diff --git a/HW/gate-servo-controller.brd b/HW/gate-servo-controller.brd
index 51e6f7b3c5b5726cab5bb17718437dfe9b55d37a..bf8f6e8273f08be6b05c852a6c7d9099b17a5ed7 100644
--- a/HW/gate-servo-controller.brd
+++ b/HW/gate-servo-controller.brd
@@ -304,6 +304,58 @@ paja@paja-trb.cz
 <text x="1.7395" y="-2.7752" size="0.6096" layer="101">strana</text>
 <rectangle x1="-0.381" y1="-1.905" x2="0.381" y2="1.905" layer="21"/>
 </package>
+<package name="ARK500/3">
+<description>&lt;B&gt;Svorkovnice&lt;/B&gt; - trojita - roztec 5mm</description>
+<wire x1="-7.4612" y1="-3.556" x2="-7.4612" y2="-2.159" width="0.127" layer="21"/>
+<wire x1="7.4613" y1="3.937" x2="-7.4612" y2="3.937" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="-3.556" x2="7.4612" y2="-3.556" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="2.159" x2="-7.4612" y2="3.937" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="2.159" x2="7.4613" y2="2.159" width="0.127" layer="21"/>
+<wire x1="7.4613" y1="2.159" x2="7.4612" y2="-2.159" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="-2.159" x2="7.4612" y2="-2.159" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="-2.159" x2="-7.4612" y2="2.159" width="0.127" layer="21"/>
+<wire x1="7.4612" y1="-2.159" x2="7.4612" y2="-3.556" width="0.127" layer="21"/>
+<wire x1="7.4613" y1="3.937" x2="7.4613" y2="2.159" width="0.127" layer="21"/>
+<wire x1="-6.3716" y1="-1.016" x2="-3.9586" y2="1.397" width="0.127" layer="51"/>
+<wire x1="-5.9906" y1="-1.397" x2="-3.5776" y2="1.016" width="0.127" layer="51"/>
+<wire x1="-5.9906" y1="-1.016" x2="-3.9586" y2="1.016" width="0.6096" layer="51"/>
+<wire x1="-6.3716" y1="-1.016" x2="-5.9906" y2="-1.397" width="0.127" layer="51"/>
+<wire x1="-3.9586" y1="1.397" x2="-3.5776" y2="1.016" width="0.127" layer="51"/>
+<wire x1="3.6284" y1="-1.016" x2="6.0414" y2="1.397" width="0.127" layer="51"/>
+<wire x1="4.0094" y1="-1.397" x2="6.4224" y2="1.016" width="0.127" layer="51"/>
+<wire x1="4.0094" y1="-1.016" x2="6.0414" y2="1.016" width="0.6096" layer="51"/>
+<wire x1="3.6284" y1="-1.016" x2="4.0094" y2="-1.397" width="0.127" layer="51"/>
+<wire x1="6.0414" y1="1.397" x2="6.4224" y2="1.016" width="0.127" layer="51"/>
+<wire x1="-7.4612" y1="3.048" x2="-7.9692" y2="3.175" width="0.127" layer="21"/>
+<wire x1="-7.9692" y1="3.175" x2="-7.9692" y2="2.032" width="0.127" layer="21"/>
+<wire x1="-7.9692" y1="2.032" x2="-7.4612" y2="2.159" width="0.127" layer="21"/>
+<wire x1="-1.3716" y1="-1.016" x2="1.0414" y2="1.397" width="0.127" layer="51"/>
+<wire x1="-0.9906" y1="-1.397" x2="1.4224" y2="1.016" width="0.127" layer="51"/>
+<wire x1="-0.9906" y1="-1.016" x2="1.0414" y2="1.016" width="0.6096" layer="51"/>
+<wire x1="-1.3716" y1="-1.016" x2="-0.9906" y2="-1.397" width="0.127" layer="51"/>
+<wire x1="1.0414" y1="1.397" x2="1.4224" y2="1.016" width="0.127" layer="51"/>
+<circle x="-5.088" y="3.021" radius="0.5028" width="0.127" layer="21"/>
+<circle x="0" y="3.021" radius="0.5028" width="0.127" layer="21"/>
+<circle x="5.088" y="3.021" radius="0.5028" width="0.127" layer="21"/>
+<circle x="-4.9746" y="0" radius="1.778" width="0.127" layer="51"/>
+<circle x="-5" y="0" radius="0.5724" width="0.127" layer="102"/>
+<circle x="5.0254" y="0" radius="1.778" width="0.127" layer="51"/>
+<circle x="5" y="0" radius="0.5724" width="0.127" layer="102"/>
+<circle x="0.0254" y="0" radius="1.778" width="0.127" layer="51"/>
+<circle x="0" y="0" radius="0.5724" width="0.127" layer="102"/>
+<pad name="1" x="-5" y="0" drill="1" diameter="3.2" shape="octagon"/>
+<pad name="3" x="5" y="0" drill="1" diameter="3.2" shape="octagon"/>
+<pad name="2" x="0" y="0" drill="1" diameter="3.2" shape="octagon"/>
+<text x="-2.8184" y="-5.6363" size="1.4224" layer="25">&gt;NAME</text>
+<text x="-6.731" y="2.54" size="0.9906" layer="21" ratio="12">1</text>
+<text x="-1.905" y="2.54" size="0.9906" layer="21" ratio="12">2</text>
+<text x="3.175" y="2.54" size="0.9906" layer="21" ratio="12">3</text>
+<text x="1.431" y="2.862" size="0.254" layer="100">PaJa</text>
+<text x="-3.2731" y="4.1932" size="1.27" layer="27">&gt;VALUE</text>
+<text x="-4.445" y="-3.175" size="0.8128" layer="101">strana dratu</text>
+<rectangle x1="-2.8575" y1="-1.905" x2="-2.2225" y2="1.905" layer="21"/>
+<rectangle x1="2.2225" y1="-1.905" x2="2.8575" y2="1.905" layer="21"/>
+</package>
 </packages>
 </library>
 <library name="##MJ">
@@ -1443,6 +1495,22 @@ grid 5.08 mm, diameter 13 mm</description>
 <text x="-4.572" y="-3.937" size="1.778" layer="27" ratio="10">&gt;VALUE</text>
 <rectangle x1="0.254" y1="-1.27" x2="0.889" y2="1.27" layer="21"/>
 </package>
+<package name="R2512">
+<description>&lt;b&gt;RESISTOR&lt;/b&gt;</description>
+<wire x1="-2.362" y1="1.473" x2="2.387" y2="1.473" width="0.1524" layer="51"/>
+<wire x1="-2.362" y1="-1.473" x2="2.387" y2="-1.473" width="0.1524" layer="51"/>
+<wire x1="-3.973" y1="1.983" x2="3.973" y2="1.983" width="0.0508" layer="39"/>
+<wire x1="3.973" y1="1.983" x2="3.973" y2="-1.983" width="0.0508" layer="39"/>
+<wire x1="3.973" y1="-1.983" x2="-3.973" y2="-1.983" width="0.0508" layer="39"/>
+<wire x1="-3.973" y1="-1.983" x2="-3.973" y2="1.983" width="0.0508" layer="39"/>
+<smd name="1" x="-2.8" y="0" dx="1.8" dy="3.2" layer="1"/>
+<smd name="2" x="2.8" y="0" dx="1.8" dy="3.2" layer="1"/>
+<text x="-2.54" y="1.905" size="1.27" layer="25">&gt;NAME</text>
+<text x="-2.54" y="-3.175" size="1.27" layer="27">&gt;VALUE</text>
+<rectangle x1="-3.2004" y1="-1.5494" x2="-2.3505" y2="1.5507" layer="51"/>
+<rectangle x1="2.3622" y1="-1.5494" x2="3.2121" y2="1.5507" layer="51"/>
+<rectangle x1="-0.5001" y1="-1" x2="0.5001" y2="1" layer="35"/>
+</package>
 </packages>
 </library>
 <library name="#PaJa_31">
@@ -1668,6 +1736,42 @@ Based on the following sources:
 </package>
 </packages>
 </library>
+<library name="linear">
+<description>&lt;b&gt;Linear Devices&lt;/b&gt;&lt;p&gt;
+Operational amplifiers,  comparators, voltage regulators, ADCs, DACs, etc.&lt;p&gt;
+&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
+<packages>
+<package name="SO08">
+<description>&lt;b&gt;Small Outline Package 8&lt;/b&gt;&lt;br&gt;
+NS Package M08A</description>
+<wire x1="2.4" y1="1.9" x2="2.4" y2="-1.4" width="0.2032" layer="51"/>
+<wire x1="2.4" y1="-1.4" x2="2.4" y2="-1.9" width="0.2032" layer="51"/>
+<wire x1="2.4" y1="-1.9" x2="-2.4" y2="-1.9" width="0.2032" layer="51"/>
+<wire x1="-2.4" y1="-1.9" x2="-2.4" y2="-1.4" width="0.2032" layer="51"/>
+<wire x1="-2.4" y1="-1.4" x2="-2.4" y2="1.9" width="0.2032" layer="51"/>
+<wire x1="-2.4" y1="1.9" x2="2.4" y2="1.9" width="0.2032" layer="51"/>
+<wire x1="2.4" y1="-1.4" x2="-2.4" y2="-1.4" width="0.2032" layer="51"/>
+<smd name="2" x="-0.635" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="7" x="-0.635" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="1" x="-1.905" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="3" x="0.635" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="4" x="1.905" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="8" x="-1.905" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="6" x="0.635" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="5" x="1.905" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<text x="-2.667" y="-1.905" size="1.27" layer="25" rot="R90">&gt;NAME</text>
+<text x="3.937" y="-1.905" size="1.27" layer="27" rot="R90">&gt;VALUE</text>
+<rectangle x1="-2.15" y1="-3.1" x2="-1.66" y2="-2" layer="51"/>
+<rectangle x1="-0.88" y1="-3.1" x2="-0.39" y2="-2" layer="51"/>
+<rectangle x1="0.39" y1="-3.1" x2="0.88" y2="-2" layer="51"/>
+<rectangle x1="1.66" y1="-3.1" x2="2.15" y2="-2" layer="51"/>
+<rectangle x1="1.66" y1="2" x2="2.15" y2="3.1" layer="51"/>
+<rectangle x1="0.39" y1="2" x2="0.88" y2="3.1" layer="51"/>
+<rectangle x1="-0.88" y1="2" x2="-0.39" y2="3.1" layer="51"/>
+<rectangle x1="-2.15" y1="2" x2="-1.66" y2="3.1" layer="51"/>
+</package>
+</packages>
+</library>
 </libraries>
 <attributes>
 </attributes>
@@ -1886,17 +1990,34 @@ design rules under a new name.</description>
 <element name="C5" library="rcl" package="C0805K" value="18p" x="-11.43" y="12.7"/>
 <element name="C6" library="rcl" package="C0805K" value="18p" x="-11.43" y="7.62"/>
 <element name="C7" library="rcl" package="C0805K" value="100n" x="-11.43" y="2.54"/>
-<element name="JP5" library="pinhead" package="1X03" value="UART" x="-27.94" y="-3.81"/>
-<element name="K2" library="#PaJa_konektory" package="ARK500/2" value="LOCK" x="-27.305" y="-12.065"/>
-<element name="OK1" library="optocoupler" package="DIL04" value="PC817" x="-37.465" y="-10.795">
-<attribute name="OC_NEWARK" value="97K7059" x="-37.465" y="-10.795" size="1.778" layer="27" display="off"/>
-<attribute name="MPN" value="PC817X4J000F" x="-37.465" y="-10.795" size="1.778" layer="27" display="off"/>
-<attribute name="MF" value="" x="-37.465" y="-10.795" size="1.778" layer="27" display="off"/>
-<attribute name="OC_FARNELL" value="9707727" x="-37.465" y="-10.795" size="1.778" layer="27" display="off"/>
+<element name="JP5" library="pinhead" package="1X03" value="UART" x="-20.32" y="50.165"/>
+<element name="K2" library="#PaJa_konektory" package="ARK500/2" value="LOCK" x="-19.685" y="41.91"/>
+<element name="OK1" library="optocoupler" package="DIL04" value="PC817" x="-29.845" y="43.18">
+<attribute name="OC_NEWARK" value="97K7059" x="-29.845" y="43.18" size="1.778" layer="27" display="off"/>
+<attribute name="MPN" value="PC817X4J000F" x="-29.845" y="43.18" size="1.778" layer="27" display="off"/>
+<attribute name="MF" value="" x="-29.845" y="43.18" size="1.778" layer="27" display="off"/>
+<attribute name="OC_FARNELL" value="9707727" x="-29.845" y="43.18" size="1.778" layer="27" display="off"/>
 </element>
-<element name="R3" library="rcl" package="R0805" value="680R" x="-40.005" y="-20.955"/>
-<element name="D1" library="diode" package="MINIMELF" value="1N4148" x="-39.37" y="-27.305"/>
-<element name="R4" library="rcl" package="R0805" value="5k6" x="-40.005" y="-33.655"/>
+<element name="R3" library="rcl" package="R0805" value="680R" x="-32.385" y="33.02"/>
+<element name="D1" library="diode" package="MINIMELF" value="1N4148" x="-31.75" y="26.67"/>
+<element name="R4" library="rcl" package="R0805" value="5k6" x="-32.385" y="20.32"/>
+<element name="K3" library="#PaJa_konektory" package="ARK500/3" value="SERVO" x="-26.035" y="10.795"/>
+<element name="IC2" library="linear" package="SO08" value="LM358D" x="-40.005" y="93.345"/>
+<element name="C8" library="rcl" package="C0805K" value="100n" x="-42.545" y="86.36"/>
