(kicad_pcb
	(version 20260206)
	(generator "pcbnew")
	(generator_version "10.0")
	(general
		(thickness 1.6)
		(legacy_teardrops no)
	)
	(paper "A4")
	(title_block
		(title "Inverted Pendulum")
		(rev "1.0")
		(company "Miguel López")
	)
	(layers
		(0 "F.Cu" signal)
		(2 "B.Cu" signal)
		(9 "F.Adhes" user "F.Adhesive")
		(11 "B.Adhes" user "B.Adhesive")
		(13 "F.Paste" user)
		(15 "B.Paste" user)
		(5 "F.SilkS" user "F.Silkscreen")
		(7 "B.SilkS" user "B.Silkscreen")
		(1 "F.Mask" user)
		(3 "B.Mask" user)
		(17 "Dwgs.User" user "User.Drawings")
		(19 "Cmts.User" user "User.Comments")
		(21 "Eco1.User" user "User.Eco1")
		(23 "Eco2.User" user "User.Eco2")
		(25 "Edge.Cuts" user)
		(27 "Margin" user)
		(31 "F.CrtYd" user "F.Courtyard")
		(29 "B.CrtYd" user "B.Courtyard")
		(35 "F.Fab" user)
		(33 "B.Fab" user)
		(39 "User.1" user)
		(41 "User.2" user)
		(43 "User.3" user)
		(45 "User.4" user)
		(47 "User.5" user)
		(49 "User.6" user)
		(51 "User.7" user)
		(53 "User.8" user)
		(55 "User.9" user)
	)
	(setup
		(stackup
			(layer "F.SilkS"
				(type "Top Silk Screen")
			)
			(layer "F.Paste"
				(type "Top Solder Paste")
			)
			(layer "F.Mask"
				(type "Top Solder Mask")
				(thickness 0.01)
			)
			(layer "F.Cu"
				(type "copper")
				(thickness 0.035)
			)
			(layer "dielectric 1"
				(type "core")
				(thickness 1.51)
				(material "FR4")
				(epsilon_r 4.5)
				(loss_tangent 0.02)
			)
			(layer "B.Cu"
				(type "copper")
				(thickness 0.035)
			)
			(layer "B.Mask"
				(type "Bottom Solder Mask")
				(thickness 0.01)
			)
			(layer "B.Paste"
				(type "Bottom Solder Paste")
			)
			(layer "B.SilkS"
				(type "Bottom Silk Screen")
			)
			(copper_finish "None")
			(dielectric_constraints no)
		)
		(pad_to_mask_clearance 0)
		(allow_soldermask_bridges_in_footprints no)
		(tenting
			(front yes)
			(back yes)
		)
		(covering
			(front no)
			(back no)
		)
		(plugging
			(front no)
			(back no)
		)
		(capping no)
		(filling no)
		(pcbplotparams
			(layerselection 0x00000000_00000000_55555555_575555ff)
			(plot_on_all_layers_selection 0x00000000_00000000_00000000_00000000)
			(disableapertmacros no)
			(usegerberextensions yes)
			(usegerberattributes yes)
			(usegerberadvancedattributes yes)
			(creategerberjobfile yes)
			(dashed_line_dash_ratio 12)
			(dashed_line_gap_ratio 3)
			(svgprecision 4)
			(plotframeref no)
			(mode 1)
			(useauxorigin no)
			(pdf_front_fp_property_popups yes)
			(pdf_back_fp_property_popups yes)
			(pdf_metadata yes)
			(pdf_single_document no)
			(dxfpolygonmode yes)
			(dxfimperialunits yes)
			(dxfusepcbnewfont yes)
			(psnegative no)
			(psa4output no)
			(plot_black_and_white yes)
			(sketchpadsonfab no)
			(plotpadnumbers no)
			(hidednponfab no)
			(sketchdnponfab yes)
			(crossoutdnponfab yes)
			(subtractmaskfromsilk no)
			(outputformat 1)
			(mirror no)
			(drillshape 0)
			(scaleselection 1)
			(outputdirectory "gerbers/")
		)
	)
	(footprint "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical"
		(layer "F.Cu")
		(uuid "06160a36-32c0-4ffd-929a-36cf3f7b2f42")
		(at 149.745 65.66)
		(descr "Through hole straight socket strip, 1x04, 2.54mm pitch, single row (from Kicad 4.0.7), script generated")
		(tags "Through hole socket strip THT 1x04 2.54mm single row")
		(property "Reference" "J9"
			(at 0 -2.77 0)
			(layer "F.SilkS")
			(uuid "aa5329f1-b2b4-44f5-b93c-7d5044b5f72e")
			(effects
				(font
					(size 1 1)
					(thickness 0.15)
				)
			)
		)
		(property "Value" "Final de carrera1"
			(at 0 10.39 0)
			(layer "F.Fab")
			(uuid "1c20618a-a191-4de0-9828-61dc5f265e04")
			(effects
				(font
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					(thickness 0.15)
				)
			)
		)
		(property "Datasheet" ""
			(at 0 0 0)
			(layer "F.Fab")
			(hide yes)
			(uuid "c1f6d0a7-0b87-4372-b6e4-bf11afbd753e")
			(effects
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				)
			)
		)
		(property "Description" ""
			(at 0 0 0)
