Baja_M20_1.sch-bak
EESchema Schematic File Version 4
EELAYER 30 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title "Baja Model 20/21 Control Hardware"
Date "2021-12-18"
Rev "01"
Comp "Bruin Racing Baja Electronics"
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L Transistor_FET:IRF4905 Q1
U 1 1 61BC1677
P 5750 4650
F 0 "Q1" H 5955 4696 50  0000 L CNN
F 1 "IRF5305" H 5955 4605 50  0000 L CNN
F 2 "Package_TO_SOT_THT:TO-220-3_Vertical_Battery" H 5950 4575 50  0001 L CIN
F 3 "http://www.infineon.com/dgdl/irf4905.pdf?fileId=5546d462533600a4015355e32165197c" H 5750 4650 50  0001 L CNN
	1    5750 4650
	1    0    0    -1  
$EndComp
$Comp
L Device:R_US R3
U 1 1 61BC557F
P 5400 4800
F 0 "R3" H 5468 4846 50  0000 L CNN
F 1 "22k" H 5468 4755 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal" V 5440 4790 50  0001 C CNN
F 3 "~" H 5400 4800 50  0001 C CNN
	1    5400 4800
	-1   0    0    1   
$EndComp
$Comp
L Device:R_US R4
U 1 1 61BC5DAD
P 5150 5150
F 0 "R4" H 5218 5196 50  0000 L CNN
F 1 "22k" H 5218 5105 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal" V 5190 5140 50  0001 C CNN
F 3 "~" H 5150 5150 50  0001 C CNN
	1    5150 5150
	0    1    1    0   
$EndComp
$Comp
L Switch:SW_DIP_x01 SW2
U 1 1 61BCB931
P 4850 4850
F 0 "SW2" H 4850 5117 50  0000 C CNN
F 1 "NC" H 4850 5026 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x02_P2.54mm_Vertical" H 4850 4850 50  0001 C CNN
F 3 "~" H 4850 4850 50  0001 C CNN
	1    4850 4850
	0    1    1    0   
$EndComp
$Comp
L Switch:SW_DPST SW1
U 1 1 61BCC6C4
P 1850 3250
F 0 "SW1" H 1850 3575 50  0000 C CNN
F 1 "SW_DPST" H 1850 3484 50  0000 C CNN
F 2 "" H 1850 3250 50  0001 C CNN
F 3 "~" H 1850 3250 50  0001 C CNN
	1    1850 3250
	1    0    0    -1  
$EndComp
$Comp
L Device:Battery BT1
U 1 1 61BCD87C
P 1100 3050
F 0 "BT1" H 1208 3096 50  0000 L CNN
F 1 "Battery" H 1208 3005 50  0000 L CNN
F 2 "" V 1100 3110 50  0001 C CNN
F 3 "~" V 1100 3110 50  0001 C CNN
	1    1100 3050
	1    0    0    -1  
$EndComp
$Comp
L Sensor_Current:A1369xUA-10 U4
U 1 1 61BD7D04
P 4350 3000
F 0 "U4" H 4120 3046 50  0000 R CNN
F 1 "DRV5023AJELPGMQ1" H 4120 2955 50  0000 R CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 4700 2900 50  0001 L CIN
F 3 "http://www.allegromicro.com/~/media/Files/Datasheets/A1369-Datasheet.ashx?la=en" H 4350 3000 50  0001 C CNN
	1    4350 3000
	1    0    0    -1  
$EndComp
$Comp
L Sensor_Current:A1369xUA-10 U2
U 1 1 61BDDAF5
P 5650 1300
F 0 "U2" H 5420 1346 50  0000 R CNN
F 1 "MLX90217LUA" H 5420 1255 50  0000 R CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 6000 1200 50  0001 L CIN
F 3 "http://www.allegromicro.com/~/media/Files/Datasheets/A1369-Datasheet.ashx?la=en" H 5650 1300 50  0001 C CNN
	1    5650 1300
	1    0    0    -1  
$EndComp
$Comp
L Device:R_US R2
U 1 1 61BDF553
P 6150 1150
F 0 "R2" H 6218 1196 50  0000 L CNN
F 1 "5.1k" H 6218 1105 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal" V 6190 1140 50  0001 C CNN
F 3 "~" H 6150 1150 50  0001 C CNN
	1    6150 1150
	1    0    0    -1  
$EndComp
Wire Wire Line
	4350 2550 4350 2700
Wire Wire Line
	5900 2550 5900 2700
$Comp
L power:GND #PWR06
U 1 1 61BC223C
P 4350 3450
F 0 "#PWR06" H 4350 3200 50  0001 C CNN
F 1 "GND" H 4355 3277 50  0000 C CNN
F 2 "" H 4350 3450 50  0001 C CNN
F 3 "" H 4350 3450 50  0001 C CNN
	1    4350 3450
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR07
U 1 1 61BC291E
P 5900 3450
F 0 "#PWR07" H 5900 3200 50  0001 C CNN
F 1 "GND" H 5905 3277 50  0000 C CNN
F 2 "" H 5900 3450 50  0001 C CNN
F 3 "" H 5900 3450 50  0001 C CNN
	1    5900 3450
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR03
U 1 1 61BC2E1B
P 5650 1750
F 0 "#PWR03" H 5650 1500 50  0001 C CNN
F 1 "GND" H 5655 1577 50  0000 C CNN
