diff --git a/.github/workflows/kibot-autodiscover.yml b/.github/workflows/kibot-autodiscover.yml
index 234f22e..2920b67 100644
--- a/.github/workflows/kibot-autodiscover.yml
+++ b/.github/workflows/kibot-autodiscover.yml
@@ -156,7 +156,7 @@ jobs:
out_path = 'docs/all_projects_bom.csv'
# Desired column order (first column = project name)
- cols = ['Project','Reference','Value','Qty','Note','Description','RSONLINE']
+ cols = ['Project','Reference','Value','Qty','Note','Description','RSONLINE','RAPID']
rows = []
for p in bom_paths:
diff --git a/README.md b/README.md
index d85efa1..9b9a878 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,76 @@
-# gemini
-Respository for hardware and software components of UKMARSBOT gemini
+
+# Overview
+
+Here is the UKMARS repository for our Gemini Micromouse. A robot capable of competing in our half size line following, Full Size Wall following and Full Size Maze Solving competitions.
+
+The Gemini robot is a second revision of the clubs first robot UKMARSBOT https://github.com/ukmars/ukmarsbot
+Gemini has been designed so that the core microprocessor can be changed without having to change the chassis or sensor configuration. This has been done with what we call a mezzanine board. This "Mez" board connects the microprocessor to the chassis and the sensors.
+
+At present the robot has been designed around the Raspberry Pi Pico (w) to facilitate the use of MicroPython as a control language for the robot. This is taught is schools and allows schools to use the robot as part of their teaching aid. The Pico allows for other languages as well with the first alternative being C.
+
+It is possible to build a Gemini robot using all commercially available parts.
+
+In the future we hope to offer different Mez boards to allow a range of microcontrollers to be used. We are always looking for help from the community. So if you would like to design a mez board for a different microcontroller please get in touch.
+
+
+This repo will contain all you need in order to build your own Gemini robot and get ready to compete in our competitions
+
+The groups website can be found https://ukmars.org/
+
+A step by step build guide can currently be found https://ukmars.org/projects/gemini/
+
+This "main" repo contains details relevant to the very latest PCB's that have been produced and distributed to schools and group members. If you know you have a different version board than the latest (unlikely) you can find relevant KiCad documents in a release relating to your board. You will see a link to this on the right of this message
+
+If you have found your way here without knowing about the UKMARS group, welcome. Becoming a member of UKMARS automatically gets you a set of PCB to build your own Gemini robot. All you have to do is source the parts and build.
+
+# Technology details
+
+All of the boards have been designed using the latest version 8 release of KiCad. They may get upgraded to version 9 but this is not a priority at the moment and the automations we have in place are not compatible with v9.
+
+You do not need KiCad installed in order to view the boards or the schematics
+
+# Build details
+
+The docs folder contains schematics, PCB renders and BOM lists. These are built directly from the KiCad and the component choices listed in the schematic represents the groups default choice of component. They are not necessarily the only option and builders are free to change the spec of components if they feel they have suitable technical knowledge to do so.
+In addition to the components listed in the \docs\all_projects_bom.csv you will also need the following components to build a mouse.
+
+
+# Supplier details
+
+## Components
+
+The following is a list of recommended UK supplier for the passive components of the board. Due to shipping costs we do recommend trying to source all passive components from one supplier if at all possible.
+
+RSonline - https://uk.rs-online.com/web/
+
+Rapid electronics - https://www.rapidonline.com/
+
+Farnell - https://uk.farnell.com/
+
+## Robot bits, Microprocessors and other
+
+The following sites can be used to find the components not available from the above suppliers
+
+https://thepihut.com/
+
+https://shop.pimoroni.com/ - Motors and Encoders
+
+https://www.amazon.co.uk/ - good for batteries and the DC motor controller
+
+## Mechanical Parts not in the BOM
+
+| Item | Description | part numbers and supplier options |
+| --------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------- |
+| Encoders and encoder cables | These can be ordered along side the motor so you might have already looked at these
You will need two 6 pin 1mm pitch JST-SH cables to connect the motor encoder to the main board. An adaptor is used to convert the JST-SH cable to 2.54 pitch to connect it to J1 and J2 | |
+| Encoder adapter board | This board converts JST-SH to 2.54 pins.
This does make soldering of the robot easier.
You can omit this part if you are comfortable soldering wires from a JST-SH cable direct to the chassis board | https://thepihut.com/products/breakout-for-6-pin-jst-sh-style-connector-side-entry |
+| JST_SH cables | These cables connect the motor encoder to the chassis.
If you are comfortable soldering small cables direct to the chassis then you can use the second option. You DO NOT need the JST-SH adaptor board if you solder the wires direct to the chassis. This option is for experienced builders only as it increases the risk of problems with motors and/or encoders reading being reversed. | https://thepihut.com/products/jst-gh-1-25mm-pitch-6-pin-cable-100mm-long
https://amzn.eu/d/hsau12j |
+| Wheels and Tyres | Pololu Wheel 32×7mm Pair available in black or white or you could 3D print some and use O rings for tyres | Pi Hut SKU: POL-1087 or SKU: POL-1088
https://thepihut.com/products/pololu-wheel-32x7mm-pair-black |
+| Motor Mounts | You need 2 motor mounts. They can be 3D printed if you have the capability or you can buy the Polulo ones.
3D print models can be found in the \mechanical folder. GeminiN20MotorMount.STL - Print upside down | Pi Hut code SKU: POL-989
https://thepihut.com/products/pololu-micro-metal-gearmotor-bracket-pair-black |
+| Battery and connector | The battery should be a PP3 9Volt block Lithium Ion rechargeable one with micro USB charging socket and ideally charge level LEDs on the side.
Ideally 1200mAH capacity or greater | https://amzn.eu/d/i8hoP5S
https://amzn.eu/d/cmckSHt
Rapid Online Order Code: 18-0092 |
+| Nuts and bolts | If you are using 3D printed mounts which have 3mm holes in them you need 4 M3 x 30mm flat head polyamide bolts. Pack of M3 polyamide nuts 8 required
M3 x 10mm plastic spacers or 10mm piece of plastic tubing
Ebay is a good place to order small quantities of M3 hardware | Rapid Online Order Code: 51-3852
Rapid-Online Order Code: 51-3437
https://www.ebay.co.uk/str/kaysfasteners
|
+| Stand Offs | Used for mounting connecting the sensor and mez board to the chassis
Lots of ways to do this but a pack of standoff's makes this simple.
A nylon screw and nut can be used as a skid | https://amzn.eu/d/eMlVNY3
|
+|Screen|Not required, but a screen can be helpful. The important thing with a screen is the pin order which needs to be Gnd, Vcc, SCL, SDA left to right. Other screens can be used but will require custom connectors
*Warning* The screens available from Pimoroni can be used but their GND and Vcc pins are reversed when compared to the mez board connector. EXTREME care needs to be taken if wiring these|https://a.aliexpress.com/_EJEPBEO
https://amzn.eu/d/ffaTN75
+
+> All of the options here are what UKMARS believe to be the best starting options for schools and new builders. It does not represent the only options available. If you have suitable experience and knowledge feel free to swap components as you see fit. If you do deviate from the build guide and/or suggested components please make sure to mention this if you encounter problems.
+
+
diff --git a/config.kibot.yaml b/config.kibot.yaml
index 13421c2..db2ecdd 100644
--- a/config.kibot.yaml
+++ b/config.kibot.yaml
@@ -33,6 +33,7 @@ outputs:
- { field: "Note" }
- { field: "Description" }
- { field: "RSONLINE" }
+ - { field: "RAPID" }
# IMPORTANT: stop KiBot “fixing” your Value text
parse_value: false # <- don’t canonicalize 1k/1000 or strip 1%, 5%, etc.
normalize_values: false # <- keep your exact units/prefixes
diff --git a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_bottom.png b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_bottom.png
index 7a5c304..df0d06e 100644
Binary files a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_bottom.png and b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_bottom.png differ
diff --git a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_top.png b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_top.png
index b0ee294..df609d0 100644
Binary files a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_top.png and b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_board_top.png differ
diff --git a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_bom.csv b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_bom.csv
index 82e74c0..fbc78b4 100644
--- a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_bom.csv
+++ b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_bom.csv
@@ -1,14 +1,14 @@
-Reference,Value,Qty,Note,Description,RSONLINE
-C1 C2,100uF,2,,Polarized capacitor,739-6799
-D5,Line,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-D4,Radius,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-D6,S/Finish,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-D1 D2 D7,TLCR5800,3,,,818-7540
-J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Need to be cut down,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820
-Q1 Q6,BC337-40,2,,,671-1119
-Q2 Q3 Q4 Q5,BPW85C,4,,,815-1263
-R4 R16,10K,2,,,707-7745
-R3 R5 R17,10R,3,,,707-8580
-R2 R15,390R,2,,,707-7634
-R1,50R,1,,Resistor,
-R7 R8 R9 R10 R11 R12 R14,680R,7,,,707-8211
+Reference,Value,Qty,Note,Description,RSONLINE,RAPID
+C1 C2,100uF,2,,Polarized capacitor,176-3779,11-4109
+D5,Line,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0405
+D4,Radius,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0400
+D6,S/Finish,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0410
+D1 D2 D7,TLCR5800,3,,,818-7540,55-0066
+J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Need to be cut down,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820,19-0087
+Q1 Q6,BC337-40,2,,,671-1119,50-3113
+Q2 Q3 Q4 Q5,BPW85C,4,,,815-1263,
+R4 R16,10K,2,,,707-7745,62-0394
+R3 R5 R17,10R,3,,,707-8580,62-0326
+R2 R15,390R,2,,,707-7634,62-0360
+R1,47R,1,,Resistor,707-8817,62-0334
+R7 R8 R9 R10 R11 R12 R14,680R,7,,,707-8211,64-0068
diff --git a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_schematic.pdf b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_schematic.pdf
index 88f6775..95a7aaf 100644
Binary files a/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_schematic.pdf and b/docs/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic_schematic.pdf differ
diff --git a/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_board_top.png b/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_board_top.png
index e8c8c40..83dd4e6 100644
Binary files a/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_board_top.png and b/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_board_top.png differ
diff --git a/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_bom.csv b/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_bom.csv
index a1fcbe4..4006afd 100644
--- a/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_bom.csv
+++ b/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_bom.csv
@@ -1,12 +1,12 @@
-Reference,Value,Qty,Note,Description,RSONLINE
-BT1,9v Battery,1,,PP3 9v Battery,
-C2,0.1uF,1,Maximum height is 10mm,Unpolarized capacitor,538-1433
-C1,0.22uF,1,Maximum height is 10mm,Unpolarized capacitor,194-0629
-C3 C4,"100uF, 16V",2,Maximum height is 10mm,,176-3779
-D1,1N5401,1,Polarity protection diode,,628-9451
-J3 J4 J6 J7,Conn_01x06,4,"Might be easier and cheaper to just cut from bigger lengths 0.1"" pitch, polarised, any type",https://uk.rs-online.com/web/p/pcb-headers/6812994,681-2994
-J1 J2,Pololu Item #4772,2,"6 pin 0.1"" breakout 6 pin header, 0.1"", male","Single row, 01x06, JST-SH breakout",
-M1 M2,N20 MOTOR,2,Sidways or regular would work for starting out 50:1 gearbox is recommended commercial mounts need bushing for screws,https://shop.pimoroni.com/products/micro-metal-motor-encoder?variant=39888423321683,NA
-R1,47K,1,,Resistor,707-8369
-U1,DVR8833_DC_Controller,1,,DC Motor Controller https://amzn.eu/d/csv7cRr as an option,
-U2,LM7805_TO220,1,,"Positive 1A 35V Linear Regulator, Fixed Output 5V, TO-220",793-1346
+Reference,Value,Qty,Note,Description,RSONLINE,RAPID
+BT1,9v Battery,1,,PP3 9v Battery,,
+C2,0.1uF,1,Maximum height is 10mm,Unpolarized capacitor,538-1433,11-4110
+C1,0.22uF,1,Maximum height is 10mm,Unpolarized capacitor,194-0629,11-3442
+C3 C4,"100uF, 16V",2,Maximum height is 10mm,,176-3779 176-3779 ,11-4109
+D1,1N5401,1,Polarity protection diode,,628-9451,
+J3 J4 J6 J7,Conn_01x06,4,"Might be easier and cheaper to just cut from bigger lengths 0.1"" pitch, polarised, any type",https://uk.rs-online.com/web/p/pcb-headers/6812994,681-2994,01-5723 08-5765 78-0566
+J1 J2,Pololu Item #4772,2,"6 pin 0.1"" breakout 6 pin header, 0.1"", male","Single row, 01x06, JST-SH breakout",,22-0795
+M1 M2,N20 MOTOR,2,Sidways or regular would work for starting out 50:1 gearbox is recommended commercial mounts need bushing for screws,https://shop.pimoroni.com/products/micro-metal-motor-encoder?variant=39888423321683,NA,
+R1,47K,1,,Resistor,707-8369,62-0410
+U1,DVR8833_DC_Controller,1,,DC Motor Controller https://amzn.eu/d/csv7cRr as an option,,
+U2,LM7805_TO220,1,,"Positive 1A 35V Linear Regulator, Fixed Output 5V, TO-220",793-1346,
diff --git a/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_schematic.pdf b/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_schematic.pdf
index 9f71e61..4636252 100644
Binary files a/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_schematic.pdf and b/docs/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis_schematic.pdf differ
diff --git a/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_board_top.png b/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_board_top.png
index 5a98a72..f994ebf 100644