			(layer "F.Fab")
			(hide yes)
			(uuid "8b822abe-b541-4143-9955-3ea4362948d7")
			(effects
				(font
					(size 1.27 1.27)
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			)
		)
		(property "KiLib_Generator" "connector/pin_header_socket"
			(at 0 0 0)
			(layer "F.SilkS")
			(hide yes)
			(uuid "bab067be-0a82-492c-8b02-723648f08794")
			(effects
				(font
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		)
		(property ki_fp_filters "Connector*:*_1x??_*")
		(path "/ae6d71f9-6339-4b27-9359-877bf06d3b7f")
		(sheetname "/")
		(sheetfile "balance_byMiguel.kicad_sch")
		(units
			(unit
				(name "A")
				(pins "1" "2" "3" "4")
			)
		)
		(attr through_hole)
		(duplicate_pad_numbers_are_jumpers no)
		(fp_line
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			(end -1.33 8.95)
			(stroke
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			(layer "F.SilkS")
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		)
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		)
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			(stroke
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		(fp_line
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			(stroke
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			(layer "F.Fab")
			(uuid "955fef3f-474c-4a37-93e8-4500b92e33f7")
		)
		(fp_text user "${REFERENCE}"
			(at 0 3.81 90)
			(layer "F.Fab")
			(uuid "68dabc80-9942-4b06-995e-a09eadb895b0")
			(effects
				(font
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				)
			)
		)
		(pad "1" thru_hole rect
			(at 0 0)
			(size 1.7 1.7)
			(drill 1)
			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "Net-(J9-Pin_1)")
			(pinfunction "Pin_1_1")
			(pintype "passive")
			(uuid "d34eaa4e-2cc1-4c4b-be32-113a80f6a947")
		)
		(pad "2" thru_hole circle
			(at 0 2.54)
			(size 1.7 1.7)
			(drill 1)
			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "unconnected-(J9-Pin_2-Pad2)")
			(pinfunction "Pin_2_2")
			(pintype "passive")
			(uuid "0ea29b42-e279-4456-b636-5a7d11bc6e51")
		)
		(pad "3" thru_hole circle
			(at 0 5.08)
			(size 1.7 1.7)
			(drill 1)
			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "GND")
			(pinfunction "Pin_3_3")
			(pintype "passive")
			(uuid "f24476ff-8b9f-463e-9f20-cdd251a67361")
		)
		(pad "4" thru_hole circle
			(at 0 7.62)
			(size 1.7 1.7)
			(drill 1)
			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "+5V")
			(pinfunction "Pin_4_4")
			(pintype "passive")
			(uuid "8274017a-4aac-4204-904a-d8861f31622d")
		)
		(embedded_fonts no)
		(model "${KICAD10_3DMODEL_DIR}/Connector_PinSocket_2.54mm.3dshapes/PinSocket_1x04_P2.54mm_Vertical.step"
			(offset
				(xyz 0 0 0)
			)
			(scale
				(xyz 1 1 1)
			)
			(rotate
				(xyz 0 0 0)
			)
		)
	)
	(footprint "MiguelLibrary:ESP32C3"
		(layer "F.Cu")
		(uuid "08562a3d-d8a5-4b78-9c8d-d42fd189c7b4")
		(at 90.5 106.25 90)
		(property "Reference" "U1"
			(at 0 8 90)
			(unlocked yes)
			(layer "F.SilkS")
			(hide yes)
			(uuid "3570ab60-136f-465e-a79c-7e1f9cd2f5e0")
			(effects
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				)
			)
		)
		(property "Value" "ESP32-C3"
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			(unlocked yes)
			(layer "F.SilkS")
			(uuid "5c8e1fdc-091a-45f3-ad9c-10110f063ad2")
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		(path "/94de04a8-3105-4b18-b0fc-1cd315aa49d1")
		(sheetname "/")
		(sheetfile "balance_byMiguel.kicad_sch")
		(units
			(unit
				(name "A")
				(pins "5" "6" "7" "8" "9" "10" "20" "21" "5V" "G" "3V3" "4" "3" "2" "1"
					"0"
				)
			)
		)
		(attr through_hole)
		(duplicate_pad_numbers_are_jumpers no)
		(fp_rect
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			(end 4.5 5)
			(stroke
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				(type default)
			)
			(fill no)
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		)
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			(size 1.524 1.524)
