diff --git a/fp-lib-table b/fp-lib-table
index 4c4efcf..0ae8263 100644
--- a/fp-lib-table
+++ b/fp-lib-table
@@ -3,5 +3,7 @@
   (lib (name "Resistor_SMD")(type "KiCad")(uri "/home/emamaker/projects/AMazeIng-boardgame/robots/hardware/Resistor_SMD.pretty")(options "")(descr ""))
   (lib (name "FSM1LP")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/LIB_FSM1LP/FSM1LP/KiCad")(options "")(descr ""))
   (lib (name "xiao ESP32C3_PCB")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/Seeeduino-XIAO-ESP32C3-KiCAD-Library-battery/Seeeduino xiao ESP32C3 KiCAD Library/xiao ESP32C3_PCB.pretty")(options "")(descr ""))
-  (lib (name "KiCad")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/LIB_A3901SEJTR-T/A3901SEJTR-T/KiCad")(options "")(descr ""))
+  (lib (name "A3901SEJTR-T")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/LIB_A3901SEJTR-T/A3901SEJTR-T/KiCad")(options "")(descr ""))
+  (lib (name "A6SN-4101")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/LIB_A6SN-4101/A6SN-4101/KiCad")(options "")(descr ""))
+  (lib (name "A6SN-6101")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/LIB_A6SN-6101/A6SN-6101/KiCad")(options "")(descr ""))
 )
diff --git a/robot.kicad_pcb b/robot.kicad_pcb
index 8b8b072..0b4302e 100644
--- a/robot.kicad_pcb
+++ b/robot.kicad_pcb
@@ -86,18 +86,18 @@
   (net 8 "/MOT2_OUT1")
   (net 9 "/MOT1_OUT2")
   (net 10 "/MOT1_OUT1")
-  (net 11 "unconnected-(U1-PA8_A4_D4_SDA-Pad5)")
-  (net 12 "unconnected-(U1-PA11_A3_D3-Pad4)")
-  (net 13 "unconnected-(U1-PA10_A2_D2-Pad3)")
-  (net 14 "unconnected-(U1-PA4_A1_D1-Pad2)")
-  (net 15 "unconnected-(U1-PA5_A9_D9_MISO-Pad10)")
-  (net 16 "unconnected-(U1-PA6_A10_D10_MOSI-Pad11)")
-  (net 17 "unconnected-(U1-5V-Pad14)")
-  (net 18 "+BATT")
-  (net 19 "Net-(U1-PA02_A0_D0)")
-  (net 20 "VCC")
-  (net 21 "unconnected-(S1-COM_1-Pad1)")
-  (net 22 "unconnected-(S1-COM_2-Pad2)")
+  (net 11 "unconnected-(U1-5V-Pad14)")
+  (net 12 "+BATT")
+  (net 13 "VCC")
+  (net 14 "unconnected-(S1-COM_1-Pad1)")
+  (net 15 "unconnected-(S1-COM_2-Pad2)")
+  (net 16 "/BTN_1")
+  (net 17 "/BTN_2")
+  (net 18 "/BTN_3")
+  (net 19 "/BTN_4")
+  (net 20 "/BTN_5")
+  (net 21 "/BTN_6")
+  (net 22 "/BATT_MEAS")
 
   (footprint "xiao ESP32C3_PCB:MOUDLE14P-SMD-2.54-21X17.8MM" (layer "F.Cu")
     (tstamp 1794faf8-0df0-42fb-beed-45b0b6afbfe8)
@@ -108,30 +108,30 @@
     (attr through_hole)
     (fp_text reference "U1" (at 9.3345 -21.7805) (layer "F.SilkS")
         (effects (font (size 0.7 0.7) (thickness 0.15)))
-      (tstamp 47c0754e-2e28-4c29-bdc3-151d57d6f777)
+      (tstamp 93de8541-9beb-46f0-b4ab-de4c4396ba25)
     )
     (fp_text value "MOUDLE-SEEEDUINO-XIAO-ESP32C3" (at 8.89 -10.795) (layer "F.Fab")
         (effects (font (size 0.48 0.48) (thickness 0.15)))
-      (tstamp ff7f91ef-f13a-47bf-a227-de3c171880ff)
+      (tstamp 173217a0-b97a-47c2-b583-95222faddffa)
     )
     (fp_line (start 0 -20.3285) (end 0 0)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp 2eed1710-73e0-4566-b850-8623f8f7a8ed))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp a8b28a1b-ebd2-402d-a3e2-a4ca597caa96))
     (fp_line (start 0 0) (end 17.8 0)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp 7119b4a7-c0c9-41e7-8e06-c680db8025ba))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp 41e4c67a-26f2-4a48-a8ca-7be3ead6d71a))
     (fp_line (start 0.671541 -21) (end 0 -20.3285)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp 765472b0-8d81-44ca-b0e1-0b9ebcb5dffc))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp d8eaff66-b737-4d87-96c0-a6e463fa1802))
     (fp_line (start 4.396 -15.072) (end 4.396 -22.425)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp 4e09a4ed-9995-4ffa-a227-75dcc3590cdd))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp 9e2c5308-4380-4ca0-bec4-5120d68d039a))
     (fp_line (start 4.4 -22.424) (end 13.395 -22.424)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp e5a9db28-1b09-4c3c-a5bf-ce6b77483037))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp cd70c472-b68f-43e9-beaf-795df37b1df2))
     (fp_line (start 13.395 -22.424) (end 13.395 -15.072)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp da121132-1eb1-4c52-9d7b-c550310adfbe))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp b166f49e-52b2-421e-bbde-63cddf35f32a))
     (fp_line (start 13.395 -15.072) (end 4.396 -15.072)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp 8f16981f-800e-49c9-ac90-0c621bdb6a3b))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp d93293fc-9ec8-468a-87a5-3764c31fcf66))
     (fp_line (start 17.8 -21) (end 0.671541 -21)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp a24e078d-785b-4cda-b4c0-7e42bd35dd00))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp bf33c8f3-ac5d-4191-826d-30e6f727bb68))
     (fp_line (start 17.8 0) (end 17.8 -21)
-      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp af5e087f-b841-436f-8920-9b31a3de55e2))
+      (stroke (width 0.127) (type solid)) (layer "F.SilkS") (tstamp c77f94e4-3772-4128-a946-25f54ea9b3c4))
     (fp_poly
       (pts
         (xy 0 -20.955)
@@ -140,42 +140,42 @@
         (xy 0 0)
       )
 