F 2 "" H 5650 1750 50  0001 C CNN
F 3 "" H 5650 1750 50  0001 C CNN
	1    5650 1750
	1    0    0    -1  
$EndComp
Wire Wire Line
	4350 3300 4350 3450
Wire Wire Line
	5900 3300 5900 3450
Wire Wire Line
	5650 1600 5650 1750
$Comp
L Device:C C2
U 1 1 61BE1693
P 6450 1600
F 0 "C2" H 6565 1646 50  0000 L CNN
F 1 "10n" H 6565 1555 50  0000 L CNN
F 2 "Capacitor_THT:C_Disc_D4.3mm_W1.9mm_P5.00mm" H 6488 1450 50  0001 C CNN
F 3 "~" H 6450 1600 50  0001 C CNN
	1    6450 1600
	1    0    0    -1  
$EndComp
Wire Wire Line
	6050 1300 6150 1300
Wire Wire Line
	5650 950  6150 950 
Wire Wire Line
	6150 950  6150 1000
Wire Wire Line
	5650 950  5650 1000
Wire Wire Line
	5650 1750 6450 1750
Connection ~ 5650 1750
Wire Wire Line
	6450 1450 6450 950 
Wire Wire Line
	6450 950  6150 950 
Connection ~ 6150 950 
$Comp
L Sensor_Current:A1369xUA-10 U1
U 1 1 61BD9507
P 4100 1300
F 0 "U1" H 3870 1346 50  0000 R CNN
F 1 "MLX90217LUA" H 3870 1255 50  0000 R CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical" H 4450 1200 50  0001 L CIN
F 3 "http://www.allegromicro.com/~/media/Files/Datasheets/A1369-Datasheet.ashx?la=en" H 4100 1300 50  0001 C CNN
	1    4100 1300
	1    0    0    -1  
$EndComp
$Comp
L Device:R_US R1
U 1 1 61BD950D
P 4600 1150
F 0 "R1" H 4668 1196 50  0000 L CNN
F 1 "5.1k" H 4668 1105 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal" V 4640 1140 50  0001 C CNN
F 3 "~" H 4600 1150 50  0001 C CNN
	1    4600 1150
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR02
U 1 1 61BD951A
P 4100 1750
F 0 "#PWR02" H 4100 1500 50  0001 C CNN
F 1 "GND" H 4105 1577 50  0000 C CNN
F 2 "" H 4100 1750 50  0001 C CNN
F 3 "" H 4100 1750 50  0001 C CNN
	1    4100 1750
	1    0    0    -1  
$EndComp
Wire Wire Line
	4100 1600 4100 1750
$Comp
L Device:C C1
U 1 1 61BD9521
P 4900 1600
F 0 "C1" H 5015 1646 50  0000 L CNN
F 1 "10n" H 5015 1555 50  0000 L CNN
F 2 "Capacitor_THT:C_Disc_D4.3mm_W1.9mm_P5.00mm" H 4938 1450 50  0001 C CNN
F 3 "~" H 4900 1600 50  0001 C CNN
	1    4900 1600
	1    0    0    -1  
$EndComp
Wire Wire Line
	4500 1300 4600 1300
Wire Wire Line
	4100 950  4600 950 
Wire Wire Line
	4600 950  4600 1000
Connection ~ 4100 950 
Wire Wire Line
	4100 950  4100 1000
Wire Wire Line
	4100 1750 4900 1750
Connection ~ 4100 1750
Wire Wire Line
	4900 1450 4900 950 
Wire Wire Line
	4900 950  4600 950 
Connection ~ 4600 950 
Text GLabel 4600 1400 3    50   Input ~ 0
GTS1
Text GLabel 6150 1400 3    50   Input ~ 0
GTS2
Wire Wire Line
	6150 1400 6150 1300
Connection ~ 6150 1300
Wire Wire Line
	4600 1400 4600 1300
Connection ~ 4600 1300
Text GLabel 4850 3100 3    50   Input ~ 0
SLS1
Wire Wire Line
	6300 3000 6400 3000
Wire Wire Line
	4750 3000 4850 3000
Wire Notes Line
	3200 3750 3200 2250
Wire Notes Line
	3200 550  6800 550 
Wire Notes Line
	6800 550  6800 2050
Wire Notes Line
	6800 2050 3200 2050
Wire Notes Line
	3200 2050 3200 550 
$Comp
L Teensy:Teensy4.1_Min U6
U 1 1 61BCFAE5
P 8750 3250
F 0 "U6" H 8750 5700 50  0000 C CNN
F 1 "Teensy4.1" H 8750 5600 50  0000 C CNN
F 2 "Teensy:Teensy41_Min" H 8350 3650 50  0001 C CNN
F 3 "" H 8350 3650 50  0001 C CNN
	1    8750 3250
	1    0    0    -1  
$EndComp
Wire Notes Line
	6800 2250 6800 3750
Text GLabel 6400 3100 3    50   Input ~ 0
SLS2
Wire Notes Line
	3200 3750 6800 3750
Wire Notes Line
	3200 2250 6800 2250
Text Notes 3950 2400 0    50   ~ 0
Software Limit Switches (interfaces with external SLS PCB)
Text Notes 4550 700  0    50   ~ 0
Geartooth Sensors
Wire Wire Line
	4850 3000 4850 3100
Wire Wire Line
	6400 3000 6400 3100
$Comp
L Converter_DCDC:LM2596_Breakout U3
U 1 1 61BFDA21
P 1800 1350
F 0 "U3" H 1800 1765 50  0000 C CNN
F 1 "LM2596_Breakout" H 1800 1674 50  0000 C CNN