+<element name="K4" library="#PaJa_konektory" package="ARK500/2" value="MOTOR" x="-38.735" y="79.375"/>
+<element name="R5" library="rcl" package="R2512" value="50mR" x="-40.005" y="69.85"/>
+<element name="R6" library="rcl" package="R0805" value="39k" x="-41.91" y="62.865"/>
+<element name="R7" library="rcl" package="R0805" value="39k" x="-41.91" y="56.515"/>
+<element name="R8" library="rcl" package="R0805" value="330k" x="-41.91" y="50.165"/>
+<element name="R9" library="rcl" package="R0805" value="330k" x="-41.91" y="43.815"/>
+<element name="R10" library="rcl" package="R0805" value="39k" x="-41.91" y="24.765"/>
+<element name="R11" library="rcl" package="R0805" value="39k" x="-36.195" y="24.765"/>
+<element name="R12" library="rcl" package="R0805" value="330k" x="-41.91" y="37.465"/>
+<element name="R13" library="rcl" package="R0805" value="330k" x="-41.91" y="31.115"/>
+<element name="R14" library="rcl" package="R0805" value="10k" x="-41.91" y="18.415"/>
+<element name="R15" library="rcl" package="R0805" value="10k" x="-41.91" y="12.065"/>
+<element name="C9" library="rcl" package="C0805K" value="4n7" x="-42.545" y="6.35"/>
+<element name="C10" library="rcl" package="C0805K" value="4n7" x="-42.545" y="1.27"/>
 </elements>
 <signals>
 <signal name="GND">
@@ -1920,25 +2041,35 @@ design rules under a new name.</description>
 <contactref element="ISP1" pad="GND@2"/>
 <contactref element="JP5" pad="3"/>
 <contactref element="OK1" pad="3"/>
-<wire x1="-11.2776" y1="96.45" x2="-2.6924" y2="95.65" width="0" layer="19" extent="1-1"/>
-<wire x1="-11.2776" y1="94.85" x2="-11.2776" y2="96.45" width="0" layer="19" extent="1-1"/>
-<wire x1="-15.875" y1="92.71" x2="-11.2776" y2="94.85" width="0" layer="19" extent="1-1"/>
+<contactref element="K3" pad="3"/>
+<contactref element="IC2" pad="4"/>
+<contactref element="C8" pad="2"/>
+<contactref element="R9" pad="2"/>
+<contactref element="R13" pad="2"/>
+<wire x1="-40.96" y1="43.815" x2="-40.96" y2="31.115" width="0" layer="19" extent="1-1"/>
+<wire x1="-41.545" y1="86.36" x2="-40.96" y2="43.815" width="0" layer="19" extent="1-1"/>
+<wire x1="-38.1" y1="90.745" x2="-41.545" y2="86.36" width="0" layer="19" extent="1-1"/>
+<wire x1="-21.035" y1="10.795" x2="-38.1" y2="90.745" width="0" layer="19" extent="1-1"/>
+<wire x1="-28.575" y1="46.99" x2="-21.035" y2="10.795" width="0" layer="19" extent="1-1"/>
+<wire x1="-17.78" y1="50.165" x2="-28.575" y2="46.99" width="0" layer="19" extent="1-1"/>
+<wire x1="-10.43" y1="2.54" x2="-17.78" y2="50.165" width="0" layer="19" extent="1-1"/>
+<wire x1="-10.43" y1="7.62" x2="-10.43" y2="2.54" width="0" layer="19" extent="1-1"/>
+<wire x1="-10.43" y1="12.7" x2="-10.43" y2="7.62" width="0" layer="19" extent="1-1"/>
+<wire x1="-9.795" y1="27.305" x2="-10.43" y2="12.7" width="0" layer="19" extent="1-1"/>
+<wire x1="-9.795" y1="32.385" x2="-9.795" y2="27.305" width="0" layer="19" extent="1-1"/>
+<wire x1="-10.795" y1="38.735" x2="-9.795" y2="32.385" width="0" layer="19" extent="1-1"/>
+<wire x1="-10.795" y1="43.815" x2="-10.795" y2="38.735" width="0" layer="19" extent="1-1"/>
+<wire x1="-22.225" y1="60.96" x2="-10.795" y2="43.815" width="0" layer="19" extent="1-1"/>
+<wire x1="-24.765" y1="76.2" x2="-22.225" y2="60.96" width="0" layer="19" extent="1-1"/>
+<wire x1="-18.685" y1="76.2" x2="-24.765" y2="76.2" width="0" layer="19" extent="1-1"/>
+<wire x1="-15.875" y1="85.09" x2="-18.685" y2="76.2" width="0" layer="19" extent="1-1"/>
+<wire x1="-15.875" y1="87.63" x2="-15.875" y2="85.09" width="0" layer="19" extent="1-1"/>
+<wire x1="-15.875" y1="90.17" x2="-15.875" y2="87.63" width="0" layer="19" extent="1-1"/>
+<wire x1="-15.875" y1="92.71" x2="-15.875" y2="90.17" width="0" layer="19" extent="1-1"/>
 <wire x1="-18.415" y1="92.71" x2="-15.875" y2="92.71" width="0" layer="19" extent="1-1"/>
-<wire x1="-15.875" y1="90.17" x2="-15.875" y2="92.71" width="0" layer="19" extent="1-1"/>
-<wire x1="-15.875" y1="87.63" x2="-15.875" y2="90.17" width="0" layer="19" extent="1-1"/>
-<wire x1="-15.875" y1="85.09" x2="-15.875" y2="87.63" width="0" layer="19" extent="1-1"/>
-<wire x1="-18.685" y1="76.2" x2="-15.875" y2="85.09" width="0" layer="19" extent="1-1"/>
-<wire x1="-24.765" y1="76.2" x2="-18.685" y2="76.2" width="0" layer="19" extent="1-1"/>
-<wire x1="-22.225" y1="60.96" x2="-24.765" y2="76.2" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.795" y1="43.815" x2="-22.225" y2="60.96" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.795" y1="38.735" x2="-10.795" y2="43.815" width="0" layer="19" extent="1-1"/>
-<wire x1="-9.795" y1="32.385" x2="-10.795" y2="38.735" width="0" layer="19" extent="1-1"/>
-<wire x1="-9.795" y1="27.305" x2="-9.795" y2="32.385" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.43" y1="12.7" x2="-9.795" y2="27.305" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.43" y1="7.62" x2="-10.43" y2="12.7" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.43" y1="2.54" x2="-10.43" y2="7.62" width="0" layer="19" extent="1-1"/>
-<wire x1="-25.4" y1="-3.81" x2="-10.43" y2="2.54" width="0" layer="19" extent="1-1"/>
-<wire x1="-36.195" y1="-6.985" x2="-25.4" y2="-3.81" width="0" layer="19" extent="1-1"/>
+<wire x1="-11.2776" y1="94.85" x2="-15.875" y2="92.71" width="0" layer="19" extent="1-1"/>
+<wire x1="-11.2776" y1="96.45" x2="-11.2776" y2="94.85" width="0" layer="19" extent="1-1"/>
+<wire x1="-2.6924" y1="95.65" x2="-11.2776" y2="94.85" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="AVCC">
 <contactref element="C4" pad="1"/>
@@ -1954,13 +2085,19 @@ design rules under a new name.</description>
 <contactref element="C3" pad="1"/>
 <contactref element="ISP1" pad="VCC"/>
 <contactref element="R4" pad="2"/>
+<contactref element="K3" pad="2"/>
+<contactref element="IC2" pad="8"/>
+<contactref element="C8" pad="1"/>
+<wire x1="-41.91" y1="95.945" x2="-43.545" y2="86.36" width="0" layer="19" extent="1-1"/>
+<wire x1="-31.435" y1="20.32" x2="-41.91" y2="95.945" width="0" layer="19" extent="1-1"/>
+<wire x1="-26.035" y1="10.795" x2="-31.435" y2="20.32" width="0" layer="19" extent="1-1"/>
+<wire x1="-11.795" y1="32.385" x2="-31.435" y2="20.32" width="0" layer="19" extent="1-1"/>
+<wire x1="-10.795" y1="48.895" x2="-11.795" y2="32.385" width="0" layer="19" extent="1-1"/>
+<wire x1="-19.365" y1="71.12" x2="-10.795" y2="48.895" width="0" layer="19" extent="1-1"/>
+<wire x1="-20.685" y1="76.2" x2="-19.365" y2="71.12" width="0" layer="19" extent="1-1"/>
+<wire x1="-15.875" y1="95.25" x2="-20.685" y2="76.2" width="0" layer="19" extent="1-1"/>
+<wire x1="-11.2776" y1="95.65" x2="-15.875" y2="95.25" width="0" layer="19" extent="1-1"/>
 <wire x1="-11.2776" y1="94.05" x2="-11.2776" y2="95.65" width="0" layer="19" extent="1-1"/>
-<wire x1="-15.875" y1="95.25" x2="-11.2776" y2="95.65" width="0" layer="19" extent="1-1"/>
-<wire x1="-20.685" y1="76.2" x2="-15.875" y2="95.25" width="0" layer="19" extent="1-1"/>
-<wire x1="-19.365" y1="71.12" x2="-20.685" y2="76.2" width="0" layer="19" extent="1-1"/>
-<wire x1="-10.795" y1="48.895" x2="-19.365" y2="71.12" width="0" layer="19" extent="1-1"/>
-<wire x1="-11.795" y1="32.385" x2="-10.795" y2="48.895" width="0" layer="19" extent="1-1"/>
-<wire x1="-39.055" y1="-33.655" x2="-11.795" y2="32.385" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="RESET">
 <contactref element="IC1" pad="29"/>
@@ -2030,38 +2167,123 @@ design rules under a new name.</description>
 <signal name="RXD">
 <contactref element="IC1" pad="30"/>
 <contactref element="JP5" pad="1"/>
-<wire x1="-30.48" y1="-3.81" x2="-8.185" y2="99.5426" width="0" layer="19" extent="1-1"/>
+<wire x1="-22.86" y1="50.165" x2="-8.185" y2="99.5426" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="TXD">
 <contactref element="IC1" pad="31"/>
 <contactref element="JP5" pad="2"/>
-<wire x1="-27.94" y1="-3.81" x2="-8.985" y2="99.5426" width="0" layer="19" extent="1-1"/>
+<wire x1="-20.32" y1="50.165" x2="-8.985" y2="99.5426" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="N$9">
 <contactref element="OK1" pad="1"/>
 <contactref element="R3" pad="1"/>
 <contactref element="D1" pad="C"/>
-<wire x1="-40.955" y1="-20.955" x2="-41.07" y2="-27.305" width="0" layer="19" extent="1-1"/>
-<wire x1="-38.735" y1="-14.605" x2="-40.955" y2="-20.955" width="0" layer="19" extent="1-1"/>
+<wire x1="-33.335" y1="33.02" x2="-33.45" y2="26.67" width="0" layer="19" extent="1-1"/>
+<wire x1="-31.115" y1="39.37" x2="-33.335" y2="33.02" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="N$10">
 <contactref element="K2" pad="1"/>
 <contactref element="R3" pad="2"/>
-<wire x1="-29.845" y1="-12.065" x2="-39.055" y2="-20.955" width="0" layer="19" extent="1-1"/>
+<wire x1="-22.225" y1="41.91" x2="-31.435" y2="33.02" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="N$11">
 <contactref element="OK1" pad="2"/>
 <contactref element="K2" pad="2"/>
 <contactref element="D1" pad="A"/>
-<wire x1="-36.195" y1="-14.605" x2="-37.67" y2="-27.305" width="0" layer="19" extent="1-1"/>
-<wire x1="-24.765" y1="-12.065" x2="-36.195" y2="-14.605" width="0" layer="19" extent="1-1"/>
+<wire x1="-28.575" y1="39.37" x2="-30.05" y2="26.67" width="0" layer="19" extent="1-1"/>
+<wire x1="-17.145" y1="41.91" x2="-28.575" y2="39.37" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="LOCK_SIGNAL">
 <contactref element="OK1" pad="4"/>
 <contactref element="R4" pad="1"/>
 <contactref element="IC1" pad="32"/>
-<wire x1="-38.735" y1="-6.985" x2="-9.785" y2="99.5426" width="0" layer="19" extent="1-1"/>
-<wire x1="-40.955" y1="-33.655" x2="-38.735" y2="-6.985" width="0" layer="19" extent="1-1"/>
+<wire x1="-31.115" y1="46.99" x2="-9.785" y2="99.5426" width="0" layer="19" extent="1-1"/>
+<wire x1="-33.335" y1="20.32" x2="-31.115" y2="46.99" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="SERVO">
+<contactref element="K3" pad="1"/>
+<contactref element="IC1" pad="13"/>
+<wire x1="-31.035" y1="10.795" x2="-6.585" y2="90.9574" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$14">
+<contactref element="R5" pad="2"/>
+<contactref element="K4" pad="1"/>
+<contactref element="R6" pad="2"/>
+<contactref element="R11" pad="2"/>
+<wire x1="-40.96" y1="62.865" x2="-35.245" y2="24.765" width="0" layer="19" extent="1-1"/>
+<wire x1="-37.205" y1="69.85" x2="-40.96" y2="62.865" width="0" layer="19" extent="1-1"/>
+<wire x1="-41.275" y1="79.375" x2="-37.205" y2="69.85" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$15">
+<contactref element="R5" pad="1"/>
+<contactref element="K4" pad="2"/>