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			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "Net-(U1-ENC1A)")
			(pinfunction "ENC1A_0")
			(pintype "bidirectional")
			(uuid "5154be1c-71dc-4b00-8772-09f72ea42d9d")
		)
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			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "Net-(U1-ENC1B)")
			(pinfunction "ENC1B_1")
			(pintype "bidirectional")
			(uuid "d8c96148-6899-4751-a7e1-87f18ca572a2")
		)
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			(net "Net-(U1-FC2)")
			(pinfunction "FC2_2")
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			(uuid "af3e7c3d-612b-49d7-ad97-5c91597d9f96")
		)
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			(net "Net-(U1-FC1)")
			(pinfunction "FC1_3")
			(pintype "bidirectional")
			(uuid "5ea2f5c6-3a6e-40f0-bf7a-e9a171a6f2b5")
		)
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			(remove_unused_layers no)
			(net "+3.3V")
			(pinfunction "3V3_3V3")
			(pintype "power_in")
			(uuid "0925228a-e367-4650-a533-cb716e2c47d2")
		)
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			(net "Net-(U1-SCK)")
			(pinfunction "SCK_4")
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			(uuid "baab96e8-ca6c-411d-bf2e-549eb86ee684")
		)
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			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "Net-(U1-MISO)")
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			(uuid "c894cf3c-d4b1-4f08-b11c-7924ce39772f")
		)
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			(uuid "17dec2c7-2b33-4fbe-ab43-c2740a22ba1b")
		)
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		)
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			(layers "*.Cu" "*.Mask")
			(remove_unused_layers no)
			(net "Net-(U1-SS)")
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			(uuid "f56813b1-0ad0-44d3-b8f1-542b660a5e7b")
		)
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			(remove_unused_layers no)
			(net "Net-(J8-Pin_2)")
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			(uuid "a4b528ab-e7d5-48ea-9f88-20618f46223c")
		)
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			(pintype "bidirectional")
			(uuid "89970c23-b060-4847-bcb0-d69821021032")
		)
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			(net "Net-(U1-EN)")
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			(uuid "7a3b5c4c-ec7e-46b0-aea4-5f905abb8034")
		)
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	(gr_text_box "Las conexiones del motor estan al reves\nLos divisores de tension de los encoders hay que cambiarlos a colector abierto\nLos conectores de los finales de carrera estan al reves y separados, seria conveniente ponerlo siguiendo el orden los conectores utilizados\ncomprobar backfeeding y garantizar EN en HIGH por hardware cuando el ESP32 no esté alimentado. Esto es un problema real porque durante la carga sobre todo si ha habido parada de emergencia el carro se mueve a la derecha. ChatGpt sugiere esta solucion"
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	(gr_text_box "Protección de ENABLE del TMC5160 durante reset/boot del ESP32-C3\n\nProblema:\nDurante la carga de firmware o reset, GPIO10 del ESP32-C3 queda temporalmente en alta impedancia.\nEl pin EN/DRV_ENN del TMC5160 es activo en LOW, por lo que puede quedar habilitado antes de que arranque el firmware.\n\nSolución:\nAñadir una resistencia pull-up de 10 kΩ entre EN/DRV_ENN y 3.3 V.\n\nEsquema:\n\n3.3 V\n  |\n  10 kΩ\n  |\n  +---- EN / DRV_ENN TMC5160\n  |\nGPIO10 ESP32-C3\n\nFuncionamiento:\n- Durante reset/boot: pull-up fuerza EN = HIGH → driver deshabilitado.\n- Durante funcionamiento: GPIO10 puede poner EN = LOW → driver habilitado.\n- En emergency stop: GPIO10 pone EN = HIGH → motor deshabilitado.\n\nMantener también en software:\ndigitalWrite(EN, HIGH) durante inicialización."
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