F 2 "Converter_DCDC:LM2596_Breakout" H 1800 1350 50  0001 C CNN
F 3 "" H 1800 1350 50  0001 C CNN
	1    1800 1350
	1    0    0    -1  
$EndComp
Connection ~ 5650 950 
Wire Wire Line
	2400 1200 2600 1200
$Comp
L power:GND #PWR01
U 1 1 61C11216
P 1050 1550
F 0 "#PWR01" H 1050 1300 50  0001 C CNN
F 1 "GND" H 1055 1377 50  0000 C CNN
F 2 "" H 1050 1550 50  0001 C CNN
F 3 "" H 1050 1550 50  0001 C CNN
	1    1050 1550
	1    0    0    -1  
$EndComp
Wire Wire Line
	1050 1550 1050 1500
Wire Wire Line
	1050 1500 1200 1500
Text GLabel 1050 1200 0    50   Input ~ 0
BATT+
Text GLabel 5850 5150 2    50   Input ~ 0
BATT+
$Comp
L power:GND #PWR09
U 1 1 61C14B7A
P 5400 5300
F 0 "#PWR09" H 5400 5050 50  0001 C CNN
F 1 "GND" H 5405 5127 50  0000 C CNN
F 2 "" H 5400 5300 50  0001 C CNN
F 3 "" H 5400 5300 50  0001 C CNN
	1    5400 5300
	1    0    0    -1  
$EndComp
Text GLabel 1250 2650 2    50   Input ~ 0
BATT+
Wire Notes Line
	3000 2050 3000 550 
Wire Notes Line
	600  550  600  2050
Text Notes 1450 700  0    50   ~ 0
Voltage Regulator
Wire Wire Line
	1200 1500 1200 1700
Wire Wire Line
	1200 1700 2400 1700
Wire Wire Line
	2400 1700 2400 1500
Connection ~ 1200 1500
Wire Wire Line
	1050 1200 1200 1200
Wire Notes Line
	600  550  3000 550 
Wire Notes Line
	600  2050 3000 2050
Wire Notes Line
	600  2250 3000 2250
Wire Notes Line
	3000 2250 3000 3750
Wire Notes Line
	3000 3750 600  3750
Wire Notes Line
	600  3750 600  2250
Text Notes 1250 2400 0    50   ~ 0
Power Switch (not on PCB)
$Comp
L power:GND #PWR05
U 1 1 61C2ECDC
P 2550 3400
F 0 "#PWR05" H 2550 3150 50  0001 C CNN
F 1 "GND" H 2555 3227 50  0000 C CNN
F 2 "" H 2550 3400 50  0001 C CNN
F 3 "" H 2550 3400 50  0001 C CNN
	1    2550 3400
	1    0    0    -1  
$EndComp
Wire Wire Line
	1100 2850 1100 2650
Wire Wire Line
	1100 2650 1250 2650
Wire Wire Line
	1100 3250 1100 3350
Wire Wire Line
	1100 3350 1650 3350
Wire Wire Line
	2050 3350 2550 3350
Wire Wire Line
	2550 3350 2550 3400
Wire Wire Line
	9850 1100 9950 1100
Text GLabel 9950 1100 2    50   Input ~ 0
5V
Text GLabel 2600 1200 2    50   Input ~ 0
5V
Text GLabel 9950 1300 2    50   Input ~ 0
3V3
Wire Wire Line
	9850 1300 9950 1300
Text GLabel 4350 2550 2    50   Input ~ 0
3V3
Text GLabel 5900 2550 2    50   Input ~ 0
3V3
Text GLabel 5650 750  2    50   Input ~ 0
3V3
Text GLabel 4100 750  2    50   Input ~ 0
3V3
Wire Wire Line
	5650 750  5650 950 
Wire Wire Line
	4100 750  4100 950 
$Comp
L power:GND #PWR04
U 1 1 61C443C4
P 9950 2500
F 0 "#PWR04" H 9950 2250 50  0001 C CNN
F 1 "GND" V 9955 2327 50  0000 C CNN
F 2 "" H 9950 2500 50  0001 C CNN
F 3 "" H 9950 2500 50  0001 C CNN
	1    9950 2500
	0    -1   -1   0   
$EndComp
Wire Wire Line
	5850 4150 5850 4450
Text GLabel 5850 4150 2    50   Input ~ 0
ODRV+
Wire Wire Line
	5850 4850 5850 4950
$Comp
L Device:C C4
U 1 1 61BE1DE6
P 1050 7150
F 0 "C4" H 1050 7250 50  0000 L CNN
F 1 "47n" H 1050 7050 50  0000 L CNN
F 2 "Capacitor_THT:C_Disc_D4.3mm_W1.9mm_P5.00mm" H 1088 7000 50  0001 C CNN
F 3 "~" H 1050 7150 50  0001 C CNN
	1    1050 7150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C5
U 1 1 61BE24C8
P 1350 7150
F 0 "C5" H 1350 7250 50  0000 L CNN
F 1 "47n" H 1350 7050 50  0000 L CNN
F 2 "Capacitor_THT:C_Disc_D4.3mm_W1.9mm_P5.00mm" H 1388 7000 50  0001 C CNN
F 3 "~" H 1350 7150 50  0001 C CNN
	1    1350 7150
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x05_Female J9
U 1 1 61BF9F67
P 1400 6300
F 0 "J9" H 1200 6700 50  0000 L CNN
F 1 "Hall_Socket" H 850 6600 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x05_P2.54mm_Vertical" H 1400 6300 50  0001 C CNN
F 3 "~" H 1400 6300 50  0001 C CNN
	1    1400 6300
	1    0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x05_Female J1
U 1 1 61BFACA1
P 1350 4600