-      (stroke (width 0.01) (type solid)) (fill solid) (layer "F.CrtYd") (tstamp 6c8e2ef4-de76-48b1-9e34-2c72aaf39885))
+      (stroke (width 0.01) (type solid)) (fill solid) (layer "F.CrtYd") (tstamp abe17370-eea6-4267-8ca6-2746b615eef0))
     (pad "1" smd roundrect (at 0.835 -18.12) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 19 "Net-(U1-PA02_A0_D0)") (pinfunction "PA02_A0_D0") (pintype "bidirectional") (tstamp 57a96133-453f-4f3a-8afd-d2813f82058b))
+      (net 17 "/BTN_2") (pinfunction "PA02_A0_D0") (pintype "bidirectional") (tstamp 262e9b60-53b3-4d81-a24f-aeeb4edec7cc))
     (pad "2" smd roundrect (at 0.835 -15.58) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 14 "unconnected-(U1-PA4_A1_D1-Pad2)") (pinfunction "PA4_A1_D1") (pintype "bidirectional+no_connect") (tstamp 44e6e2b3-7bae-48d6-b5fc-221765ec611d))
+      (net 18 "/BTN_3") (pinfunction "PA4_A1_D1") (pintype "bidirectional") (tstamp 4f117eba-df0f-4958-80f6-df1f1c051726))
     (pad "3" smd roundrect (at 0.835 -13.04) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 13 "unconnected-(U1-PA10_A2_D2-Pad3)") (pinfunction "PA10_A2_D2") (pintype "bidirectional+no_connect") (tstamp 469bbda2-ede9-42ca-a83d-e63519c4b812))
+      (net 19 "/BTN_4") (pinfunction "PA10_A2_D2") (pintype "bidirectional") (tstamp 26333db0-d52c-4b25-8a4f-dad295dfaa0f))
     (pad "4" smd roundrect (at 0.835 -10.5) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 12 "unconnected-(U1-PA11_A3_D3-Pad4)") (pinfunction "PA11_A3_D3") (pintype "bidirectional+no_connect") (tstamp 753b4166-7e38-4cd7-9fa1-a463aba1d885))
+      (net 20 "/BTN_5") (pinfunction "PA11_A3_D3") (pintype "bidirectional") (tstamp 32cb53c1-6d82-41fc-84b8-1f68442d65bc))
     (pad "5" smd roundrect (at 0.835 -7.96) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 11 "unconnected-(U1-PA8_A4_D4_SDA-Pad5)") (pinfunction "PA8_A4_D4_SDA") (pintype "bidirectional+no_connect") (tstamp 8fd8e451-a5c1-4558-b975-79022b13106e))
+      (net 21 "/BTN_6") (pinfunction "PA8_A4_D4_SDA") (pintype "bidirectional") (tstamp 4a9902df-117e-48a8-8f39-2c4bc271d836))
     (pad "6" smd roundrect (at 0.835 -5.42) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 4 "/MOT1_IN2") (pinfunction "PA9_A5_D5_SCL") (pintype "bidirectional") (tstamp 86be1cf4-08a7-4aec-bbbe-4195d581d281))
+      (net 4 "/MOT1_IN2") (pinfunction "PA9_A5_D5_SCL") (pintype "bidirectional") (tstamp ee56c4be-f85d-4706-97da-50c2f00031d8))
     (pad "7" smd roundrect (at 0.835 -2.88) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 3 "/MOT1_IN1") (pinfunction "PB08_A6_D6_TX") (pintype "bidirectional") (tstamp 82990d46-bead-474c-a9d0-19ae91efa67a))
+      (net 3 "/MOT1_IN1") (pinfunction "PB08_A6_D6_TX") (pintype "bidirectional") (tstamp a9eafb68-3b27-4f31-98c6-9a9032e54b16))
     (pad "8" smd roundrect (at 17 -2.88) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 6 "/MOT2_IN2") (pinfunction "PB09_A7_D7_RX") (pintype "bidirectional") (tstamp c8b996d7-982b-48ea-9889-231df771b241))
+      (net 6 "/MOT2_IN2") (pinfunction "PB09_A7_D7_RX") (pintype "bidirectional") (tstamp 8c0ebc96-b782-48fe-a2d4-bd04b1eeaa7a))
     (pad "9" smd roundrect (at 17 -5.42) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 5 "/MOT2_IN1") (pinfunction "PA7_A8_D8_SCK") (pintype "bidirectional") (tstamp 334bd154-dd04-4b58-a327-dc38d26534e5))
+      (net 5 "/MOT2_IN1") (pinfunction "PA7_A8_D8_SCK") (pintype "bidirectional") (tstamp 64359cea-be0c-4484-8dd3-ed47c04c56f8))
     (pad "10" smd roundrect (at 17 -7.96) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 15 "unconnected-(U1-PA5_A9_D9_MISO-Pad10)") (pinfunction "PA5_A9_D9_MISO") (pintype "bidirectional+no_connect") (tstamp c4833ba0-6556-45cc-8b33-f27f9ea45594))
+      (net 22 "/BATT_MEAS") (pinfunction "PA5_A9_D9_MISO") (pintype "bidirectional") (tstamp 6c38c0c8-5632-43f6-8e40-13242b5b702b))
     (pad "11" smd roundrect (at 17 -10.5) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 16 "unconnected-(U1-PA6_A10_D10_MOSI-Pad11)") (pinfunction "PA6_A10_D10_MOSI") (pintype "bidirectional+no_connect") (tstamp 435d4b43-4a69-41f0-8854-d290ca365a78))
+      (net 16 "/BTN_1") (pinfunction "PA6_A10_D10_MOSI") (pintype "bidirectional") (tstamp caf2eb62-1e61-43f3-b38c-20f720fc5d2e))
     (pad "12" smd roundrect (at 17 -13.04) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 1 "+3.3V") (pinfunction "3V3") (pintype "bidirectional") (tstamp 8387f191-3022-4777-9e06-375d4c2259d8))
+      (net 1 "+3.3V") (pinfunction "3V3") (pintype "bidirectional") (tstamp 1b357965-1044-4b94-9696-75d8e11c0fb9))
     (pad "13" smd roundrect (at 17 -15.58) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 2 "GND") (pinfunction "GND") (pintype "bidirectional") (tstamp 6b0cd883-1295-4b07-ac0f-4bfa50faa274))
+      (net 2 "GND") (pinfunction "GND") (pintype "bidirectional") (tstamp 423d3d9b-3470-447e-baeb-1c5784f41aea))
     (pad "14" smd roundrect (at 17 -18.12) (size 2.75 2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.5)
-      (net 17 "unconnected-(U1-5V-Pad14)") (pinfunction "5V") (pintype "bidirectional+no_connect") (tstamp 8b3825c4-2ea6-4564-8219-3c1b9bb6fafe))
+      (net 11 "unconnected-(U1-5V-Pad14)") (pinfunction "5V") (pintype "bidirectional+no_connect") (tstamp 4f35b6ca-0e8c-43aa-8586-f42e698b2e41))
     (pad "15" smd rect (at 4.4704 -12.7254) (size 2.06 1.05) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 2 "GND") (pinfunction "BAT-") (pintype "input") (tstamp c862257f-9547-443f-a359-59ffbfc7c2b5))
+      (net 2 "GND") (pinfunction "BAT-") (pintype "input") (tstamp 321e5eef-b4c5-4690-b6cb-f8ddc8b186c9))
     (pad "16" smd rect (at 4.4704 -10.8204) (size 2.06 1.05) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 20 "VCC") (pinfunction "BAT+") (pintype "input") (tstamp b3a86d39-39ac-4ccf-adb4-e23895dc43a4))
+      (net 13 "VCC") (pinfunction "BAT+") (pintype "input") (tstamp ca2d9447-ed9b-48e6-8e31-9f5e6cbfe31e))
     (pad "17" smd rect (at 11.303 -9.779) (size 3.02 3.02) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 2 "GND") (pinfunction "THERMAL_PAD") (pintype "bidirectional") (tstamp a24dc150-9a4c-406d-a10f-e7210cbaa649))
-    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp 5a0b0e48-5bc2-4f42-9f77-9dc8138b3083) (hatch full 0.508)
+      (net 2 "GND") (pinfunction "THERMAL_PAD") (pintype "bidirectional") (tstamp f1469db4-3c3b-4639-a9da-ba7fa9738f2c))
+    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp caf1788d-fdc3-4f23-a8bf-cac2b8b782de) (hatch full 0.508)
       (connect_pads (clearance 0))
       (min_thickness 0.01) (filled_areas_thickness no)
       (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour not_allowed) (footprints allowed))
@@ -189,7 +189,7 @@
         )
       )
     )
-    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp 74fc2f35-78c2-4ea8-b263-358ffd500436) (hatch full 0.508)
+    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp aeb2053e-fd15-46ab-af64-884a2d8fac96) (hatch full 0.508)
       (connect_pads (clearance 0))
       (min_thickness 0.01) (filled_areas_thickness no)
       (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour not_allowed) (footprints allowed))
@@ -203,7 +203,7 @@
         )
       )
     )
-    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp 65516024-1180-42ef-9b20-aa3c744b4d77) (hatch full 0.508)
+    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp bd61ca61-9b2a-4101-ac87-1380ee56cd16) (hatch full 0.508)
       (connect_pads (clearance 0))
       (min_thickness 0.01) (filled_areas_thickness no)
       (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour not_allowed) (footprints allowed))
@@ -217,7 +217,7 @@
         )
       )
     )
-    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp dd84d0e5-0e73-448a-8d7e-24a2e4005f41) (hatch full 0.508)
+    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp 3b0891b4-5a47-4e89-af64-6a0e556d73b9) (hatch full 0.508)
       (connect_pads (clearance 0))
       (min_thickness 0.01) (filled_areas_thickness no)
       (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour not_allowed) (footprints allowed))
@@ -231,7 +231,7 @@
         )
       )
     )
-    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp c2b94047-fa3b-4be1-a51e-326c3749f558) (hatch full 0.508)
+    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp 97e68410-a633-49c0-82dd-785663a6958e) (hatch full 0.508)
       (connect_pads (clearance 0))
       (min_thickness 0.01) (filled_areas_thickness no)
       (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour not_allowed) (footprints allowed))
@@ -245,7 +245,7 @@
         )
       )
     )
-    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp 103f331b-a9ef-4569-87e3-28d101c329a1) (hatch full 0.508)
+    (zone (net 0) (net_name "") (layer "F.Cu") (tstamp dd04c05f-a1ab-475a-9dfa-5ba9c0bab559) (hatch full 0.508)
       (connect_pads (clearance 0))
       (min_thickness 0.01) (filled_areas_thickness no)
       (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour not_allowed) (footprints allowed))
@@ -431,7 +431,7 @@
     (fp_line (start 5 2.2) (end 5 -1.6)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 9dd7fb52-8616-4b9e-b7a2-a049ce0049de))
     (pad "1" thru_hole roundrect (at 0 0) (size 1.7 2) (drill 1) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.147059)
-      (net 18 "+BATT") (pinfunction "Pin_1") (pintype "passive") (tstamp a4bc9722-0339-497f-b1c2-9376eb2d36d3))
+      (net 12 "+BATT") (pinfunction "Pin_1") (pintype "passive") (tstamp a4bc9722-0339-497f-b1c2-9376eb2d36d3))
     (pad "2" thru_hole oval (at 2.5 0) (size 1.7 2) (drill 1) (layers "*.Cu" "*.Mask")
       (net 2 "GND") (pinfunction "Pin_2") (pintype "passive") (tstamp 1e7a329b-1b74-4991-bf5c-b4dfc4087ce4))
     (model "${KISYS3DMOD}/Connector_JST.3dshapes/JST_EH_B2B-EH-A_1x02_P2.50mm_Vertical.wrl"
@@ -443,7 +443,7 @@
 