Binary files a/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_board_top.png and b/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_board_top.png differ
diff --git a/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_bom.csv b/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_bom.csv
index 2cebd00..07b0362 100644
--- a/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_bom.csv
+++ b/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_bom.csv
@@ -1,6 +1,6 @@
-Reference,Value,Qty,Note,Description,RSONLINE
-D1 D2,LED,2,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-J1 J2 J3 J4 J5,Conn_01x16,5,Might be easier and cheaper to just cut from bigger lengths Cut from a bigger strip of 2.54 header,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x04, script generated",681-3007 681-2994
-R1 R2,680R,2,,Resistor,707-8211
-SW1 SW2 SW3,TACT_SW,3,,TACT switch 6mm 4.5mm,479-1390P
-U1,Pico,1,,,
+Reference,Value,Qty,Note,Description,RSONLINE,RAPID
+D1 D2,LED,2,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0400 and 56-0405
+J1 J2 J3 J4 J5,Conn_01x16,5,Might be easier and cheaper to just cut from bigger lengths Cut from a bigger strip of 2.54 header,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x04, script generated",681-3007 681-2994,08-7948 01-5723 01-5835
+R1 R2,680R,2,,Resistor,707-8211,64-0068
+SW1 SW2 SW3,TACT_SW,3,,TACT switch 6mm 4.5mm,479-1390P,78-3821
+U1,Pico,1,,,,08-7949 and 75-1230
diff --git a/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_schematic.pdf b/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_schematic.pdf
index e41a1b6..4f62bc3 100644
Binary files a/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_schematic.pdf and b/docs/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine_schematic.pdf differ
diff --git a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_bottom.png b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_bottom.png
index 100b5d0..35551ac 100644
Binary files a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_bottom.png and b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_bottom.png differ
diff --git a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_top.png b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_top.png
index b4d139a..c24a37c 100644
Binary files a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_top.png and b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_board_top.png differ
diff --git a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_bom.csv b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_bom.csv
index af73c47..78732b6 100644
--- a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_bom.csv
+++ b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_bom.csv
@@ -1,14 +1,14 @@
-Reference,Value,Qty,Note,Description,RSONLINE
-C1 C2,"100uF, 16v",2,,Unpolarized capacitor,739-6799
-D1 D2 D3,LED,3,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-DLED1 DLED2 FLED1,TLCR5800,3,,Light emitting diode,818-7540
-FPD1 LDPD1 RDPD1,BPW85C,3,,Photodiode,815-1263
-J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Can also be found on ebay slightly cheaper,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820
-Q1 Q2,BC337-40,2,,"NPN transistor, emitter/base/collector",671-1119
-R4 R6,10K,2,,Resistor,707-7745
-R7 R8 R9,10R,3,,Resistor,707-8580
-R15,1k8,1,,Resistor,707-8675
-R11 R13,2k2,2,,Resistor,707-8255
-R2,33R,1,,Resistor,707-8805
-R1 R3,390R,2,,Resistor,707-7634
-R10 R12 R14,680R,3,,Resistor,707-8211
+Reference,Value,Qty,Note,Description,RSONLINE,RAPID
+C1 C2,"100uF, 16v",2,,Unpolarized capacitor,739-6799,11-4119
+D1 D2 D3,LED,3,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0400 or 56-0405 or 56-0410
+DLED1 DLED2 FLED1,TLCR5800,3,,Light emitting diode,818-7540,
+FPD1 LDPD1 RDPD1,BPW85C,3,,Photodiode,815-1263,
+J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Can also be found on ebay slightly cheaper,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820,19-0087
+Q1 Q2,BC337-40,2,,"NPN transistor, emitter/base/collector",671-1119,50-3113
+R4 R6,10K,2,,Resistor,707-7745,62-0394
+R7 R8 R9,10R,3,,Resistor,707-8580,62-0326
+R15,1k8,1,,Resistor,707-8675,62-0376
+R11 R13,2k2,2,,Resistor,707-8255,62-0378
+R2,33R,1,,Resistor,707-8805,62-0334
+R1 R3,390R,2,,Resistor,707-7634,62-0360
+R10 R12 R14,680R,3,,Resistor,707-8211,
diff --git a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_schematic.pdf b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_schematic.pdf
index 1e90979..391778d 100644
Binary files a/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_schematic.pdf and b/docs/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic_schematic.pdf differ
diff --git a/docs/all_projects_bom.csv b/docs/all_projects_bom.csv
index 28d1eac..3658fbd 100644
--- a/docs/all_projects_bom.csv
+++ b/docs/all_projects_bom.csv
@@ -1,43 +1,43 @@
-Project,Reference,Value,Qty,Note,Description,RSONLINE
-UKMARSBOT_LineSensorBasic,C1 C2,100uF,2,,Polarized capacitor,739-6799
-UKMARSBOT_LineSensorBasic,D1 D2 D7,TLCR5800,3,,,818-7540
-UKMARSBOT_LineSensorBasic,D4,Radius,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-UKMARSBOT_LineSensorBasic,D5,Line,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-UKMARSBOT_LineSensorBasic,D6,S/Finish,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-UKMARSBOT_LineSensorBasic,J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Need to be cut down,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820
-UKMARSBOT_LineSensorBasic,Q1 Q6,BC337-40,2,,,671-1119
-UKMARSBOT_LineSensorBasic,Q2 Q3 Q4 Q5,BPW85C,4,,,815-1263
-UKMARSBOT_LineSensorBasic,R1,50R,1,,Resistor,
-UKMARSBOT_LineSensorBasic,R2 R15,390R,2,,,707-7634
-UKMARSBOT_LineSensorBasic,R3 R5 R17,10R,3,,,707-8580
-UKMARSBOT_LineSensorBasic,R4 R16,10K,2,,,707-7745
-UKMARSBOT_LineSensorBasic,R7 R8 R9 R10 R11 R12 R14,680R,7,,,707-8211
-UKMARSBOT_RP2040Chassis,BT1,9v Battery,1,,PP3 9v Battery,
-UKMARSBOT_RP2040Chassis,C1,0.22uF,1,Maximum height is 10mm,Unpolarized capacitor,194-0629
-UKMARSBOT_RP2040Chassis,C2,0.1uF,1,Maximum height is 10mm,Unpolarized capacitor,538-1433
-UKMARSBOT_RP2040Chassis,C3 C4,"100uF, 16V",2,Maximum height is 10mm,,176-3779
-UKMARSBOT_RP2040Chassis,D1,1N5401,1,Polarity protection diode,,628-9451
-UKMARSBOT_RP2040Chassis,J1 J2,Pololu Item #4772,2,"6 pin 0.1"" breakout 6 pin header, 0.1"", male","Single row, 01x06, JST-SH breakout",
-UKMARSBOT_RP2040Chassis,J3 J4 J6 J7,Conn_01x06,4,"Might be easier and cheaper to just cut from bigger lengths 0.1"" pitch, polarised, any type",https://uk.rs-online.com/web/p/pcb-headers/6812994,681-2994
-UKMARSBOT_RP2040Chassis,M1 M2,N20 MOTOR,2,Sidways or regular would work for starting out 50:1 gearbox is recommended commercial mounts need bushing for screws,https://shop.pimoroni.com/products/micro-metal-motor-encoder?variant=39888423321683,NA
-UKMARSBOT_RP2040Chassis,R1,47K,1,,Resistor,707-8369
-UKMARSBOT_RP2040Chassis,U1,DVR8833_DC_Controller,1,,DC Motor Controller https://amzn.eu/d/csv7cRr as an option,
-UKMARSBOT_RP2040Chassis,U2,LM7805_TO220,1,,"Positive 1A 35V Linear Regulator, Fixed Output 5V, TO-220",793-1346
-UKMARSBOT_RP2040Mezzanine,D1 D2,LED,2,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-UKMARSBOT_RP2040Mezzanine,J1 J2 J3 J4 J5,Conn_01x16,5,Might be easier and cheaper to just cut from bigger lengths Cut from a bigger strip of 2.54 header,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x04, script generated",681-3007 681-2994
-UKMARSBOT_RP2040Mezzanine,R1 R2,680R,2,,Resistor,707-8211
-UKMARSBOT_RP2040Mezzanine,SW1 SW2 SW3,TACT_SW,3,,TACT switch 6mm 4.5mm,479-1390P
-UKMARSBOT_RP2040Mezzanine,U1,Pico,1,,,
-UKMARSBOT_RP2040Wall-Sensor-Basic,C1 C2,"100uF, 16v",2,,Unpolarized capacitor,739-6799
-UKMARSBOT_RP2040Wall-Sensor-Basic,D1 D2 D3,LED,3,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845"""
-UKMARSBOT_RP2040Wall-Sensor-Basic,DLED1 DLED2 FLED1,TLCR5800,3,,Light emitting diode,818-7540
-UKMARSBOT_RP2040Wall-Sensor-Basic,FPD1 LDPD1 RDPD1,BPW85C,3,,Photodiode,815-1263
-UKMARSBOT_RP2040Wall-Sensor-Basic,J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Can also be found on ebay slightly cheaper,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820
-UKMARSBOT_RP2040Wall-Sensor-Basic,Q1 Q2,BC337-40,2,,"NPN transistor, emitter/base/collector",671-1119
-UKMARSBOT_RP2040Wall-Sensor-Basic,R1 R3,390R,2,,Resistor,707-7634
-UKMARSBOT_RP2040Wall-Sensor-Basic,R10 R12 R14,680R,3,,Resistor,707-8211
-UKMARSBOT_RP2040Wall-Sensor-Basic,R11 R13,2k2,2,,Resistor,707-8255
-UKMARSBOT_RP2040Wall-Sensor-Basic,R15,1k8,1,,Resistor,707-8675
-UKMARSBOT_RP2040Wall-Sensor-Basic,R2,33R,1,,Resistor,707-8805
-UKMARSBOT_RP2040Wall-Sensor-Basic,R4 R6,10K,2,,Resistor,707-7745
-UKMARSBOT_RP2040Wall-Sensor-Basic,R7 R8 R9,10R,3,,Resistor,707-8580
+Project,Reference,Value,Qty,Note,Description,RSONLINE,RAPID
+UKMARSBOT_LineSensorBasic,C1 C2,100uF,2,,Polarized capacitor,176-3779,11-4109
+UKMARSBOT_LineSensorBasic,D1 D2 D7,TLCR5800,3,,,818-7540,55-0066
+UKMARSBOT_LineSensorBasic,D4,Radius,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0400
+UKMARSBOT_LineSensorBasic,D5,Line,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0405
+UKMARSBOT_LineSensorBasic,D6,S/Finish,1,,,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0410
+UKMARSBOT_LineSensorBasic,J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Need to be cut down,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820,19-0087
+UKMARSBOT_LineSensorBasic,Q1 Q6,BC337-40,2,,,671-1119,50-3113
+UKMARSBOT_LineSensorBasic,Q2 Q3 Q4 Q5,BPW85C,4,,,815-1263,
+UKMARSBOT_LineSensorBasic,R1,47R,1,,Resistor,707-8817,62-0334
+UKMARSBOT_LineSensorBasic,R2 R15,390R,2,,,707-7634,62-0360
+UKMARSBOT_LineSensorBasic,R3 R5 R17,10R,3,,,707-8580,62-0326
+UKMARSBOT_LineSensorBasic,R4 R16,10K,2,,,707-7745,62-0394
+UKMARSBOT_LineSensorBasic,R7 R8 R9 R10 R11 R12 R14,680R,7,,,707-8211,64-0068
+UKMARSBOT_RP2040Chassis,BT1,9v Battery,1,,PP3 9v Battery,,
+UKMARSBOT_RP2040Chassis,C1,0.22uF,1,Maximum height is 10mm,Unpolarized capacitor,194-0629,11-3442
+UKMARSBOT_RP2040Chassis,C2,0.1uF,1,Maximum height is 10mm,Unpolarized capacitor,538-1433,11-4110
+UKMARSBOT_RP2040Chassis,C3 C4,"100uF, 16V",2,Maximum height is 10mm,,176-3779 176-3779 ,11-4109
+UKMARSBOT_RP2040Chassis,D1,1N5401,1,Polarity protection diode,,628-9451,
+UKMARSBOT_RP2040Chassis,J1 J2,Pololu Item #4772,2,"6 pin 0.1"" breakout 6 pin header, 0.1"", male","Single row, 01x06, JST-SH breakout",,22-0795
+UKMARSBOT_RP2040Chassis,J3 J4 J6 J7,Conn_01x06,4,"Might be easier and cheaper to just cut from bigger lengths 0.1"" pitch, polarised, any type",https://uk.rs-online.com/web/p/pcb-headers/6812994,681-2994,01-5723 08-5765 78-0566
+UKMARSBOT_RP2040Chassis,M1 M2,N20 MOTOR,2,Sidways or regular would work for starting out 50:1 gearbox is recommended commercial mounts need bushing for screws,https://shop.pimoroni.com/products/micro-metal-motor-encoder?variant=39888423321683,NA,
+UKMARSBOT_RP2040Chassis,R1,47K,1,,Resistor,707-8369,62-0410
+UKMARSBOT_RP2040Chassis,U1,DVR8833_DC_Controller,1,,DC Motor Controller https://amzn.eu/d/csv7cRr as an option,,
+UKMARSBOT_RP2040Chassis,U2,LM7805_TO220,1,,"Positive 1A 35V Linear Regulator, Fixed Output 5V, TO-220",793-1346,
+UKMARSBOT_RP2040Mezzanine,D1 D2,LED,2,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0400 and 56-0405
+UKMARSBOT_RP2040Mezzanine,J1 J2 J3 J4 J5,Conn_01x16,5,Might be easier and cheaper to just cut from bigger lengths Cut from a bigger strip of 2.54 header,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/) Generic connector, single row, 01x04, script generated",681-3007 681-2994,08-7948 01-5723 01-5835
+UKMARSBOT_RP2040Mezzanine,R1 R2,680R,2,,Resistor,707-8211,64-0068
+UKMARSBOT_RP2040Mezzanine,SW1 SW2 SW3,TACT_SW,3,,TACT switch 6mm 4.5mm,479-1390P,78-3821
+UKMARSBOT_RP2040Mezzanine,U1,Pico,1,,,,08-7949 and 75-1230
+UKMARSBOT_RP2040Wall-Sensor-Basic,C1 C2,"100uF, 16v",2,,Unpolarized capacitor,739-6799,11-4119
+UKMARSBOT_RP2040Wall-Sensor-Basic,D1 D2 D3,LED,3,,Light emitting diode,"""228-6004 or 228-5562 or 713-3974 or 813-4845""",56-0400 or 56-0405 or 56-0410
+UKMARSBOT_RP2040Wall-Sensor-Basic,DLED1 DLED2 FLED1,TLCR5800,3,,Light emitting diode,818-7540,
+UKMARSBOT_RP2040Wall-Sensor-Basic,FPD1 LDPD1 RDPD1,BPW85C,3,,Photodiode,815-1263,
+UKMARSBOT_RP2040Wall-Sensor-Basic,J1,Conn_01x16,1,https://uk.rs-online.com/web/p/pcb-sockets/6816820 Can also be found on ebay slightly cheaper,"Generic connector, single row, 01x16, script generated (kicad-library-utils/schlib/autogen/connector/)",681-6820,19-0087
+UKMARSBOT_RP2040Wall-Sensor-Basic,Q1 Q2,BC337-40,2,,"NPN transistor, emitter/base/collector",671-1119,50-3113
+UKMARSBOT_RP2040Wall-Sensor-Basic,R1 R3,390R,2,,Resistor,707-7634,62-0360
+UKMARSBOT_RP2040Wall-Sensor-Basic,R10 R12 R14,680R,3,,Resistor,707-8211,
+UKMARSBOT_RP2040Wall-Sensor-Basic,R11 R13,2k2,2,,Resistor,707-8255,62-0378
+UKMARSBOT_RP2040Wall-Sensor-Basic,R15,1k8,1,,Resistor,707-8675,62-0376
+UKMARSBOT_RP2040Wall-Sensor-Basic,R2,33R,1,,Resistor,707-8805,62-0334
+UKMARSBOT_RP2040Wall-Sensor-Basic,R4 R6,10K,2,,Resistor,707-7745,62-0394
+UKMARSBOT_RP2040Wall-Sensor-Basic,R7 R8 R9,10R,3,,Resistor,707-8580,62-0326
diff --git a/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pcb b/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pcb
index 67b680a..d43e217 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pcb
+++ b/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pcb
@@ -205,6 +205,32 @@
)
)
)
+ (property "RSONLINE" "707-8211 "
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "f1815b94-a6e5-4bbe-be53-0e8a69e1db9a")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" "64-0068 "
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "971525e7-fe2d-49d9-bcb3-92a914c496da")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "R_*")
(path "/b7604bd5-be98-4485-8e17-b057b93b25bc")
(sheetname "Root")
@@ -416,7 +442,7 @@
(footprint "Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal"
(layer "F.Cu")
(uuid "0b4f224b-7e75-431a-ac0f-a29d0b1bdbfe")
- (at 152.4 77.47 180)
+ (at 154.94 77.47 180)
(descr "Resistor, Axial_DIN0207 series, Axial, Horizontal, pin pitch=7.62mm, 0.25W = 1/4W, length*diameter=6.3*2.5mm^2, http://cdn-reichelt.de/documents/datenblatt/B400/1_4W%23YAG.pdf")
(tags "Resistor Axial_DIN0207 series Axial Horizontal pin pitch 7.62mm 0.25W = 1/4W length 6.3mm diameter 2.5mm")
(property "Reference" "R14"
@@ -480,6 +506,32 @@
)
)
)
+ (property "RSONLINE" "707-8211 "
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "824681ec-499e-43fd-9e47-2cdd5facdcc9")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" "64-0068 "