F 0 "J1" H 1200 5000 50  0000 L CNN
F 1 "Encoder_Socket_ODrive" H 650 4900 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x05_P2.54mm_Vertical" H 1350 4600 50  0001 C CNN
F 3 "~" H 1350 4600 50  0001 C CNN
	1    1350 4600
	1    0    0    -1  
$EndComp
Wire Notes Line
	3200 3950 6800 3950
Wire Notes Line
	6800 3950 6800 5850
Wire Notes Line
	6800 5850 3200 5850
Wire Notes Line
	3200 5850 3200 3950
Text Notes 3400 4950 0    50   ~ 0
Hardware Limit Switch\n
Text GLabel 7550 1200 0    50   Input ~ 0
ODRV_MISO
Wire Wire Line
	7550 1200 7650 1200
Text GLabel 7550 1300 0    50   Input ~ 0
ODRV_MOSI
Wire Wire Line
	7550 1300 7650 1300
Text GLabel 9950 1400 2    50   Input ~ 0
SLS1
Text GLabel 9950 1500 2    50   Input ~ 0
SLS2
Text GLabel 9950 2600 2    50   Input ~ 0
GTS1
Text GLabel 9950 2700 2    50   Input ~ 0
GTS2
Wire Wire Line
	9950 2700 9850 2700
Wire Wire Line
	9950 2600 9850 2600
NoConn ~ 2050 3150
NoConn ~ 1650 3150
Wire Notes Line
	7000 3950 10250 3950
Wire Notes Line
	10250 3950 10250 5400
Wire Notes Line
	10250 5400 7000 5400
Wire Notes Line
	7000 5400 7000 3950
Text Notes 8400 4100 0    50   ~ 0
Arbitrary I/O
$Comp
L Device:C C3
U 1 1 61BE1C61
P 750 7150
F 0 "C3" H 750 7250 50  0000 L CNN
F 1 "47n" H 750 7050 50  0000 L CNN
F 2 "Capacitor_THT:C_Disc_D4.3mm_W1.9mm_P5.00mm" H 788 7000 50  0001 C CNN
F 3 "~" H 750 7150 50  0001 C CNN
	1    750  7150
	1    0    0    -1  
$EndComp
Text GLabel 1100 6100 0    50   Input ~ 0
ODRV_5V
$Comp
L power:GND #PWR017
U 1 1 61CE68A6
P 1100 6500
F 0 "#PWR017" H 1100 6250 50  0001 C CNN
F 1 "GND" H 1105 6327 50  0000 C CNN
F 2 "" H 1100 6500 50  0001 C CNN
F 3 "" H 1100 6500 50  0001 C CNN
	1    1100 6500
	1    0    0    -1  
$EndComp
Text GLabel 1100 6200 0    50   Input ~ 0
A0
Text GLabel 1100 6400 0    50   Input ~ 0
Z0
Wire Wire Line
	1100 6500 1200 6500
Wire Wire Line
	1100 6400 1200 6400
Wire Wire Line
	1100 6200 1200 6200
Wire Wire Line
	1100 6100 1200 6100
$Comp
L power:GND #PWR020
U 1 1 61D145E3
P 750 7350
F 0 "#PWR020" H 750 7100 50  0001 C CNN
F 1 "GND" H 755 7177 50  0000 C CNN
F 2 "" H 750 7350 50  0001 C CNN
F 3 "" H 750 7350 50  0001 C CNN
	1    750  7350
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR021
U 1 1 61D14CBC
P 1050 7350
F 0 "#PWR021" H 1050 7100 50  0001 C CNN
F 1 "GND" H 1055 7177 50  0000 C CNN
F 2 "" H 1050 7350 50  0001 C CNN
F 3 "" H 1050 7350 50  0001 C CNN
	1    1050 7350
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR022
U 1 1 61D1692E
P 1350 7350
F 0 "#PWR022" H 1350 7100 50  0001 C CNN
F 1 "GND" H 1355 7177 50  0000 C CNN
F 2 "" H 1350 7350 50  0001 C CNN
F 3 "" H 1350 7350 50  0001 C CNN
	1    1350 7350
	1    0    0    -1  
$EndComp
Text GLabel 750  6950 1    50   Input ~ 0
A0
Text GLabel 1050 6950 1    50   Input ~ 0
B0
Text GLabel 1350 6950 1    50   Input ~ 0
Z0
Wire Wire Line
	1350 7350 1350 7300
Wire Wire Line
	1350 7000 1350 6950
Wire Wire Line
	1050 7000 1050 6950
Wire Wire Line
	1050 7300 1050 7350
Wire Wire Line
	750  7350 750  7300
Wire Wire Line
	750  7000 750  6950
$Comp
L power:GND #PWR08
U 1 1 61D3CB3A
P 1050 4800
F 0 "#PWR08" H 1050 4550 50  0001 C CNN
F 1 "GND" H 1055 4627 50  0000 C CNN
F 2 "" H 1050 4800 50  0001 C CNN
F 3 "" H 1050 4800 50  0001 C CNN
	1    1050 4800
	1    0    0    -1  
$EndComp
Wire Wire Line
	1050 4800 1150 4800
Text GLabel 1050 4700 0    50   Input ~ 0
Z1
Wire Wire Line
	1050 4700 1150 4700
Wire Wire Line
	1100 6300 1200 6300
Text GLabel 1100 6300 0    50   Input ~ 0
B0
Wire Wire Line
	1050 4400 1150 4400
Text GLabel 1050 4400 0    50   Input ~ 0
B1
Text GLabel 1050 4600 0    50   Input ~ 0
A1
Wire Wire Line
	1050 4600 1150 4600
Text GLabel 1050 4500 0    50   Input ~ 0
ODRV_5V
Wire Wire Line
	1050 4500 1150 4500