   (footprint "FSM1LP:FSM1LP" (layer "B.Cu")
     (tstamp 0e3e0ce1-1578-414e-90b5-567cc7334bdd)
-    (at 430.53 72.682 180)
+    (at 426.9372 85.344)
     (descr "FSM1LP-4")
     (tags "Switch")
     (property "Arrow Part Number" "FSM1LP")
@@ -458,64 +458,64 @@
     (property "ki_description" "Tactile Switches SPST OFF-(ON) 160gF")
     (path "/c0f98842-fadb-43dc-b816-c90c338f5038")
     (attr smd)
-    (fp_text reference "S1" (at 0 0) (layer "B.SilkS")
+    (fp_text reference "S1" (at 0 0 180) (layer "B.SilkS")
         (effects (font (size 1.27 1.27) (thickness 0.254)) (justify mirror))
-      (tstamp d934769e-0753-490e-ba05-54a9d0d28f27)
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+    (pad "5" smd rect (at 4.205 0 270) (size 1.4 1.6) (layers "B.Cu" "B.Paste" "B.Mask")
+      (net 2 "GND") (pinfunction "GND") (pintype "passive") (tstamp bf9c4058-d522-43d7-8aed-1c1d0eece49a))
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   (footprint "Resistor_SMD:R_0201_0603Metric_Pad0.64x0.40mm_HandSolder" (layer "B.Cu")
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     (tags "resistor handsolder")
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+    (pad "1" smd roundrect (at -0.4075 0 270) (size 0.635 0.4) (layers "B.Cu" "B.Mask") (roundrect_rratio 0.25)
+      (net 22 "/BATT_MEAS") (pintype "passive") (tstamp aafb01d9-4ce1-480b-a843-9699aa5b38c5))
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       (net 2 "GND") (pintype "passive") (tstamp c777b65e-6f5c-4859-b0fb-360a4beb83ff))
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@@ -577,7 +577,7 @@
 
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+    (pad "2" smd roundrect (at 0.4075 0 90) (size 0.635 0.4) (layers "B.Cu" "B.Mask") (roundrect_rratio 0.25)
+      (net 22 "/BATT_MEAS") (pintype "passive") (tstamp df9b38cc-7274-49c0-a276-2a9eea0025ba))
     (model "${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0201_0603Metric.wrl"
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     (tags "capacitor handsolder")
     (property "Sheetfile" "robot.kicad_sch")
@@ -679,9 +679,105 @@
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   )
 