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "b9e7c2c0-dfab-4ca0-b01b-1fd789d4175e")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "R_*")
(path "/7efafa0e-50fa-4307-8029-341451cb1d4a")
(sheetname "Root")
@@ -705,7 +757,7 @@
)
)
)
- (property "Value" "50R"
+ (property "Value" "47R"
(at 3.81 2.37 180)
(layer "F.Fab")
(uuid "0667f417-b335-4c01-bde7-c3f95768596d")
@@ -755,6 +807,32 @@
)
)
)
+ (property "RSONLINE" "707-8817"
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "ae48aefd-e27e-4b3d-a67e-d7bd73b3cc18")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" "62-0334"
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "76cc5d3a-1b3c-4b1e-90f3-4aeb1616b484")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "R_*")
(path "/ed6ea221-3dd8-47bd-8359-a1fb579def1a")
(sheetname "Root")
@@ -1040,11 +1118,37 @@
)
)
)
+ (property "RSONLINE" ""
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "fcc0ac74-b8c6-42f5-917a-d717febbef6c")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" ""
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "0923506d-c498-40dc-851e-9027b4218cae")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "MountingHole*")
(path "/865301db-2325-4385-92b8-a436a149e286")
(sheetname "Root")
(sheetfile "UKMARSBOT_LineSensorBasic.kicad_sch")
- (attr exclude_from_pos_files)
+ (attr exclude_from_pos_files exclude_from_bom)
(fp_circle
(center 0 0)
(end 3.2 0)
@@ -1154,6 +1258,32 @@
)
)
)
+ (property "RSONLINE" "707-7634 "
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "e9fecd1e-06de-485b-b784-60a61993923d")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" "62-0360"
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "77323ea0-3c34-4e49-92b2-5995b8d7e8d9")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "R_*")
(path "/57074379-6b14-416f-bc8b-899917432438")
(sheetname "Root")
@@ -1429,6 +1559,32 @@
)
)
)
+ (property "RSONLINE" "707-8211 "
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "b83937a1-ee6d-4a36-a16d-ad64197b23c0")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" "64-0068 "
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "8b6963a5-a798-448c-87b9-a97e2a883ed3")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "R_*")
(path "/7226982a-daba-4fac-91a4-7141b2085fa3")
(sheetname "Root")
@@ -1701,6 +1857,32 @@
)
)
)
+ (property "RSONLINE" "\"228-6004 or 228-5562 or 713-3974 or 813-4845\" "
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "19d9b902-f307-461e-ab3f-b79a3060f21a")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" "56-0410"
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "cfe935e1-f3b0-4170-bdd9-f2f7f843cfdd")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "LED* LED_SMD:* LED_THT:*")
(path "/4f53bbd5-3d9c-4a1d-a8ff-909685dd5be4")
(sheetname "Root")
@@ -1866,16 +2048,16 @@
)
)
)
- (footprint "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm"
+ (footprint "Capacitor_THT:CP_Radial_D6.3mm_P2.50mm"
(layer "F.Cu")
(uuid "5fb9b258-2ab5-46c2-b2aa-560300948f62")
(at 142.15 77.47 180)
- (descr "CP, Radial series, Radial, pin pitch=2.50mm, , diameter=5mm, Electrolytic Capacitor")
- (tags "CP Radial series Radial pin pitch 2.50mm diameter 5mm Electrolytic Capacitor")
+ (descr "CP, Radial series, Radial, pin pitch=2.50mm, , diameter=6.3mm, Electrolytic Capacitor")
+ (tags "CP Radial series Radial pin pitch 2.50mm diameter 6.3mm Electrolytic Capacitor")
(property "Reference" "C2"
- (at 1.25 3.55 0)
+ (at 1.25 -4.4 180)
(layer "F.SilkS")
- (uuid "6a3bbf70-bf5c-4b19-bcec-8f8560a898a3")
+ (uuid "65768de4-7444-455b-bdfa-08452d0f3271")
(effects
(font
(size 1 1)
@@ -1884,9 +2066,9 @@
)
)
(property "Value" "100uF"
- (at 1.25 3.75 0)
+ (at 1.25 4.4 180)
(layer "F.Fab")
- (uuid "127f6915-b812-495e-b052-ce6d00f605cd")
+ (uuid "9f6719ad-04b6-46be-87af-ab2c395ebd5d")
(effects
(font
(size 1 1)
@@ -1894,12 +2076,12 @@
)
)
)
- (property "Footprint" "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm"
+ (property "Footprint" "Capacitor_THT:CP_Radial_D6.3mm_P2.50mm"
(at 0 0 180)
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "bcf8d320-9b1f-49c8-9395-53aa1bbe444d")
+ (uuid "ed5267b3-ed4c-44d9-a4dd-1f0b8b8461ad")
(effects
(font
(size 1.27 1.27)
@@ -1912,7 +2094,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "b1433654-16e9-47a0-b5f8-bb6b26f4611e")
+ (uuid "36ece610-5b06-47d4-86c1-3ee34a94509c")
(effects
(font
(size 1.27 1.27)
@@ -1925,7 +2107,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "a252655c-02ee-4765-a4a7-2716874b799d")
+ (uuid "a0232bf8-a4fb-4944-b2e7-8e9f3346fa57")
(effects
(font
(size 1.27 1.27)
@@ -1933,1268 +2115,1454 @@
)
)
)
+ (property "RSONLINE" "176-3779 "
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "dccb9429-e735-4a47-8e74-8ae0807458cf")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
+ (property "RAPID" "11-4109"
+ (at 0 0 180)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "3f854370-2ac2-4964-b6d1-c35043259d12")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
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diff --git a/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pro b/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pro
index cec3c8b..87ba86a 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pro
+++ b/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_pro
@@ -694,7 +694,7 @@
"group_by": false,
"label": "Qty",
"name": "${QUANTITY}",
- "show": true
+ "show": false
},
{
"group_by": true,
@@ -725,6 +725,12 @@
"label": "RSONLINE",
"name": "RSONLINE",
"show": true
+ },
+ {
+ "group_by": false,
+ "label": "RAPID",
+ "name": "RAPID",
+ "show": true
}
],
"filter_string": "",
diff --git a/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_sch b/ecad/UKMARSBOT_LineSensorBasic/UKMARSBOT_LineSensorBasic.kicad_sch
index 55182c2..933bfc1 100644
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diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Cu.gbr b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Cu.gbr
index a25a748..2b4ddee 100644
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diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Mask.gbr b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Mask.gbr
index 26df41f..232b51a 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Mask.gbr
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Mask.gbr
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X162560000Y-130810000D03*
%TD*%
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%TO.C,R3*%
X175260000Y-81280000D03*
-D11*
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X167640000Y-81280000D03*
%TD*%
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%TO.C,R17*%
X175260000Y-77470000D03*
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X167640000Y-77470000D03*
%TD*%
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%TO.C,R11*%
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X162560000Y-85090000D03*
%TD*%
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%TO.C,R16*%
X139700000Y-119380000D03*
-D11*
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X147320000Y-119380000D03*
%TD*%
D16*
@@ -104,43 +110,38 @@ D17*
X140970000Y-90170000D03*
X140970000Y-92710000D03*
%TD*%
-D10*
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%TO.C,R15*%
X147320000Y-114300000D03*
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X139700000Y-114300000D03*
%TD*%
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%TO.C,R4*%
X144780000Y-86360000D03*
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X152400000Y-86360000D03*
%TD*%
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%TO.C,H3*%
X161290000Y-77470000D03*
%TD*%
-D13*
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%TO.C,D5*%
X170180000Y-90170000D03*
-D14*
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X167640000Y-90170000D03*
%TD*%
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%TO.C,R10*%
X165100000Y-72390000D03*
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X172720000Y-72390000D03*
%TD*%
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%TO.C,R7*%
X152400000Y-130810000D03*
-D11*
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X144780000Y-130810000D03*
%TD*%
D16*
@@ -170,58 +171,58 @@ X157480000Y-115570000D03*
X157480000Y-118110000D03*
X157480000Y-120650000D03*
%TD*%
-D10*
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%TO.C,R5*%
X152400000Y-135890000D03*
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X144780000Y-135890000D03*
%TD*%
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%TO.C,D4*%
X167640000Y-67310000D03*
-D14*
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X165100000Y-67310000D03*
%TD*%
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%TO.C,Q2*%
X156260000Y-132250000D03*
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X158800000Y-132250000D03*
%TD*%
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%TO.C,Q4*%
X166524866Y-107357028D03*
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X169064866Y-107357028D03*
%TD*%
-D13*
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%TO.C,Q3*%
X166506079Y-96261089D03*
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X169046079Y-96261089D03*
%TD*%
-D13*
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%TO.C,D2*%
X158850000Y-137950000D03*
-D14*
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X156310000Y-137950000D03*
%TD*%
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%TO.C,D1*%
X169800000Y-101800000D03*
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X167260000Y-101800000D03*
%TD*%
-D13*
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%TO.C,D7*%
X156360000Y-65350000D03*
-D14*
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X158900000Y-65350000D03*
%TD*%
-D13*
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%TO.C,Q5*%
X158900000Y-71100000D03*
-D14*
+D15*
X156360000Y-71100000D03*
%TD*%
M02*
diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Paste.gbr b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Paste.gbr
index 6ffb7d1..3c981e3 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Paste.gbr
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Paste.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:34:25+01:00*%
+%TF.CreationDate,2025-08-16T13:43:30+01:00*%
%TF.ProjectId,UKMARSBOT_LineSensorBasic,554b4d41-5253-4424-9f54-5f4c696e6553,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Paste,Bot*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:34:25*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:43:30*
%MOMM*%
%LPD*%
G01*
diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Silkscreen.gbr b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Silkscreen.gbr
index 8ecdf01..bda8eca 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Silkscreen.gbr
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-B_Silkscreen.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:34:26+01:00*%
+%TF.CreationDate,2025-08-16T13:43:30+01:00*%
%TF.ProjectId,UKMARSBOT_LineSensorBasic,554b4d41-5253-4424-9f54-5f4c696e6553,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Legend,Bot*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:34:26*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:43:30*
%MOMM*%
%LPD*%
G01*
@@ -806,46 +806,16 @@ X171162526Y-139810654D02*
X171095685Y-139818861D01*
X171095685Y-139818861D02*
X171170733Y-139877495D01*
-X169972282Y-139787174D02*
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-X169913648Y-139862222D02*
-X169892537Y-139966588D01*
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-X169900745Y-140033430D01*
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-X169946476Y-140129589D01*
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-X170538658Y-140531822D01*
-X170538658Y-140531822D02*
-X170605500Y-140523615D01*
-X170605500Y-140523615D02*
-X170701658Y-140477884D01*
-X170701658Y-140477884D02*
-X170760293Y-140402835D01*
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-X170781403Y-140298469D01*
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-X170773196Y-140231628D01*
-X170773196Y-140231628D02*
-X170727464Y-140135469D01*
-X170727464Y-140135469D02*
-X170606684Y-139980676D01*
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-X170068441Y-139741442D01*
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+X170344014Y-139775455D01*
D10*
X154081323Y-138020240D02*
X153700370Y-138020240D01*
diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-Edge_Cuts.gbr b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-Edge_Cuts.gbr
index c0d80d1..cd1ad59 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-Edge_Cuts.gbr
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-Edge_Cuts.gbr
@@ -1,11 +1,11 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:34:26+01:00*%
+%TF.CreationDate,2025-08-16T13:43:30+01:00*%
%TF.ProjectId,UKMARSBOT_LineSensorBasic,554b4d41-5253-4424-9f54-5f4c696e6553,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Profile,NP*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:34:26*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:43:30*
%MOMM*%
%LPD*%
G01*
diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-F_Cu.gbr b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-F_Cu.gbr
index 16dbfe3..e268635 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-F_Cu.gbr
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-F_Cu.gbr
@@ -1,30 +1,30 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:34:25+01:00*%
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%TF.ProjectId,UKMARSBOT_LineSensorBasic,554b4d41-5253-4424-9f54-5f4c696e6553,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Copper,L1,Top*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:34:25*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:43:30*
%MOMM*%
%LPD*%
G01*
G04 APERTURE LIST*
%TA.AperFunction,ComponentPad*%
-%ADD10C,1.600000*%
+%ADD10R,1.600000X1.600000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD11O,1.600000X1.600000*%
+%ADD11C,1.600000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD12R,1.800000X1.800000*%
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%TA.AperFunction,ComponentPad*%
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%TA.AperFunction,ComponentPad*%
-%ADD14R,1.600000X1.600000*%
+%ADD14C,1.800000*%
%TD*%
%TA.AperFunction,ComponentPad*%
%ADD15R,2.400000X1.800000*%
@@ -49,108 +49,117 @@ G04 APERTURE LIST*
%TD*%
G04 APERTURE END LIST*
D10*
+%TO.P,C2,1*%
+%TO.N,3v3*%
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%TO.N,SEN2AIP*%
X165100000Y-120650000D03*