$Comp
L power:GND #PWR010
U 1 1 61D5594C
P 7850 4550
F 0 "#PWR010" H 7850 4300 50  0001 C CNN
F 1 "GND" H 7855 4377 50  0000 C CNN
F 2 "" H 7850 4550 50  0001 C CNN
F 3 "" H 7850 4550 50  0001 C CNN
	1    7850 4550
	1    0    0    -1  
$EndComp
Wire Wire Line
	7850 4450 7850 4550
Text GLabel 7600 4550 2    50   Input ~ 0
IO1
Wire Wire Line
	7500 4550 7600 4550
Wire Wire Line
	7500 4450 7850 4450
Wire Wire Line
	7500 4350 7600 4350
Text GLabel 7600 4350 2    50   Input ~ 0
3V3
$Comp
L Connector:Conn_01x03_Male J3
U 1 1 61CA08E5
P 7300 4450
F 0 "J3" H 7408 4731 50  0000 C CNN
F 1 "I/O 1" H 7408 4640 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 7300 4450 50  0001 C CNN
F 3 "~" H 7300 4450 50  0001 C CNN
	1    7300 4450
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR014
U 1 1 61D77DE4
P 7850 5150
F 0 "#PWR014" H 7850 4900 50  0001 C CNN
F 1 "GND" H 7855 4977 50  0000 C CNN
F 2 "" H 7850 5150 50  0001 C CNN
F 3 "" H 7850 5150 50  0001 C CNN
	1    7850 5150
	1    0    0    -1  
$EndComp
Wire Wire Line
	7850 5050 7850 5150
Wire Wire Line
	7500 5150 7600 5150
Wire Wire Line
	7500 5050 7850 5050
Wire Wire Line
	7500 4950 7600 4950
Text GLabel 7600 4950 2    50   Input ~ 0
3V3
$Comp
L Connector:Conn_01x03_Male J6
U 1 1 61D77DF0
P 7300 5050
F 0 "J6" H 7408 5331 50  0000 C CNN
F 1 "I/O 2" H 7408 5240 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 7300 5050 50  0001 C CNN
F 3 "~" H 7300 5050 50  0001 C CNN
	1    7300 5050
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR011
U 1 1 61D82822
P 8900 4550
F 0 "#PWR011" H 8900 4300 50  0001 C CNN
F 1 "GND" H 8905 4377 50  0000 C CNN
F 2 "" H 8900 4550 50  0001 C CNN
F 3 "" H 8900 4550 50  0001 C CNN
	1    8900 4550
	1    0    0    -1  
$EndComp
Wire Wire Line
	8900 4450 8900 4550
Wire Wire Line
	8550 4550 8650 4550
Wire Wire Line
	8550 4450 8900 4450
Wire Wire Line
	8550 4350 8650 4350
Text GLabel 8650 4350 2    50   Input ~ 0
3V3
$Comp
L power:GND #PWR015
U 1 1 61D82834
P 8900 5150
F 0 "#PWR015" H 8900 4900 50  0001 C CNN
F 1 "GND" H 8905 4977 50  0000 C CNN
F 2 "" H 8900 5150 50  0001 C CNN
F 3 "" H 8900 5150 50  0001 C CNN
	1    8900 5150
	1    0    0    -1  
$EndComp
Wire Wire Line
	8900 5050 8900 5150
Wire Wire Line
	8550 5150 8650 5150
Wire Wire Line
	8550 5050 8900 5050
Wire Wire Line
	8550 4950 8650 4950
Text GLabel 8650 4950 2    50   Input ~ 0
3V3
$Comp
L Connector:Conn_01x03_Male J7
U 1 1 61D82840
P 8350 5050
F 0 "J7" H 8458 5331 50  0000 C CNN
F 1 "I/O 4" H 8458 5240 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 8350 5050 50  0001 C CNN
F 3 "~" H 8350 5050 50  0001 C CNN
	1    8350 5050
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR012
U 1 1 61D86D43
P 9900 4550
F 0 "#PWR012" H 9900 4300 50  0001 C CNN
F 1 "GND" H 9905 4377 50  0000 C CNN
F 2 "" H 9900 4550 50  0001 C CNN
F 3 "" H 9900 4550 50  0001 C CNN
	1    9900 4550
	1    0    0    -1  
$EndComp
Wire Wire Line
	9900 4450 9900 4550
Wire Wire Line
	9550 4550 9650 4550
Wire Wire Line
	9550 4450 9900 4450
Wire Wire Line
	9550 4350 9650 4350
Text GLabel 9650 4350 2    50   Input ~ 0
5V
$Comp
L Connector:Conn_01x03_Male J5
U 1 1 61D86D4F
P 9350 4450
F 0 "J5" H 9458 4731 50  0000 C CNN
F 1 "I/O 5" H 9458 4640 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 9350 4450 50  0001 C CNN
F 3 "~" H 9350 4450 50  0001 C CNN
	1    9350 4450
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR016
U 1 1 61D86D55
P 9900 5150
F 0 "#PWR016" H 9900 4900 50  0001 C CNN
F 1 "GND" H 9905 4977 50  0000 C CNN
F 2 "" H 9900 5150 50  0001 C CNN
F 3 "" H 9900 5150 50  0001 C CNN
	1    9900 5150
	1    0    0    -1  
$EndComp
Wire Wire Line
	9900 5050 9900 5150
Wire Wire Line
	9550 5150 9650 5150
Wire Wire Line
