label "Mφ_1B" (at 170.88 143.51 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "597a33c3-7bb6-4597-8185-3e68e9073f49") ) (label "Mφ_1B" (at 227.22 143.51 180) (effects (font (size 1.27 1.27)) (justify left)) (uuid "d3e247ef-4951-4ed6-ab23-42c052f4d720") ) (no_connect (at 205.04 74.93) (uuid "ea741f8b-e2e8-4aa6-ab41-66eba9487f09")) (no_connect (at 205.04 77.47) (uuid "6594b827-ba32-40a0-997c-db21ef2bd22d")) (no_connect (at 205.04 146.05) (uuid "9e3f3a2c-35ec-4c89-ab85-e244ed76de8f")) (no_connect (at 205.04 148.59) (uuid "47d66a4b-0c97-4bd3-9717-dff38868d0da")) (no_connect (at 82.79 81.28) (uuid "61943aee-9f31-498f-905b-a53d28c0e8c2")) (no_connect (at 82.79 83.82) (uuid "c2614db6-ab55-4821-af01-a1f9ec86feb9")) (no_connect (at 82.79 86.36) (uuid "3096518f-1e8f-49d6-b4d1-58efc375e2cb")) (no_connect (at 82.79 88.90) (uuid "e65253fc-4d32-49e7-8124-0865c54eb67c")) (no_connect (at 82.79 91.44) (uuid "cc27118f-99a4-4ea9-87e3-dae6c3877523")) (no_connect (at 82.79 93.98) (uuid "aa21a359-8534-4936-b801-d643325fa801")) (no_connect (at 82.79 111.76) (uuid "06f8176a-712f-4696-9826-0255e2ea641e")) (no_connect (at 82.79 116.84) (uuid "9c4d3857-ca55-4e30-aa12-c52699005c7e")) (no_connect (at 82.79 119.38) (uuid "fdec5395-ce80-4fa7-81c5-e695cb6fff46")) (no_connect (at 82.79 121.92) (uuid "33cf8cf4-0c1e-4046-8ad5-371d7f3e4ae6")) (no_connect (at 82.79 124.46) (uuid "2f77b26d-7313-4f9d-8373-21c402acbe91")) (no_connect (at 120.41 83.82) (uuid "14c3770b-e215-4877-ae8b-689c3b12524a")) (no_connect (at 120.41 86.36) (uuid "71f91983-be02-4555-96c1-132cec3cefae")) (no_connect (at 120.41 88.90) (uuid "2ffa83c9-6c94-4923-aa5a-f8d4fbb3f47a")) (no_connect (at 120.41 91.44) (uuid "3c6f9c5e-2939-4841-8439-06925c7f18af")) (no_connect (at 120.41 93.98) (uuid "1515b745-56d5-42c4-b56c-8118b5bf05b5")) (no_connect (at 120.41 96.52) (uuid "89289cb0-4c1a-4407-890b-a4b170c4fcad")) (no_connect (at 120.41 99.06) (uuid "8ed826aa-518d-4120-bb80-b0f49ee26d0e")) (no_connect (at 120.41 101.60) (uuid "7e0405c7-277b-486f-a419-519e8d1a4042")) (no_connect (at 120.41 104.14) (uuid "5ba32526-c12d-4a03-b12f-dde7f0894a30")) (no_connect (at 120.41 111.76) (uuid "6e780164-09fb-43ed-9478-ba4556878359")) (no_connect (at 120.41 114.30) (uuid "2dc93ed1-f6b7-4c63-8ed1-5fc9b7f5bbe6")) (no_connect (at 120.41 116.84) (uuid "bf9d1996-bcd2-46ff-a00b-787828d861eb")) (no_connect (at 120.41 119.38) (uuid "98a17114-93cc-483d-8133-f5ceb509fe92")) (no_connect (at 120.41 121.92) (uuid "0237524d-0c37-4c95-8098-849c5140fb9b")) (no_connect (at 120.41 124.46) (uuid "69471661-abbd-4643-85b7-fe0e7a4061fb")) (no_connect (at 120.41 127.00) (uuid "4bce73f6-0704-4441-8a10-cc9f34040adb")) (no_connect (at 20.94 106.68) (uuid "5324b8a4-6ca5-4f30-844f-a797e5b98b55")) (text "12V DC\nMotor Supply" (at 30.48 89.14 0) (effects (font (size 1.5 1.5))) (uuid "ba845d1b-d614-4e89-80a9-9df11b28c56f") ) (text "100µF\nBulk Decoupling" (at 48.26 92.14 0) (effects (font (size 1.27 1.27))) (uuid "3c495495-debc-4f24-b1bc-73accf3d3340") ) (text "1kΩ prevents\nUART bus contention" (at 154.94 101.22 0) (effects (font (size 1.27 1.27))) (uuid "a95116d6-7d65-4d16-9f34-67b0cd0404b9") ) (text "TMC addr 0\nMS1=GND MS2=GND" (at 190.50 50.58 0) (effects (font (size 1.27 1.27))) (uuid "f275766a-62bd-4be2-a7ff-20e9eb5df83e") ) (text "TMC addr 1\nMS1=VIO MS2=GND" (at 190.50 121.70 0) (effects (font (size 1.27 1.27))) (uuid "0bb2b4c4-5da9-437d-937b-4b48df4c0719") ) (text "Half-duplex UART\nshared bus" (at 155.00 115.22 0) (effects (font (size 1.27 1.27))) (uuid "cb586947-2103-4048-92ba-a8001255e36c") ) (sheet_instances (path "/" (page "1") ) ) (symbol_instances (path "/aa623578-ee84-5f87-8549-caea7acabd01" (reference "U1") (unit 1) (value "ESP32 DevKit") (footprint "")) (path "/a1332e96-b47e-50a0-87e5-afced6074876" (reference "U2") (unit 1) (value "TMC2209 θ") (footprint "")) (path "/42348b44-9a12-5d49-9f46-7b317a4d80f8" (reference "U3") (unit 1) (value "TMC2209 φ") (footprint "")) (path "/30d8eabe-576c-5113-b999-8fb0badf2336" (reference "J2") (unit 1) (value "Motor θ") (footprint "")) (path "/183f9282-6b2f-5d29-a73a-f67cb0f96a55" (reference "J3") (unit 1) (value "Motor φ") (footprint "")) (path "/ba38ae71-4aac-5ea6-955a-216cea900563" (reference "J1") (unit 1) (value "12V DC") (footprint "")) (path "/bc081cbb-7a31-57e0-8861-00a397a0f293" (reference "R1") (unit 1) (value "1kΩ") (footprint "")) (path "/f5d470ee-7d8a-591c-9d68-05deeebab95a" (reference "C1") (unit 1) (value "100µF") (footprint "")) ) )