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X172720000Y-120650000D03*
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X152400000Y-90170000D03*
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X170180000Y-130810000D03*
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X162560000Y-130810000D03*
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X175260000Y-81280000D03*
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X167640000Y-81280000D03*
%TD*%
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X175260000Y-77470000D03*
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X167640000Y-77470000D03*
%TD*%
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X170180000Y-85090000D03*
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X162560000Y-85090000D03*
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X139700000Y-119380000D03*
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%TO.P,R16,2*%
%TO.N,GND*%
X147320000Y-119380000D03*
@@ -167,55 +176,47 @@ X140970000Y-90170000D03*
%TO.N,Net-(D1-K)*%
X140970000Y-92710000D03*
%TD*%
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X139700000Y-114300000D03*
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-X139740000Y-64770000D03*
-%TD*%
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%TO.P,R4,1*%
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X144780000Y-86360000D03*
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%TO.P,R4,2*%
%TO.N,GND*%
X152400000Y-86360000D03*
%TD*%
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X170180000Y-90170000D03*
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X167640000Y-90170000D03*
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X165100000Y-72390000D03*
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X172720000Y-72390000D03*
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X152400000Y-130810000D03*
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%TO.P,R7,2*%
%TO.N,3v3*%
X144780000Y-130810000D03*
@@ -283,83 +284,83 @@ X157480000Y-118110000D03*
%TO.N,SCL*%
X157480000Y-120650000D03*
%TD*%
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X152400000Y-135890000D03*
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%TO.P,R5,2*%
%TO.N,Vemit*%
X144780000Y-135890000D03*
%TD*%
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X167640000Y-67310000D03*
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X165100000Y-67310000D03*
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X156260000Y-132250000D03*
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%TO.P,Q2,2,E*%
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X158800000Y-132250000D03*
%TD*%
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X166524866Y-107357028D03*
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X169064866Y-107357028D03*
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X166506079Y-96261089D03*
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X169046079Y-96261089D03*
%TD*%
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%TO.P,D2,1,K*%
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X158850000Y-137950000D03*
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X156310000Y-137950000D03*
%TD*%
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X169800000Y-101800000D03*
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X167260000Y-101800000D03*
%TD*%
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X156360000Y-65350000D03*
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X158900000Y-65350000D03*
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X158900000Y-71100000D03*
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%TO.N,GND*%
X156360000Y-71100000D03*
@@ -374,12 +375,29 @@ X149860000Y-86360000D03*
%TD*%
D20*
%TO.N,Vemit*%
-X147320000Y-74930000D02*
+X149860000Y-78740000D02*
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index 8e7d2e9..b30c961 100644
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diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-NPTH.drl b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-NPTH.drl
index 153d8cf..07d0e58 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-NPTH.drl
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-NPTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:34:39+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:43:36+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:34:39+01:00
+; #@! TF.CreationDate,2025-08-16T13:43:36+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,NonPlated,1,2,NPTH
FMAT,2
diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-PTH.drl b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-PTH.drl
index e7bf3f7..a3dab51 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-PTH.drl
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-PTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:34:39+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:43:36+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:34:39+01:00
+; #@! TF.CreationDate,2025-08-16T13:43:36+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,Plated,1,2,PTH
FMAT,2
@@ -31,23 +31,23 @@ X5.55Y-3.55
X5.55Y-3.65
X5.5965Y-3.05
X5.6Y-2.55
-X5.7Y-3.05
X5.7Y-3.25
X5.7Y-3.4
X5.7Y-3.55
X5.7Y-5.15
X5.7Y-5.35
+X5.8Y-3.05
X5.8Y-4.5
X5.8Y-4.7
X5.9Y-2.45
X5.9Y-2.55
X5.9Y-2.65
-X6.0Y-3.05
X6.0Y-3.25
X6.0Y-3.4
X6.0Y-3.55
X6.0Y-5.15
X6.0Y-5.35
+X6.1Y-3.05
X6.4Y-3.35
X6.4Y-5.15
X6.5Y-2.85
diff --git a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-job.gbrjob b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-job.gbrjob
index c18525a..4254692 100644
--- a/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-job.gbrjob
+++ b/ecad/UKMARSBOT_LineSensorBasic/fab/UKMARSBOT_LineSensorBasic-job.gbrjob
@@ -5,7 +5,7 @@
"Application": "Pcbnew",
"Version": "8.0.8"
},
- "CreationDate": "2025-07-09T10:34:26+01:00"
+ "CreationDate": "2025-08-16T13:43:30+01:00"
},
"GeneralSpecs": {
"ProjectId": {
diff --git a/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pcb b/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pcb
index ab7eebe..9dfaea2 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pcb
+++ b/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pcb
@@ -1701,7 +1701,7 @@
)
)
)
- (property "RSONLINE" "176-3779 "
+ (property "RSONLINE" "176-3779"
(at 0 0 180)
(unlocked yes)
(layer "F.Fab")
@@ -1714,6 +1714,19 @@
)
)
)
+ (property "RAPID" "11-4109"
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "c5355724-8128-43d7-940c-a94b34f6082f")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "CP_*")
(path "/acbdf476-6fd3-4fb7-9be9-2d0b5d0b4cf3")
(sheetname "Root")
@@ -6737,6 +6750,19 @@
)
)
)
+ (property "RAPID" "11-4109"
+ (at 0 0 0)
+ (unlocked yes)
+ (layer "F.Fab")
+ (hide yes)
+ (uuid "db432f6e-9707-4042-bf22-bbda316ba406")
+ (effects
+ (font
+ (size 1 1)
+ (thickness 0.15)
+ )
+ )
+ )
(property ki_fp_filters "CP_*")
(path "/bd38f834-8a4c-4456-8be7-e77ce01869f0")
(sheetname "Root")
@@ -42141,7 +42167,7 @@
(justify left bottom)
)
)
- (gr_text "Gemini 2.0"
+ (gr_text "Gemini 2.1"
(at 172.72 71.12 135)
(layer "F.SilkS")
(uuid "44071a24-9e92-4b5a-a487-49da1b422ade")
@@ -42443,7 +42469,7 @@
(justify right)
)
)
- (gr_text "2025-07-07"
+ (gr_text "2025-08-16"
(at 180.34 73.66 135)
(layer "F.SilkS")
(uuid "f1e04578-ccd9-4e23-9b19-0b4a3995e78b")
@@ -44870,9 +44896,9 @@
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(xy 163.257266 114.802942) (xy 163.256132 114.806453) (xy 162.838841 116.03532) (xy 162.837603 116.038796)
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+ (xy 90.269915 64.540008) (xy 90.267 64.565131) (xy 87.634401 64.565131) (xy 87.661432 64.551358)
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+ (xy 88.262 63.571321) (xy 88.262 62.96) (xy 87.442251 62.96) (xy 87.473381 62.906081) (xy 87.508 62.77688)
+ (xy 87.508 62.64312) (xy 87.473381 62.513919) (xy 87.442251 62.46) (xy 88.262 62.46) (xy 88.262 61.848678)
+ (xy 88.230924 61.652479) (xy 88.230924 61.652476) (xy 88.169542 61.463562) (xy 88.079358 61.286567)
+ (xy 87.962596 61.12586) (xy 87.962596 61.125859) (xy 87.928418 61.091681) (xy 87.894933 61.030358)
+ (xy 87.899917 60.960666) (xy 87.941789 60.904733) (xy 88.007253 60.880316) (xy 88.016099 60.88)
+ (xy 100.583901 60.88)
)
)
)
diff --git a/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pro b/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pro
index aaaf5eb..1a494bd 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pro
+++ b/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_pro
@@ -689,7 +689,7 @@
"group_by": false,
"label": "Footprint",
"name": "Footprint",
- "show": true
+ "show": false
},
{
"group_by": false,
@@ -702,11 +702,41 @@
"label": "DNP",
"name": "${DNP}",
"show": true
+ },
+ {
+ "group_by": false,
+ "label": "#",
+ "name": "${ITEM_NUMBER}",
+ "show": false
+ },
+ {
+ "group_by": false,
+ "label": "Note",
+ "name": "Note",
+ "show": false
+ },
+ {
+ "group_by": false,
+ "label": "RSONLINE",
+ "name": "RSONLINE",
+ "show": false
+ },
+ {
+ "group_by": false,
+ "label": "Description",
+ "name": "Description",
+ "show": false
+ },
+ {
+ "group_by": false,
+ "label": "RAPID",
+ "name": "RAPID",
+ "show": true
}
],
"filter_string": "",
"group_symbols": true,
- "name": "Grouped By Value",
+ "name": "",
"sort_asc": true,
"sort_field": "Reference"
},
diff --git a/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_sch b/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_sch
index 077bf77..1d1c5ac 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_sch
+++ b/ecad/UKMARSBOT_RP2040Chassis/UKMARSBOT_RP2040Chassis.kicad_sch
@@ -4609,6 +4609,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 116.84 76.2 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "11"
(uuid "a596be2e-4b8f-4d18-99b3-12ea40a8f393")
)
@@ -4709,6 +4718,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 262.89 59.69 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "2"
(uuid "32c7948e-a796-4c96-81b6-dc327388f425")
)
@@ -4785,6 +4803,15 @@
(hide yes)
)
)
+ (property "RAPID" "62-0410"
+ (at 109.22 74.93 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "2"
(uuid "b9f99c04-0698-434d-b754-b2942e40c423")
)
@@ -4996,6 +5023,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 236.22 101.6 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "010c79b0-299e-4b0c-b115-18473866114f")
)
@@ -5154,6 +5190,15 @@
(hide yes)
)
)
+ (property "RAPID" "22-0795"
+ (at 30.48 140.97 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "792a53f9-05bb-43fc-b20f-4f2d6d0160e7")
)
@@ -5254,6 +5299,15 @@
(hide yes)
)
)
+ (property "RAPID" "11-3442"
+ (at 220.98 111.76 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "8e56aff3-d70c-441a-9924-30e21ccfb7c8")
)
@@ -5342,6 +5396,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 99.06 173.99 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
@@ -5556,6 +5619,15 @@
(hide yes)
)
)
+ (property "RAPID" "08-5765"
+ (at 200.66 36.83 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "55d49ff1-6baa-459f-bf95-13c5d60e7dae")
)
@@ -5642,6 +5714,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 247.65 36.83 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "5b1f154c-58b1-4df5-b1db-499cc503871a")
)
@@ -5730,6 +5811,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 99.06 181.61 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
@@ -5812,6 +5902,15 @@
(hide yes)
)
)
+ (property "RAPID" "01-5723"
+ (at 134.62 30.48 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "2"
(uuid "959caba9-6b91-406a-bfe5-6069c9b7e51a")
)
@@ -5912,6 +6011,15 @@
(hide yes)
)
)
+ (property "RAPID" "11-0282"
+ (at 91.44 130.81 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "2a46800b-7c68-4442-aab8-761044041f91")
)
@@ -6000,6 +6108,15 @@
(hide yes)
)
)
+ (property "RAPID" "11-4110"
+ (at 247.65 111.76 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "20c9b7e9-cea8-4b01-bd5c-2117459ed5f0")
)
@@ -6155,6 +6272,15 @@
(hide yes)
)
)
+ (property "RAPID" "01-5723"
+ (at 101.6 26.67 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "2"
(uuid "83fd64d6-49d4-48d9-9fdd-784a3fd423bb")
)
@@ -6256,6 +6382,15 @@
(hide yes)
)
)
+ (property "RAPID" "22-0795"
+ (at 30.48 176.53 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "4a026390-e55a-4f6e-b89f-1d99c87baa93")
)
@@ -6356,6 +6491,15 @@
(hide yes)
)
)
+ (property "RAPID" "11-0282"
+ (at 115.57 130.81 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "1"
(uuid "808b85e4-7079-4fcd-ab2a-8ae4b84fd7cc")
)
@@ -6444,6 +6588,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 118.11 181.61 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
@@ -6659,6 +6812,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 78.74 173.99 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
@@ -6741,6 +6903,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 26.67 81.28 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
@@ -6947,6 +7118,15 @@
(hide yes)
)
)
+ (property "RAPID" "78-0566"
+ (at 228.6 43.18 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(pin "3"
(uuid "33ed23af-1396-4a1e-a4c3-e0bcd759d07f")
)
@@ -7038,6 +7218,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 118.11 173.99 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
@@ -7186,6 +7375,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 26.67 59.69 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
@@ -7268,6 +7466,15 @@
(hide yes)
)
)
+ (property "RAPID" ""
+ (at 78.74 181.61 0)
+ (effects
+ (font
+ (size 1.27 1.27)
+ )
+ (hide yes)
+ )
+ )
(instances
(project ""
(path "/d8f89e6a-e7a3-4b50-a378-920a806c8e2d"
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Cu.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Cu.gbr
index 20c54b6..14bb945 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Cu.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Cu.gbr
@@ -1,36 +1,36 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Copper,L2,Bot*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
G04 APERTURE LIST*
%TA.AperFunction,ComponentPad*%
-%ADD10R,1.700000X1.700000*%
+%ADD10R,1.500000X1.500000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD11O,1.700000X1.700000*%
+%ADD11C,1.600000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD12R,1.905000X2.000000*%
+%ADD12C,1.524000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD13O,1.905000X2.000000*%
+%ADD13R,1.905000X2.000000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD14O,1.524000X3.048000*%
+%ADD14O,1.905000X2.000000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD15R,1.600000X1.600000*%
+%ADD15O,1.524000X3.048000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD16C,1.600000*%