	9550 5050 9900 5050
Wire Wire Line
	9550 4950 9650 4950
Text GLabel 9650 4950 2    50   Input ~ 0
5V
$Comp
L Connector:Conn_01x03_Male J8
U 1 1 61D86D61
P 9350 5050
F 0 "J8" H 9458 5331 50  0000 C CNN
F 1 "I/O 6" H 9458 5240 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 9350 5050 50  0001 C CNN
F 3 "~" H 9350 5050 50  0001 C CNN
	1    9350 5050
	1    0    0    -1  
$EndComp
Text GLabel 7600 5150 2    50   Input ~ 0
IO2
Text GLabel 8650 4550 2    50   Input ~ 0
IO3
$Comp
L Connector:Conn_01x03_Male J4
U 1 1 61D8282E
P 8350 4450
F 0 "J4" H 8458 4731 50  0000 C CNN
F 1 "I/O 3" H 8458 4640 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 8350 4450 50  0001 C CNN
F 3 "~" H 8350 4450 50  0001 C CNN
	1    8350 4450
	1    0    0    -1  
$EndComp
Text GLabel 8650 5150 2    50   Input ~ 0
IO4
Text GLabel 9650 4550 2    50   Input ~ 0
IO5
Text GLabel 9650 5150 2    50   Input ~ 0
IO6
Wire Notes Line
	600  3950 3000 3950
Wire Notes Line
	3000 7700 600  7700
Text Notes 1400 4100 0    50   ~ 0
ODrive Connections
Text Notes 8500 700  0    50   ~ 0
Microcontroller
$Comp
L Connector:Conn_01x05_Female J2
U 1 1 61E35A23
P 1350 5450
F 0 "J2" H 1200 5850 50  0000 L CNN
F 1 "Encoder_Socket_Teensy" H 650 5750 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x05_P2.54mm_Vertical" H 1350 5450 50  0001 C CNN
F 3 "~" H 1350 5450 50  0001 C CNN
	1    1350 5450
	1    0    0    -1  
$EndComp
Text GLabel 7550 1500 0    50   Input ~ 0
AT
Text GLabel 7550 1400 0    50   Input ~ 0
BT
Text GLabel 7550 1600 0    50   Input ~ 0
ZT
Wire Wire Line
	7650 1600 7550 1600
Wire Wire Line
	7650 1400 7550 1400
Wire Wire Line
	7650 1500 7550 1500
$Comp
L Sensor_Temperature:AD8495_Breakout U8
U 1 1 61E91DD8
P 4050 7000
F 0 "U8" V 3450 7000 50  0000 L CNN
F 1 "AD8495_Breakout" V 3550 6700 50  0000 L CNN
F 2 "Sensor:AD8495_Breakout" H 4050 6900 50  0001 C CNN
F 3 "" H 4050 6900 50  0001 C CNN
	1    4050 7000
	0    1    1    0   
$EndComp
NoConn ~ 6700 6600
NoConn ~ 6700 6700
NoConn ~ 6700 6800
NoConn ~ 6700 6900
NoConn ~ 6700 7000
NoConn ~ 5400 6800
Text GLabel 5300 6600 0    50   Input ~ 0
5V
$Comp
L power:GND #PWR018
U 1 1 61EDD7B9
P 5300 6700
F 0 "#PWR018" H 5300 6450 50  0001 C CNN
F 1 "GND" H 5305 6527 50  0000 C CNN
F 2 "" H 5300 6700 50  0001 C CNN
F 3 "" H 5300 6700 50  0001 C CNN
	1    5300 6700
	0    1    1    0   
$EndComp
Text GLabel 5300 7000 0    50   Input ~ 0
RFM_SCK
Text GLabel 5300 7100 0    50   Input ~ 0
RFM_MISO
Text GLabel 5300 7200 0    50   Input ~ 0
RFM_MOSI
Text GLabel 5300 7300 0    50   Input ~ 0
RFM_CS
Text GLabel 5300 7400 0    50   Input ~ 0
RFM_RST
Text GLabel 5300 6900 0    50   Input ~ 0
RFM_G0
Wire Wire Line
	5300 6600 5400 6600
Wire Wire Line
	5300 6700 5400 6700
Wire Wire Line
	5300 6900 5400 6900
Wire Wire Line
	5400 7000 5300 7000
Wire Wire Line
	5300 7100 5400 7100
Wire Wire Line
	5400 7200 5300 7200
Wire Wire Line
	5300 7300 5400 7300
Wire Wire Line
	5400 7400 5300 7400
Text Notes 5500 6200 0    50   ~ 0
Radio Module
$Comp
L RF_Module:RFM95W_Breakout U9
U 1 1 61E92ADA
P 6050 7000
F 0 "U9" V 5450 7100 50  0000 L CNN
F 1 "RFM95W_Breakout" V 5550 6800 50  0000 L CNN
F 2 "RF_Module:RFM95W_Breakout" H 6050 7000 50  0001 C CNN
F 3 "" H 6050 7000 50  0001 C CNN
	1    6050 7000
	0    1    1    0   
$EndComp
Wire Notes Line
	4800 6050 6800 6050
Wire Notes Line
	4800 7700 6800 7700
Wire Notes Line
	3200 6050 4600 6050
Wire Notes Line
	4600 7700 3200 7700
Text Notes 3450 6200 0    50   ~ 0
Thermocouple Module
Text GLabel 3550 6700 0    50   Input ~ 0
GND
Text GLabel 3550 7100 0    50   Input ~ 0
GND
Text GLabel 3550 6900 0    50   Input ~ 0
TC
Text GLabel 3550 7300 0    50   Input ~ 0
3V3
Wire Wire Line
	3550 6700 3650 6700
Wire Wire Line