-  (footprint "KiCad:SON50P300X300X75-11N-D" (layer "B.Cu")
+  (footprint "A6SN-6101:A6SN6101" (layer "B.Cu")
+    (tstamp 60237d60-2917-44a7-baa9-57c62abeeffe)
+    (at 430.53 74.7674 180)
+    (descr "A6SN-6101-2")
+    (tags "Switch")
+    (property "Arrow Part Number" "")
+    (property "Arrow Price/Stock" "")
+    (property "Height" "4.55")
+    (property "Manufacturer_Name" "Omron Electronics")
+    (property "Manufacturer_Part_Number" "A6SN-6101")
+    (property "Mouser Part Number" "653-A6SN-6101")
+    (property "Mouser Price/Stock" "https://www.mouser.com/Search/Refine.aspx?Keyword=653-A6SN-6101")
+    (property "Sheetfile" "robot.kicad_sch")
+    (property "Sheetname" "")
+    (property "ki_description" "DIP Switches / SIP Switches 6P Knife-Edge, 2.3mm Slide SMT Flat-Act")
+    (path "/52883182-2578-420e-b1b4-57f11895655e")
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+  (segment (start 424.8784 83.096) (end 422.769 83.096) (width 0.3) (layer "B.Cu") (net 12) (tstamp 34204b53-2f71-4a32-855f-a72fb26f1753))
+  (segment (start 428.0916 78.5876) (end 428.4472 78.9432) (width 0.3) (layer "F.Cu") (net 13) (tstamp 91d9c17d-2100-4b9e-8a32-60b8e67d8fe2))
+  (segment (start 428.4472 78.9432) (end 428.4472 82.4992) (width 0.3) (layer "F.Cu") (net 13) (tstamp e113f030-a181-48e6-a2c0-a39482ba501f))
+  (segment (start 426.1104 78.0796) (end 427.5836 78.0796) (width 0.3) (layer "F.Cu") (net 13) (tstamp ee95a5b5-5a21-4e32-8466-f89a95f78986))
+  (segment (start 427.5836 78.0796) (end 428.0916 78.5876) (width 0.3) (layer "F.Cu") (net 13) (tstamp f53eb49e-08d3-469e-8055-75b3ae09c452))
+  (via (at 428.4472 82.4992) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 13) (tstamp e28e94d1-25de-40a4-8d24-722ba7b27f50))
+  (segment (start 429.044 83.096) (end 431.179 83.096) (width 0.3) (layer "B.Cu") (net 13) (tstamp 1885ff43-3dab-4606-a56b-ec187eeeb3f0))
+  (segment (start 428.4472 82.4992) (end 429.044 83.096) (width 0.3) (layer "B.Cu") (net 13) (tstamp 32b22a32-2e42-4e70-8713-9bcd98f1138d))
+  (segment (start 433.1444 82.4756) (end 433.832 82.4756) (width 0.3) (layer "B.Cu") (net 13) (tstamp 4b605c42-2288-4a36-a7e6-242276c8b827))
+  (segment (start 431.179 83.096) (end 432.524 83.096) (width 0.3) (layer "B.Cu") (net 13) (tstamp 4e3eb72c-e298-4126-8168-ae5432867f74))
+  (segment (start 432.524 83.096) (end 433.1444 82.4756) (width 0.3) (layer "B.Cu") (net 13) (tstamp c6004973-15e8-41b5-9cca-b9b7193b4f60))
+  (via (at 438.64 78.4) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 16) (tstamp f45a6420-b61a-49e3-ad91-aa766d29d5ce))
+  (segment (start 436.88 78.8924) (end 438.1476 78.8924) (width 0.1) (layer "B.Cu") (net 16) (tstamp 5814f4ee-8dd9-492a-a3e7-99961db44735))
+  (segment (start 438.1476 78.8924) (end 438.64 78.4) (width 0.1) (layer "B.Cu") (net 16) (tstamp 5b787394-dbff-4b5a-87a6-a250579f0019))
+  (segment (start 424.513716 72.317316) (end 424.740149 72.317316) (width 0.1) (layer "F.Cu") (net 17) (tstamp 0fb2bacd-ea19-453e-b69f-aa3ca5ef9b41))
+  (segment (start 422.475 70.78) (end 424.094 70.78) (width 0.1) (layer "F.Cu") (net 17) (tstamp 3000f89e-aff9-43d7-9425-fdff4b6d1f1e))
+  (segment (start 424.094 70.78) (end 424.2816 70.9676) (width 0.1) (layer "F.Cu") (net 17) (tstamp 3141d0ae-e22d-42e1-81fa-6e16f03c6aac))
+  (segment (start 424.2816 70.9676) (end 424.2816 72.0852) (width 0.1) (layer "F.Cu") (net 17) (tstamp 3a1a3038-5c7d-4113-9137-d7d30702bb0d))
+  (segment (start 424.2816 72.0852) (end 424.513716 72.317316) (width 0.1) (layer "F.Cu") (net 17) (tstamp 416c6e78-98cb-485c-abea-b8430199f4b2))
+  (segment (start 422.1988 70.866) (end 422.389 70.866) (width 0.1) (layer "F.Cu") (net 17) (tstamp 7c516714-b1b0-403f-bd38-e1a8ce961af2))
+  (segment (start 422.389 70.866) (end 422.475 70.78) (width 0.1) (layer "F.Cu") (net 17) (tstamp b167e62e-b1fe-4f91-a399-274dfda91a95))
+  (via (at 424.740149 72.317316) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 17) (tstamp f2e5cddc-e5ff-4f5d-b87d-5453fc083920))
+  (segment (start 432.336916 72.317316) (end 434.34 74.3204) (width 0.1) (layer "B.Cu") (net 17) (tstamp 3672d0e1-0adb-47d7-bda8-e97fb8955b72))
+  (segment (start 434.34 74.3204) (end 434.34 78.8924) (width 0.1) (layer "B.Cu") (net 17) (tstamp 372b9bba-db19-4fc6-8ac2-8c2e2cc92a4f))
+  (segment (start 424.740149 72.317316) (end 432.336916 72.317316) (width 0.1) (layer "B.Cu") (net 17) (tstamp e4159bcb-92cc-46af-91cf-b8846e49b65b))
+  (segment (start 424.7036 73.32) (end 422.475 73.32) (width 0.1) (layer "F.Cu") (net 18) (tstamp 7dc890fd-8e1e-422d-8195-150a20e5dfa3))
+  (segment (start 424.7388 73.3552) (end 424.7036 73.32) (width 0.1) (layer "F.Cu") (net 18) (tstamp a2a22c69-462a-40c4-a29a-0c0014f853ca))
+  (via (at 424.7388 73.3552) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 18) (tstamp 73bd9014-e3a6-45a3-8ddd-4698f717a2e7))
+  (segment (start 430.4792 73.6346) (end 430.1998 73.3552) (width 0.1) (layer "B.Cu") (net 18) (tstamp 6d106dc9-c5fe-4dc6-9a4b-335f86511758))
+  (segment (start 431.8 78.8924) (end 431.8 74.9554) (width 0.1) (layer "B.Cu") (net 18) (tstamp ba9efbe4-5dd4-400e-b898-b04f30ec89de))
+  (segment (start 431.8 74.9554) (end 430.4792 73.6346) (width 0.1) (layer "B.Cu") (net 18) (tstamp d8e963e4-a2d7-4f16-bbe6-ea5327caeb01))
+  (segment (start 430.1998 73.3552) (end 424.7388 73.3552) (width 0.1) (layer "B.Cu") (net 18) (tstamp f133a5d9-536b-40b4-9cb5-e288501847ff))
+  (segment (start 424.1956 75.86) (end 422.475 75.86) (width 0.1) (layer "F.Cu") (net 19) (tstamp ebe5666a-674c-4ad8-97da-6a69cb89723f))
+  (segment (start 424.3324 75.9968) (end 424.1956 75.86) (width 0.1) (layer "F.Cu") (net 19) (tstamp fc039121-a348-4646-b4f6-b2b59de12e15))
+  (via (at 424.3324 75.9968) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 19) (tstamp 21225e60-1a7d-4a9d-ac27-55d5b5008e3a))
+  (segment (start 429.26 78.8924) (end 426.3644 75.9968) (width 0.1) (layer "B.Cu") (net 19) (tstamp 557399c9-1fa8-49ef-8fff-e1bd4a9a9465))
+  (segment (start 426.3644 75.9968) (end 424.3324 75.9968) (width 0.1) (layer "B.Cu") (net 19) (tstamp e789bfd9-75f3-4da6-9ca3-d0e2518e90c7))
+  (segment (start 424.0432 78.4) (end 426.1104 80.4672) (width 0.1) (layer "F.Cu") (net 20) (tstamp 695c4a91-d8f2-423c-97b4-c8b72cc85284))
+  (segment (start 422.475 78.4) (end 424.0432 78.4) (width 0.1) (layer "F.Cu") (net 20) (tstamp 8dc6dddc-deb8-4a6e-859a-8aabb8510aad))
+  (segment (start 426.1104 80.4672) (end 426.72 80.4672) (width 0.1) (layer "F.Cu") (net 20) (tstamp c9eb69dd-b9d9-4c15-bf9d-3f4214000b62))
+  (via (at 426.72 80.4672) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 20) (tstamp 08de307f-92ff-4ae8-a7a9-6a1befb2c85e))
+  (segment (start 426.72 80.4672) (end 426.72 78.8924) (width 0.1) (layer "B.Cu") (net 20) (tstamp 4ca18aa8-76fc-4fbd-a726-f75b5073ebcc))
+  (segment (start 424.1956 80.94) (end 422.475 80.94) (width 0.1) (layer "F.Cu") (net 21) (tstamp 5245a17a-d0e0-4a26-bfdf-a1196931b997))
+  (segment (start 424.2308 80.9752) (end 424.1956 80.94) (width 0.1) (layer "F.Cu") (net 21) (tstamp b46107cb-cd13-4c25-ba99-2cca58709137))
+  (via (at 424.2308 80.9752) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 21) (tstamp d2d0cf3d-8c39-4f51-9512-af28bea4272b))
+  (segment (start 424.18 80.9244) (end 424.2308 80.9752) (width 0.1) (layer "B.Cu") (net 21) (tstamp 7a625467-e24b-4b99-b669-12a112b03b1c))
+  (segment (start 424.18 78.8924) (end 424.18 80.9244) (width 0.1) (layer "B.Cu") (net 21) (tstamp 89e820ee-e6cf-4074-9178-2e627d786972))
+  (segment (start 436.5752 80.94) (end 438.64 80.94) (width 0.1) (layer "F.Cu") (net 22) (tstamp d1c12a93-3ae3-4fbe-aa3d-ce72dee2772f))
+  (via (at 436.5752 80.94) (size 0.8) (drill 0.4) (layers "F.Cu" "B.Cu") (net 22) (tstamp 9044ebbc-7cb3-4310-8f88-9f883f1c933f))
+  (segment (start 435.0004 81.2292) (end 435.0004 81.662) (width 0.1) (layer "B.Cu") (net 22) (tstamp 416772bd-a16d-4e64-ab9b-f78b13f3eaf5))
+  (segment (start 434.999 81.6606) (end 435.0004 81.662) (width 0.1) (layer "B.Cu") (net 22) (tstamp 7a47ab48-c84e-40ca-a5dd-8597b681a31b))
+  (segment (start 435.2896 80.94) (end 435.0004 81.2292) (width 0.1) (layer "B.Cu") (net 22) (tstamp c4cf19e5-eb49-4169-83e2-a1df2a91673f))
+  (segment (start 436.5752 80.94) (end 435.2896 80.94) (width 0.1) (layer "B.Cu") (net 22) (tstamp d6d386d5-ef55-4614-883c-66ccf400706e))
+  (segment (start 433.832 81.6606) (end 434.999 81.6606) (width 0.1) (layer "B.Cu") (net 22) (tstamp e57c269b-5604-4c8a-a5fa-8e1b686d1153))
 
+  (group "" (id 9bfa69eb-48d3-4e71-a467-04c712c43c43)
+    (members
+      1c82bf9a-8352-40b5-aaad-683506039b5d
+      4cd5a3c4-6209-407f-b5b8-334df4ae9bc0
+    )
+  )
 )
diff --git a/robot.kicad_prl b/robot.kicad_prl
index f7ccf43..27b2c46 100644
--- a/robot.kicad_prl
+++ b/robot.kicad_prl
@@ -1,6 +1,6 @@
 {
   "board": {
-    "active_layer": 31,
+    "active_layer": 0,
     "active_layer_preset": "",
     "auto_track_width": false,
     "hidden_netclasses": [],
diff --git a/robot.kicad_sch b/robot.kicad_sch
index 18416fc..65fdccf 100644
--- a/robot.kicad_sch
+++ b/robot.kicad_sch
@@ -93,6 +93,98 @@
         )
       )
     )
+    (symbol "A6SN-6101:A6SN-6101" (in_bom yes) (on_board yes)
+      (property "Reference" "S" (at 26.67 7.62 0)
+        (effects (font (size 1.27 1.27)) (justify left top))
+      )
+      (property "Value" "A6SN-6101" (at 26.67 5.08 0)
+        (effects (font (size 1.27 1.27)) (justify left top))
+      )
+      (property "Footprint" "A6SN6101" (at 26.67 -94.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Datasheet" "https://componentsearchengine.com/Datasheets/1/A6SN-6101.pdf" (at 26.67 -194.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Height" "4.55" (at 26.67 -394.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Manufacturer_Name" "Omron Electronics" (at 26.67 -494.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Manufacturer_Part_Number" "A6SN-6101" (at 26.67 -594.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Mouser Part Number" "653-A6SN-6101" (at 26.67 -694.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Mouser Price/Stock" "https://www.mouser.com/Search/Refine.aspx?Keyword=653-A6SN-6101" (at 26.67 -794.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Arrow Part Number" "" (at 26.67 -894.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "Arrow Price/Stock" "" (at 26.67 -994.92 0)
+        (effects (font (size 1.27 1.27)) (justify left top) hide)
+      )
+      (property "ki_description" "DIP Switches / SIP Switches 6P Knife-Edge, 2.3mm Slide SMT Flat-Act" (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "A6SN-6101_1_1"
+        (rectangle (start 5.08 2.54) (end 25.4 -15.24)
+          (stroke (width 0.254) (type default))
+          (fill (type background))
+        )
+        (pin passive line (at 0 0 0) (length 5.08)
+          (name "COM_1" (effects (font (size 1.27 1.27))))
+          (number "1" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 30.48 -5.08 180) (length 5.08)
+          (name "NO_3" (effects (font (size 1.27 1.27))))
+          (number "10" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 30.48 -2.54 180) (length 5.08)
+          (name "NO_2" (effects (font (size 1.27 1.27))))
+          (number "11" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 30.48 0 180) (length 5.08)
+          (name "NO_1" (effects (font (size 1.27 1.27))))
+          (number "12" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 0 -2.54 0) (length 5.08)
+          (name "COM_2" (effects (font (size 1.27 1.27))))
+          (number "2" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 0 -5.08 0) (length 5.08)
+          (name "COM_3" (effects (font (size 1.27 1.27))))
+          (number "3" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 0 -7.62 0) (length 5.08)
+          (name "COM_4" (effects (font (size 1.27 1.27))))
+          (number "4" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 0 -10.16 0) (length 5.08)
+          (name "COM_5" (effects (font (size 1.27 1.27))))
+          (number "5" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 0 -12.7 0) (length 5.08)
+          (name "COM_6" (effects (font (size 1.27 1.27))))
+          (number "6" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 30.48 -12.7 180) (length 5.08)
+          (name "NO_6" (effects (font (size 1.27 1.27))))
+          (number "7" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 30.48 -10.16 180) (length 5.08)
+          (name "NO_5" (effects (font (size 1.27 1.27))))
+          (number "8" (effects (font (size 1.27 1.27))))
+        )
+        (pin passive line (at 30.48 -7.62 180) (length 5.08)
+          (name "NO_4" (effects (font (size 1.27 1.27))))
+          (number "9" (effects (font (size 1.27 1.27))))
+        )
+      )
+    )
     (symbol "Connector:Conn_01x02_Socket" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
       (property "Reference" "J" (at 0 2.54 0)
         (effects (font (size 1.27 1.27)))
@@ -801,262 +893,426 @@
     )
   )
 