+%ADD16R,1.600000X1.600000*%
%TD*%
%TA.AperFunction,ComponentPad*%
%ADD17R,1.524000X3.048000*%
@@ -47,36 +47,48 @@ G04 APERTURE LIST*
%TA.AperFunction,ComponentPad*%
%ADD21O,3.048000X1.524000*%
%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD22R,1.700000X1.700000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD23O,1.700000X1.700000*%
+%TD*%
%TA.AperFunction,ViaPad*%
-%ADD22C,0.800000*%
+%ADD24C,0.800000*%
%TD*%
%TA.AperFunction,Conductor*%
-%ADD23C,1.250000*%
+%ADD25C,1.250000*%
%TD*%
%TA.AperFunction,Conductor*%
-%ADD24C,0.800000*%
+%ADD26C,0.800000*%
%TD*%
%TA.AperFunction,Conductor*%
-%ADD25C,0.600000*%
+%ADD27C,0.600000*%
%TD*%
G04 APERTURE END LIST*
D10*
%TO.P,J7,1,Pin_1*%
-%TO.N,/PWR*%
-X93980000Y-137110000D03*
+%TO.N,/PWR_IN*%
+X91440000Y-137160000D03*
D11*
%TO.P,J7,2,Pin_2*%
-%TO.N,/PWR_IN*%
-X91440000Y-137110000D03*
+%TO.N,unconnected-(J7-Pin_2-Pad2)*%
+X88900000Y-137160000D03*
%TO.P,J7,3,Pin_3*%
-%TO.N,unconnected-(J7-Pin_3-Pad3)*%
-X88900000Y-137110000D03*
-%TD*%
+%TO.N,/PWR*%
+X93980000Y-137160000D03*
D12*
+%TO.P,J7,4*%
+%TO.N,N/C*%
+X96520000Y-137160000D03*
+%TO.P,J7,5*%
+X86360000Y-137160000D03*
+%TD*%
+D13*
%TO.P,U2,1,VI*%
%TO.N,Vbatt*%
X91520000Y-65610000D03*
-D13*
+D14*
%TO.P,U2,2,GND*%
%TO.N,GND*%
X94060000Y-65610000D03*
@@ -84,7 +96,7 @@ X94060000Y-65610000D03*
%TO.N,5V*%
X96600000Y-65610000D03*
%TD*%
-D14*
+D15*
%TO.P,C1,1*%
%TO.N,Vbatt*%
X87000000Y-67710000D03*
@@ -99,38 +111,33 @@ X101600000Y-67710000D03*
%TO.N,GND*%
X101600000Y-62710000D03*
%TD*%
-D15*
+D16*
%TO.P,C3,1*%
%TO.N,Vbatt*%
X134620000Y-113030000D03*
-D16*
+D11*
%TO.P,C3,2*%
%TO.N,GND*%
X132120000Y-113030000D03*
%TD*%
-D11*
-%TO.P,,3,Pin_3*%
-%TO.N,unconnected-(J7-Pin_3-Pad3)*%
-X86360000Y-137160000D03*
-%TD*%
D17*
-%TO.P,J1,1,1*%
+%TO.P,J1,1,GND*%
%TO.N,GND*%
X149860000Y-73660000D03*
-D14*
-%TO.P,J1,2,2*%
+D15*
+%TO.P,J1,2,B*%
%TO.N,LQB*%
X147320000Y-73660000D03*
-%TO.P,J1,3,3*%
+%TO.P,J1,3,A*%
%TO.N,LQA*%
X144780000Y-73660000D03*
-%TO.P,J1,4,4*%
+%TO.P,J1,4,VCC*%
%TO.N,Vcc*%
X142240000Y-73660000D03*
-%TO.P,J1,5,5*%
+%TO.P,J1,5,M2*%
%TO.N,LEFT_MOTOR_1*%
X139700000Y-73660000D03*
-%TO.P,J1,6,6*%
+%TO.P,J1,6,M1*%
%TO.N,LEFT_MOTOR_2*%
X137160000Y-73660000D03*
%TD*%
@@ -164,38 +171,33 @@ X106680000Y-111760000D03*
%TO.N,Vbatt*%
X106680000Y-109220000D03*
%TD*%
-D15*
+D16*
%TO.P,C4,1*%
%TO.N,5V*%
X132120000Y-90170000D03*
-D16*
+D11*
%TO.P,C4,2*%
%TO.N,GND*%
X134620000Y-90170000D03*
%TD*%
-D11*
-%TO.P,,3,Pin_3*%
-%TO.N,unconnected-(J7-Pin_3-Pad3)*%
-X96520000Y-137160000D03*
-%TD*%
D17*
-%TO.P,J2,1,1*%
+%TO.P,J2,1,GND*%
%TO.N,GND*%
X137160000Y-129286000D03*
-D14*
-%TO.P,J2,2,2*%
+D15*
+%TO.P,J2,2,B*%
%TO.N,RQB*%
X139700000Y-129286000D03*
-%TO.P,J2,3,3*%
+%TO.P,J2,3,A*%
%TO.N,RQA*%
X142240000Y-129286000D03*
-%TO.P,J2,4,4*%
+%TO.P,J2,4,VCC*%
%TO.N,Vcc*%
X144780000Y-129286000D03*
-%TO.P,J2,5,5*%
+%TO.P,J2,5,M2*%
%TO.N,RIGHT_MOTOR_1*%
X147320000Y-129286000D03*
-%TO.P,J2,6,6*%
+%TO.P,J2,6,M1*%
%TO.N,RIGHT_MOTOR_2*%
X149860000Y-129286000D03*
%TD*%
@@ -258,7 +260,7 @@ X106680000Y-91440000D03*
%TO.N,RMTR2*%
X106680000Y-93980000D03*
%TD*%
-D13*
+D14*
%TO.P,R1,1*%
%TO.N,Net-(U1-SLEEP)*%
X154940000Y-109220000D03*
@@ -266,16 +268,16 @@ X154940000Y-109220000D03*
%TO.N,Vbatt*%
X147320000Y-109220000D03*
%TD*%
-D10*
+D22*
%TO.P,J6,1,Pin_1*%
%TO.N,GND*%
X93980000Y-130810000D03*
-D11*
+D23*
%TO.P,J6,2,Pin_2*%
%TO.N,/PWR_IN*%
X91440000Y-130810000D03*
%TD*%
-D22*
+D24*
%TO.N,Vcc*%
X142240000Y-78740000D03*
X142240000Y-86360000D03*
@@ -286,16 +288,16 @@ X104140000Y-76200000D03*
X96520000Y-76200000D03*
X137160000Y-78740000D03*
%TD*%
-D23*
+D25*
%TO.N,GND*%
X94397526Y-98642474D02*
X94397526Y-73997526D01*
X95515000Y-129275000D02*
X95515000Y-99759948D01*
-D24*
+D26*
X87000000Y-62710000D02*
X93980000Y-62710000D01*
-D23*
+D25*
X99913000Y-64397000D02*
X99913000Y-69433000D01*
X94060000Y-74228000D02*
@@ -304,10 +306,10 @@ X134620000Y-85090000D02*
X134620000Y-90170000D01*
X132120000Y-116800000D02*
X132120000Y-113030000D01*
-D24*
+D26*
X93980000Y-62710000D02*
X101600000Y-62710000D01*
-D23*
+D25*
X140440000Y-101600000D02*
X139190000Y-101600000D01*
X133350000Y-83820000D02*
@@ -350,10 +352,10 @@ X94060000Y-62790000D02*
X93980000Y-62710000D01*
X94060000Y-65610000D02*
X94060000Y-62790000D01*
-D24*
+D26*
X101600000Y-62710000D02*
X101205000Y-63105000D01*
-D23*
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+X90517235Y-136157793D01*
+X90437794Y-136237234D01*
+X90392415Y-136340006D01*
+X90392415Y-136340008D01*
+X90389500Y-136365131D01*
+X89661599Y-136365131D01*
+X89566041Y-136278019D01*
+X89566039Y-136278017D01*
+X89392642Y-136170655D01*
+X89392635Y-136170651D01*
+X89243491Y-136112873D01*
+X89202456Y-136096976D01*
+X89001976Y-136059500D01*
+X88798024Y-136059500D01*
+X88597544Y-136096976D01*
+X88597541Y-136096976D01*
+X88597541Y-136096977D01*
+X88407364Y-136170651D01*
+X88407357Y-136170655D01*
+X88233960Y-136278017D01*
+X88233958Y-136278019D01*
+X88083237Y-136415418D01*
+X87960327Y-136578178D01*
+X87869422Y-136760739D01*
+X87869417Y-136760752D01*
+X87813602Y-136956917D01*
+X87794785Y-137159999D01*
+X87427641Y-137159999D01*
+X87407127Y-136951714D01*
+X87346372Y-136751431D01*
+X87247711Y-136566850D01*
+X87247708Y-136566846D01*
+X87114936Y-136405063D01*
+X86953153Y-136272291D01*
+X86953151Y-136272290D01*
+X86953150Y-136272289D01*
+X86768569Y-136173628D01*
+X86668427Y-136143250D01*
+X86568284Y-136112872D01*
+X86360000Y-136092359D01*
+X86151715Y-136112872D01*
+X85951428Y-136173629D01*
+X85766846Y-136272291D01*
+X85605063Y-136405063D01*
+X85472291Y-136566846D01*
+X85373629Y-136751428D01*
+X85373628Y-136751430D01*
+X85373628Y-136751431D01*
+X85370801Y-136760750D01*
+X85312872Y-136951715D01*
+X85292359Y-137160000D01*
+X83650000Y-137160000D01*
X83650000Y-132510018D01*
X154990000Y-132510018D01*
X154990000Y-138509981D01*
@@ -4219,15 +4166,15 @@ X162838841Y-116035320D01*
X162837603Y-116038796D01*
X162383850Y-117254919D01*
X162382682Y-117257929D01*
-X162121732Y-117905320D01*
-X162119642Y-117918625D01*
+X162140000Y-117859997D01*
+X162139993Y-117860016D01*
X162084133Y-118020877D01*
X162005690Y-118352294D01*
X161966252Y-118690571D01*
X161966252Y-118690577D01*
X161966351Y-119031141D01*
X161966352Y-119031153D01*
-X161987030Y-119207609D01*
+X161994968Y-119275348D01*
X162005990Y-119369406D01*
X162082051Y-119689912D01*
X162084629Y-119700775D01*
@@ -4272,8 +4219,9 @@ X167020817Y-120869136D01*
X167239656Y-120608179D01*
X167426719Y-120323580D01*
X167579478Y-120019188D01*
-X167639692Y-119860807D01*
-X167640317Y-119859201D01*
+X167639655Y-119860903D01*
+X167640323Y-119859189D01*
+X167703388Y-119700775D01*
X167899716Y-119207609D01*
X168386615Y-117890348D01*
X168836014Y-116559826D01*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Mask.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Mask.gbr
index cac3de4..0fa5d45 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Mask.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Mask.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Soldermask,Bot*%
%TF.FilePolarity,Negative*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
@@ -29,14 +29,14 @@ G04 Aperture macros list*
20,1,$1+$1,$6,$7,$8,$9,0*
20,1,$1+$1,$8,$9,$2,$3,0*%
G04 Aperture macros list end*
-%ADD10R,1.700000X1.700000*%
-%ADD11O,1.700000X1.700000*%
-%ADD12C,3.200000*%
-%ADD13R,1.905000X2.000000*%
-%ADD14O,1.905000X2.000000*%
-%ADD15O,1.727200X3.251200*%
-%ADD16R,1.600000X1.600000*%
-%ADD17C,1.600000*%
+%ADD10R,1.500000X1.500000*%
+%ADD11C,1.600000*%
+%ADD12C,1.524000*%
+%ADD13C,3.200000*%
+%ADD14R,1.905000X2.000000*%
+%ADD15O,1.905000X2.000000*%
+%ADD16O,1.727200X3.251200*%
+%ADD17R,1.600000X1.600000*%
%ADD18RoundRect,0.101600X-0.762000X-1.524000X0.762000X-1.524000X0.762000X1.524000X-0.762000X1.524000X0*%
%ADD19R,3.200000X3.200000*%
%ADD20O,3.200000X3.200000*%
@@ -44,50 +44,55 @@ G04 Aperture macros list end*
%ADD22O,3.251200X1.727200*%
%ADD23RoundRect,0.101600X0.762000X1.524000X-0.762000X1.524000X-0.762000X-1.524000X0.762000X-1.524000X0*%
%ADD24RoundRect,0.101600X1.524000X-0.762000X1.524000X0.762000X-1.524000X0.762000X-1.524000X-0.762000X0*%
+%ADD25R,1.700000X1.700000*%
+%ADD26O,1.700000X1.700000*%
G04 APERTURE END LIST*
D10*
%TO.C,J7*%
-X93980000Y-137110000D03*
+X91440000Y-137160000D03*
D11*
-X91440000Y-137110000D03*
-X88900000Y-137110000D03*
-%TD*%
+X88900000Y-137160000D03*
+X93980000Y-137160000D03*
D12*
+X96520000Y-137160000D03*
+X86360000Y-137160000D03*
+%TD*%
+D13*
%TO.C,H4*%
X170020000Y-77380000D03*
%TD*%
-D13*
+D14*
%TO.C,U2*%
X91520000Y-65610000D03*
-D14*
+D15*
X94060000Y-65610000D03*
X96600000Y-65610000D03*
%TD*%
-D15*
+D16*
%TO.C,C1*%
X87000000Y-67710000D03*
X87000000Y-62710000D03*
%TD*%
-D12*
+D13*
%TO.C,H1*%
X91290000Y-101510000D03*
%TD*%
-D15*
+D16*
%TO.C,C2*%
X101600000Y-67710000D03*
X101600000Y-62710000D03*
%TD*%
-D12*
+D13*
%TO.C,H6*%
X170020000Y-125640000D03*
%TD*%
-D16*
+D17*
%TO.C,C3*%
X134620000Y-113030000D03*
-D17*
+D11*
X132120000Y-113030000D03*
%TD*%
-D12*
+D13*
%TO.C,H2*%
X177590000Y-101510000D03*
%TD*%
@@ -99,25 +104,20 @@ X129490000Y-128785000D03*
X129490000Y-74310000D03*
X111490000Y-74310000D03*
%TD*%
-D11*
-%TO.C,*%
-X86360000Y-137160000D03*
-%TD*%
-D12*
%TO.C,H5*%
X161290000Y-125730000D03*
%TD*%
D18*
%TO.C,J1*%
X149860000Y-73660000D03*
-D15*
+D16*
X147320000Y-73660000D03*
X144780000Y-73660000D03*
X142240000Y-73660000D03*
X139700000Y-73660000D03*
X137160000Y-73660000D03*
%TD*%
-D12*
+D13*
%TO.C,H3*%
X161290000Y-77470000D03*
%TD*%
@@ -137,20 +137,16 @@ X106680000Y-114300000D03*
X106680000Y-111760000D03*
X106680000Y-109220000D03*
%TD*%
-D16*
+D17*
%TO.C,C4*%
X132120000Y-90170000D03*
-D17*
-X134620000Y-90170000D03*
-%TD*%
D11*
-%TO.C,*%
-X96520000Y-137160000D03*
+X134620000Y-90170000D03*
%TD*%
D23*
%TO.C,J2*%
X137160000Y-129286000D03*
-D15*
+D16*
X139700000Y-129286000D03*
X142240000Y-129286000D03*
X144780000Y-129286000D03*
@@ -182,15 +178,15 @@ X106680000Y-88900000D03*
X106680000Y-91440000D03*
X106680000Y-93980000D03*
%TD*%
-D14*
+D15*
%TO.C,R1*%
X154940000Y-109220000D03*
X147320000Y-109220000D03*
%TD*%
-D10*
+D25*
%TO.C,J6*%
X93980000Y-130810000D03*
-D11*
+D26*
X91440000Y-130810000D03*
%TD*%
M02*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Paste.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Paste.gbr
index 89eccf7..ea48549 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Paste.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Paste.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Paste,Bot*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Silkscreen.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Silkscreen.gbr
index 7314bef..7d92433 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Silkscreen.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-B_Silkscreen.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Legend,Bot*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-Edge_Cuts.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-Edge_Cuts.gbr
index 7373e48..f6bec53 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-Edge_Cuts.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-Edge_Cuts.gbr
@@ -1,11 +1,11 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Profile,NP*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Cu.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Cu.gbr
index 98e7795..b87c55c 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Cu.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Cu.gbr
@@ -1,36 +1,36 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Copper,L1,Top*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
G04 APERTURE LIST*
%TA.AperFunction,ComponentPad*%
-%ADD10R,1.700000X1.700000*%
+%ADD10R,1.500000X1.500000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD11O,1.700000X1.700000*%
+%ADD11C,1.600000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD12R,1.905000X2.000000*%
+%ADD12C,1.524000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD13O,1.905000X2.000000*%
+%ADD13R,1.905000X2.000000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD14O,1.524000X3.048000*%
+%ADD14O,1.905000X2.000000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD15R,1.600000X1.600000*%
+%ADD15O,1.524000X3.048000*%
%TD*%
%TA.AperFunction,ComponentPad*%
-%ADD16C,1.600000*%
+%ADD16R,1.600000X1.600000*%
%TD*%
%TA.AperFunction,ComponentPad*%
%ADD17R,1.524000X3.048000*%
@@ -47,42 +47,51 @@ G04 APERTURE LIST*
%TA.AperFunction,ComponentPad*%
%ADD21O,3.048000X1.524000*%
%TD*%
-%TA.AperFunction,ViaPad*%
-%ADD22C,0.800000*%
+%TA.AperFunction,ComponentPad*%
+%ADD22R,1.700000X1.700000*%
%TD*%
-%TA.AperFunction,Conductor*%
-%ADD23C,1.250000*%
+%TA.AperFunction,ComponentPad*%
+%ADD23O,1.700000X1.700000*%
%TD*%
-%TA.AperFunction,Conductor*%
+%TA.AperFunction,ViaPad*%
%ADD24C,0.800000*%
%TD*%
%TA.AperFunction,Conductor*%
-%ADD25C,0.600000*%
+%ADD25C,1.250000*%
+%TD*%
+%TA.AperFunction,Conductor*%
+%ADD26C,0.800000*%
%TD*%
%TA.AperFunction,Conductor*%
-%ADD26C,1.150000*%
+%ADD27C,0.600000*%
%TD*%
%TA.AperFunction,Conductor*%
-%ADD27C,0.254000*%
+%ADD28C,1.150000*%
%TD*%
G04 APERTURE END LIST*
D10*
%TO.P,J7,1,Pin_1*%
-%TO.N,/PWR*%
-X93980000Y-137110000D03*
+%TO.N,/PWR_IN*%
+X91440000Y-137160000D03*
D11*
%TO.P,J7,2,Pin_2*%
-%TO.N,/PWR_IN*%
-X91440000Y-137110000D03*
+%TO.N,unconnected-(J7-Pin_2-Pad2)*%
+X88900000Y-137160000D03*
%TO.P,J7,3,Pin_3*%
-%TO.N,unconnected-(J7-Pin_3-Pad3)*%
-X88900000Y-137110000D03*
-%TD*%
+%TO.N,/PWR*%
+X93980000Y-137160000D03*
D12*
+%TO.P,J7,4*%
+%TO.N,N/C*%
+X96520000Y-137160000D03*
+%TO.P,J7,5*%
+X86360000Y-137160000D03*
+%TD*%
+D13*
%TO.P,U2,1,VI*%
%TO.N,Vbatt*%
X91520000Y-65610000D03*
-D13*
+D14*
%TO.P,U2,2,GND*%
%TO.N,GND*%
X94060000Y-65610000D03*
@@ -90,7 +99,7 @@ X94060000Y-65610000D03*
%TO.N,5V*%
X96600000Y-65610000D03*
%TD*%
-D14*
+D15*
%TO.P,C1,1*%
%TO.N,Vbatt*%
X87000000Y-67710000D03*
@@ -105,38 +114,33 @@ X101600000Y-67710000D03*
%TO.N,GND*%
X101600000Y-62710000D03*
%TD*%
-D15*
+D16*
%TO.P,C3,1*%
%TO.N,Vbatt*%
X134620000Y-113030000D03*
-D16*
+D11*
%TO.P,C3,2*%
%TO.N,GND*%
X132120000Y-113030000D03*
%TD*%
-D11*
-%TO.P,,3,Pin_3*%
-%TO.N,unconnected-(J7-Pin_3-Pad3)*%
-X86360000Y-137160000D03*
-%TD*%
D17*
-%TO.P,J1,1,1*%
+%TO.P,J1,1,GND*%
%TO.N,GND*%
X149860000Y-73660000D03*
-D14*
-%TO.P,J1,2,2*%
+D15*
+%TO.P,J1,2,B*%
%TO.N,LQB*%
X147320000Y-73660000D03*
-%TO.P,J1,3,3*%
+%TO.P,J1,3,A*%
%TO.N,LQA*%
X144780000Y-73660000D03*
-%TO.P,J1,4,4*%
+%TO.P,J1,4,VCC*%
%TO.N,Vcc*%
X142240000Y-73660000D03*
-%TO.P,J1,5,5*%
+%TO.P,J1,5,M2*%
%TO.N,LEFT_MOTOR_1*%
X139700000Y-73660000D03*
-%TO.P,J1,6,6*%
+%TO.P,J1,6,M1*%
%TO.N,LEFT_MOTOR_2*%
X137160000Y-73660000D03*
%TD*%
@@ -170,38 +174,33 @@ X106680000Y-111760000D03*