+<contactref element="R7" pad="2"/>
+<contactref element="R10" pad="2"/>
+<wire x1="-40.96" y1="56.515" x2="-40.96" y2="24.765" width="0" layer="19" extent="1-1"/>
+<wire x1="-42.805" y1="69.85" x2="-40.96" y2="56.515" width="0" layer="19" extent="1-1"/>
+<wire x1="-36.195" y1="79.375" x2="-42.805" y2="69.85" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$16">
+<contactref element="IC2" pad="3"/>
+<contactref element="R6" pad="1"/>
+<contactref element="R8" pad="2"/>
+<contactref element="C9" pad="2"/>
+<wire x1="-40.96" y1="50.165" x2="-41.545" y2="6.35" width="0" layer="19" extent="1-1"/>
+<wire x1="-42.86" y1="62.865" x2="-40.96" y2="50.165" width="0" layer="19" extent="1-1"/>
+<wire x1="-39.37" y1="90.745" x2="-42.86" y2="62.865" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$17">
+<contactref element="IC2" pad="2"/>
+<contactref element="R7" pad="1"/>
+<contactref element="R9" pad="1"/>
+<wire x1="-42.86" y1="56.515" x2="-42.86" y2="43.815" width="0" layer="19" extent="1-1"/>
+<wire x1="-40.64" y1="90.745" x2="-42.86" y2="56.515" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$12">
+<contactref element="IC2" pad="1"/>
+<contactref element="R8" pad="1"/>
+<contactref element="R14" pad="2"/>
+<contactref element="C9" pad="1"/>
+<wire x1="-40.96" y1="18.415" x2="-43.545" y2="6.35" width="0" layer="19" extent="1-1"/>
+<wire x1="-42.86" y1="50.165" x2="-40.96" y2="18.415" width="0" layer="19" extent="1-1"/>
+<wire x1="-41.91" y1="90.745" x2="-42.86" y2="50.165" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$13">
+<contactref element="R10" pad="1"/>
+<contactref element="R12" pad="2"/>
+<contactref element="IC2" pad="5"/>
+<wire x1="-40.96" y1="37.465" x2="-42.86" y2="24.765" width="0" layer="19" extent="1-1"/>
+<wire x1="-38.1" y1="95.945" x2="-40.96" y2="37.465" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$18">
+<contactref element="R11" pad="1"/>
+<contactref element="R13" pad="1"/>
+<contactref element="IC2" pad="6"/>
+<wire x1="-42.86" y1="31.115" x2="-37.145" y2="24.765" width="0" layer="19" extent="1-1"/>
+<wire x1="-39.37" y1="95.945" x2="-42.86" y2="31.115" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$19">
+<contactref element="R12" pad="1"/>
+<contactref element="IC2" pad="7"/>
+<contactref element="R15" pad="2"/>
+<wire x1="-42.86" y1="37.465" x2="-40.96" y2="12.065" width="0" layer="19" extent="1-1"/>
+<wire x1="-40.64" y1="95.945" x2="-42.86" y2="37.465" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="MOTOR_CURRENT-">
+<contactref element="R15" pad="1"/>
+<contactref element="IC1" pad="24"/>
+<wire x1="-2.6924" y1="98.05" x2="-42.86" y2="12.065" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="MOTOR_CURRENT+">
+<contactref element="R14" pad="1"/>
+<contactref element="IC1" pad="23"/>
+<wire x1="-2.6924" y1="97.25" x2="-42.86" y2="18.415" width="0" layer="19" extent="1-1"/>
+</signal>
+<signal name="N$20">
+<contactref element="C10" pad="2"/>
+</signal>
+<signal name="N$21">
+<contactref element="C10" pad="1"/>
 </signal>
 </signals>
 </board>
diff --git a/HW/gate-servo-controller.sch b/HW/gate-servo-controller.sch
index 363b2b326e97117e58bad525af302fbc03b14ed1..cb37b2cbee07a6e8ed975fa37d191e464461cd73 100644
--- a/HW/gate-servo-controller.sch
+++ b/HW/gate-servo-controller.sch
@@ -519,6 +519,58 @@ paja@paja-trb.cz
 <text x="1.7395" y="-2.7752" size="0.6096" layer="101">strana</text>
 <rectangle x1="-0.381" y1="-1.905" x2="0.381" y2="1.905" layer="21"/>
 </package>
+<package name="ARK500/3">
+<description>&lt;B&gt;Svorkovnice&lt;/B&gt; - trojita - roztec 5mm</description>
+<wire x1="-7.4612" y1="-3.556" x2="-7.4612" y2="-2.159" width="0.127" layer="21"/>
+<wire x1="7.4613" y1="3.937" x2="-7.4612" y2="3.937" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="-3.556" x2="7.4612" y2="-3.556" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="2.159" x2="-7.4612" y2="3.937" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="2.159" x2="7.4613" y2="2.159" width="0.127" layer="21"/>
+<wire x1="7.4613" y1="2.159" x2="7.4612" y2="-2.159" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="-2.159" x2="7.4612" y2="-2.159" width="0.127" layer="21"/>
+<wire x1="-7.4612" y1="-2.159" x2="-7.4612" y2="2.159" width="0.127" layer="21"/>
+<wire x1="7.4612" y1="-2.159" x2="7.4612" y2="-3.556" width="0.127" layer="21"/>
+<wire x1="7.4613" y1="3.937" x2="7.4613" y2="2.159" width="0.127" layer="21"/>
+<wire x1="-6.3716" y1="-1.016" x2="-3.9586" y2="1.397" width="0.127" layer="51"/>
+<wire x1="-5.9906" y1="-1.397" x2="-3.5776" y2="1.016" width="0.127" layer="51"/>
+<wire x1="-5.9906" y1="-1.016" x2="-3.9586" y2="1.016" width="0.6096" layer="51"/>
+<wire x1="-6.3716" y1="-1.016" x2="-5.9906" y2="-1.397" width="0.127" layer="51"/>
+<wire x1="-3.9586" y1="1.397" x2="-3.5776" y2="1.016" width="0.127" layer="51"/>
+<wire x1="3.6284" y1="-1.016" x2="6.0414" y2="1.397" width="0.127" layer="51"/>
+<wire x1="4.0094" y1="-1.397" x2="6.4224" y2="1.016" width="0.127" layer="51"/>
+<wire x1="4.0094" y1="-1.016" x2="6.0414" y2="1.016" width="0.6096" layer="51"/>
+<wire x1="3.6284" y1="-1.016" x2="4.0094" y2="-1.397" width="0.127" layer="51"/>
+<wire x1="6.0414" y1="1.397" x2="6.4224" y2="1.016" width="0.127" layer="51"/>
+<wire x1="-7.4612" y1="3.048" x2="-7.9692" y2="3.175" width="0.127" layer="21"/>
+<wire x1="-7.9692" y1="3.175" x2="-7.9692" y2="2.032" width="0.127" layer="21"/>
+<wire x1="-7.9692" y1="2.032" x2="-7.4612" y2="2.159" width="0.127" layer="21"/>
+<wire x1="-1.3716" y1="-1.016" x2="1.0414" y2="1.397" width="0.127" layer="51"/>
+<wire x1="-0.9906" y1="-1.397" x2="1.4224" y2="1.016" width="0.127" layer="51"/>
+<wire x1="-0.9906" y1="-1.016" x2="1.0414" y2="1.016" width="0.6096" layer="51"/>
+<wire x1="-1.3716" y1="-1.016" x2="-0.9906" y2="-1.397" width="0.127" layer="51"/>
+<wire x1="1.0414" y1="1.397" x2="1.4224" y2="1.016" width="0.127" layer="51"/>
+<circle x="-5.088" y="3.021" radius="0.5028" width="0.127" layer="21"/>
+<circle x="0" y="3.021" radius="0.5028" width="0.127" layer="21"/>
+<circle x="5.088" y="3.021" radius="0.5028" width="0.127" layer="21"/>
+<circle x="-4.9746" y="0" radius="1.778" width="0.127" layer="51"/>
+<circle x="-5" y="0" radius="0.5724" width="0.127" layer="102"/>
+<circle x="5.0254" y="0" radius="1.778" width="0.127" layer="51"/>
+<circle x="5" y="0" radius="0.5724" width="0.127" layer="102"/>
+<circle x="0.0254" y="0" radius="1.778" width="0.127" layer="51"/>
+<circle x="0" y="0" radius="0.5724" width="0.127" layer="102"/>
+<pad name="1" x="-5" y="0" drill="1" diameter="3.2" shape="octagon"/>
+<pad name="3" x="5" y="0" drill="1" diameter="3.2" shape="octagon"/>
+<pad name="2" x="0" y="0" drill="1" diameter="3.2" shape="octagon"/>
+<text x="-2.8184" y="-5.6363" size="1.4224" layer="25">&gt;NAME</text>
+<text x="-6.731" y="2.54" size="0.9906" layer="21" ratio="12">1</text>
+<text x="-1.905" y="2.54" size="0.9906" layer="21" ratio="12">2</text>
+<text x="3.175" y="2.54" size="0.9906" layer="21" ratio="12">3</text>
+<text x="1.431" y="2.862" size="0.254" layer="100">PaJa</text>
+<text x="-3.2731" y="4.1932" size="1.27" layer="27">&gt;VALUE</text>
+<text x="-4.445" y="-3.175" size="0.8128" layer="101">strana dratu</text>
+<rectangle x1="-2.8575" y1="-1.905" x2="-2.2225" y2="1.905" layer="21"/>
+<rectangle x1="2.2225" y1="-1.905" x2="2.8575" y2="1.905" layer="21"/>
+</package>
 </packages>
 <symbols>
 <symbol name="ARK500/2">
@@ -536,6 +588,24 @@ paja@paja-trb.cz
 <pin name="K1" x="-5.08" y="0" visible="pad" length="middle" direction="pas" swaplevel="1"/>
 <pin name="K2" x="-5.08" y="-2.54" visible="pad" length="middle" direction="pas" swaplevel="1"/>
 </symbol>
+<symbol name="ARK500/3">
+<wire x1="-1.268" y1="-4.446" x2="3.178" y2="-4.446" width="0.254" layer="94"/>
+<wire x1="3.178" y1="-4.446" x2="3.178" y2="4.442" width="0.254" layer="94"/>
+<wire x1="3.178" y1="4.442" x2="-1.268" y2="4.442" width="0.254" layer="94"/>
+<wire x1="-0.317" y1="-1.268" x2="2.219" y2="1.268" width="0.127" layer="94"/>
+<wire x1="-0.317" y1="-3.804" x2="2.219" y2="-1.268" width="0.127" layer="94"/>
+<wire x1="-0.317" y1="1.268" x2="2.219" y2="3.804" width="0.127" layer="94"/>
+<wire x1="-1.268" y1="4.438" x2="-1.268" y2="-4.438" width="0.254" layer="94"/>
+<circle x="0.951" y="0" radius="0.951" width="0.254" layer="94"/>
+<circle x="0.951" y="-2.536" radius="0.951" width="0.254" layer="94"/>
+<circle x="0.951" y="2.536" radius="0.951" width="0.254" layer="94"/>
+<text x="-2.1875" y="-6.979" size="1.778" layer="96">&gt;Value</text>
+<text x="1.897" y="-4.1245" size="0.254" layer="100">PaJa</text>
+<text x="-1.871" y="5.075" size="1.778" layer="95">&gt;Part</text>
+<pin name="K1" x="-5.08" y="2.54" visible="pad" length="middle" direction="pas" swaplevel="1"/>
+<pin name="K2" x="-5.08" y="0" visible="pad" length="middle" direction="pas" swaplevel="1"/>
+<pin name="K3" x="-5.08" y="-2.54" visible="pad" length="middle" direction="pas" swaplevel="1"/>
+</symbol>
 </symbols>
 <devicesets>
 <deviceset name="ARK500/2" prefix="K">
@@ -555,6 +625,24 @@ paja@paja-trb.cz
 </device>
 </devices>
 </deviceset>
+<deviceset name="ARK500/3" prefix="K">
+<description>&lt;B&gt;Svorkovnice&lt;/B&gt; - roztec 5mm - trojita</description>
+<gates>
+<gate name="K" symbol="ARK500/3" x="-30.48" y="25.4" swaplevel="1"/>
+</gates>
+<devices>
+<device name="" package="ARK500/3">
+<connects>
+<connect gate="K" pin="K1" pad="1"/>
+<connect gate="K" pin="K2" pad="2"/>
+<connect gate="K" pin="K3" pad="3"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
 </devicesets>
 </library>
 <library name="##MJ">
@@ -18119,6 +18207,140 @@ Source: http://www.diodes.com/datasheets/ds23001.pdf</description>
 </deviceset>
 </devicesets>
 </library>
+<library name="linear">
+<description>&lt;b&gt;Linear Devices&lt;/b&gt;&lt;p&gt;
+Operational amplifiers,  comparators, voltage regulators, ADCs, DACs, etc.&lt;p&gt;
+&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
+<packages>
+<package name="DIL08">
+<description>&lt;b&gt;Dual In Line Package&lt;/b&gt;</description>
+<wire x1="5.08" y1="2.921" x2="-5.08" y2="2.921" width="0.1524" layer="21"/>
+<wire x1="-5.08" y1="-2.921" x2="5.08" y2="-2.921" width="0.1524" layer="21"/>
+<wire x1="5.08" y1="2.921" x2="5.08" y2="-2.921" width="0.1524" layer="21"/>
+<wire x1="-5.08" y1="2.921" x2="-5.08" y2="1.016" width="0.1524" layer="21"/>
+<wire x1="-5.08" y1="-2.921" x2="-5.08" y2="-1.016" width="0.1524" layer="21"/>
+<wire x1="-5.08" y1="1.016" x2="-5.08" y2="-1.016" width="0.1524" layer="21" curve="-180"/>