-  (junction (at 226.06 74.93) (diameter 0) (color 0 0 0 0)
+  (junction (at 226.06 45.72) (diameter 0) (color 0 0 0 0)
     (uuid 06b0304e-1878-4748-b38b-5399fd461c39)
   )
-  (junction (at 57.15 55.88) (diameter 0) (color 0 0 0 0)
+  (junction (at 57.15 26.67) (diameter 0) (color 0 0 0 0)
     (uuid 162f1407-12c6-4637-a5a7-c2272ed75e43)
   )
-  (junction (at 57.15 68.58) (diameter 0) (color 0 0 0 0)
-    (uuid 3a5b3b7d-72ef-4689-8875-5d910a61769c)
+  (junction (at 118.11 114.3) (diameter 0) (color 0 0 0 0)
+    (uuid 19334dd1-7eea-46eb-9bd8-0aea99c4d152)
   )
-  (junction (at 57.15 93.98) (diameter 0) (color 0 0 0 0)
+  (junction (at 118.11 106.68) (diameter 0) (color 0 0 0 0)
+    (uuid 1addb199-192a-4851-a21c-7b1b2fb3599d)
+  )
+  (junction (at 118.11 109.22) (diameter 0) (color 0 0 0 0)
+    (uuid 4fff9efa-9b08-4017-8224-4b7b7ccab411)
+  )
+  (junction (at 57.15 64.77) (diameter 0) (color 0 0 0 0)
     (uuid 6d405f64-92f1-40a0-8d9c-e11e1335d58d)
   )
+  (junction (at 118.11 111.76) (diameter 0) (color 0 0 0 0)
+    (uuid 911e0854-cf52-4803-9f3b-5fafdc9696a7)
+  )
+  (junction (at 57.15 43.18) (diameter 0) (color 0 0 0 0)
+    (uuid b44cd9c1-fec1-4156-8eba-7315b7125bdf)
+  )
+  (junction (at 118.11 104.14) (diameter 0) (color 0 0 0 0)
+    (uuid ee65cda6-f8a8-46be-82a2-d06537b94b27)
+  )
 
-  (no_connect (at 74.93 72.39) (uuid 000f6713-6d84-404d-b876-85d7bc088644))
-  (no_connect (at 124.46 83.82) (uuid 00197aad-6306-4db7-a092-be2b16dbcbe0))
-  (no_connect (at 124.46 68.58) (uuid 0a4edac4-d93a-4a8c-94ef-d55bc372fe98))
-  (no_connect (at 74.93 76.2) (uuid 3ebe3b6e-f864-4afc-a585-3b3b56e8bc26))
-  (no_connect (at 124.46 80.01) (uuid 544f306c-2200-4195-99f8-cbba7c3254b8))
-  (no_connect (at 74.93 80.01) (uuid 5472cbbb-f74e-4d83-91e9-098381b4d684))
-  (no_connect (at 74.93 83.82) (uuid 669b2083-a53d-4d3d-a2d5-3569cca89b35))
-  (no_connect (at 203.2 120.65) (uuid bdf5cc0f-342e-4601-8b8c-cd542df2f22d))
-  (no_connect (at 332.74 46.99) (uuid c565b756-4cae-45a4-b49c-dd644b276453))
-  (no_connect (at 172.72 120.65) (uuid c7498cd8-addb-4675-9efb-89720a187548))
+  (no_connect (at 124.46 39.37) (uuid 0a4edac4-d93a-4a8c-94ef-d55bc372fe98))
+  (no_connect (at 203.2 91.44) (uuid bdf5cc0f-342e-4601-8b8c-cd542df2f22d))
+  (no_connect (at 172.72 91.44) (uuid c7498cd8-addb-4675-9efb-89720a187548))
 
-  (wire (pts (xy 133.35 91.44) (xy 124.46 91.44))
+  (wire (pts (xy 76.2 106.68) (xy 83.82 106.68))
+    (stroke (width 0) (type default))
+    (uuid 030bf488-d3ab-487b-a61f-e2ac6b72e149)
+  )
+  (wire (pts (xy 133.35 62.23) (xy 124.46 62.23))
     (stroke (width 0) (type default))
     (uuid 0db795ed-8ffd-4e94-832d-09edc172d8b5)
   )
-  (wire (pts (xy 66.04 87.63) (xy 74.93 87.63))
+  (wire (pts (xy 66.04 58.42) (xy 74.93 58.42))
     (stroke (width 0) (type default))
     (uuid 0eb756a7-8829-41e0-aa7d-ef17aa464303)
   )
-  (wire (pts (xy 57.15 55.88) (xy 57.15 57.15))
+  (wire (pts (xy 57.15 26.67) (xy 57.15 27.94))
     (stroke (width 0) (type default))
     (uuid 11248a69-6333-4385-9bb6-f25fda5239f3)
   )
-  (wire (pts (xy 203.2 80.01) (xy 215.9 80.01))
+  (wire (pts (xy 118.11 104.14) (xy 118.11 96.52))
+    (stroke (width 0) (type default))
+    (uuid 16d2b89e-7d65-4537-9753-985cd84ae07a)
+  )
+  (wire (pts (xy 203.2 50.8) (xy 215.9 50.8))
     (stroke (width 0) (type default))
     (uuid 18eae19e-da72-473d-9b35-f927de712c4f)
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+  (label "MOT1_IN2" (at 161.29 43.18 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid fbab1682-12bd-4819-906c-89e99fdddb1a)
   )
 
-  (symbol (lib_id "power:GND") (at 242.57 71.12 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 242.57 41.91 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 05ef989b-e35a-48e5-ac67-2b7765576386)
-    (property "Reference" "#PWR08" (at 242.57 77.47 0)
+    (property "Reference" "#PWR08" (at 242.57 48.26 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 242.57 76.2 0)
+    (property "Value" "GND" (at 242.57 46.99 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 242.57 71.12 0)
+    (property "Footprint" "" (at 242.57 41.91 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 242.57 71.12 0)
+    (property "Datasheet" "" (at 242.57 41.91 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid cc38f1e3-89b8-4fc3-bdeb-559a2cb49905))
@@ -1069,19 +1325,19 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 130.81 72.39 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 130.81 43.18 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 122b9785-d4e1-4f7c-a1e3-41e9844b0f60)
-    (property "Reference" "#PWR02" (at 130.81 78.74 0)
+    (property "Reference" "#PWR02" (at 130.81 49.53 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 130.81 71.12 0)
+    (property "Value" "GND" (at 130.81 41.91 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 130.81 72.39 0)
+    (property "Footprint" "" (at 130.81 43.18 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 130.81 72.39 0)
+    (property "Datasheet" "" (at 130.81 43.18 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 8f5fc07c-63f0-4e82-aca0-ad5c51d25241))
@@ -1094,19 +1350,19 @@
     )
   )
 