%TO.N,Vbatt*%
X106680000Y-109220000D03*
%TD*%
-D15*
+D16*
%TO.P,C4,1*%
%TO.N,5V*%
X132120000Y-90170000D03*
-D16*
+D11*
%TO.P,C4,2*%
%TO.N,GND*%
X134620000Y-90170000D03*
%TD*%
-D11*
-%TO.P,,3,Pin_3*%
-%TO.N,unconnected-(J7-Pin_3-Pad3)*%
-X96520000Y-137160000D03*
-%TD*%
D17*
-%TO.P,J2,1,1*%
+%TO.P,J2,1,GND*%
%TO.N,GND*%
X137160000Y-129286000D03*
-D14*
-%TO.P,J2,2,2*%
+D15*
+%TO.P,J2,2,B*%
%TO.N,RQB*%
X139700000Y-129286000D03*
-%TO.P,J2,3,3*%
+%TO.P,J2,3,A*%
%TO.N,RQA*%
X142240000Y-129286000D03*
-%TO.P,J2,4,4*%
+%TO.P,J2,4,VCC*%
%TO.N,Vcc*%
X144780000Y-129286000D03*
-%TO.P,J2,5,5*%
+%TO.P,J2,5,M2*%
%TO.N,RIGHT_MOTOR_1*%
X147320000Y-129286000D03*
-%TO.P,J2,6,6*%
+%TO.P,J2,6,M1*%
%TO.N,RIGHT_MOTOR_2*%
X149860000Y-129286000D03*
%TD*%
@@ -264,7 +263,7 @@ X106680000Y-91440000D03*
%TO.N,RMTR2*%
X106680000Y-93980000D03*
%TD*%
-D13*
+D14*
%TO.P,R1,1*%
%TO.N,Net-(U1-SLEEP)*%
X154940000Y-109220000D03*
@@ -272,16 +271,16 @@ X154940000Y-109220000D03*
%TO.N,Vbatt*%
X147320000Y-109220000D03*
%TD*%
-D10*
+D22*
%TO.P,J6,1,Pin_1*%
%TO.N,GND*%
X93980000Y-130810000D03*
-D11*
+D23*
%TO.P,J6,2,Pin_2*%
%TO.N,/PWR_IN*%
X91440000Y-130810000D03*
%TD*%
-D22*
+D24*
%TO.N,Vcc*%
X142240000Y-78740000D03*
X142240000Y-86360000D03*
@@ -292,7 +291,7 @@ X104140000Y-76200000D03*
X96520000Y-76200000D03*
X137160000Y-78740000D03*
%TD*%
-D23*
+D25*
%TO.N,Vbatt*%
X147320000Y-109220000D02*
X147320000Y-101600000D01*
@@ -327,7 +326,7 @@ X114300000Y-111760000D02*
X121920000Y-119380000D01*
X142240000Y-119380000D02*
X144780000Y-121920000D01*
-D24*
+D26*
X152400000Y-88900000D02*
X149860000Y-86360000D01*
X144780000Y-121920000D02*
@@ -344,7 +343,7 @@ X152400000Y-95250000D02*
X152400000Y-88900000D01*
X142240000Y-73406000D02*
X142240000Y-78740000D01*
-D23*
+D25*
X121920000Y-119380000D02*
X142240000Y-119380000D01*
%TO.N,5V*%
@@ -369,10 +368,10 @@ X152175000Y-130880000D02*
X152175000Y-100368452D01*
X152175000Y-100368452D02*
X153483452Y-99060000D01*
-D24*
+D26*
X154140000Y-99060000D02*
X154940000Y-99060000D01*
-D23*
+D25*
X153483452Y-99060000D02*
X154940000Y-99060000D01*
X150966000Y-132089000D02*
@@ -394,7 +393,7 @@ X150525000Y-99685000D02*
X153690000Y-96520000D01*
X149860000Y-129540000D02*
X149869000Y-129531000D01*
-D25*
+D27*
%TO.N,LQB*%
X86814000Y-65586000D02*
X88900000Y-63500000D01*
@@ -460,7 +459,7 @@ X111760000Y-116840000D02*
X116840000Y-121920000D01*
X116840000Y-121920000D02*
X137160000Y-121920000D01*
-D23*
+D25*
%TO.N,LEFT_MOTOR_1*%
X156190000Y-104140000D02*
X162645000Y-97685000D01*
@@ -478,13 +477,13 @@ X142006000Y-68580000D02*
X139700000Y-70886000D01*
X139700000Y-70886000D02*
X139700000Y-73660000D01*
-D26*
+D28*
%TO.N,LEFT_MOTOR_2*%
X157439000Y-100251000D02*
X156090000Y-101600000D01*
X157439000Y-88859000D02*
X157439000Y-100251000D01*
-D23*
+D25*
X137160000Y-74930000D02*
X137160000Y-73406000D01*
X157439000Y-88859000D02*
@@ -499,10 +498,10 @@ X140970000Y-82550000D02*
X140970000Y-80534745D01*
X139700000Y-77470000D02*
X137160000Y-74930000D01*
-D26*
+D28*
X156090000Y-101600000D02*
X154940000Y-101600000D01*
-D25*
+D27*
%TO.N,RQA*%
X118065000Y-120605000D02*
X140925000Y-120605000D01*
@@ -526,11 +525,11 @@ X106680000Y-91440000D02*
X107950000Y-91440000D01*
X120650000Y-104140000D02*
X140440000Y-104140000D01*
-D24*
+D26*
%TO.N,Net-(U1-SLEEP)*%
X154940000Y-109220000D02*
X154940000Y-106680000D01*
-D23*
+D25*
%TO.N,/PWR*%
X109739948Y-124560000D02*
X132180000Y-124560000D01*
@@ -540,10 +539,6 @@ X154400540Y-123729460D02*
X160020000Y-118110000D01*
X132180000Y-124560000D02*
X134620000Y-127000000D01*
-D24*
-X93980000Y-137110000D02*
-X93980000Y-136645000D01*
-D23*
X134620000Y-130882000D02*
X138358000Y-134620000D01*
X105720052Y-132080000D02*
@@ -565,9 +560,7 @@ X99010000Y-132080000D01*
%TO.N,/PWR_IN*%
X91440000Y-130810000D02*
X91440000Y-137110000D01*
-D25*
-X91101081Y-136983919D02*
-X90975000Y-137110000D01*
+D27*
%TO.N,LMTR1*%
X119380000Y-93980000D02*
X111760000Y-86360000D01*
@@ -582,17 +575,5 @@ X116840000Y-96520000D02*
X109220000Y-88900000D01*
X140440000Y-96520000D02*
X116840000Y-96520000D01*
-D27*
-%TO.N,unconnected-(J7-Pin_3-Pad3)*%
-X86360000Y-137160000D02*
-X88850000Y-137160000D01*
-X88850000Y-137160000D02*
-X88900000Y-137110000D01*
-X90177000Y-138387000D02*
-X95293000Y-138387000D01*
-X88900000Y-137110000D02*
-X90177000Y-138387000D01*
-X95293000Y-138387000D02*
-X96520000Y-137160000D01*
%TD*%
M02*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Mask.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Mask.gbr
index 3c8477f..3c9163c 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Mask.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Mask.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Soldermask,Top*%
%TF.FilePolarity,Negative*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
@@ -29,14 +29,14 @@ G04 Aperture macros list*
20,1,$1+$1,$6,$7,$8,$9,0*
20,1,$1+$1,$8,$9,$2,$3,0*%
G04 Aperture macros list end*
-%ADD10R,1.700000X1.700000*%
-%ADD11O,1.700000X1.700000*%
-%ADD12C,3.200000*%
-%ADD13R,1.905000X2.000000*%
-%ADD14O,1.905000X2.000000*%
-%ADD15O,1.727200X3.251200*%
-%ADD16R,1.600000X1.600000*%
-%ADD17C,1.600000*%
+%ADD10R,1.500000X1.500000*%
+%ADD11C,1.600000*%
+%ADD12C,1.524000*%
+%ADD13C,3.200000*%
+%ADD14R,1.905000X2.000000*%
+%ADD15O,1.905000X2.000000*%
+%ADD16O,1.727200X3.251200*%
+%ADD17R,1.600000X1.600000*%
%ADD18RoundRect,0.101600X-0.762000X-1.524000X0.762000X-1.524000X0.762000X1.524000X-0.762000X1.524000X0*%
%ADD19R,3.200000X3.200000*%
%ADD20O,3.200000X3.200000*%
@@ -44,50 +44,55 @@ G04 Aperture macros list end*
%ADD22O,3.251200X1.727200*%
%ADD23RoundRect,0.101600X0.762000X1.524000X-0.762000X1.524000X-0.762000X-1.524000X0.762000X-1.524000X0*%
%ADD24RoundRect,0.101600X1.524000X-0.762000X1.524000X0.762000X-1.524000X0.762000X-1.524000X-0.762000X0*%
+%ADD25R,1.700000X1.700000*%
+%ADD26O,1.700000X1.700000*%
G04 APERTURE END LIST*
D10*
%TO.C,J7*%
-X93980000Y-137110000D03*
+X91440000Y-137160000D03*
D11*
-X91440000Y-137110000D03*
-X88900000Y-137110000D03*
-%TD*%
+X88900000Y-137160000D03*
+X93980000Y-137160000D03*
D12*
+X96520000Y-137160000D03*
+X86360000Y-137160000D03*
+%TD*%
+D13*
%TO.C,H4*%
X170020000Y-77380000D03*
%TD*%
-D13*
+D14*
%TO.C,U2*%
X91520000Y-65610000D03*
-D14*
+D15*
X94060000Y-65610000D03*
X96600000Y-65610000D03*
%TD*%
-D15*
+D16*
%TO.C,C1*%
X87000000Y-67710000D03*
X87000000Y-62710000D03*
%TD*%
-D12*
+D13*
%TO.C,H1*%
X91290000Y-101510000D03*
%TD*%
-D15*
+D16*
%TO.C,C2*%
X101600000Y-67710000D03*
X101600000Y-62710000D03*
%TD*%
-D12*
+D13*
%TO.C,H6*%
X170020000Y-125640000D03*
%TD*%
-D16*
+D17*
%TO.C,C3*%
X134620000Y-113030000D03*
-D17*
+D11*
X132120000Y-113030000D03*
%TD*%
-D12*
+D13*
%TO.C,H2*%
X177590000Y-101510000D03*
%TD*%
@@ -99,25 +104,20 @@ X129490000Y-128785000D03*
X129490000Y-74310000D03*
X111490000Y-74310000D03*
%TD*%
-D11*
-%TO.C,*%
-X86360000Y-137160000D03*
-%TD*%
-D12*
%TO.C,H5*%
X161290000Y-125730000D03*
%TD*%
D18*
%TO.C,J1*%
X149860000Y-73660000D03*
-D15*
+D16*
X147320000Y-73660000D03*
X144780000Y-73660000D03*
X142240000Y-73660000D03*
X139700000Y-73660000D03*
X137160000Y-73660000D03*
%TD*%
-D12*
+D13*
%TO.C,H3*%
X161290000Y-77470000D03*
%TD*%
@@ -137,20 +137,16 @@ X106680000Y-114300000D03*
X106680000Y-111760000D03*
X106680000Y-109220000D03*
%TD*%
-D16*
+D17*
%TO.C,C4*%
X132120000Y-90170000D03*
-D17*
-X134620000Y-90170000D03*
-%TD*%
D11*
-%TO.C,*%
-X96520000Y-137160000D03*
+X134620000Y-90170000D03*
%TD*%
D23*
%TO.C,J2*%
X137160000Y-129286000D03*
-D15*
+D16*
X139700000Y-129286000D03*
X142240000Y-129286000D03*
X144780000Y-129286000D03*
@@ -182,15 +178,15 @@ X106680000Y-88900000D03*
X106680000Y-91440000D03*
X106680000Y-93980000D03*
%TD*%
-D14*
+D15*
%TO.C,R1*%
X154940000Y-109220000D03*
X147320000Y-109220000D03*
%TD*%
-D10*
+D25*
%TO.C,J6*%
X93980000Y-130810000D03*
-D11*
+D26*
X91440000Y-130810000D03*
%TD*%
M02*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Paste.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Paste.gbr
index 6f8c40b..d95f449 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Paste.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Paste.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Paste,Top*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Silkscreen.gbr b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Silkscreen.gbr
index fc3d60d..1375f25 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Silkscreen.gbr
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-F_Silkscreen.gbr
@@ -1,12 +1,12 @@
%TF.GenerationSoftware,KiCad,Pcbnew,8.0.8*%
-%TF.CreationDate,2025-07-09T10:41:42+01:00*%
+%TF.CreationDate,2025-08-16T13:49:53+01:00*%
%TF.ProjectId,UKMARSBOT_RP2040Chassis,554b4d41-5253-4424-9f54-5f5250323034,rev?*%
%TF.SameCoordinates,Original*%
%TF.FileFunction,Legend,Top*%
%TF.FilePolarity,Positive*%
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 8.0.8) date 2025-07-09 10:41:42*
+G04 Created by KiCad (PCBNEW 8.0.8) date 2025-08-16 13:49:53*
%MOMM*%
%LPD*%
G01*
@@ -1090,49 +1090,18 @@ X169251580Y-66507198D02*
X169116893Y-66507198D01*
X169116893Y-66507198D02*
X169251580Y-66372511D01*
-X166894557Y-66843916D02*
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-X166894557Y-66843916D01*
-D12*
-X96422699Y-131009608D02*
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+X98551905Y-131045241D01*
D10*
X136955180Y-76498459D02*
X137955180Y-76498459D01*
@@ -1354,11 +1323,11 @@ X149677800Y-78184440D02*
X149630180Y-78041583D01*
X149630180Y-78041583D02*
X149630180Y-77803488D01*
-D12*
-X88328571Y-130916900D02*
-X89471429Y-130916900D01*
-X88900000Y-131488328D02*
-X88900000Y-130345471D01*
+D11*
+X86868095Y-130952533D02*
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+X87630000Y-131714438D02*
+X87630000Y-130190628D01*
D10*
X110018021Y-89849577D02*
X109637069Y-89849577D01*
@@ -2077,216 +2046,216 @@ X111610190Y-119194126D01*
X111610190Y-119194126D02*
X111876856Y-119994126D01*
D14*
-X85298646Y-134845405D02*
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-X85298646Y-134245405D02*
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diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-NPTH.drl b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-NPTH.drl
index 5fbedd9..9b41eb0 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-NPTH.drl
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-NPTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:41:57+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:50:01+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:41:57+01:00
+; #@! TF.CreationDate,2025-08-16T13:50:01+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,NonPlated,1,2,NPTH
FMAT,2
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-PTH.drl b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-PTH.drl
index fc6ca87..089fdc0 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-PTH.drl
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-PTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:41:57+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:50:01+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:41:57+01:00
+; #@! TF.CreationDate,2025-08-16T13:50:01+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,Plated,1,2,PTH
FMAT,2
@@ -9,15 +9,17 @@ INCH
; #@! TA.AperFunction,Plated,PTH,ViaDrill
T1C0.0157
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
-T2C0.0315
+T2C0.0300
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
-T3C0.0394
+T3C0.0315
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
-T4C0.0400
+T4C0.0394
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
-T5C0.0433
+T5C0.0400
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
-T6C0.0630
+T6C0.0433
+; #@! TA.AperFunction,Plated,PTH,ComponentDrill
+T7C0.0630
%
G90
G05
@@ -29,19 +31,20 @@ X5.6Y-3.1
X5.6Y-3.4
X5.8Y-2.6
T2
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X5.2016Y-3.55
X5.2016Y-4.45
X5.3Y-3.55
X5.3Y-4.45
-T3
-X3.4Y-5.4
-X3.5Y-5.398
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X3.6Y-5.15
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X3.7Y-5.15
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-X3.8Y-5.4
-T4
+T5
X3.4252Y-2.4689
X3.4252Y-2.6657
X4.0Y-2.4689
@@ -82,13 +85,13 @@ X6.1Y-3.9
X6.1Y-4.0
X6.1Y-4.1
X6.1Y-4.2
-T5
+T6
X3.6031Y-2.5831
X3.7031Y-2.5831
X3.8031Y-2.5831
X5.8Y-4.3
X6.1Y-4.3
-T6
+T7
X6.3Y-3.7
X6.3Y-4.3
M30
diff --git a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-job.gbrjob b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-job.gbrjob
index 25225d1..32a7327 100644
--- a/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-job.gbrjob
+++ b/ecad/UKMARSBOT_RP2040Chassis/fab/UKMARSBOT_RP2040Chassis-job.gbrjob
@@ -5,7 +5,7 @@
"Application": "Pcbnew",
"Version": "8.0.8"
},
- "CreationDate": "2025-07-09T10:41:42+01:00"
+ "CreationDate": "2025-08-16T13:49:53+01:00"
},
"GeneralSpecs": {
"ProjectId": {
@@ -27,7 +27,7 @@
"PadToPad": 0.3,
"PadToTrack": 0.3,
"TrackToTrack": 0.3,
- "MinLineWidth": 0.254,
+ "MinLineWidth": 0.6,
"TrackToRegion": 0.3,
"RegionToRegion": 0.3
}
diff --git a/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pcb b/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pcb
index e7ed596..78a24d3 100644
--- a/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pcb
+++ b/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pcb
@@ -6433,7 +6433,7 @@
(justify left bottom)
)
)
- (gr_text "2025-07-07"
+ (gr_text "2025-08-16"
(at 139.7 63.5 0)
(layer "F.SilkS")
(uuid "4f13a84d-63cb-4511-901c-29b4558e0074")
@@ -6481,7 +6481,7 @@
(justify left bottom)
)
)
- (gr_text "2.0"
+ (gr_text "2.1"
(at 163.723173 118.999181 270)
(layer "F.SilkS")
(uuid "59a1e622-4d9d-4015-8778-ccfca1a715c0")
diff --git a/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pro b/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pro
index f18656c..c5c9738 100644
--- a/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pro
+++ b/ecad/UKMARSBOT_RP2040Mezzanine/UKMARSBOT_RP2040Mezzanine.kicad_pro
@@ -690,7 +690,7 @@
"group_by": false,
"label": "Footprint",
"name": "Footprint",
- "show": true
+ "show": false
},
{
"group_by": false,
@@ -703,11 +703,41 @@
"label": "DNP",
"name": "${DNP}",
"show": true
+ },
+ {
+ "group_by": false,
+ "label": "#",
+ "name": "${ITEM_NUMBER}",
+ "show": false
+ },
+ {
+ "group_by": false,
+ "label": "Note",
+ "name": "Note",
+ "show": true
+ },
+ {
+ "group_by": false,
+ "label": "RSONLINE",
+ "name": "RSONLINE",
+ "show": true
+ },
+ {
+ "group_by": false,
+ "label": "Description",
+ "name": "Description",
+ "show": false
+ },
+ {
+ "group_by": false,
+ "label": "RAPID",
+ "name": "RAPID",
+ "show": false
}
],
"filter_string": "",
"group_symbols": true,
- "name": "Grouped By Value",