+<pad name="1" x="-3.81" y="-3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<pad name="2" x="-1.27" y="-3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<pad name="7" x="-1.27" y="3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<pad name="8" x="-3.81" y="3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<pad name="3" x="1.27" y="-3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<pad name="4" x="3.81" y="-3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<pad name="6" x="1.27" y="3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<pad name="5" x="3.81" y="3.81" drill="0.8128" diameter="1.27" rot="R90"/>
+<text x="-5.334" y="-2.921" size="1.27" layer="25" ratio="10" rot="R90">&gt;NAME</text>
+<text x="-3.556" y="-0.635" size="1.27" layer="27" ratio="10">&gt;VALUE</text>
+</package>
+<package name="SO08">
+<description>&lt;b&gt;Small Outline Package 8&lt;/b&gt;&lt;br&gt;
+NS Package M08A</description>
+<wire x1="2.4" y1="1.9" x2="2.4" y2="-1.4" width="0.2032" layer="51"/>
+<wire x1="2.4" y1="-1.4" x2="2.4" y2="-1.9" width="0.2032" layer="51"/>
+<wire x1="2.4" y1="-1.9" x2="-2.4" y2="-1.9" width="0.2032" layer="51"/>
+<wire x1="-2.4" y1="-1.9" x2="-2.4" y2="-1.4" width="0.2032" layer="51"/>
+<wire x1="-2.4" y1="-1.4" x2="-2.4" y2="1.9" width="0.2032" layer="51"/>
+<wire x1="-2.4" y1="1.9" x2="2.4" y2="1.9" width="0.2032" layer="51"/>
+<wire x1="2.4" y1="-1.4" x2="-2.4" y2="-1.4" width="0.2032" layer="51"/>
+<smd name="2" x="-0.635" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="7" x="-0.635" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="1" x="-1.905" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="3" x="0.635" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="4" x="1.905" y="-2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="8" x="-1.905" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="6" x="0.635" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<smd name="5" x="1.905" y="2.6" dx="0.6" dy="2.2" layer="1"/>
+<text x="-2.667" y="-1.905" size="1.27" layer="25" rot="R90">&gt;NAME</text>
+<text x="3.937" y="-1.905" size="1.27" layer="27" rot="R90">&gt;VALUE</text>
+<rectangle x1="-2.15" y1="-3.1" x2="-1.66" y2="-2" layer="51"/>
+<rectangle x1="-0.88" y1="-3.1" x2="-0.39" y2="-2" layer="51"/>
+<rectangle x1="0.39" y1="-3.1" x2="0.88" y2="-2" layer="51"/>
+<rectangle x1="1.66" y1="-3.1" x2="2.15" y2="-2" layer="51"/>
+<rectangle x1="1.66" y1="2" x2="2.15" y2="3.1" layer="51"/>
+<rectangle x1="0.39" y1="2" x2="0.88" y2="3.1" layer="51"/>
+<rectangle x1="-0.88" y1="2" x2="-0.39" y2="3.1" layer="51"/>
+<rectangle x1="-2.15" y1="2" x2="-1.66" y2="3.1" layer="51"/>
+</package>
+</packages>
+<symbols>
+<symbol name="OPAMP">
+<wire x1="-5.08" y1="5.08" x2="-5.08" y2="-5.08" width="0.4064" layer="94"/>
+<wire x1="-5.08" y1="-5.08" x2="5.08" y2="0" width="0.4064" layer="94"/>
+<wire x1="5.08" y1="0" x2="-5.08" y2="5.08" width="0.4064" layer="94"/>
+<wire x1="-3.81" y1="3.175" x2="-3.81" y2="1.905" width="0.1524" layer="94"/>
+<wire x1="-4.445" y1="2.54" x2="-3.175" y2="2.54" width="0.1524" layer="94"/>
+<wire x1="-4.445" y1="-2.54" x2="-3.175" y2="-2.54" width="0.1524" layer="94"/>
+<text x="2.54" y="3.175" size="1.778" layer="95">&gt;NAME</text>
+<text x="2.54" y="-5.08" size="1.778" layer="96">&gt;VALUE</text>
+<pin name="-IN" x="-7.62" y="-2.54" visible="pad" length="short" direction="in"/>
+<pin name="+IN" x="-7.62" y="2.54" visible="pad" length="short" direction="in"/>
+<pin name="OUT" x="7.62" y="0" visible="pad" length="short" direction="out" rot="R180"/>
+</symbol>
+<symbol name="PWR+-">
+<text x="1.27" y="3.175" size="0.8128" layer="93" rot="R90">V+</text>
+<text x="1.27" y="-4.445" size="0.8128" layer="93" rot="R90">V-</text>
+<pin name="V+" x="0" y="7.62" visible="pad" length="middle" direction="pwr" rot="R270"/>
+<pin name="V-" x="0" y="-7.62" visible="pad" length="middle" direction="pwr" rot="R90"/>
+</symbol>
+</symbols>
+<devicesets>
+<deviceset name="LM358" prefix="IC">
+<description>&lt;b&gt;OP AMP&lt;/b&gt; also LM158; LM258; LM2904&lt;p&gt;
+Source: http://cache.national.com/ds/LM/LM158.pdf</description>
+<gates>
+<gate name="A" symbol="OPAMP" x="15.24" y="10.16" swaplevel="1"/>
+<gate name="B" symbol="OPAMP" x="15.24" y="-12.7" swaplevel="1"/>
+<gate name="P" symbol="PWR+-" x="15.24" y="10.16" addlevel="request"/>
+</gates>
+<devices>
+<device name="N" package="DIL08">
+<connects>
+<connect gate="A" pin="+IN" pad="3"/>
+<connect gate="A" pin="-IN" pad="2"/>
+<connect gate="A" pin="OUT" pad="1"/>
+<connect gate="B" pin="+IN" pad="5"/>
+<connect gate="B" pin="-IN" pad="6"/>
+<connect gate="B" pin="OUT" pad="7"/>
+<connect gate="P" pin="V+" pad="8"/>
+<connect gate="P" pin="V-" pad="4"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="D" package="SO08">
+<connects>
+<connect gate="A" pin="+IN" pad="3"/>
+<connect gate="A" pin="-IN" pad="2"/>
+<connect gate="A" pin="OUT" pad="1"/>
+<connect gate="B" pin="+IN" pad="5"/>
+<connect gate="B" pin="-IN" pad="6"/>
+<connect gate="B" pin="OUT" pad="7"/>
+<connect gate="P" pin="V+" pad="8"/>
+<connect gate="P" pin="V-" pad="4"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+<device name="MX" package="SO08">
+<connects>
+<connect gate="A" pin="+IN" pad="3"/>
+<connect gate="A" pin="-IN" pad="2"/>
+<connect gate="A" pin="OUT" pad="1"/>
+<connect gate="B" pin="+IN" pad="5"/>
+<connect gate="B" pin="-IN" pad="6"/>
+<connect gate="B" pin="OUT" pad="7"/>
+<connect gate="P" pin="V+" pad="8"/>
+<connect gate="P" pin="V-" pad="4"/>
+</connects>
+<technologies>
+<technology name=""/>
+</technologies>
+</device>
+</devices>
+</deviceset>
+</devicesets>
+</library>
 </libraries>
 <attributes>
 </attributes>
@@ -18176,85 +18398,173 @@ Source: http://www.diodes.com/datasheets/ds23001.pdf</description>
 <part name="GND14" library="supply1" deviceset="GND" device=""/>
 <part name="R4" library="rcl" deviceset="R-EU_" device="R0805" value="5k6"/>
 <part name="P+8" library="supply1" deviceset="+5V" device=""/>
+<part name="K3" library="#PaJa_konektory" deviceset="ARK500/3" device="" value="SERVO"/>
+<part name="GND15" library="supply1" deviceset="GND" device=""/>
+<part name="P+9" library="supply1" deviceset="+5V" device=""/>
+<part name="IC2" library="linear" deviceset="LM358" device="D"/>
+<part name="P+10" library="supply1" deviceset="+5V" device=""/>
+<part name="GND16" library="supply1" deviceset="GND" device=""/>
+<part name="C8" library="rcl" deviceset="C-EU" device="C0805K" value="100n"/>
+<part name="K4" library="#PaJa_konektory" deviceset="ARK500/2" device="" value="MOTOR"/>
+<part name="R5" library="rcl" deviceset="R-EU_" device="R2512" value="50mR"/>
+<part name="R6" library="rcl" deviceset="R-EU_" device="R0805" value="39k"/>
+<part name="R7" library="rcl" deviceset="R-EU_" device="R0805" value="39k"/>
+<part name="R8" library="rcl" deviceset="R-EU_" device="R0805" value="330k"/>
+<part name="R9" library="rcl" deviceset="R-EU_" device="R0805" value="330k"/>
+<part name="GND17" library="supply1" deviceset="GND" device=""/>
+<part name="R10" library="rcl" deviceset="R-EU_" device="R0805" value="39k"/>
+<part name="R11" library="rcl" deviceset="R-EU_" device="R0805" value="39k"/>
+<part name="R12" library="rcl" deviceset="R-EU_" device="R0805" value="330k"/>
+<part name="R13" library="rcl" deviceset="R-EU_" device="R0805" value="330k"/>
+<part name="GND18" library="supply1" deviceset="GND" device=""/>
+<part name="R14" library="rcl" deviceset="R-EU_" device="R0805" value="10k"/>
+<part name="R15" library="rcl" deviceset="R-EU_" device="R0805" value="10k"/>
+<part name="C9" library="rcl" deviceset="C-EU" device="C0805K" value="4n7"/>
+<part name="C10" library="rcl" deviceset="C-EU" device="C0805K" value="4n7"/>
 </parts>
 <sheets>
 <sheet>
 <plain>
-<rectangle x1="88.9" y1="96.52" x2="121.92" y2="119.38" layer="97"/>
-<text x="100.076" y="106.68" size="2.54" layer="91" font="vector" ratio="13">DC/DC</text>
+<rectangle x1="104.14" y1="109.22" x2="137.16" y2="132.08" layer="97"/>
+<text x="115.316" y="119.38" size="2.54" layer="91" font="vector" ratio="13">DC/DC</text>
 </plain>
 <instances>
-<instance part="IC1" gate="G$1" x="45.72" y="45.72"/>
-<instance part="K1" gate="K" x="-2.54" y="124.46" rot="MR0"/>
-<instance part="ISP1" gate="G$1" x="58.42" y="-2.54"/>
-<instance part="P+1" gate="1" x="68.58" y="127" smashed="yes">
-<attribute name="VALUE" x="71.12" y="130.81" size="1.778" layer="96" rot="R180"/>
+<instance part="IC1" gate="G$1" x="60.96" y="58.42"/>
+<instance part="K1" gate="K" x="12.7" y="137.16" rot="MR0"/>
+<instance part="ISP1" gate="G$1" x="73.66" y="10.16"/>
+<instance part="P+1" gate="1" x="83.82" y="139.7" smashed="yes">
+<attribute name="VALUE" x="86.36" y="143.51" size="1.778" layer="96" rot="R180"/>
+</instance>
+<instance part="P+2" gate="1" x="35.56" y="101.6" smashed="yes">
+<attribute name="VALUE" x="38.1" y="104.14" size="1.778" layer="96" rot="R180"/>
+</instance>
+<instance part="GND1" gate="1" x="30.48" y="53.34" rot="R270"/>
+<instance part="C1" gate="G$1" x="144.78" y="119.38"/>
+<instance part="R1" gate="G$1" x="35.56" y="91.44" rot="R270"/>
+<instance part="P+3" gate="1" x="30.48" y="45.72" smashed="yes" rot="R90">
+<attribute name="VALUE" x="27.94" y="48.26" size="1.778" layer="96" rot="R270"/>
+</instance>
+<instance part="M1" gate="GREC" x="71.12" y="134.62"/>
+<instance part="C2" gate="G$1" x="83.82" y="129.54"/>
+<instance part="R2" gate="G$1" x="40.64" y="137.16" smashed="yes" rot="R90">
+<attribute name="NAME" x="43.18" y="135.89" size="1.778" layer="95"/>
+<attribute name="VALUE" x="43.18" y="133.35" size="1.778" layer="96"/>
+</instance>
+<instance part="F1" gate="G$1" x="27.94" y="144.78"/>
+<instance part="GND2" gate="1" x="83.82" y="116.84"/>
+<instance part="JP1" gate="G$1" x="111.76" y="124.46" rot="R270"/>
+<instance part="JP2" gate="G$1" x="129.54" y="124.46" rot="R270"/>
+<instance part="JP3" gate="G$1" x="111.76" y="116.84" rot="R90"/>
+<instance part="JP4" gate="G$1" x="129.54" y="116.84" rot="R90"/>
+<instance part="GND3" gate="1" x="111.76" y="104.14"/>
+<instance part="GND4" gate="1" x="129.54" y="104.14"/>
+<instance part="P+4" gate="1" x="129.54" y="137.16" smashed="yes">
+<attribute name="VALUE" x="132.08" y="139.7" size="1.778" layer="96" rot="R180"/>
+</instance>
+<instance part="P+5" gate="1" x="144.78" y="127" smashed="yes">
+<attribute name="VALUE" x="147.32" y="129.54" size="1.778" layer="96" rot="R180"/>
+</instance>