-  (symbol (lib_id "Connector:Conn_01x02_Socket") (at 220.98 69.85 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x02_Socket") (at 220.98 40.64 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 1266edf3-9658-4f78-b7fb-168bd0d781bb)
-    (property "Reference" "J1" (at 210.82 63.5 0)
+    (property "Reference" "J1" (at 210.82 34.29 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "MOT1_OUTPUT" (at 210.82 66.04 0)
+    (property "Value" "MOT1_OUTPUT" (at 210.82 36.83 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Connector_Wire:SolderWire-0.1sqmm_1x02_P3.6mm_D0.4mm_OD1mm" (at 220.98 69.85 0)
+    (property "Footprint" "Connector_Wire:SolderWire-0.1sqmm_1x02_P3.6mm_D0.4mm_OD1mm" (at 220.98 40.64 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 220.98 69.85 0)
+    (property "Datasheet" "~" (at 220.98 40.64 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "2" (uuid 12745c4a-4b1c-4303-8db8-4f1d610acb8d))
@@ -1120,19 +1376,19 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 157.48 74.93 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 157.48 45.72 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 2222b672-f219-434f-91ff-6c61831e3173)
-    (property "Reference" "#PWR04" (at 157.48 81.28 0)
+    (property "Reference" "#PWR04" (at 157.48 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 153.67 74.93 0)
+    (property "Value" "GND" (at 153.67 45.72 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 157.48 74.93 0)
+    (property "Footprint" "" (at 157.48 45.72 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 157.48 74.93 0)
+    (property "Datasheet" "" (at 157.48 45.72 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 2c7a4500-578f-4f0b-8ac7-cf5ceb82e27a))
@@ -1145,19 +1401,19 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 57.15 102.87 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 57.15 73.66 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 24ec21b8-54f3-4a50-ae3b-8af19a6b5e65)
-    (property "Reference" "#PWR011" (at 57.15 109.22 0)
+    (property "Reference" "#PWR011" (at 57.15 80.01 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 57.15 107.95 0)
+    (property "Value" "GND" (at 57.15 78.74 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 57.15 102.87 0)
+    (property "Footprint" "" (at 57.15 73.66 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 57.15 102.87 0)
+    (property "Datasheet" "" (at 57.15 73.66 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 954a3d7a-bc55-472c-9917-6eb4b7bc2939))
@@ -1170,19 +1426,19 @@
     )
   )
 
-  (symbol (lib_id "Connector:Conn_01x02_Socket") (at 220.98 77.47 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x02_Socket") (at 220.98 48.26 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 30a90465-9c3a-4daf-8ee1-07326bea85cd)
-    (property "Reference" "J2" (at 210.82 82.55 0)
+    (property "Reference" "J2" (at 210.82 53.34 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "MOT2_OUTPUT" (at 210.82 85.09 0)
+    (property "Value" "MOT2_OUTPUT" (at 210.82 55.88 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Connector_Wire:SolderWire-0.1sqmm_1x02_P3.6mm_D0.4mm_OD1mm" (at 220.98 77.47 0)
+    (property "Footprint" "Connector_Wire:SolderWire-0.1sqmm_1x02_P3.6mm_D0.4mm_OD1mm" (at 220.98 48.26 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 220.98 77.47 0)
+    (property "Datasheet" "~" (at 220.98 48.26 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "2" (uuid bfa6d9db-05cd-47b1-9cfd-b21753142b24))
@@ -1196,19 +1452,76 @@
     )
   )
 
-  (symbol (lib_id "power:+BATT") (at 242.57 62.23 0) (unit 1)
+  (symbol (lib_id "A6SN-6101:A6SN-6101") (at 83.82 104.14 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 59ca1aee-96e9-40fb-9c02-00271cbd17b0)
-    (property "Reference" "#PWR09" (at 242.57 66.04 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "+BATT" (at 242.57 57.15 0)
+    (uuid 52883182-2578-420e-b1b4-57f11895655e)
+    (property "Reference" "S3" (at 99.06 96.52 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 242.57 62.23 0)
+    (property "Value" "A6SN-6101" (at 99.06 99.06 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "A6SN6101" (at 110.49 199.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Datasheet" "https://componentsearchengine.com/Datasheets/1/A6SN-6101.pdf" (at 110.49 299.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Height" "4.55" (at 110.49 499.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Manufacturer_Name" "Omron Electronics" (at 110.49 599.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Manufacturer_Part_Number" "A6SN-6101" (at 110.49 699.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Mouser Part Number" "653-A6SN-6101" (at 110.49 799.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Mouser Price/Stock" "https://www.mouser.com/Search/Refine.aspx?Keyword=653-A6SN-6101" (at 110.49 899.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Arrow Part Number" "" (at 110.49 999.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Arrow Price/Stock" "" (at 110.49 1099.06 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (pin "12" (uuid 9ef53a63-20b9-4832-8c4b-e068686600dd))
+    (pin "10" (uuid 67ef4d1f-074e-45cf-8ca1-df5292495d98))
+    (pin "2" (uuid f6e70087-8ce9-49b2-b733-e8b9d0a76742))
+    (pin "1" (uuid 78414fa4-b627-48e2-b9b7-a1f30a3ea451))
+    (pin "8" (uuid 1d890818-f8f7-4398-99d0-db9078cfe61b))
+    (pin "5" (uuid 7d18d99b-0f24-470f-a0d6-c15f94c8108c))
+    (pin "11" (uuid 82571131-3717-43a2-a603-0a9011632cda))
+    (pin "4" (uuid 7798cc4d-7b88-4dac-a68e-0170254f9f49))
+    (pin "9" (uuid 0cf54722-c717-4b4a-8acf-b3dbfea99cf7))
+    (pin "3" (uuid 03cff13e-3476-491a-b6a2-fcbc39df375a))
+    (pin "6" (uuid 35eb211b-4c41-492f-b758-5b292fcd966f))
+    (pin "7" (uuid 4d567cdb-30e9-44aa-a4cb-9caf3cf5ba52))
+    (instances
+      (project "robot"
+        (path "/0426a851-9a02-4d3b-8136-e939d046b2a1"
+          (reference "S3") (unit 1)
+        )
+      )
+    )
+  )
+
+  (symbol (lib_id "power:+BATT") (at 242.57 33.02 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 59ca1aee-96e9-40fb-9c02-00271cbd17b0)
+    (property "Reference" "#PWR09" (at 242.57 36.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 242.57 62.23 0)
+    (property "Value" "+BATT" (at 242.57 27.94 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 242.57 33.02 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 242.57 33.02 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 2c83478c-ffda-4dea-9612-749756d8d0bd))
@@ -1221,19 +1534,19 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 226.06 99.06 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 226.06 69.85 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 6b5503dd-446d-4f53-8a2a-e1111ea23342)
-    (property "Reference" "#PWR05" (at 226.06 105.41 0)
+    (property "Reference" "#PWR05" (at 226.06 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 226.06 104.14 0)
+    (property "Value" "GND" (at 226.06 74.93 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 226.06 99.06 0)
+    (property "Footprint" "" (at 226.06 69.85 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 226.06 99.06 0)
+    (property "Datasheet" "" (at 226.06 69.85 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 9acb43ce-f359-4780-953e-d4539ab16e45))
@@ -1246,19 +1559,19 @@
     )
   )
 
-  (symbol (lib_id "power:VCC") (at 208.28 114.3 0) (unit 1)
+  (symbol (lib_id "power:VCC") (at 208.28 85.09 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 6ec7f1a1-fdcc-4a50-9d05-0d12bc1e5455)
-    (property "Reference" "#PWR012" (at 208.28 118.11 0)
+    (property "Reference" "#PWR012" (at 208.28 88.9 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "VCC" (at 208.28 109.22 0)
+    (property "Value" "VCC" (at 208.28 80.01 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 208.28 114.3 0)
+    (property "Footprint" "" (at 208.28 85.09 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 208.28 114.3 0)
+    (property "Datasheet" "" (at 208.28 85.09 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 6261bf28-b866-468f-8d8b-5dd5b3f8d12f))
@@ -1271,19 +1584,19 @@
     )
   )
 
-  (symbol (lib_id "MOUDLE-SEEEDUINO-XIAO-ESP32C3:MOUDLE-SEEEDUINO-XIAO-ESP32C3") (at 100.33 80.01 0) (unit 1)
+  (symbol (lib_id "MOUDLE-SEEEDUINO-XIAO-ESP32C3:MOUDLE-SEEEDUINO-XIAO-ESP32C3") (at 100.33 50.8 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 7c21401f-b33c-4370-b760-b4777b047089)
-    (property "Reference" "U1" (at 99.695 58.42 0)
+    (property "Reference" "U1" (at 99.695 29.21 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "MOUDLE-SEEEDUINO-XIAO-ESP32C3" (at 99.695 60.96 0)
+    (property "Value" "MOUDLE-SEEEDUINO-XIAO-ESP32C3" (at 99.695 31.75 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "MOUDLE14P-SMD-2.54-21X17.8MM" (at 99.695 63.5 0)
+    (property "Footprint" "MOUDLE14P-SMD-2.54-21X17.8MM" (at 99.695 34.29 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Datasheet" "" (at 100.33 80.01 0)
+    (property "Datasheet" "" (at 100.33 50.8 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "15" (uuid 0f890dd4-dfa7-4b4b-a846-2105699d391c))
@@ -1312,19 +1625,19 @@
     )
   )
 