+ "name": "",
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index 1aebe54..7f1ecd4 100644
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index cb474c2..37ee36d 100644
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diff --git a/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-NPTH.drl b/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-NPTH.drl
index 1dc624c..1febcd3 100644
--- a/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-NPTH.drl
+++ b/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-NPTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:47:04+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:47:43+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:47:04+01:00
+; #@! TF.CreationDate,2025-08-16T13:47:43+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,NonPlated,1,2,NPTH
FMAT,2
diff --git a/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-PTH.drl b/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-PTH.drl
index e70bee4..aaba30e 100644
--- a/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-PTH.drl
+++ b/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-PTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:47:04+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:47:43+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:47:04+01:00
+; #@! TF.CreationDate,2025-08-16T13:47:43+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,Plated,1,2,PTH
FMAT,2
diff --git a/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-job.gbrjob b/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-job.gbrjob
index 791cbaa..517c805 100644
--- a/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-job.gbrjob
+++ b/ecad/UKMARSBOT_RP2040Mezzanine/fab/UKMARSBOT_RP2040Mezzanine-job.gbrjob
@@ -5,7 +5,7 @@
"Application": "Pcbnew",
"Version": "8.0.8"
},
- "CreationDate": "2025-07-09T10:46:58+01:00"
+ "CreationDate": "2025-08-16T13:47:39+01:00"
},
"GeneralSpecs": {
"ProjectId": {
diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pcb b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pcb
index 4e4c954..bc0fcc7 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pcb
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pcb
@@ -120,7 +120,7 @@
(mirror no)
(drillshape 0)
(scaleselection 1)
- (outputdirectory "C:/Users/Ian/Documents/GitHub/gemini/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/")
+ (outputdirectory "fab/")
)
)
(property "designer" "UKMARS")
@@ -11743,7 +11743,7 @@
(justify left bottom mirror)
)
)
- (gr_text "Version 2.0"
+ (gr_text "Version 2.1"
(at 176.2 152.54 0)
(layer "B.SilkS")
(uuid "22a6a0c6-be0b-4577-8754-2335b9b6abfe")
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(justify bottom)
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(at 173.66 152.54 0)
(layer "F.SilkS")
(uuid "6a1000fb-2a4a-4eb0-ab52-df40498da0bf")
diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pro b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pro
index 1acad2a..a2abbde 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pro
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_pro
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"netlist": "",
- "plot": "C:/Users/Ian/Documents/GitHub/gemini/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/",
+ "plot": "fab/",
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"step": "UKMARSBOT_RP2040Wall-Sensor-Basic.step",
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"label": "Note",
"name": "Note",
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+ "show": false
+ },
+ {
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}
],
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_sch b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_sch
index 1f3c665..eb602e3 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/UKMARSBOT_RP2040Wall-Sensor-Basic.kicad_sch
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Cu.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Cu.gbr
index 9eb495e..72fa61c 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Cu.gbr
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Cu.gbr
@@ -1,12 +1,12 @@
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Mask.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Mask.gbr
index 3c2b5ba..6237358 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Mask.gbr
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Paste.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Paste.gbr
index 9e03ecd..2e8cc8c 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Paste.gbr
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Paste.gbr
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Silkscreen.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Silkscreen.gbr
index beb9326..41aa0b8 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Silkscreen.gbr
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-B_Silkscreen.gbr
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-Edge_Cuts.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-Edge_Cuts.gbr
index e72ef93..e8f6998 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-Edge_Cuts.gbr
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-Edge_Cuts.gbr
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Cu.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Cu.gbr
index b178fa4..ce334a7 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Cu.gbr
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Cu.gbr
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Mask.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Mask.gbr
index b9bdc8d..069d393 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Mask.gbr
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Paste.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Paste.gbr
index 267c4c2..230e88d 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Paste.gbr
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Paste.gbr
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Silkscreen.gbr b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-F_Silkscreen.gbr
index 13f4de0..d456d2d 100644
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diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-NPTH.drl b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-NPTH.drl
index e3e66d8..1b5b633 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-NPTH.drl
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-NPTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:49:52+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:44:30+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:49:52+01:00
+; #@! TF.CreationDate,2025-08-16T13:44:30+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,NonPlated,1,2,NPTH
FMAT,2
diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-PTH.drl b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-PTH.drl
index 4a99820..2aee15f 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-PTH.drl
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-PTH.drl
@@ -1,7 +1,7 @@
M48
-; DRILL file {KiCad 8.0.8} date 2025-07-09T10:49:52+0100
+; DRILL file {KiCad 8.0.8} date 2025-08-16T13:44:30+0100
; FORMAT={-:-/ absolute / inch / decimal}
-; #@! TF.CreationDate,2025-07-09T10:49:52+01:00
+; #@! TF.CreationDate,2025-08-16T13:44:30+01:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.8
; #@! TF.FileFunction,Plated,1,2,PTH
FMAT,2
diff --git a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-job.gbrjob b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-job.gbrjob
index fa943a4..93fa77a 100644
--- a/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-job.gbrjob
+++ b/ecad/UKMARSBOT_RP2040Wall-Sensor-Basic/fab/UKMARSBOT_RP2040Wall-Sensor-Basic-job.gbrjob
@@ -5,7 +5,7 @@
"Application": "Pcbnew",
"Version": "8.0.8"
},
- "CreationDate": "2025-07-09T10:49:46+01:00"
+ "CreationDate": "2025-08-16T13:44:24+01:00"
},
"GeneralSpecs": {
"ProjectId": {
diff --git a/mechanical/GeminiN20MotorMount.stl b/mechanical/GeminiN20MotorMount.stl
new file mode 100644
index 0000000..e2a32a6
Binary files /dev/null and b/mechanical/GeminiN20MotorMount.stl differ
diff --git a/sampleCode/DH_WallFollow_example.py b/sampleCode/DH_WallFollow_example.py
new file mode 100644
index 0000000..ec6f5ab
--- /dev/null
+++ b/sampleCode/DH_WallFollow_example.py
@@ -0,0 +1,224 @@
+# simple wall follower for the Gemini version of UKMARSbot
+
+from machine import Pin, ADC, PWM, UART
+import time
+import os
+# These are the pin connection settings for the main board and mezzanine using the Pi Pico
+leftMezzLED = Pin(12,Pin.OUT) # The LED marked D1 on the left side of the board
+rightMezzLED = Pin(13,Pin.OUT) # The LED marked D2 on the right side of the board
+onBoardLED = Pin("LED", Pin.OUT) # The small red LED on the Pico processor board
+leftFwd = PWM(Pin(2))
+leftFwd.freq(2000)
+leftRev = PWM(Pin(3))
+leftRev.freq(2000)
+rightFwd = PWM(Pin(4))
+rightFwd.freq(2000)
+rightRev = PWM(Pin(5))
+rightRev.freq(2000)
+leftButton = Pin(15, Pin.IN, Pin.PULL_UP) # The tactile button switch marked SW1
+rightButton = Pin(14, Pin.IN, Pin.PULL_UP) # The tactile button switch marked SW2
+
+# These are the pin connection settings for use with the wall sensor board
+# phototransistor sensor pins
+leftSensor = ADC(28) # input from the left wall sensor
+rightSensor = ADC(26) # input from the right wall sensor
+frontSensor = ADC(27) # input from the front wall sensor
+#Triggers for LEDs
+sidesEmitter = Pin(22,Pin.OUT) # switches on the 2 side facing wall illumination LEDs
+frontEmitter = Pin(21,Pin.OUT) # switches on the forward facing wall illumination LEDs
+# These are the indicator LEDs on the wall sensor board
+leftSensorLED = Pin(20,Pin.OUT) # indicator LED for when left wall seen
+centreSensorLED = Pin(19,Pin.OUT) # indicator LED for when front wall seen
+rightSensorLED = Pin(18,Pin.OUT) # indicator LED for when right wall seen
+
+leftSensorLED.value(1)
+centreSensorLED.value(1)
+rightSensorLED.value(1)
+time.sleep(5)
+leftSensorLED.value(0)
+centreSensorLED.value(0)
+rightSensorLED.value(0)
+# Variables
+leftval = 3000
+rightval = 3000
+frontval = 6000
+
+leftRev.duty_u16(0)
+rightRev.duty_u16(0)
+
+def readSensors():
+ #Values are derived by subtracting the lit value of a sensor from the unlit value
+ #The UKMARS wall sensor board gives high value readings for low incident light and low value readings for high incident light
+ global leftSensorValue, rightSensorValue, frontSensorValue
+ global leftSensorLit, rightSensorLit, frontSensorLit
+ global leftSensorUnlit, rightSensorUnlit, frontSensorUnlit
+ global leftval, rightval, frontval
+
+ leftSensorUnlit = leftSensor.read_u16()
+ rightSensorUnlit = rightSensor.read_u16()
+ sidesEmitter.value(1)
+ time.sleep_us(75)
+ leftSensorLit = leftSensor.read_u16()
+ rightSensorLit = rightSensor.read_u16()
+ sidesEmitter.value(0)
+
+ frontSensorUnlit = frontSensor.read_u16()
+ frontEmitter.value(1)
+ time.sleep_us(75)
+ frontSensorLit = frontSensor.read_u16()
+ frontEmitter.value(0)
+ time.sleep_us(75)
+
+ leftSensorValue = (leftSensorLit - leftSensorUnlit) #
+ rightSensorValue = (rightSensorLit- rightSensorUnlit) #
+ frontSensorValue = (frontSensorLit- frontSensorUnlit)
+
+ if leftSensorValue > leftval:
+ leftSensorLED.value(1)
+ else:
+ leftSensorLED.value(0)
+ if rightSensorValue > rightval:
+ rightSensorLED.value(1)
+ else:
+ rightSensorLED.value(0)
+ if frontSensorValue > frontval:
+ centreSensorLED.value(1)
+ else:
+ centreSensorLED.value(0)
+
+
+def wallfollow():
+ global leftSensorValue, rightSensorValue, frontSensorValue
+ global leftWall, rightWall,frontWall,basespeed
+ pfactor = 0.4
+ dfactor = 20
+ preverr = 0
+ difference = 0
+ readSensors() # get initial side wall values
+ leftInit = leftSensorValue
+ rightInit = rightSensorValue
+ basespeed = 12000
+ maxspeed = 65535
+ leftspeed = basespeed
+ rightspeed = basespeed
+ leftFwd.duty_u16(maxspeed) # Set left forward max speed
+ leftRev.duty_u16(maxspeed - leftspeed) # and reverse speed to max speed - desired speed
+ rightFwd.duty_u16(maxspeed) # Set right forward max speed
+ rightRev.duty_u16(maxspeed - rightspeed) # and reverse speed to max speed - desired speed
+ while(True):
+ readSensors() #read the sensors
+ checkwalls() # see if walls are presents
+ if frontWall == True:
+ turnright()
+ #stop()
+ difference = leftSensorValue - leftInit # get difference from initial wall value
+ dterm = int((difference - preverr) * dfactor)
+ error = int(difference * pfactor) # proportional factor
+ leftspeed = basespeed + error + dterm
+ rightspeed = basespeed - error - dterm
+ # check that speed values have not gone out of range
+ if (leftspeed > 65500):
+ leftspeed = 65500
+ if (leftspeed < 1000):
+ leftspeed = 1000
+ if (rightspeed > 65500):
+ rightspeed = 65500
+ if (rightspeed < 1000):
+ rightspeed = 1000
+ #print( leftSensorValue, rightSensorValue, difference, leftspeed, rightspeed)
+ #time.sleep(0.5)
+ # light mezzanine LEDs to say which side of line we are on
+ if (difference > 0):
+ leftMezzLED.on()
+ rightMezzLED.off()
+ else:
+ leftMezzLED.off()
+ rightMezzLED.on()
+ leftFwd.duty_u16(maxspeed) # Set left forward speed
+ leftRev.duty_u16(maxspeed - leftspeed)
+ rightFwd.duty_u16(maxspeed) # Set right forward speed
+ rightRev.duty_u16(maxspeed - rightspeed)
+ preverr = difference
+
+def checkwalls():
+ global leftSensorValue, rightSensorValue, frontSensorValue
+ global leftWall, rightWall,frontWall, leftval, rightval,frontval
+ if leftSensorValue > leftval:
+ leftWall = 1
+ else:
+ leftwall = 0
+ if rightSensorValue > rightval:
+ rightWall = 1
+ else:
+ rightwall = 0
+ if frontSensorValue > frontval:
+ frontWall = 1
+ else:
+ frontWall = 0
+
+def stop():
+ maxspeed = 65535
+ leftFwd.duty_u16(maxspeed) # Set left forward speed
+ leftRev.duty_u16(maxspeed)
+ rightFwd.duty_u16(maxspeed) # Set right forward speed
+ rightRev.duty_u16(maxspeed)
+ if True:
+ leftMezzLED.on()
+ time.sleep(0.25)
+ leftMezzLED.off()
+ time.sleep(0.25)
+
+def turnright():
+ global basespeed
+ maxspeed = 65535
+ rightspeed = int(basespeed / 3)
+ leftFwd.duty_u16(maxspeed) # Set left forward speed
+ leftRev.duty_u16(maxspeed - basespeed)
+ rightFwd.duty_u16(maxspeed) # Set right forward speed
+ rightRev.duty_u16(maxspeed - rightspeed)
+ time.sleep(0.5)
+
+
+
+
+def photoshow():
+ global leftSensorValue, rightSensorValue, frontSensorValue
+ global leftSensorLit, rightSensorLit, frontSensorLit
+ global leftSensorUnlit, rightSensorUnlit, frontSensorUnlit
+ while True:
+ readSensors()