+<instance part="GND5" gate="1" x="144.78" y="109.22"/>
+<instance part="C3" gate="G$1" x="154.94" y="119.38"/>
+<instance part="P+6" gate="1" x="154.94" y="127" smashed="yes">
+<attribute name="VALUE" x="157.48" y="129.54" size="1.778" layer="96" rot="R180"/>
+</instance>
+<instance part="GND6" gate="1" x="154.94" y="109.22"/>
+<instance part="C4" gate="G$1" x="165.1" y="119.38"/>
+<instance part="GND7" gate="1" x="165.1" y="109.22"/>
+<instance part="Q1" gate="G$1" x="15.24" y="63.5" smashed="yes" rot="R90">
+<attribute name="NAME" x="17.78" y="63.754" size="1.778" layer="95"/>
+<attribute name="VALUE" x="17.78" y="61.468" size="1.778" layer="96"/>
+</instance>
+<instance part="C5" gate="G$1" x="15.24" y="55.88"/>
+<instance part="C6" gate="G$1" x="7.62" y="55.88"/>
+<instance part="GND8" gate="1" x="15.24" y="45.72"/>
+<instance part="GND9" gate="1" x="7.62" y="45.72"/>
+<instance part="C7" gate="G$1" x="175.26" y="119.38"/>
+<instance part="GND10" gate="1" x="175.26" y="109.22"/>
+<instance part="GND11" gate="1" x="27.94" y="78.74" rot="R270"/>
+<instance part="P+7" gate="1" x="66.04" y="17.78" smashed="yes">
+<attribute name="VALUE" x="68.58" y="20.32" size="1.778" layer="96" rot="R180"/>
+</instance>
+<instance part="GND12" gate="1" x="66.04" y="2.54"/>
+<instance part="JP5" gate="A" x="45.72" y="10.16" rot="MR0"/>
+<instance part="GND13" gate="1" x="55.88" y="2.54"/>
+<instance part="K2" gate="K" x="215.9" y="78.74"/>
+<instance part="OK1" gate="A" x="177.8" y="76.2" rot="MR0"/>
+<instance part="R3" gate="G$1" x="203.2" y="78.74"/>
+<instance part="D1" gate="G$1" x="193.04" y="76.2" smashed="yes" rot="R90">
+<attribute name="NAME" x="193.04" y="71.6026" size="1.778" layer="95"/>
+<attribute name="VALUE" x="193.04" y="68.8086" size="1.778" layer="96"/>
 </instance>
-<instance part="P+2" gate="1" x="20.32" y="88.9" smashed="yes">
-<attribute name="VALUE" x="22.86" y="91.44" size="1.778" layer="96" rot="R180"/>
+<instance part="GND14" gate="1" x="167.64" y="66.04"/>
+<instance part="R4" gate="G$1" x="167.64" y="88.9" rot="R90"/>
+<instance part="P+8" gate="1" x="167.64" y="99.06" smashed="yes">
+<attribute name="VALUE" x="170.18" y="101.6" size="1.778" layer="96" rot="R180"/>
 </instance>
-<instance part="GND1" gate="1" x="15.24" y="40.64" rot="R270"/>
-<instance part="C1" gate="G$1" x="129.54" y="106.68"/>
-<instance part="R1" gate="G$1" x="20.32" y="78.74" rot="R270"/>
-<instance part="P+3" gate="1" x="15.24" y="33.02" smashed="yes" rot="R90">
-<attribute name="VALUE" x="12.7" y="35.56" size="1.778" layer="96" rot="R270"/>
+<instance part="K3" gate="K" x="215.9" y="12.7"/>
+<instance part="GND15" gate="1" x="208.28" y="5.08"/>
+<instance part="P+9" gate="1" x="208.28" y="20.32" smashed="yes">
+<attribute name="VALUE" x="210.82" y="22.86" size="1.778" layer="96" rot="R180"/>
 </instance>
-<instance part="M1" gate="GREC" x="55.88" y="121.92"/>
-<instance part="C2" gate="G$1" x="68.58" y="116.84"/>
-<instance part="R2" gate="G$1" x="25.4" y="124.46" smashed="yes" rot="R90">
-<attribute name="NAME" x="27.94" y="123.19" size="1.778" layer="95"/>
-<attribute name="VALUE" x="27.94" y="120.65" size="1.778" layer="96"/>
+<instance part="IC2" gate="A" x="152.4" y="53.34" rot="MR0"/>
+<instance part="IC2" gate="B" x="152.4" y="20.32" rot="MR0"/>
+<instance part="IC2" gate="P" x="193.04" y="121.92"/>
+<instance part="P+10" gate="1" x="193.04" y="134.62" smashed="yes">
+<attribute name="VALUE" x="195.58" y="137.16" size="1.778" layer="96" rot="R180"/>
 </instance>
-<instance part="F1" gate="G$1" x="12.7" y="132.08"/>
-<instance part="GND2" gate="1" x="68.58" y="104.14"/>
-<instance part="JP1" gate="G$1" x="96.52" y="111.76" rot="R270"/>
-<instance part="JP2" gate="G$1" x="114.3" y="111.76" rot="R270"/>
-<instance part="JP3" gate="G$1" x="96.52" y="104.14" rot="R90"/>
-<instance part="JP4" gate="G$1" x="114.3" y="104.14" rot="R90"/>
-<instance part="GND3" gate="1" x="96.52" y="91.44"/>
-<instance part="GND4" gate="1" x="114.3" y="91.44"/>
-<instance part="P+4" gate="1" x="114.3" y="124.46" smashed="yes">
-<attribute name="VALUE" x="116.84" y="127" size="1.778" layer="96" rot="R180"/>
+<instance part="GND16" gate="1" x="193.04" y="109.22"/>
+<instance part="C8" gate="G$1" x="198.12" y="124.46"/>
+<instance part="K4" gate="K" x="215.9" y="48.26"/>
+<instance part="R5" gate="G$1" x="195.58" y="45.72" rot="R90"/>
+<instance part="R6" gate="G$1" x="170.18" y="55.88" smashed="yes">
+<attribute name="NAME" x="166.37" y="57.3786" size="1.778" layer="95"/>
+<attribute name="VALUE" x="176.53" y="59.182" size="1.778" layer="96" rot="R180"/>
 </instance>
-<instance part="P+5" gate="1" x="129.54" y="114.3" smashed="yes">
-<attribute name="VALUE" x="132.08" y="116.84" size="1.778" layer="96" rot="R180"/>
+<instance part="R7" gate="G$1" x="170.18" y="50.8" smashed="yes">
+<attribute name="NAME" x="166.37" y="52.2986" size="1.778" layer="95"/>
+<attribute name="VALUE" x="176.53" y="54.102" size="1.778" layer="96" rot="R180"/>
 </instance>
-<instance part="GND5" gate="1" x="129.54" y="96.52"/>
-<instance part="C3" gate="G$1" x="139.7" y="106.68"/>
-<instance part="P+6" gate="1" x="139.7" y="114.3" smashed="yes">
-<attribute name="VALUE" x="142.24" y="116.84" size="1.778" layer="96" rot="R180"/>
+<instance part="R8" gate="G$1" x="154.94" y="63.5" smashed="yes">
+<attribute name="NAME" x="151.13" y="64.9986" size="1.778" layer="95"/>
+<attribute name="VALUE" x="151.13" y="60.198" size="1.778" layer="96"/>
 </instance>
-<instance part="GND6" gate="1" x="139.7" y="96.52"/>
-<instance part="C4" gate="G$1" x="149.86" y="106.68"/>
-<instance part="GND7" gate="1" x="149.86" y="96.52"/>
-<instance part="Q1" gate="G$1" x="0" y="50.8" smashed="yes" rot="R90">
-<attribute name="NAME" x="2.54" y="51.054" size="1.778" layer="95"/>
-<attribute name="VALUE" x="2.54" y="48.768" size="1.778" layer="96"/>
+<instance part="R9" gate="G$1" x="170.18" y="45.72" smashed="yes">
+<attribute name="NAME" x="166.37" y="47.2186" size="1.778" layer="95"/>
+<attribute name="VALUE" x="166.37" y="42.418" size="1.778" layer="96"/>
 </instance>
-<instance part="C5" gate="G$1" x="0" y="43.18"/>
-<instance part="C6" gate="G$1" x="-7.62" y="43.18"/>
-<instance part="GND8" gate="1" x="0" y="33.02"/>
-<instance part="GND9" gate="1" x="-7.62" y="33.02"/>
-<instance part="C7" gate="G$1" x="160.02" y="106.68"/>
-<instance part="GND10" gate="1" x="160.02" y="96.52"/>
-<instance part="GND11" gate="1" x="12.7" y="66.04" rot="R270"/>
-<instance part="P+7" gate="1" x="50.8" y="5.08" smashed="yes">
-<attribute name="VALUE" x="53.34" y="7.62" size="1.778" layer="96" rot="R180"/>
+<instance part="GND17" gate="1" x="177.8" y="40.64"/>
+<instance part="R10" gate="G$1" x="170.18" y="22.86" smashed="yes">
+<attribute name="NAME" x="166.37" y="24.3586" size="1.778" layer="95"/>
+<attribute name="VALUE" x="176.53" y="26.162" size="1.778" layer="96" rot="R180"/>
 </instance>
-<instance part="GND12" gate="1" x="50.8" y="-10.16"/>
-<instance part="JP5" gate="A" x="88.9" y="0" rot="MR0"/>
-<instance part="GND13" gate="1" x="99.06" y="-7.62"/>
-<instance part="K2" gate="K" x="167.64" y="63.5"/>
-<instance part="OK1" gate="A" x="129.54" y="60.96" rot="MR0"/>
-<instance part="R3" gate="G$1" x="154.94" y="63.5"/>
-<instance part="D1" gate="G$1" x="144.78" y="60.96" smashed="yes" rot="R90">
-<attribute name="NAME" x="144.78" y="56.3626" size="1.778" layer="95"/>
-<attribute name="VALUE" x="144.78" y="53.5686" size="1.778" layer="96"/>
+<instance part="R11" gate="G$1" x="170.18" y="17.78" smashed="yes">
+<attribute name="NAME" x="166.37" y="19.2786" size="1.778" layer="95"/>
+<attribute name="VALUE" x="176.53" y="21.082" size="1.778" layer="96" rot="R180"/>
 </instance>
-<instance part="GND14" gate="1" x="119.38" y="50.8"/>
-<instance part="R4" gate="G$1" x="119.38" y="73.66" rot="R90"/>
-<instance part="P+8" gate="1" x="119.38" y="83.82" smashed="yes">
-<attribute name="VALUE" x="121.92" y="86.36" size="1.778" layer="96" rot="R180"/>
+<instance part="R12" gate="G$1" x="154.94" y="30.48" smashed="yes">
+<attribute name="NAME" x="151.13" y="31.9786" size="1.778" layer="95"/>
+<attribute name="VALUE" x="151.13" y="27.178" size="1.778" layer="96"/>
+</instance>
+<instance part="R13" gate="G$1" x="170.18" y="12.7" smashed="yes">
+<attribute name="NAME" x="166.37" y="14.1986" size="1.778" layer="95"/>
+<attribute name="VALUE" x="166.37" y="9.398" size="1.778" layer="96"/>
+</instance>
+<instance part="GND18" gate="1" x="177.8" y="7.62"/>
+<instance part="R14" gate="G$1" x="134.62" y="53.34" smashed="yes">
+<attribute name="NAME" x="130.81" y="54.8386" size="1.778" layer="95"/>
+<attribute name="VALUE" x="130.81" y="50.038" size="1.778" layer="96"/>
+</instance>
+<instance part="R15" gate="G$1" x="134.62" y="20.32" smashed="yes">
+<attribute name="NAME" x="130.81" y="21.8186" size="1.778" layer="95"/>
+<attribute name="VALUE" x="130.81" y="17.018" size="1.778" layer="96"/>
+</instance>
+<instance part="C9" gate="G$1" x="152.4" y="71.12" smashed="yes" rot="R90">
+<attribute name="NAME" x="148.844" y="74.041" size="1.778" layer="95"/>
+<attribute name="VALUE" x="153.924" y="74.041" size="1.778" layer="96"/>
+</instance>
+<instance part="C10" gate="G$1" x="152.4" y="38.1" smashed="yes" rot="R90">
+<attribute name="NAME" x="148.844" y="41.021" size="1.778" layer="95"/>
+<attribute name="VALUE" x="153.924" y="41.021" size="1.778" layer="96"/>
 </instance>
 </instances>
 <busses>
@@ -18264,330 +18574,542 @@ Source: http://www.diodes.com/datasheets/ds23001.pdf</description>
 <segment>
 <pinref part="R1" gate="G$1" pin="1"/>
 <pinref part="P+2" gate="1" pin="+5V"/>
-<wire x1="20.32" y1="86.36" x2="20.32" y2="83.82" width="0.1524" layer="91"/>
+<wire x1="35.56" y1="99.06" x2="35.56" y2="96.52" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="IC1" gate="G$1" pin="VCC@1"/>
-<wire x1="22.86" y1="35.56" x2="20.32" y2="35.56" width="0.1524" layer="91"/>
-<wire x1="20.32" y1="35.56" x2="20.32" y2="33.02" width="0.1524" layer="91"/>
+<wire x1="38.1" y1="48.26" x2="35.56" y2="48.26" width="0.1524" layer="91"/>
+<wire x1="35.56" y1="48.26" x2="35.56" y2="45.72" width="0.1524" layer="91"/>
 <pinref part="IC1" gate="G$1" pin="VCC@2"/>
-<wire x1="20.32" y1="33.02" x2="22.86" y2="33.02" width="0.1524" layer="91"/>
-<wire x1="20.32" y1="33.02" x2="17.78" y2="33.02" width="0.1524" layer="91"/>
-<junction x="20.32" y="33.02"/>
+<wire x1="35.56" y1="45.72" x2="38.1" y2="45.72" width="0.1524" layer="91"/>
+<wire x1="35.56" y1="45.72" x2="33.02" y2="45.72" width="0.1524" layer="91"/>