-  (symbol (lib_id "Device:R") (at 57.15 81.28 0) (unit 1)
+  (symbol (lib_id "Device:R") (at 57.15 52.07 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 8cca8550-432b-466d-a882-547574c4eb7d)
-    (property "Reference" "R2" (at 59.69 80.01 0)
+    (property "Reference" "R2" (at 59.69 50.8 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "220k" (at 59.69 82.55 0)
+    (property "Value" "220k" (at 59.69 53.34 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Resistor_SMD:R_0201_0603Metric_Pad0.64x0.40mm_HandSolder" (at 55.372 81.28 90)
+    (property "Footprint" "Resistor_SMD:R_0201_0603Metric_Pad0.64x0.40mm_HandSolder" (at 55.372 52.07 90)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 57.15 81.28 0)
+    (property "Datasheet" "~" (at 57.15 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "2" (uuid 6d3e1716-0139-42eb-8969-2c67cc820ea3))
@@ -1338,19 +1651,19 @@
     )
   )
 
-  (symbol (lib_id "power:+3.3V") (at 226.06 59.69 0) (unit 1)
+  (symbol (lib_id "power:+3.3V") (at 226.06 30.48 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 8df8a491-7fc7-41ca-95b9-b696a0ed7a0b)
-    (property "Reference" "#PWR03" (at 226.06 63.5 0)
+    (property "Reference" "#PWR03" (at 226.06 34.29 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+3.3V" (at 226.06 54.61 0)
+    (property "Value" "+3.3V" (at 226.06 25.4 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 226.06 59.69 0)
+    (property "Footprint" "" (at 226.06 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 226.06 59.69 0)
+    (property "Datasheet" "" (at 226.06 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 503a713b-3ca1-4383-bcca-700ce7d6c6d2))
@@ -1363,19 +1676,19 @@
     )
   )
 
-  (symbol (lib_id "power:VCC") (at 57.15 54.61 0) (unit 1)
+  (symbol (lib_id "power:VCC") (at 57.15 25.4 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 8f653e19-ca3c-4945-96af-6cced7a07b4c)
-    (property "Reference" "#PWR010" (at 57.15 58.42 0)
+    (property "Reference" "#PWR010" (at 57.15 29.21 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "VCC" (at 57.15 49.53 0)
+    (property "Value" "VCC" (at 57.15 20.32 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 57.15 54.61 0)
+    (property "Footprint" "" (at 57.15 25.4 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 57.15 54.61 0)
+    (property "Datasheet" "" (at 57.15 25.4 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 82e3569e-eb98-4ba3-a616-2cdd098e30f2))
@@ -1388,19 +1701,19 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 100.33 101.6 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 100.33 72.39 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 9243668b-7d1a-4d89-bc0a-ec4a17c7c383)
-    (property "Reference" "#PWR07" (at 100.33 107.95 0)
+    (property "Reference" "#PWR07" (at 100.33 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 100.33 105.41 0)
+    (property "Value" "GND" (at 100.33 76.2 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 100.33 101.6 0)
+    (property "Footprint" "" (at 100.33 72.39 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 100.33 101.6 0)
+    (property "Datasheet" "" (at 100.33 72.39 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid a7046200-7d8e-49bc-8fd0-c35116a1b6e5))
@@ -1413,19 +1726,19 @@
     )
   )
 
-  (symbol (lib_id "Device:R") (at 57.15 60.96 0) (unit 1)
+  (symbol (lib_id "Device:R") (at 57.15 31.75 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 9ba34257-20a1-4e2a-a8ed-2a0088a8105d)
-    (property "Reference" "R1" (at 59.69 59.69 0)
+    (property "Reference" "R1" (at 59.69 30.48 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "220k" (at 59.69 62.23 0)
+    (property "Value" "220k" (at 59.69 33.02 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0201_0603Metric_Pad0.64x0.40mm_HandSolder" (at 55.372 60.96 90)
+    (property "Footprint" "Capacitor_SMD:C_0201_0603Metric_Pad0.64x0.40mm_HandSolder" (at 55.372 31.75 90)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 57.15 60.96 0)
+    (property "Datasheet" "~" (at 57.15 31.75 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid e1098f7a-59c6-4034-b32d-dc45bce49637))
@@ -1439,19 +1752,19 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 187.96 92.71 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 187.96 63.5 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid a7049402-0f9f-4fb4-bb1c-73f07a68a6df)
-    (property "Reference" "#PWR06" (at 187.96 99.06 0)
+    (property "Reference" "#PWR06" (at 187.96 69.85 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 187.96 97.79 0)
+    (property "Value" "GND" (at 187.96 68.58 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 187.96 92.71 0)
+    (property "Footprint" "" (at 187.96 63.5 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 187.96 92.71 0)
+    (property "Datasheet" "" (at 187.96 63.5 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 8a8d2897-b47c-46f4-a3dc-981dff2d7191))
@@ -1464,19 +1777,19 @@
     )
   )
 
-  (symbol (lib_id "Connector:Conn_01x02_Socket") (at 250.19 66.04 0) (unit 1)
+  (symbol (lib_id "Connector:Conn_01x02_Socket") (at 250.19 36.83 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid b331eb0f-6474-4a07-b7e8-50b84b0fdc2c)
-    (property "Reference" "J3" (at 251.46 66.04 0)
+    (property "Reference" "J3" (at 251.46 36.83 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "CONN_BAT" (at 251.46 68.58 0)
+    (property "Value" "CONN_BAT" (at 251.46 39.37 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Connector_JST:JST_EH_B2B-EH-A_1x02_P2.50mm_Vertical" (at 250.19 66.04 0)
+    (property "Footprint" "Connector_JST:JST_EH_B2B-EH-A_1x02_P2.50mm_Vertical" (at 250.19 36.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 250.19 66.04 0)
+    (property "Datasheet" "~" (at 250.19 36.83 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid bc66c136-4444-4cc1-8979-2196c75b7c2c))
@@ -1490,19 +1803,19 @@
     )
   )
 
-  (symbol (lib_id "power:+3.3V") (at 146.05 57.15 0) (unit 1)
+  (symbol (lib_id "power:+3.3V") (at 146.05 27.94 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid b4e59c00-130a-4edb-a9a9-88719c78072e)
-    (property "Reference" "#PWR01" (at 146.05 60.96 0)
+    (property "Reference" "#PWR01" (at 146.05 31.75 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+3.3V" (at 146.05 52.07 0)
+    (property "Value" "+3.3V" (at 146.05 22.86 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 146.05 57.15 0)
+    (property "Footprint" "" (at 146.05 27.94 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 146.05 57.15 0)
+    (property "Datasheet" "" (at 146.05 27.94 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid adaf1a03-a7f3-4251-aacc-f0a364690575))
@@ -1515,19 +1828,19 @@
     )
   )
 
-  (symbol (lib_id "power:+BATT") (at 166.37 116.84 0) (unit 1)
+  (symbol (lib_id "power:+BATT") (at 166.37 87.63 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid b9ef4cf2-3781-4325-91ba-ee3b14c1aa84)
-    (property "Reference" "#PWR014" (at 166.37 120.65 0)
+    (property "Reference" "#PWR014" (at 166.37 91.44 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+BATT" (at 166.37 111.76 0)
+    (property "Value" "+BATT" (at 166.37 82.55 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 166.37 116.84 0)
+    (property "Footprint" "" (at 166.37 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 166.37 116.84 0)
+    (property "Datasheet" "" (at 166.37 87.63 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 6b9913fa-8132-4503-9951-f4a1bd9b18fd))
@@ -1540,40 +1853,40 @@
     )
   )
 