	3550 6900 3650 6900
Wire Wire Line
	3550 7100 3650 7100
Wire Wire Line
	3550 7300 3650 7300
Text GLabel 7550 2300 0    50   Input ~ 0
RFM_MOSI
Text GLabel 7550 2400 0    50   Input ~ 0
RFM_MISO
Text GLabel 9950 2400 2    50   Input ~ 0
RFM_SCK
Wire Notes Line
	7000 3750 10450 3750
Wire Notes Line
	7000 550  10450 550 
Wire Wire Line
	7550 2400 7650 2400
Wire Wire Line
	9850 2400 9950 2400
Text GLabel 7550 2600 0    50   Input ~ 0
RFM_G0
Wire Wire Line
	7550 2600 7650 2600
Text GLabel 7550 2100 0    50   Input ~ 0
RFM_RST
Text GLabel 7550 2200 0    50   Input ~ 0
RFM_CS
Wire Wire Line
	7550 2100 7650 2100
Wire Wire Line
	7550 2200 7650 2200
Text GLabel 9950 2800 2    50   Input ~ 0
IO1
Text GLabel 9950 2900 2    50   Input ~ 0
IO2
Text GLabel 9950 3000 2    50   Input ~ 0
IO3
Text GLabel 9950 3100 2    50   Input ~ 0
IO4
Text GLabel 9950 3200 2    50   Input ~ 0
IO5
Text GLabel 9950 3300 2    50   Input ~ 0
IO6
Text GLabel 9950 3400 2    50   Input ~ 0
TC
Wire Wire Line
	9850 2800 9950 2800
Wire Wire Line
	9850 2900 9950 2900
Wire Wire Line
	9850 3000 9950 3000
Wire Wire Line
	9850 3100 9950 3100
Wire Wire Line
	9850 3200 9950 3200
Wire Wire Line
	9850 3300 9950 3300
Wire Wire Line
	9850 3400 9950 3400
$Comp
L Driver_Motor:ODrive U7
U 1 1 6203F084
P 1900 5900
F 0 "U7" H 1650 6000 50  0000 C CNN
F 1 "ODrive" H 1700 5900 50  0000 C CNN
F 2 "Teensy:ODrive" H 1850 5950 50  0001 C CNN
F 3 "" H 1850 5950 50  0001 C CNN
	1    1900 5900
	1    0    0    -1  
$EndComp
Wire Notes Line
	6800 6050 6800 7700
Wire Notes Line
	4800 6050 4800 7700
Wire Notes Line
	4600 6050 4600 7700
Wire Notes Line
	3200 6050 3200 7700
Wire Notes Line
	3000 3950 3000 7700
Wire Notes Line
	600  3950 600  7700
Text GLabel 2500 5300 2    50   Input ~ 0
ODRV_MISO
Text GLabel 2500 5400 2    50   Input ~ 0
ODRV_MOSI
Text GLabel 2500 6500 2    50   Input ~ 0
ODRV_5V
Text GLabel 2500 6600 2    50   Input ~ 0
A1
Text GLabel 2500 6700 2    50   Input ~ 0
B1
Text GLabel 2500 6800 2    50   Input ~ 0
Z1
Wire Wire Line
	2400 6800 2500 6800
Wire Wire Line
	2400 6700 2500 6700
Wire Wire Line
	2400 6600 2500 6600
Wire Wire Line
	2400 6500 2500 6500
Wire Wire Line
	2400 5300 2500 5300
Wire Wire Line
	2400 5400 2500 5400
$Comp
L power:GND #PWR013
U 1 1 6212A89F
P 1050 5650
F 0 "#PWR013" H 1050 5400 50  0001 C CNN
F 1 "GND" H 1055 5477 50  0000 C CNN
F 2 "" H 1050 5650 50  0001 C CNN
F 3 "" H 1050 5650 50  0001 C CNN
	1    1050 5650
	1    0    0    -1  
$EndComp
Wire Wire Line
	1050 5650 1150 5650
Wire Wire Line
	1050 5550 1150 5550
Wire Wire Line
	1050 5250 1150 5250
Wire Wire Line
	1050 5450 1150 5450
Wire Wire Line
	1050 5350 1150 5350
Text GLabel 1050 5250 0    50   Input ~ 0
BT
Text GLabel 1050 5350 0    50   Input ~ 0
ODRV_5V
Text GLabel 1050 5450 0    50   Input ~ 0
AT
Text GLabel 1050 5550 0    50   Input ~ 0
ZT
Text GLabel 2500 7100 2    50   Input ~ 0
ODRV_5V
Text GLabel 2500 7200 2    50   Input ~ 0
A0
Text GLabel 2500 7300 2    50   Input ~ 0
B0
Text GLabel 2500 7400 2    50   Input ~ 0
Z0
$Comp
L power:GND #PWR023
U 1 1 6213A769
P 2650 7500
F 0 "#PWR023" H 2650 7250 50  0001 C CNN
F 1 "GND" V 2655 7372 50  0000 R CNN
F 2 "" H 2650 7500 50  0001 C CNN
F 3 "" H 2650 7500 50  0001 C CNN
	1    2650 7500
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2400 7500 2650 7500
Wire Wire Line
	2400 7400 2500 7400
Wire Wire Line
	2400 7300 2500 7300
Wire Wire Line
	2400 7200 2500 7200
Wire Wire Line
	2400 7100 2500 7100
NoConn ~ 7650 1700
NoConn ~ 9850 1800
NoConn ~ 9850 1900
NoConn ~ 9850 2000
NoConn ~ 9850 2100
NoConn ~ 9850 2200
NoConn ~ 9850 2300
NoConn ~ 9850 1600
NoConn ~ 9850 1700
NoConn ~ 7650 3400
NoConn ~ 7650 3300
NoConn ~ 7650 3200
NoConn ~ 7650 3100
NoConn ~ 7650 3000