+<junction x="35.56" y="45.72"/>
 <pinref part="P+3" gate="1" pin="+5V"/>
 </segment>
 <segment>
 <pinref part="JP2" gate="G$1" pin="1"/>
 <pinref part="P+4" gate="1" pin="+5V"/>
-<wire x1="114.3" y1="114.3" x2="114.3" y2="121.92" width="0.1524" layer="91"/>
+<wire x1="129.54" y1="127" x2="129.54" y2="134.62" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C1" gate="G$1" pin="1"/>
 <pinref part="P+5" gate="1" pin="+5V"/>
-<wire x1="129.54" y1="111.76" x2="129.54" y2="109.22" width="0.1524" layer="91"/>
+<wire x1="144.78" y1="124.46" x2="144.78" y2="121.92" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C3" gate="G$1" pin="1"/>
 <pinref part="P+6" gate="1" pin="+5V"/>
-<wire x1="139.7" y1="111.76" x2="139.7" y2="109.22" width="0.1524" layer="91"/>
+<wire x1="154.94" y1="124.46" x2="154.94" y2="121.92" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="ISP1" gate="G$1" pin="VCC"/>
 <pinref part="P+7" gate="1" pin="+5V"/>
-<wire x1="53.34" y1="0" x2="50.8" y2="0" width="0.1524" layer="91"/>
-<wire x1="50.8" y1="0" x2="50.8" y2="2.54" width="0.1524" layer="91"/>
+<wire x1="68.58" y1="12.7" x2="66.04" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="66.04" y1="12.7" x2="66.04" y2="15.24" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="R4" gate="G$1" pin="2"/>
 <pinref part="P+8" gate="1" pin="+5V"/>
-<wire x1="119.38" y1="81.28" x2="119.38" y2="78.74" width="0.1524" layer="91"/>
+<wire x1="167.64" y1="96.52" x2="167.64" y2="93.98" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="K3" gate="K" pin="K2"/>
+<pinref part="P+9" gate="1" pin="+5V"/>
+<wire x1="210.82" y1="12.7" x2="208.28" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="208.28" y1="12.7" x2="208.28" y2="17.78" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="IC2" gate="P" pin="V+"/>
+<pinref part="P+10" gate="1" pin="+5V"/>
+<wire x1="193.04" y1="132.08" x2="193.04" y2="129.54" width="0.1524" layer="91"/>
+<pinref part="C8" gate="G$1" pin="1"/>
+<wire x1="198.12" y1="127" x2="198.12" y2="129.54" width="0.1524" layer="91"/>
+<wire x1="198.12" y1="129.54" x2="193.04" y2="129.54" width="0.1524" layer="91"/>
+<junction x="193.04" y="129.54"/>
 </segment>
 </net>
 <net name="RESET" class="0">
 <segment>
 <pinref part="IC1" gate="G$1" pin="PC6(/RESET)"/>
-<wire x1="22.86" y1="71.12" x2="20.32" y2="71.12" width="0.1524" layer="91"/>
+<wire x1="38.1" y1="83.82" x2="35.56" y2="83.82" width="0.1524" layer="91"/>
 <pinref part="R1" gate="G$1" pin="2"/>
-<wire x1="20.32" y1="71.12" x2="17.78" y2="71.12" width="0.1524" layer="91"/>
-<wire x1="20.32" y1="73.66" x2="20.32" y2="71.12" width="0.1524" layer="91"/>
-<junction x="20.32" y="71.12"/>
-<label x="17.78" y="71.12" size="1.27" layer="95" rot="R180" xref="yes"/>
+<wire x1="35.56" y1="83.82" x2="33.02" y2="83.82" width="0.1524" layer="91"/>
+<wire x1="35.56" y1="86.36" x2="35.56" y2="83.82" width="0.1524" layer="91"/>
+<junction x="35.56" y="83.82"/>
+<label x="33.02" y="83.82" size="1.27" layer="95" rot="R180" xref="yes"/>
 </segment>
 </net>
 <net name="GND" class="0">
 <segment>
 <pinref part="IC1" gate="G$1" pin="GND@1"/>
 <pinref part="GND1" gate="1" pin="GND"/>
-<wire x1="17.78" y1="40.64" x2="20.32" y2="40.64" width="0.1524" layer="91"/>
+<wire x1="33.02" y1="53.34" x2="35.56" y2="53.34" width="0.1524" layer="91"/>
 <pinref part="IC1" gate="G$1" pin="GND@2"/>
-<wire x1="20.32" y1="40.64" x2="22.86" y2="40.64" width="0.1524" layer="91"/>
-<wire x1="22.86" y1="38.1" x2="20.32" y2="38.1" width="0.1524" layer="91"/>
-<wire x1="20.32" y1="38.1" x2="20.32" y2="40.64" width="0.1524" layer="91"/>
-<junction x="20.32" y="40.64"/>
+<wire x1="35.56" y1="53.34" x2="38.1" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="38.1" y1="50.8" x2="35.56" y2="50.8" width="0.1524" layer="91"/>
+<wire x1="35.56" y1="50.8" x2="35.56" y2="53.34" width="0.1524" layer="91"/>
+<junction x="35.56" y="53.34"/>
 </segment>
 <segment>
 <pinref part="M1" gate="GREC" pin="-"/>
-<wire x1="48.26" y1="121.92" x2="48.26" y2="109.22" width="0.1524" layer="91"/>
+<wire x1="63.5" y1="134.62" x2="63.5" y2="121.92" width="0.1524" layer="91"/>
 <pinref part="C2" gate="G$1" pin="-"/>
-<wire x1="48.26" y1="109.22" x2="68.58" y2="109.22" width="0.1524" layer="91"/>
-<wire x1="68.58" y1="109.22" x2="68.58" y2="111.76" width="0.1524" layer="91"/>
+<wire x1="63.5" y1="121.92" x2="83.82" y2="121.92" width="0.1524" layer="91"/>
+<wire x1="83.82" y1="121.92" x2="83.82" y2="124.46" width="0.1524" layer="91"/>
 <pinref part="GND2" gate="1" pin="GND"/>
-<wire x1="68.58" y1="109.22" x2="68.58" y2="106.68" width="0.1524" layer="91"/>
-<junction x="68.58" y="109.22"/>
+<wire x1="83.82" y1="121.92" x2="83.82" y2="119.38" width="0.1524" layer="91"/>
+<junction x="83.82" y="121.92"/>
 </segment>
 <segment>
 <pinref part="JP3" gate="G$1" pin="1"/>
 <pinref part="GND3" gate="1" pin="GND"/>
-<wire x1="96.52" y1="93.98" x2="96.52" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="111.76" y1="106.68" x2="111.76" y2="114.3" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="JP4" gate="G$1" pin="1"/>
 <pinref part="GND4" gate="1" pin="GND"/>
-<wire x1="114.3" y1="93.98" x2="114.3" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="129.54" y1="106.68" x2="129.54" y2="114.3" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C1" gate="G$1" pin="2"/>
 <pinref part="GND5" gate="1" pin="GND"/>
-<wire x1="129.54" y1="99.06" x2="129.54" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="144.78" y1="111.76" x2="144.78" y2="114.3" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C3" gate="G$1" pin="2"/>
 <pinref part="GND6" gate="1" pin="GND"/>
-<wire x1="139.7" y1="99.06" x2="139.7" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="154.94" y1="111.76" x2="154.94" y2="114.3" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C4" gate="G$1" pin="2"/>
 <pinref part="GND7" gate="1" pin="GND"/>
-<wire x1="149.86" y1="99.06" x2="149.86" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="165.1" y1="111.76" x2="165.1" y2="114.3" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C5" gate="G$1" pin="2"/>
 <pinref part="GND8" gate="1" pin="GND"/>
-<wire x1="0" y1="35.56" x2="0" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="15.24" y1="48.26" x2="15.24" y2="50.8" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C6" gate="G$1" pin="2"/>
 <pinref part="GND9" gate="1" pin="GND"/>
-<wire x1="-7.62" y1="35.56" x2="-7.62" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="7.62" y1="48.26" x2="7.62" y2="50.8" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C7" gate="G$1" pin="2"/>
 <pinref part="GND10" gate="1" pin="GND"/>
-<wire x1="160.02" y1="99.06" x2="160.02" y2="101.6" width="0.1524" layer="91"/>
+<wire x1="175.26" y1="111.76" x2="175.26" y2="114.3" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="IC1" gate="G$1" pin="GND"/>
 <pinref part="GND11" gate="1" pin="GND"/>
-<wire x1="15.24" y1="66.04" x2="22.86" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="30.48" y1="78.74" x2="38.1" y2="78.74" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="ISP1" gate="G$1" pin="GND"/>
 <pinref part="GND12" gate="1" pin="GND"/>
-<wire x1="53.34" y1="-5.08" x2="50.8" y2="-5.08" width="0.1524" layer="91"/>
-<wire x1="50.8" y1="-5.08" x2="50.8" y2="-7.62" width="0.1524" layer="91"/>
+<wire x1="68.58" y1="7.62" x2="66.04" y2="7.62" width="0.1524" layer="91"/>
+<wire x1="66.04" y1="7.62" x2="66.04" y2="5.08" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="JP5" gate="A" pin="3"/>
 <pinref part="GND13" gate="1" pin="GND"/>
-<wire x1="91.44" y1="-2.54" x2="99.06" y2="-2.54" width="0.1524" layer="91"/>
-<wire x1="99.06" y1="-2.54" x2="99.06" y2="-5.08" width="0.1524" layer="91"/>
+<wire x1="48.26" y1="7.62" x2="55.88" y2="7.62" width="0.1524" layer="91"/>
+<wire x1="55.88" y1="7.62" x2="55.88" y2="5.08" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="OK1" gate="A" pin="EMIT"/>
-<wire x1="121.92" y1="58.42" x2="119.38" y2="58.42" width="0.1524" layer="91"/>
+<wire x1="170.18" y1="73.66" x2="167.64" y2="73.66" width="0.1524" layer="91"/>
 <pinref part="GND14" gate="1" pin="GND"/>
-<wire x1="119.38" y1="58.42" x2="119.38" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="167.64" y1="73.66" x2="167.64" y2="68.58" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="K3" gate="K" pin="K3"/>
+<pinref part="GND15" gate="1" pin="GND"/>
+<wire x1="210.82" y1="10.16" x2="208.28" y2="10.16" width="0.1524" layer="91"/>
+<wire x1="208.28" y1="10.16" x2="208.28" y2="7.62" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="IC2" gate="P" pin="V-"/>
+<pinref part="GND16" gate="1" pin="GND"/>
+<wire x1="193.04" y1="114.3" x2="193.04" y2="111.76" width="0.1524" layer="91"/>
+<pinref part="C8" gate="G$1" pin="2"/>
+<wire x1="198.12" y1="119.38" x2="198.12" y2="114.3" width="0.1524" layer="91"/>
+<wire x1="198.12" y1="114.3" x2="193.04" y2="114.3" width="0.1524" layer="91"/>
+<junction x="193.04" y="114.3"/>
+</segment>
+<segment>
+<pinref part="R9" gate="G$1" pin="2"/>
+<pinref part="GND17" gate="1" pin="GND"/>
+<wire x1="175.26" y1="45.72" x2="177.8" y2="45.72" width="0.1524" layer="91"/>
+<wire x1="177.8" y1="45.72" x2="177.8" y2="43.18" width="0.1524" layer="91"/>
+</segment>
+<segment>
+<pinref part="R13" gate="G$1" pin="2"/>
+<pinref part="GND18" gate="1" pin="GND"/>
+<wire x1="175.26" y1="12.7" x2="177.8" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="177.8" y1="12.7" x2="177.8" y2="10.16" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$2" class="0">
 <segment>
 <pinref part="K1" gate="K" pin="K1"/>
-<wire x1="2.54" y1="124.46" x2="5.08" y2="124.46" width="0.1524" layer="91"/>
-<wire x1="5.08" y1="124.46" x2="5.08" y2="132.08" width="0.1524" layer="91"/>
+<wire x1="17.78" y1="137.16" x2="20.32" y2="137.16" width="0.1524" layer="91"/>
+<wire x1="20.32" y1="137.16" x2="20.32" y2="144.78" width="0.1524" layer="91"/>
 <pinref part="F1" gate="G$1" pin="1"/>
-<wire x1="7.62" y1="132.08" x2="5.08" y2="132.08" width="0.1524" layer="91"/>
+<wire x1="22.86" y1="144.78" x2="20.32" y2="144.78" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$3" class="0">
 <segment>
 <pinref part="K1" gate="K" pin="K2"/>
-<wire x1="2.54" y1="121.92" x2="5.08" y2="121.92" width="0.1524" layer="91"/>
-<wire x1="5.08" y1="121.92" x2="5.08" y2="111.76" width="0.1524" layer="91"/>
+<wire x1="17.78" y1="134.62" x2="20.32" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="20.32" y1="134.62" x2="20.32" y2="124.46" width="0.1524" layer="91"/>