-  (symbol (lib_id "FSM1LP:FSM1LP") (at 172.72 120.65 0) (unit 1)
+  (symbol (lib_id "FSM1LP:FSM1LP") (at 172.72 91.44 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid c0f98842-fadb-43dc-b816-c90c338f5038)
-    (property "Reference" "S1" (at 187.96 113.03 0)
+    (property "Reference" "S1" (at 187.96 83.82 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "FSM1LP" (at 187.96 115.57 0)
+    (property "Value" "FSM1LP" (at 187.96 86.36 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "FSM1LP" (at 199.39 215.57 0)
+    (property "Footprint" "FSM1LP" (at 199.39 186.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Datasheet" "miluabraham92@gmail.com" (at 199.39 315.57 0)
+    (property "Datasheet" "miluabraham92@gmail.com" (at 199.39 286.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Height" "3.4" (at 199.39 515.57 0)
+    (property "Height" "3.4" (at 199.39 486.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Manufacturer_Name" "TE Connectivity" (at 199.39 615.57 0)
+    (property "Manufacturer_Name" "TE Connectivity" (at 199.39 586.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Manufacturer_Part_Number" "FSM1LP" (at 199.39 715.57 0)
+    (property "Manufacturer_Part_Number" "FSM1LP" (at 199.39 686.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Mouser Part Number" "506-FSM1LP" (at 199.39 815.57 0)
+    (property "Mouser Part Number" "506-FSM1LP" (at 199.39 786.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Mouser Price/Stock" "https://www.mouser.co.uk/ProductDetail/TE-Connectivity-PB/FSM1LP?qs=X41HXGMJECpfKcLAbtysig%3D%3D" (at 199.39 915.57 0)
+    (property "Mouser Price/Stock" "https://www.mouser.co.uk/ProductDetail/TE-Connectivity-PB/FSM1LP?qs=X41HXGMJECpfKcLAbtysig%3D%3D" (at 199.39 886.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Arrow Part Number" "FSM1LP" (at 199.39 1015.57 0)
+    (property "Arrow Part Number" "FSM1LP" (at 199.39 986.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Arrow Price/Stock" "https://www.arrow.com/en/products/fsm1lp/te-connectivity?region=nac" (at 199.39 1115.57 0)
+    (property "Arrow Price/Stock" "https://www.arrow.com/en/products/fsm1lp/te-connectivity?region=nac" (at 199.39 1086.36 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
     (pin "2" (uuid bfd02841-59f9-4fe1-b224-89f3779372a3))
@@ -1590,19 +1903,19 @@
     )
   )
 
-  (symbol (lib_id "power:GND") (at 205.74 129.54 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 205.74 100.33 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid c63bf268-308a-48e5-8863-a3067ceb5b6d)
-    (property "Reference" "#PWR013" (at 205.74 135.89 0)
+    (property "Reference" "#PWR013" (at 205.74 106.68 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GND" (at 205.74 134.62 0)
+    (property "Value" "GND" (at 205.74 105.41 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 205.74 129.54 0)
+    (property "Footprint" "" (at 205.74 100.33 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 205.74 129.54 0)
+    (property "Datasheet" "" (at 205.74 100.33 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 99c4fd08-cf7c-4607-8cd6-03651ca34b00))
@@ -1615,40 +1928,65 @@
     )
   )
 
-  (symbol (lib_id "A3901SEJTR-T:A3901SEJTR-T") (at 172.72 69.85 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+  (symbol (lib_id "power:+3.3V") (at 118.11 96.52 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no)
+    (uuid ca615d7b-595e-4199-a95f-54a2113c6440)
+    (property "Reference" "#PWR015" (at 118.11 100.33 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "+3.3V" (at 118.11 91.44 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 118.11 96.52 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 118.11 96.52 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid d2e7115f-c285-43ee-82ad-1971337679da))
+    (instances
+      (project "robot"
+        (path "/0426a851-9a02-4d3b-8136-e939d046b2a1"
+          (reference "#PWR015") (unit 1)
+        )
+      )
+    )
+  )
+
+  (symbol (lib_id "A3901SEJTR-T:A3901SEJTR-T") (at 172.72 40.64 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no)
     (uuid f3bdb107-d81f-46e3-b992-48e8352284f2)
-    (property "Reference" "IC1" (at 187.96 62.23 0)
+    (property "Reference" "IC1" (at 187.96 33.02 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "A3901SEJTR-T" (at 187.96 64.77 0)
+    (property "Value" "A3901SEJTR-T" (at 187.96 35.56 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "SON50P300X300X75-11N-D" (at 199.39 164.77 0)
-      (effects (font (size 1.27 1.27)) (justify left top))
-    )
-    (property "Datasheet" "https://www.allegromicro.com/-/media/files/datasheets/a3901-datasheet.pdf" (at 199.39 264.77 0)
+    (property "Footprint" "SON50P300X300X75-11N-D" (at 151.13 19.05 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Height" "0.75" (at 199.39 464.77 0)
+    (property "Datasheet" "https://www.allegromicro.com/-/media/files/datasheets/a3901-datasheet.pdf" (at 199.39 235.56 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Manufacturer_Name" "Allegro Microsystems" (at 199.39 564.77 0)
+    (property "Height" "0.75" (at 199.39 435.56 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Manufacturer_Part_Number" "A3901SEJTR-T" (at 199.39 664.77 0)
+    (property "Manufacturer_Name" "Allegro Microsystems" (at 199.39 535.56 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Mouser Part Number" "250-A3901SEJTR-T" (at 199.39 764.77 0)
+    (property "Manufacturer_Part_Number" "A3901SEJTR-T" (at 199.39 635.56 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Mouser Price/Stock" "https://www.mouser.co.uk/ProductDetail/Allegro-MicroSystems/A3901SEJTR-T?qs=pUKx8fyJudDgNwRr7jvpLg%3D%3D" (at 199.39 864.77 0)
+    (property "Mouser Part Number" "250-A3901SEJTR-T" (at 199.39 735.56 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Arrow Part Number" "A3901SEJTR-T" (at 199.39 964.77 0)
+    (property "Mouser Price/Stock" "https://www.mouser.co.uk/ProductDetail/Allegro-MicroSystems/A3901SEJTR-T?qs=pUKx8fyJudDgNwRr7jvpLg%3D%3D" (at 199.39 835.56 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
-    (property "Arrow Price/Stock" "https://www.arrow.com/en/products/a3901sejtr-t/allegro-microsystems" (at 199.39 1064.77 0)
+    (property "Arrow Part Number" "A3901SEJTR-T" (at 199.39 935.56 0)
+      (effects (font (size 1.27 1.27)) (justify left top) hide)
+    )
+    (property "Arrow Price/Stock" "https://www.arrow.com/en/products/a3901sejtr-t/allegro-microsystems" (at 199.39 1035.56 0)
       (effects (font (size 1.27 1.27)) (justify left top) hide)
     )
     (pin "4" (uuid a22e2710-c594-4ed8-b80f-67edc3e2fcdc))
@@ -1671,19 +2009,19 @@
     )
   )
 
-  (symbol (lib_id "Device:C") (at 226.06 88.9 0) (unit 1)
+  (symbol (lib_id "Device:C") (at 226.06 59.69 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid f64d19c6-239c-4568-9823-b38619acb0f7)
-    (property "Reference" "C1" (at 229.87 87.63 0)
+    (property "Reference" "C1" (at 229.87 58.42 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "10uF" (at 229.87 90.17 0)
+    (property "Value" "10uF" (at 229.87 60.96 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0201_0603Metric_Pad0.64x0.40mm_HandSolder" (at 227.0252 92.71 0)
+    (property "Footprint" "Capacitor_SMD:C_0201_0603Metric_Pad0.64x0.40mm_HandSolder" (at 227.0252 63.5 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 226.06 88.9 0)
+    (property "Datasheet" "~" (at 226.06 59.69 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 6bc916b9-14ec-4e29-bc9d-25bf2f1f5ab9))
diff --git a/sym-lib-table b/sym-lib-table
index 612e8d9..2d5928f 100644
--- a/sym-lib-table
+++ b/sym-lib-table
@@ -4,4 +4,6 @@
   (lib (name "A3901SEJTR-T")(type "KiCad")(uri "/home/emamaker/projects/AMazeIng-boardgame/robots/hardware/LIB_A3901SEJTR-T/A3901SEJTR-T/KiCad/A3901SEJTR-T.kicad_sym")(options "")(descr ""))
   (lib (name "MOUDLE-SEEEDUINO-XIAO-ESP32C3")(type "KiCad")(uri "/home/emamaker/projects/AMazeIng-boardgame/robots/hardware/Seeeduino-XIAO-ESP32C3-KiCAD-Library-battery/Seeeduino xiao ESP32C3 KiCAD Library/MOUDLE-SEEEDUINO-XIAO-ESP32C3.kicad_sym")(options " pwr_sym_only")(descr ""))
   (lib (name "FSM1LP")(type "KiCad")(uri "/home/emamaker/projects/AMazeIng-boardgame/robots/hardware/LIB_FSM1LP/FSM1LP/KiCad/FSM1LP.kicad_sym")(options "")(descr ""))
+  (lib (name "A6SN-4101")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/LIB_A6SN-4101/A6SN-4101/KiCad/A6SN-4101.kicad_sym")(options "")(descr ""))
+  (lib (name "A6SN-6101")(type "KiCad")(uri "/home/emamaker/Projects/AMazeIng-boardgame/robots/hardware/LIB_A6SN-6101/A6SN-6101/KiCad/A6SN-6101.kicad_sym")(options "")(descr ""))
 )