+ print("diff", leftSensorValue, rightSensorValue, frontSensorValue, "Lit", leftSensorLit, rightSensorLit, frontSensorLit,"Unlit",leftSensorUnlit, rightSensorUnlit, frontSensorUnlit)
+ time.sleep(0.5)
+
+def motortest():
+ maxspeed = 65535
+ speed = 25000
+ reverse = 15000
+ # run motors forward and backwards and light the LEDs then stop motors
+ print("motortest")
+ while True:
+ leftMezzLED.on() # Switch on the left mezzanine LED
+ leftFwd.duty_u16(speed) # Set left forward speed to 15000
+ leftRev.duty_u16(maxspeed-speed) # and reverse speed to zero
+ rightFwd.duty_u16(speed) # Set right forward speed to 15000
+ rightRev.duty_u16(maxspeed-speed) # and reverse speed to zero
+ time.sleep(5) # Wait for 5 seconds
+ leftMezzLED.off() # Switch off the left mezzanine LED
+ rightMezzLED.on() # Switch on the right mezzanine LED
+ leftRev.duty_u16(reverse) # Set left reverse speed to 15000
+ leftFwd.duty_u16(maxspeed-reverse) # and forward speed to zero
+ rightRev.duty_u16(reverse) # Set left reverse speed to 15000
+ rightFwd.duty_u16(maxspeed-reverse) # and forward speed to zero
+ time.sleep(5) # Wait for 5 seconds
+ leftMezzLED.off() # Switch off the left mezzanine LED
+ rightMezzLED.off() # Switch off the right mezzanine LED
+ leftFwd.duty_u16(0) # Set left forward speed to zero
+ leftRev.duty_u16(0) # and reverse speed to zero
+ rightFwd.duty_u16(0) # Set right forward speed to zero
+ rightRev.duty_u16(0) # and reverse speed to zero
+ time.sleep(1)
+
+# code executed when program starts
+wallfollow()
+#photoshow()
+#motortest()
\ No newline at end of file
diff --git a/sampleCode/DH_linefollow_example.py b/sampleCode/DH_linefollow_example.py
new file mode 100644
index 0000000..6573ce6
--- /dev/null
+++ b/sampleCode/DH_linefollow_example.py
@@ -0,0 +1,181 @@
+# simple line follower for the Gemini version of UKMARSbot
+
+from machine import Pin, ADC, PWM, UART
+import time
+import os
+# These are the pin connection settings for the main board and mezzanine using the Pi Pico
+leftMezzLED = Pin(12,Pin.OUT) # The LED marked D1 on the left side of the board
+rightMezzLED = Pin(13,Pin.OUT) # The LED marked D2 on the right side of the board
+onBoardLED = Pin("LED", Pin.OUT) # The small red LED on the Pico processor board
+leftFwd = PWM(Pin(2))
+leftFwd.freq(2000)
+leftRev = PWM(Pin(3))
+leftRev.freq(2000)
+rightFwd = PWM(Pin(4))
+rightFwd.freq(2000)
+rightRev = PWM(Pin(5))
+rightRev.freq(2000)
+leftButton = Pin(15, Pin.IN, Pin.PULL_UP) # The tactile button switch marked SW1
+rightButton = Pin(14, Pin.IN, Pin.PULL_UP) # The tactile button switch marked SW2
+
+# These are the pin connection settings for use with the line sensor board
+# phototransistor sensor pins
+leftSensor = ADC(28) # left front line sensor
+rightSensor = ADC(26) # right front line sensor
+radiusSensor = ADC(27) # left side radius change marker sensor
+startSensor = ADC(27) # right side start/stop marker sensor
+#Triggers for LEDs
+emitter = Pin(22,Pin.OUT) # trigger for front and right side start/stop LED
+radiusEmitter = Pin(18,Pin.OUT) # trigger for left side radius change LED
+# These are the indicator LEDs on the line sensor board
+leftSensorLED = Pin(21,Pin.OUT) # left indicator LED
+centreSensorLED = Pin(20,Pin.OUT) # centre indicator LED
+rightSensorLED = Pin(19,Pin.OUT) # right indicator LED
+
+# Variables
+maxspeed = 65535
+
+def readSensors():
+ #Values are derived by subtracting the lit value of a sensor from the unlit value
+ #Unlit raw readings close to 65000 indicate good separation from ambient light
+ #The radius and start/finish sensors are multiplexed onto the same ADC channel using separate emitters
+ #The UKMARS line follower sensor board gives high value readings for low incident light and low value readings for high incident light
+
+ global leftSensorValue, rightSensorValue, radiusSensorValue, startSensorValue
+ global leftSensorUnlit, rightSensorUnlit, radiusSensorUnlit, startSensorUnlit
+
+
+ #leftSensorUnlit = leftSensor.read_u16()
+ #rightSensorUnlit = rightSensor.read_u16()
+ #startSensorUnlit = startSensor.read_u16()
+ #radiusSensorUnlit = radiusSensor.read_u16()
+
+ emitter.value(1)
+ #time.sleep_us(75)
+ leftSensorLit = leftSensor.read_u16()
+ rightSensorLit = rightSensor.read_u16()
+ #startSensorLit = startSensor.read_u16()
+ #emitter.value(0)
+
+ #radiusEmitter.value(1)
+ #time.sleep_us(75)
+ #radiusSensorLit = radiusSensor.read_u16()
+ #radiusEmitter.value(0)
+ #time.sleep_us(75)
+
+ leftSensorValue = (leftSensorLit) # - leftSensorLit)
+ rightSensorValue = (rightSensorLit) # - rightSensorLit)
+ #startSensorValue = (startSensorUnlit - startSensorLit)
+ #radiusSensorValue = (radiusSensorUnlit - radiusSensorLit)
+
+def linefollow():
+ global leftSensorValue, rightSensorValue, radiusSensorValue, startSensorValue
+ global leftFrontLow, leftFrontHigh,rightFrontLow, rightFrontHigh, maxspeed
+ leftFrontLow = rightFrontLow = 35000
+ leftFrontHigh = rightFrontHigh = 35000
+ pfactor = 0.4
+ dfactor = 20
+ preverr = 0
+ difference = 0
+ basespeed = 11500
+ leftspeed = maxspeed - basespeed
+ rightspeed = maxspeed - basespeed
+ leftFwd.duty_u16(maxspeed) # Set left forward speed to max
+ leftRev.duty_u16(leftspeed) # and reverse speed to max - desired speed
+ rightFwd.duty_u16(maxspeed) # Set right forward speed to max
+ rightRev.duty_u16(rightspeed) # and reverse speed to max - desired speed
+ while(True):
+ readSensors() #read the sensors
+ highlow() # capture lowest and highest sensor values
+ side = 0
+ leftSensorTrigger = leftFrontHigh - ((leftFrontLow + leftFrontHigh) / 4)
+ if leftSensorValue > leftSensorTrigger : # going off the line to left
+ side = 1
+ leftspeed = int(basespeed * 1.2)
+ rightspeed = int(basespeed / 2)
+ rightSensorTrigger = rightFrontHigh - ((rightFrontLow + rightFrontHigh) / 4)
+ if rightSensorValue > rightSensorTrigger : # going off the line to right
+ side = 2
+ leftspeed = int(basespeed /2)
+ rightspeed = int(basespeed * 1.2)
+ if side == 0:
+ difference = leftSensorValue - rightSensorValue # get difference between front sensors
+ dterm = int((difference - preverr) * dfactor)
+ error = int(difference * pfactor) # proportional factor
+ leftspeed = basespeed + error + dterm
+ rightspeed = basespeed - error - dterm
+ # check that speed values have not gone out of range
+ if (leftspeed > 65500):
+ leftspeed = 65500
+ if (leftspeed < 1000):
+ leftspeed = 1000
+ if (rightspeed > 65500):
+ rightspeed = 65500
+ if (rightspeed < 1000):
+ rightspeed = 1000
+ #print( leftSensorValue, rightSensorValue, difference, leftspeed, rightspeed)
+ #time.sleep(0.5)
+ # light mezzanine LEDs to say which side of line we are on
+ if (difference > 0):
+ leftMezzLED.on()
+ rightMezzLED.off()
+ else:
+ leftMezzLED.off()
+ rightMezzLED.on()
+ leftFwd.duty_u16(maxspeed) # Set left forward speed to max
+ leftspeed = maxspeed - leftspeed
+ leftRev.duty_u16(leftspeed) # Set left forward speed to max - required speed
+ rightFwd.duty_u16(maxspeed) # Set right forward speed to max
+ rightspeed = maxspeed - rightspeed
+ rightRev.duty_u16(rightspeed) # Set left forward speed to max - required speed
+ preverr = difference
+
+def highlow():
+ global leftSensorValue, rightSensorValue, radiusSensorValue, startSensorValue
+ global leftFrontLow, leftFrontHigh,rightFrontLow, rightFrontHigh
+ if leftSensorValue > leftFrontHigh:
+ leftFrontHigh = leftSensorValue
+ if leftSensorValue < leftFrontLow:
+ leftFrontLow = leftSensorValue
+ if rightSensorValue > rightFrontHigh:
+ rightFrontHigh = rightSensorValue
+ if rightSensorValue < rightFrontLow:
+ rightFrontLow = rightSensorValue
+
+def photoshow():
+ global leftSensorValue, rightSensorValue, radiusSensorValue, startSensorValue
+ while True:
+ readSensors()
+ difference = leftSensorValue - rightSensorValue
+ print(leftSensorValue, rightSensorValue, difference)
+ time.sleep(0.5)
+
+def motortest():
+ # Run motors forward and backwards and light the LEDs then stop motors
+ global maxspeed
+ botspeed = maxspeed - 15000 # desired speed of 15000
+ leftMezzLED.on() # Switch on the left mezzanine LED
+ leftFwd.duty_u16(maxspeed) # Set left forward speed to maxspeed
+ leftRev.duty_u16(botspeed) # and reverse speed to maxspeed – desired speed of 15000
+ rightFwd.duty_u16(maxspeed) # Set right forward speed to maxspeed
+ rightRev.duty_u16(botspeed) # and reverse speed to maxspeed – desired speed of 15000
+ time.sleep(5) # Wait for 5 seconds
+ leftMezzLED.off() # Switch off the left mezzanine LED
+ rightMezzLED.on() # Switch on the right mezzanine LED
+ leftRev.duty_u16(maxspeed) # Set left reverse speed to maxspeed
+ leftFwd.duty_u16(botspeed) # and forward speed to desired reverse speed of 15000
+ rightRev.duty_u16(maxspeed) # Set left reverse speed to maxspeed
+ rightFwd.duty_u16(botspeed) # and forward speed to desired reverse speed of 15000
+ time.sleep(5) # Wait for 5 seconds
+ leftMezzLED.off() # Switch off the left mezzanine LED
+ rightMezzLED.off() # Switch off the right mezzanine LED
+ leftFwd.duty_u16(maxspeed) # Set left forward speed to zero
+ leftRev.duty_u16(maxspeed) # and reverse speed to zero
+ rightFwd.duty_u16(maxspeed) # Set right forward speed to zero
+ rightRev.duty_u16(maxspeed) # and reverse speed to zero
+
+
+# code exeecuted when program starts
+linefollow()
+#photoshow()
+#motortest()
\ No newline at end of file
diff --git a/sampleCode/geminiBasicLineFollower.py b/sampleCode/GeminiLineFollower.py
similarity index 93%
rename from sampleCode/geminiBasicLineFollower.py
rename to sampleCode/GeminiLineFollower.py
index fccda95..dd49abf 100644
--- a/sampleCode/geminiBasicLineFollower.py
+++ b/sampleCode/GeminiLineFollower.py
@@ -83,12 +83,14 @@
error = 0 #Delay should be as small as possible but give enough time for the logging data transmission over bluetooth
oldError = 0
change = 0
-kp = 0.75 #0.5 #1 #2.5
-kd = 1000 #500 #2000 #1500 #1000 #1500 #3000 #differential constant defined as the multiplier of change in error per second
+kp = 1.5
+kd = 1500 #differential constant defined as the multiplier of change in error per second
kdLoop = kd * loopPeriod / 1000 #The actual constant applied in the loop needs to scale for the duration of the loop
-speed = 20 #between 0 and 100
+speed = 25 #between 0 and 100
pErrorTerm = 0
dErrorTerm = 0
+fallOffError = 80 #Error to apply if line is lost on one side
+fallOffLevel = 10 #Sensor reading(%) below which line is considered lost
#Global variables to make readings available after the update function has run
leftSensorUnlit = 0
@@ -141,14 +143,14 @@ def leftMotor(speed):
if speed > 100:
speed = 100
dutyCycle = speed * 655
- leftFwd.duty_u16(0)
- leftRev.duty_u16(int(dutyCycle))
+ leftFwd.duty_u16(65535 - int(dutyCycle))
+ leftRev.duty_u16(65535)
else:
if speed > 100:
speed = 100
dutyCycle = speed * 655
- leftRev.duty_u16(0)
- leftFwd.duty_u16(int(dutyCycle))
+ leftRev.duty_u16(65535 - int(dutyCycle))
+ leftFwd.duty_u16(65535)
def rightMotor(speed):
if speed < 0:
@@ -156,20 +158,20 @@ def rightMotor(speed):
if speed > 100:
speed = 100
dutyCycle = speed * 655
- rightFwd.duty_u16(0)
- rightRev.duty_u16(int(dutyCycle))
+ rightFwd.duty_u16(65535 - int(dutyCycle))
+ rightRev.duty_u16(65535)
else:
if speed > 100:
speed = 100
dutyCycle = speed * 655
- rightRev.duty_u16(0)
- rightFwd.duty_u16(int(dutyCycle))
+ rightRev.duty_u16(65535 - int(dutyCycle))
+ rightFwd.duty_u16(65535)
def stopMotors():
- rightRev.duty_u16(0)
- rightFwd.duty_u16(0)
- leftRev.duty_u16(0)
- leftFwd.duty_u16(0)
+ rightRev.duty_u16(65535)
+ rightFwd.duty_u16(65535)
+ leftRev.duty_u16(65535)
+ leftFwd.duty_u16(65535)
#--------------------------------------------
#calibration caps and collars
@@ -376,8 +378,8 @@ def displayThresholds():
rightMezzLED.value(0)
startCount = loopCounter
- leftMotor(25)
- rightMotor(-25)
+ leftMotor(15)
+ rightMotor(-15)
while((loopCounter - startCount) < 200):
loopCounter +=1
readSensors()
@@ -438,7 +440,7 @@ def displayThresholds():
radiusTrigger = False
if(robotState == STOPPING):
- if((loopCounter - startCount) < 50): #run on past the finsih marker
+ if((loopCounter - startCount) < 10): #run on past the finsih marker
leftMezzLED.value(1)
else:
robotState = HALTED
@@ -449,9 +451,15 @@ def displayThresholds():
lsensorCal = (leftSensorValue - leftMin)*100 / (leftMax - leftMin)
#detect loosing the line
- if lsensorCal > 25 and rsensorCal > 25: #on the line
+ if lsensorCal > fallOffLevel or rsensorCal > fallOffLevel: #on the line
loopCounter +=1
- error = lsensorCal - rsensorCal
+ if lsensorCal < fallOffLevel or rsensorCal < fallOffLevel:
+ if oldError < 0:
+ error = -fallOffError
+ else:
+ error = fallOffError
+ else:
+ error = lsensorCal - rsensorCal
pErrorTerm = error * kp
change = error - oldError
oldError = error
diff --git a/sampleCode/lineFollowerDiagnostics/GeminiLFdiagnostics.py b/sampleCode/lineFollowerDiagnostics/GeminiLFdiagnostics.py
index c16a945..2299f44 100644
--- a/sampleCode/lineFollowerDiagnostics/GeminiLFdiagnostics.py
+++ b/sampleCode/lineFollowerDiagnostics/GeminiLFdiagnostics.py
@@ -17,7 +17,29 @@
#4- move the robot forwards then backwards automatically returns to test phase 0
#
#This programm requires diagnosticEncoders.py
-#
+#------------
+#MIT License
+
+#Copyright (c) 2025 Ian Butterworth
+
+#Permission is hereby granted, free of charge, to any person obtaining a copy
+#of this software and associated documentation files (the "Software"), to deal
+#in the Software without restriction, including without limitation the rights
+#to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+#copies of the Software, and to permit persons to whom the Software is
+#furnished to do so, subject to the following conditions:
+
+#The above copyright notice and this permission notice shall be included in all
+#copies or substantial portions of the Software.
+
+#THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+#IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+#FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+#AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+#LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+#OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+#SOFTWARE.
+
from machine import Pin,ADC,PWM
import time
from diagnosticEncoders import Encoders
diff --git a/sampleCode/lineFollowerDiagnostics/diagnosticEncoders.py b/sampleCode/lineFollowerDiagnostics/diagnosticEncoders.py
index de323b1..2b905f7 100644
--- a/sampleCode/lineFollowerDiagnostics/diagnosticEncoders.py
+++ b/sampleCode/lineFollowerDiagnostics/diagnosticEncoders.py
@@ -4,6 +4,7 @@
#Encoder pin assignments and rotataion directions are hard coded in the class definition
#
#
+# type: ignore
import machine
import utime