 <pinref part="M1" gate="GREC" pin="AC2"/>
-<wire x1="55.88" y1="111.76" x2="55.88" y2="114.3" width="0.1524" layer="91"/>
-<wire x1="5.08" y1="111.76" x2="25.4" y2="111.76" width="0.1524" layer="91"/>
+<wire x1="71.12" y1="124.46" x2="71.12" y2="127" width="0.1524" layer="91"/>
+<wire x1="20.32" y1="124.46" x2="40.64" y2="124.46" width="0.1524" layer="91"/>
 <pinref part="R2" gate="G$1" pin="2"/>
-<wire x1="25.4" y1="111.76" x2="55.88" y2="111.76" width="0.1524" layer="91"/>
-<wire x1="25.4" y1="119.38" x2="25.4" y2="111.76" width="0.1524" layer="91"/>
-<junction x="25.4" y="111.76"/>
+<wire x1="40.64" y1="124.46" x2="71.12" y2="124.46" width="0.1524" layer="91"/>
+<wire x1="40.64" y1="132.08" x2="40.64" y2="124.46" width="0.1524" layer="91"/>
+<junction x="40.64" y="124.46"/>
 </segment>
 </net>
 <net name="N$7" class="0">
 <segment>
 <pinref part="F1" gate="G$1" pin="2"/>
 <pinref part="R2" gate="G$1" pin="1"/>
-<wire x1="20.32" y1="132.08" x2="25.4" y2="132.08" width="0.1524" layer="91"/>
-<wire x1="25.4" y1="132.08" x2="25.4" y2="129.54" width="0.1524" layer="91"/>
+<wire x1="35.56" y1="144.78" x2="40.64" y2="144.78" width="0.1524" layer="91"/>
+<wire x1="40.64" y1="144.78" x2="40.64" y2="142.24" width="0.1524" layer="91"/>
 <pinref part="M1" gate="GREC" pin="AC1"/>
-<wire x1="25.4" y1="132.08" x2="55.88" y2="132.08" width="0.1524" layer="91"/>
-<wire x1="55.88" y1="132.08" x2="55.88" y2="129.54" width="0.1524" layer="91"/>
-<junction x="25.4" y="132.08"/>
+<wire x1="40.64" y1="144.78" x2="71.12" y2="144.78" width="0.1524" layer="91"/>
+<wire x1="71.12" y1="144.78" x2="71.12" y2="142.24" width="0.1524" layer="91"/>
+<junction x="40.64" y="144.78"/>
 </segment>
 </net>
 <net name="+12V" class="0">
 <segment>
 <pinref part="M1" gate="GREC" pin="+"/>
 <pinref part="C2" gate="G$1" pin="+"/>
-<wire x1="63.5" y1="121.92" x2="68.58" y2="121.92" width="0.1524" layer="91"/>
-<wire x1="68.58" y1="121.92" x2="68.58" y2="119.38" width="0.1524" layer="91"/>
+<wire x1="78.74" y1="134.62" x2="83.82" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="83.82" y1="134.62" x2="83.82" y2="132.08" width="0.1524" layer="91"/>
 <pinref part="P+1" gate="1" pin="+12V"/>
-<wire x1="68.58" y1="124.46" x2="68.58" y2="121.92" width="0.1524" layer="91"/>
-<junction x="68.58" y="121.92"/>
+<wire x1="83.82" y1="137.16" x2="83.82" y2="134.62" width="0.1524" layer="91"/>
+<junction x="83.82" y="134.62"/>
 <pinref part="JP1" gate="G$1" pin="1"/>
-<wire x1="68.58" y1="121.92" x2="96.52" y2="121.92" width="0.1524" layer="91"/>
-<wire x1="96.52" y1="121.92" x2="96.52" y2="114.3" width="0.1524" layer="91"/>
+<wire x1="83.82" y1="134.62" x2="111.76" y2="134.62" width="0.1524" layer="91"/>
+<wire x1="111.76" y1="134.62" x2="111.76" y2="127" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="AVCC" class="0">
 <segment>
 <pinref part="C4" gate="G$1" pin="1"/>
-<wire x1="149.86" y1="111.76" x2="149.86" y2="109.22" width="0.1524" layer="91"/>
-<label x="149.86" y="111.76" size="1.27" layer="95" rot="R90" xref="yes"/>
+<wire x1="165.1" y1="124.46" x2="165.1" y2="121.92" width="0.1524" layer="91"/>
+<label x="165.1" y="124.46" size="1.27" layer="95" rot="R90" xref="yes"/>
 </segment>
 <segment>
 <pinref part="IC1" gate="G$1" pin="AVCC"/>
-<wire x1="22.86" y1="60.96" x2="20.32" y2="60.96" width="0.1524" layer="91"/>
-<label x="20.32" y="60.96" size="1.27" layer="95" rot="R180" xref="yes"/>
+<wire x1="38.1" y1="73.66" x2="35.56" y2="73.66" width="0.1524" layer="91"/>
+<label x="35.56" y="73.66" size="1.27" layer="95" rot="R180" xref="yes"/>
 </segment>
 </net>
 <net name="N$1" class="0">
 <segment>
 <pinref part="IC1" gate="G$1" pin="PB6(XTAL1/TOSC1)"/>
 <pinref part="Q1" gate="G$1" pin="2"/>
-<wire x1="0" y1="53.34" x2="22.86" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="15.24" y1="66.04" x2="38.1" y2="66.04" width="0.1524" layer="91"/>
 <pinref part="C6" gate="G$1" pin="1"/>
-<wire x1="0" y1="53.34" x2="-7.62" y2="53.34" width="0.1524" layer="91"/>
-<wire x1="-7.62" y1="53.34" x2="-7.62" y2="45.72" width="0.1524" layer="91"/>
-<junction x="0" y="53.34"/>
+<wire x1="15.24" y1="66.04" x2="7.62" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="7.62" y1="66.04" x2="7.62" y2="58.42" width="0.1524" layer="91"/>
+<junction x="15.24" y="66.04"/>
 </segment>
 </net>
 <net name="N$4" class="0">
 <segment>
 <pinref part="IC1" gate="G$1" pin="PB7(XTAL2/TOSC2)"/>
 <pinref part="Q1" gate="G$1" pin="1"/>
-<wire x1="0" y1="48.26" x2="22.86" y2="48.26" width="0.1524" layer="91"/>
+<wire x1="15.24" y1="60.96" x2="38.1" y2="60.96" width="0.1524" layer="91"/>
 <pinref part="C5" gate="G$1" pin="1"/>
-<wire x1="0" y1="45.72" x2="0" y2="48.26" width="0.1524" layer="91"/>
-<junction x="0" y="48.26"/>
+<wire x1="15.24" y1="58.42" x2="15.24" y2="60.96" width="0.1524" layer="91"/>
+<junction x="15.24" y="60.96"/>
 </segment>
 </net>
 <net name="AREF" class="0">
 <segment>
 <pinref part="IC1" gate="G$1" pin="AREF"/>
-<wire x1="22.86" y1="63.5" x2="20.32" y2="63.5" width="0.1524" layer="91"/>
-<label x="20.32" y="63.5" size="1.27" layer="95" rot="R180" xref="yes"/>
+<wire x1="38.1" y1="76.2" x2="35.56" y2="76.2" width="0.1524" layer="91"/>
+<label x="35.56" y="76.2" size="1.27" layer="95" rot="R180" xref="yes"/>
 </segment>
 <segment>
 <pinref part="C7" gate="G$1" pin="1"/>
-<wire x1="160.02" y1="111.76" x2="160.02" y2="109.22" width="0.1524" layer="91"/>
-<label x="160.02" y="111.76" size="1.27" layer="95" rot="R90" xref="yes"/>
+<wire x1="175.26" y1="124.46" x2="175.26" y2="121.92" width="0.1524" layer="91"/>
+<label x="175.26" y="124.46" size="1.27" layer="95" rot="R90" xref="yes"/>
 </segment>
 </net>
 <net name="N$5" class="0">
 <segment>
 <pinref part="ISP1" gate="G$1" pin="SCK"/>
-<wire x1="66.04" y1="0" x2="73.66" y2="0" width="0.1524" layer="91"/>
-<wire x1="73.66" y1="0" x2="73.66" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="81.28" y1="12.7" x2="88.9" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="88.9" y1="12.7" x2="88.9" y2="25.4" width="0.1524" layer="91"/>
 <pinref part="IC1" gate="G$1" pin="PB5(SCK)"/>
-<wire x1="73.66" y1="12.7" x2="71.12" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="88.9" y1="25.4" x2="86.36" y2="25.4" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$6" class="0">
 <segment>
 <pinref part="ISP1" gate="G$1" pin="MISO"/>
-<wire x1="66.04" y1="-2.54" x2="76.2" y2="-2.54" width="0.1524" layer="91"/>
-<wire x1="76.2" y1="-2.54" x2="76.2" y2="15.24" width="0.1524" layer="91"/>
+<wire x1="81.28" y1="10.16" x2="91.44" y2="10.16" width="0.1524" layer="91"/>
+<wire x1="91.44" y1="10.16" x2="91.44" y2="27.94" width="0.1524" layer="91"/>
 <pinref part="IC1" gate="G$1" pin="PB4(MISO)"/>
-<wire x1="76.2" y1="15.24" x2="71.12" y2="15.24" width="0.1524" layer="91"/>
+<wire x1="91.44" y1="27.94" x2="86.36" y2="27.94" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$8" class="0">
 <segment>
 <pinref part="ISP1" gate="G$1" pin="MOSI"/>
-<wire x1="66.04" y1="-5.08" x2="78.74" y2="-5.08" width="0.1524" layer="91"/>
-<wire x1="78.74" y1="-5.08" x2="78.74" y2="17.78" width="0.1524" layer="91"/>
+<wire x1="81.28" y1="7.62" x2="93.98" y2="7.62" width="0.1524" layer="91"/>
+<wire x1="93.98" y1="7.62" x2="93.98" y2="30.48" width="0.1524" layer="91"/>
 <pinref part="IC1" gate="G$1" pin="PB3(MOSI/OC2)"/>
-<wire x1="78.74" y1="17.78" x2="71.12" y2="17.78" width="0.1524" layer="91"/>
+<wire x1="93.98" y1="30.48" x2="86.36" y2="30.48" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="RXD" class="0">
 <segment>
 <pinref part="IC1" gate="G$1" pin="PD0(RXD)"/>
-<wire x1="71.12" y1="48.26" x2="73.66" y2="48.26" width="0.1524" layer="91"/>
-<label x="73.66" y="48.26" size="1.27" layer="95" xref="yes"/>
+<wire x1="86.36" y1="60.96" x2="88.9" y2="60.96" width="0.1524" layer="91"/>
+<label x="88.9" y="60.96" size="1.27" layer="95" xref="yes"/>
 </segment>
 <segment>
 <pinref part="JP5" gate="A" pin="1"/>
-<wire x1="91.44" y1="2.54" x2="96.52" y2="2.54" width="0.1524" layer="91"/>
-<label x="96.52" y="2.54" size="1.27" layer="95" xref="yes"/>
+<wire x1="48.26" y1="12.7" x2="53.34" y2="12.7" width="0.1524" layer="91"/>
+<label x="53.34" y="12.7" size="1.27" layer="95" xref="yes"/>
 </segment>
 </net>
 <net name="TXD" class="0">
 <segment>
 <pinref part="IC1" gate="G$1" pin="PD1(TXD)"/>
-<wire x1="71.12" y1="45.72" x2="73.66" y2="45.72" width="0.1524" layer="91"/>
-<label x="73.66" y="45.72" size="1.27" layer="95" xref="yes"/>
+<wire x1="86.36" y1="58.42" x2="88.9" y2="58.42" width="0.1524" layer="91"/>
+<label x="88.9" y="58.42" size="1.27" layer="95" xref="yes"/>
 </segment>
 <segment>
 <pinref part="JP5" gate="A" pin="2"/>
-<wire x1="91.44" y1="0" x2="96.52" y2="0" width="0.1524" layer="91"/>
-<label x="96.52" y="0" size="1.27" layer="95" xref="yes"/>
+<wire x1="48.26" y1="10.16" x2="53.34" y2="10.16" width="0.1524" layer="91"/>
+<label x="53.34" y="10.16" size="1.27" layer="95" xref="yes"/>
 </segment>
 </net>
 <net name="N$9" class="0">
 <segment>
 <pinref part="OK1" gate="A" pin="A"/>
 <pinref part="R3" gate="G$1" pin="1"/>
-<wire x1="149.86" y1="63.5" x2="144.78" y2="63.5" width="0.1524" layer="91"/>
+<wire x1="198.12" y1="78.74" x2="193.04" y2="78.74" width="0.1524" layer="91"/>
 <pinref part="D1" gate="G$1" pin="C"/>
-<wire x1="144.78" y1="63.5" x2="139.7" y2="63.5" width="0.1524" layer="91"/>
-<junction x="144.78" y="63.5"/>
+<wire x1="193.04" y1="78.74" x2="187.96" y2="78.74" width="0.1524" layer="91"/>
+<junction x="193.04" y="78.74"/>
 </segment>
 </net>
 <net name="N$10" class="0">
 <segment>
 <pinref part="K2" gate="K" pin="K1"/>
 <pinref part="R3" gate="G$1" pin="2"/>
-<wire x1="160.02" y1="63.5" x2="162.56" y2="63.5" width="0.1524" layer="91"/>
+<wire x1="208.28" y1="78.74" x2="210.82" y2="78.74" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$11" class="0">
 <segment>
 <pinref part="OK1" gate="A" pin="C"/>
-<wire x1="139.7" y1="58.42" x2="144.78" y2="58.42" width="0.1524" layer="91"/>
-<wire x1="144.78" y1="58.42" x2="160.02" y2="58.42" width="0.1524" layer="91"/>
-<wire x1="160.02" y1="58.42" x2="160.02" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="187.96" y1="73.66" x2="193.04" y2="73.66" width="0.1524" layer="91"/>
+<wire x1="193.04" y1="73.66" x2="208.28" y2="73.66" width="0.1524" layer="91"/>
+<wire x1="208.28" y1="73.66" x2="208.28" y2="76.2" width="0.1524" layer="91"/>
 <pinref part="K2" gate="K" pin="K2"/>
-<wire x1="160.02" y1="60.96" x2="162.56" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="208.28" y1="76.2" x2="210.82" y2="76.2" width="0.1524" layer="91"/>