NoConn ~ 7650 2900
NoConn ~ 7650 2700
NoConn ~ 7650 2800
NoConn ~ 7650 2500
NoConn ~ 7650 2000
NoConn ~ 7650 1900
NoConn ~ 7650 1800
Wire Wire Line
	7550 2300 7650 2300
NoConn ~ 2400 4400
NoConn ~ 2400 4500
NoConn ~ 2400 4600
NoConn ~ 2400 4700
NoConn ~ 2400 4800
NoConn ~ 2400 4900
NoConn ~ 2400 5000
NoConn ~ 2400 5100
NoConn ~ 2400 5200
NoConn ~ 2400 5500
NoConn ~ 2400 5600
NoConn ~ 2400 5700
NoConn ~ 2400 5800
NoConn ~ 2400 5900
NoConn ~ 2400 6000
NoConn ~ 2400 4300
NoConn ~ 2400 6400
NoConn ~ 2400 7000
NoConn ~ -750 3250
NoConn ~ -1300 7850
NoConn ~ -950 7700
NoConn ~ -1000 3850
$Comp
L power:GND #PWR0101
U 1 1 623BA0A4
P 9950 1200
F 0 "#PWR0101" H 9950 950 50  0001 C CNN
F 1 "GND" V 9955 1072 50  0000 R CNN
F 2 "" H 9950 1200 50  0001 C CNN
F 3 "" H 9950 1200 50  0001 C CNN
	1    9950 1200
	0    -1   -1   0   
$EndComp
Wire Wire Line
	9950 1200 9850 1200
$Comp
L power:GND #PWR0102
U 1 1 623C231C
P 7550 1100
F 0 "#PWR0102" H 7550 850 50  0001 C CNN
F 1 "GND" V 7555 972 50  0000 R CNN
F 2 "" H 7550 1100 50  0001 C CNN
F 3 "" H 7550 1100 50  0001 C CNN
	1    7550 1100
	0    1    1    0   
$EndComp
Wire Wire Line
	7550 1100 7650 1100
Wire Notes Line
	7000 550  7000 3750
Wire Notes Line
	10450 3750 10450 550 
$Comp
L Sensor_Current:A1369xUA-10 U5
U 1 1 6255733C
P 5900 3000
F 0 "U5" H 5670 3046 50  0000 R CNN
F 1 "DRV5023AJELPGMQ1" H 5670 2955 50  0000 R CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 6250 2900 50  0001 L CIN
F 3 "http://www.allegromicro.com/~/media/Files/Datasheets/A1369-Datasheet.ashx?la=en" H 5900 3000 50  0001 C CNN
	1    5900 3000
	1    0    0    -1  
$EndComp
Wire Wire Line
	9850 1400 9950 1400
Wire Wire Line
	9850 1500 9950 1500
Wire Wire Line
	9850 2500 9950 2500
Wire Notes Line
	7000 5600 7000 6300
Wire Notes Line
	7000 6300 7750 6300
Wire Notes Line
	7750 6300 7750 5600
Wire Notes Line
	7750 5600 7000 5600
$Comp
L Mechanical:MountingHole_Pad H1
U 1 1 626FE750
P 7300 5950
F 0 "H1" V 7537 5953 50  0000 C CNN
F 1 "Grounding Lug" V 7446 5953 50  0000 C CNN
F 2 "MountingHole:MountingHole_3.2mm_M3_Pad_TopBottom" H 7300 5950 50  0001 C CNN
F 3 "~" H 7300 5950 50  0001 C CNN
	1    7300 5950
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR0103
U 1 1 626FF861
P 7550 6000
F 0 "#PWR0103" H 7550 5750 50  0001 C CNN
F 1 "GND" H 7555 5827 50  0000 C CNN
F 2 "" H 7550 6000 50  0001 C CNN
F 3 "" H 7550 6000 50  0001 C CNN
	1    7550 6000
	1    0    0    -1  
$EndComp
Wire Wire Line
	7400 5950 7550 5950
Wire Wire Line
	7550 5950 7550 6000
Wire Wire Line
	5400 4950 5850 4950
Connection ~ 5850 4950
Wire Wire Line
	5850 4950 5850 5150
Wire Wire Line
	5400 4650 5550 4650
Wire Wire Line
	5400 4550 4850 4550
Wire Wire Line
	5400 4550 5400 4650
Connection ~ 5400 4650
Wire Wire Line
	5300 5150 5400 5150
Wire Wire Line
	5400 5150 5400 5300
Wire Wire Line
	5000 5150 4850 5150
$Comp
L power:GND #PWR?
U 1 1 6223C5A6
P 2650 6900
F 0 "#PWR?" H 2650 6650 50  0001 C CNN
F 1 "GND" V 2655 6772 50  0000 R CNN
F 2 "" H 2650 6900 50  0001 C CNN
F 3 "" H 2650 6900 50  0001 C CNN
	1    2650 6900
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2400 6900 2650 6900
$Comp
L power:GND #PWR?
U 1 1 62244148
P 2650 6200
F 0 "#PWR?" H 2650 5950 50  0001 C CNN
F 1 "GND" V 2655 6072 50  0000 R CNN
F 2 "" H 2650 6200 50  0001 C CNN
F 3 "" H 2650 6200 50  0001 C CNN
	1    2650 6200
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2400 6200 2650 6200
$Comp
L power:GND #PWR?
U 1 1 62253FCD
P 2650 6100
F 0 "#PWR?" H 2650 5850 50  0001 C CNN
F 1 "GND" V 2655 5972 50  0000 R CNN
F 2 "" H 2650 6100 50  0001 C CNN
F 3 "" H 2650 6100 50  0001 C CNN
	1    2650 6100
	0    -1   -1   0   
$EndComp
Wire Wire Line
	2400 6100 2650 6100
$EndSCHEMATC