 <pinref part="D1" gate="G$1" pin="A"/>
-<junction x="144.78" y="58.42"/>
+<junction x="193.04" y="73.66"/>
 </segment>
 </net>
 <net name="LOCK_SIGNAL" class="0">
 <segment>
 <pinref part="OK1" gate="A" pin="COL"/>
 <pinref part="R4" gate="G$1" pin="1"/>
-<wire x1="121.92" y1="63.5" x2="119.38" y2="63.5" width="0.1524" layer="91"/>
-<wire x1="119.38" y1="63.5" x2="119.38" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="119.38" y1="66.04" x2="119.38" y2="68.58" width="0.1524" layer="91"/>
-<wire x1="119.38" y1="66.04" x2="114.3" y2="66.04" width="0.1524" layer="91"/>
-<junction x="119.38" y="66.04"/>
-<label x="114.3" y="66.04" size="1.27" layer="95" rot="R180" xref="yes"/>
+<wire x1="170.18" y1="78.74" x2="167.64" y2="78.74" width="0.1524" layer="91"/>
+<wire x1="167.64" y1="78.74" x2="167.64" y2="81.28" width="0.1524" layer="91"/>
+<wire x1="167.64" y1="81.28" x2="167.64" y2="83.82" width="0.1524" layer="91"/>
+<wire x1="167.64" y1="81.28" x2="162.56" y2="81.28" width="0.1524" layer="91"/>
+<junction x="167.64" y="81.28"/>
+<label x="162.56" y="81.28" size="1.27" layer="95" rot="R180" xref="yes"/>
 </segment>
 <segment>
 <pinref part="IC1" gate="G$1" pin="PD2(INT0)"/>
-<wire x1="71.12" y1="43.18" x2="73.66" y2="43.18" width="0.1524" layer="91"/>
-<label x="73.66" y="43.18" size="1.27" layer="95" xref="yes"/>
+<wire x1="86.36" y1="55.88" x2="88.9" y2="55.88" width="0.1524" layer="91"/>
+<label x="88.9" y="55.88" size="1.27" layer="95" xref="yes"/>
+</segment>
+</net>
+<net name="SERVO" class="0">
+<segment>
+<pinref part="K3" gate="K" pin="K1"/>
+<wire x1="210.82" y1="15.24" x2="205.74" y2="15.24" width="0.1524" layer="91"/>
+<label x="205.74" y="15.24" size="1.27" layer="95" rot="R180" xref="yes"/>
+</segment>
+<segment>
+<pinref part="IC1" gate="G$1" pin="PB1(OC1A)"/>
+<wire x1="86.36" y1="35.56" x2="88.9" y2="35.56" width="0.1524" layer="91"/>
+<label x="88.9" y="35.56" size="1.27" layer="95" xref="yes"/>
+</segment>
+</net>
+<net name="N$14" class="0">
+<segment>
+<pinref part="R5" gate="G$1" pin="2"/>
+<wire x1="195.58" y1="50.8" x2="195.58" y2="53.34" width="0.1524" layer="91"/>
+<pinref part="K4" gate="K" pin="K1"/>
+<wire x1="195.58" y1="53.34" x2="195.58" y2="55.88" width="0.1524" layer="91"/>
+<wire x1="195.58" y1="55.88" x2="195.58" y2="58.42" width="0.1524" layer="91"/>
+<wire x1="195.58" y1="58.42" x2="210.82" y2="58.42" width="0.1524" layer="91"/>
+<wire x1="210.82" y1="58.42" x2="210.82" y2="48.26" width="0.1524" layer="91"/>
+<pinref part="R6" gate="G$1" pin="2"/>
+<wire x1="175.26" y1="55.88" x2="195.58" y2="55.88" width="0.1524" layer="91"/>
+<junction x="195.58" y="55.88"/>
+<pinref part="R11" gate="G$1" pin="2"/>
+<wire x1="175.26" y1="17.78" x2="185.42" y2="17.78" width="0.1524" layer="91"/>
+<wire x1="185.42" y1="17.78" x2="185.42" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="185.42" y1="53.34" x2="195.58" y2="53.34" width="0.1524" layer="91"/>
+<junction x="195.58" y="53.34"/>
+</segment>
+</net>
+<net name="N$15" class="0">
+<segment>
+<pinref part="R5" gate="G$1" pin="1"/>
+<wire x1="195.58" y1="40.64" x2="195.58" y2="38.1" width="0.1524" layer="91"/>
+<pinref part="K4" gate="K" pin="K2"/>
+<wire x1="195.58" y1="38.1" x2="195.58" y2="35.56" width="0.1524" layer="91"/>
+<wire x1="195.58" y1="35.56" x2="195.58" y2="33.02" width="0.1524" layer="91"/>
+<wire x1="195.58" y1="33.02" x2="210.82" y2="33.02" width="0.1524" layer="91"/>
+<wire x1="210.82" y1="33.02" x2="210.82" y2="45.72" width="0.1524" layer="91"/>
+<pinref part="R7" gate="G$1" pin="2"/>
+<wire x1="175.26" y1="50.8" x2="182.88" y2="50.8" width="0.1524" layer="91"/>
+<wire x1="182.88" y1="50.8" x2="182.88" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="182.88" y1="38.1" x2="195.58" y2="38.1" width="0.1524" layer="91"/>
+<junction x="195.58" y="38.1"/>
+<pinref part="R10" gate="G$1" pin="2"/>
+<wire x1="175.26" y1="22.86" x2="182.88" y2="22.86" width="0.1524" layer="91"/>
+<wire x1="182.88" y1="22.86" x2="182.88" y2="35.56" width="0.1524" layer="91"/>
+<wire x1="182.88" y1="35.56" x2="195.58" y2="35.56" width="0.1524" layer="91"/>
+<junction x="195.58" y="35.56"/>
+</segment>
+</net>
+<net name="N$16" class="0">
+<segment>
+<pinref part="IC2" gate="A" pin="+IN"/>
+<pinref part="R6" gate="G$1" pin="1"/>
+<wire x1="165.1" y1="55.88" x2="162.56" y2="55.88" width="0.1524" layer="91"/>
+<pinref part="R8" gate="G$1" pin="2"/>
+<wire x1="162.56" y1="55.88" x2="160.02" y2="55.88" width="0.1524" layer="91"/>
+<wire x1="160.02" y1="63.5" x2="162.56" y2="63.5" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="63.5" x2="162.56" y2="55.88" width="0.1524" layer="91"/>
+<junction x="162.56" y="55.88"/>
+<pinref part="C9" gate="G$1" pin="2"/>
+<wire x1="157.48" y1="71.12" x2="162.56" y2="71.12" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="71.12" x2="162.56" y2="63.5" width="0.1524" layer="91"/>
+<junction x="162.56" y="63.5"/>
+</segment>
+</net>
+<net name="N$17" class="0">
+<segment>
+<pinref part="IC2" gate="A" pin="-IN"/>
+<pinref part="R7" gate="G$1" pin="1"/>
+<wire x1="165.1" y1="50.8" x2="162.56" y2="50.8" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="50.8" x2="160.02" y2="50.8" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="50.8" x2="162.56" y2="45.72" width="0.1524" layer="91"/>
+<junction x="162.56" y="50.8"/>
+<pinref part="R9" gate="G$1" pin="1"/>
+<wire x1="162.56" y1="45.72" x2="165.1" y2="45.72" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="N$12" class="0">
+<segment>
+<pinref part="IC2" gate="A" pin="OUT"/>
+<wire x1="144.78" y1="53.34" x2="142.24" y2="53.34" width="0.1524" layer="91"/>
+<wire x1="142.24" y1="53.34" x2="142.24" y2="63.5" width="0.1524" layer="91"/>
+<pinref part="R8" gate="G$1" pin="1"/>
+<wire x1="142.24" y1="63.5" x2="149.86" y2="63.5" width="0.1524" layer="91"/>
+<pinref part="R14" gate="G$1" pin="2"/>
+<wire x1="142.24" y1="53.34" x2="139.7" y2="53.34" width="0.1524" layer="91"/>
+<junction x="142.24" y="53.34"/>
+<pinref part="C9" gate="G$1" pin="1"/>
+<wire x1="149.86" y1="71.12" x2="142.24" y2="71.12" width="0.1524" layer="91"/>
+<wire x1="142.24" y1="71.12" x2="142.24" y2="63.5" width="0.1524" layer="91"/>
+<junction x="142.24" y="63.5"/>
+</segment>
+</net>
+<net name="N$13" class="0">
+<segment>
+<pinref part="R10" gate="G$1" pin="1"/>
+<wire x1="165.1" y1="22.86" x2="162.56" y2="22.86" width="0.1524" layer="91"/>
+<pinref part="R12" gate="G$1" pin="2"/>
+<wire x1="162.56" y1="22.86" x2="160.02" y2="22.86" width="0.1524" layer="91"/>
+<wire x1="160.02" y1="30.48" x2="162.56" y2="30.48" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="30.48" x2="162.56" y2="22.86" width="0.1524" layer="91"/>
+<junction x="162.56" y="22.86"/>
+<pinref part="IC2" gate="B" pin="+IN"/>
+</segment>
+</net>
+<net name="N$18" class="0">
+<segment>
+<pinref part="R11" gate="G$1" pin="1"/>
+<wire x1="165.1" y1="17.78" x2="162.56" y2="17.78" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="17.78" x2="160.02" y2="17.78" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="17.78" x2="162.56" y2="12.7" width="0.1524" layer="91"/>
+<junction x="162.56" y="17.78"/>
+<pinref part="R13" gate="G$1" pin="1"/>
+<wire x1="162.56" y1="12.7" x2="165.1" y2="12.7" width="0.1524" layer="91"/>
+<pinref part="IC2" gate="B" pin="-IN"/>
+</segment>
+</net>
+<net name="N$19" class="0">
+<segment>
+<wire x1="144.78" y1="20.32" x2="142.24" y2="20.32" width="0.1524" layer="91"/>
+<wire x1="142.24" y1="20.32" x2="142.24" y2="30.48" width="0.1524" layer="91"/>
+<pinref part="R12" gate="G$1" pin="1"/>
+<wire x1="142.24" y1="30.48" x2="149.86" y2="30.48" width="0.1524" layer="91"/>
+<pinref part="IC2" gate="B" pin="OUT"/>
+<pinref part="R15" gate="G$1" pin="2"/>
+<wire x1="142.24" y1="20.32" x2="139.7" y2="20.32" width="0.1524" layer="91"/>
+<junction x="142.24" y="20.32"/>
+</segment>
+</net>
+<net name="MOTOR_CURRENT-" class="0">
+<segment>
+<pinref part="R15" gate="G$1" pin="1"/>
+<wire x1="129.54" y1="20.32" x2="127" y2="20.32" width="0.1524" layer="91"/>
+<label x="127" y="20.32" size="1.27" layer="95" rot="R180" xref="yes"/>
+</segment>
+<segment>
+<pinref part="IC1" gate="G$1" pin="PC1(ADC1)"/>
+<wire x1="86.36" y1="81.28" x2="88.9" y2="81.28" width="0.1524" layer="91"/>
+<label x="88.9" y="81.28" size="1.27" layer="95" xref="yes"/>
+</segment>
+</net>
+<net name="MOTOR_CURRENT+" class="0">
+<segment>
+<pinref part="R14" gate="G$1" pin="1"/>
+<wire x1="129.54" y1="53.34" x2="127" y2="53.34" width="0.1524" layer="91"/>
+<label x="127" y="53.34" size="1.27" layer="95" rot="R180" xref="yes"/>
+</segment>
+<segment>
+<pinref part="IC1" gate="G$1" pin="PC0(ADC0)"/>
+<wire x1="86.36" y1="83.82" x2="88.9" y2="83.82" width="0.1524" layer="91"/>
+<label x="88.9" y="83.82" size="1.27" layer="95" xref="yes"/>
+</segment>
+</net>
+<net name="N$20" class="0">
+<segment>
+<pinref part="C10" gate="G$1" pin="2"/>
+<wire x1="157.48" y1="38.1" x2="162.56" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="38.1" x2="162.56" y2="30.48" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="N$21" class="0">
+<segment>
+<pinref part="C10" gate="G$1" pin="1"/>
+<wire x1="149.86" y1="38.1" x2="142.24" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="142.24" y1="38.1" x2="142.24" y2="30.48" width="0.1524" layer="91"/>
 </segment>
 </net>
 </nets>
diff --git a/gate-servo-controller-pcb.png b/gate-servo-controller-pcb.png
index a9a61ccc95363efecf0b48e18777ae588a4e35dd..18089b8746d3173be6c4b66e9efb8fdc4481374a 100644
Binary files a/gate-servo-controller-pcb.png and b/gate-servo-controller-pcb.png differ
diff --git a/gate-servo-controller-schema.pdf b/gate-servo-controller-schema.pdf
index dfeeccaf0917a25b0a3d75efa7c2e39ad7840c43..81a6cb8ff6c05f2e7196c84edce446969652a504 100644
Binary files a/gate-servo-controller-schema.pdf and b/gate-servo-controller-schema.pdf differ
diff --git a/gate-servo-controller-schema.png b/gate-servo-controller-schema.png
index b9fa956ca766bc773dbb0f2b70eee825d471e22a..0062d50eb8f41a5c157beaa8f08003e534f8ed04 100644
Binary files a/gate-servo-controller-schema.png and b/gate-servo-controller-schema.png differ
diff --git a/generate.sh b/generate.sh
index d9459b99929599035ec765cefda6c658d102e1eb..6d9532e21db0a3f249678d6b825a67b3dc053083 100755
--- a/generate.sh
+++ b/generate.sh
@@ -36,3 +36,7 @@ if [ "$do_sch" ]; then
 
 	mv HW/*.pdf .
 fi
+
+git add $project-pcb.png
+git add $project-schema.png
+git add $project-schema.pdf