├── images ├── photo1.jpg ├── photo2.jpg ├── photo3.jpg ├── photo4.jpg ├── photo5.jpg ├── photo6.jpg └── photo7.jpg ├── hardware ├── 3d_models │ ├── endstop_x1.stl │ ├── cover_piexe_x2.stl │ ├── distancer_noprint.stl │ ├── main_body_piece_x1.stl │ ├── base_timing_pulley_x1.stl │ ├── motor_pulley_noprint.stl │ └── hexagonal_distancers_noprint.stl └── lidar_driver_board │ ├── esp32_stepper_driver-rescue.dcm │ ├── esp32_stepper_driver.pdf │ ├── esp32_stepper_driver.zip │ ├── sym-lib-table │ ├── gerber │ ├── esp32_stepper_driver-NPTH.drl │ ├── esp32_stepper_driver-Edge_Cuts.gbr │ ├── esp32_stepper_driver-PTH.drl │ ├── esp32_stepper_driver-B_SilkS.gbr │ ├── esp32_stepper_driver-B_Paste.gbr │ ├── esp32_stepper_driver-F_Paste.gbr │ └── esp32_stepper_driver-B_Mask.gbr │ ├── esp32_stepper_driver.pro │ ├── esp32_stepper_driver-rescue.lib │ └── esp32_stepper_driver-cache.lib ├── .gitignore ├── src ├── config.h.template ├── buffer.h ├── queuelist.h └── niklidar.ino ├── visualizer ├── visualizer.py ├── coordinate_converter.py └── scan.py ├── README.md └── LICENSE /images/photo1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/images/photo1.jpg -------------------------------------------------------------------------------- /images/photo2.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/images/photo2.jpg -------------------------------------------------------------------------------- /images/photo3.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/images/photo3.jpg -------------------------------------------------------------------------------- /images/photo4.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/images/photo4.jpg -------------------------------------------------------------------------------- /images/photo5.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/images/photo5.jpg -------------------------------------------------------------------------------- /images/photo6.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/images/photo6.jpg -------------------------------------------------------------------------------- /images/photo7.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/images/photo7.jpg -------------------------------------------------------------------------------- /hardware/3d_models/endstop_x1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/3d_models/endstop_x1.stl -------------------------------------------------------------------------------- /hardware/lidar_driver_board/esp32_stepper_driver-rescue.dcm: -------------------------------------------------------------------------------- 1 | EESchema-DOCLIB Version 2.0 2 | # 3 | #End Doc Library 4 | -------------------------------------------------------------------------------- /hardware/3d_models/cover_piexe_x2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/3d_models/cover_piexe_x2.stl -------------------------------------------------------------------------------- /hardware/3d_models/distancer_noprint.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/3d_models/distancer_noprint.stl -------------------------------------------------------------------------------- /hardware/3d_models/main_body_piece_x1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/3d_models/main_body_piece_x1.stl -------------------------------------------------------------------------------- /hardware/3d_models/base_timing_pulley_x1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/3d_models/base_timing_pulley_x1.stl -------------------------------------------------------------------------------- /hardware/3d_models/motor_pulley_noprint.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/3d_models/motor_pulley_noprint.stl -------------------------------------------------------------------------------- /hardware/3d_models/hexagonal_distancers_noprint.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/3d_models/hexagonal_distancers_noprint.stl -------------------------------------------------------------------------------- /hardware/lidar_driver_board/esp32_stepper_driver.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/lidar_driver_board/esp32_stepper_driver.pdf -------------------------------------------------------------------------------- /hardware/lidar_driver_board/esp32_stepper_driver.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nikisalli/nik-lidar/HEAD/hardware/lidar_driver_board/esp32_stepper_driver.zip -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/ 2 | !.vscode/settings.json 3 | !.vscode/tasks.json 4 | !.vscode/launch.json 5 | !.vscode/extensions.json 6 | build 7 | src/config.h 8 | file.xyz 9 | point_cloud.xyz -------------------------------------------------------------------------------- /hardware/lidar_driver_board/sym-lib-table: -------------------------------------------------------------------------------- 1 | (sym_lib_table 2 | (lib (name esp32_stepper_driver-rescue)(type Legacy)(uri ${KIPRJMOD}/esp32_stepper_driver-rescue.lib)(options "")(descr "")) 3 | ) 4 | -------------------------------------------------------------------------------- /src/config.h.template: -------------------------------------------------------------------------------- 1 | #ifndef _CONFIG_H 2 | #define _CONFIG_H 3 | 4 | const char* ssid = "ssid"; //ssid of the wifi network to connect to 5 | const char* password = "password"; //password 6 | const char* hostname = "esp32"; 7 | 8 | #endif -------------------------------------------------------------------------------- /hardware/lidar_driver_board/gerber/esp32_stepper_driver-NPTH.drl: -------------------------------------------------------------------------------- 1 | M48 2 | ; DRILL file {KiCad 5.1.6} date Tue Jul 21 22:46:34 2020 3 | ; FORMAT={-:-/ absolute / inch / decimal} 4 | ; #@! TF.CreationDate,2020-07-21T22:46:34+02:00 5 | ; #@! TF.GenerationSoftware,Kicad,Pcbnew,5.1.6 6 | ; #@! TF.FileFunction,NonPlated,1,2,NPTH 7 | FMAT,2 8 | INCH 9 | T1C0.0394 10 | % 11 | G90 12 | G05 13 | T1 14 | X5.8999Y-2.93 15 | X6.2141Y-2.93 16 | T0 17 | M30 18 | -------------------------------------------------------------------------------- /visualizer/visualizer.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import open3d.open3d as o3d 3 | 4 | if __name__ == "__main__": 5 | pcd = o3d.io.read_point_cloud("/home/nik/Desktop/progetti/nik-lidar/point_cloud.xyz", format='xyz') 6 | vis = o3d.visualization.Visualizer() 7 | vis.create_window() 8 | vis.add_geometry(pcd) 9 | opt = vis.get_render_option() 10 | opt.background_color = np.asarray([0.15, 0.15, 0.15]) 11 | vis.run() 12 | vis.destroy_window() -------------------------------------------------------------------------------- /visualizer/coordinate_converter.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | 3 | s = "" 4 | 5 | with open("/home/nik/kek.xyz", "r") as f: 6 | for line in f: 7 | nums = line.split(' ') 8 | #print(nums) 9 | 10 | x1 = float(nums[0]) 11 | y1 = float(nums[1]) 12 | z1 = float(nums[2][:-2]) 13 | 14 | ra = np.sqrt(np.square(x1) + np.square(y1) + np.square(z1)) 15 | az = np.arctan(y1/x1) 16 | ze = np.arccos(z1/ra) 17 | #print(str(ra) + " " + str(az) + " " + str(ze)) 18 | 19 | """x = ra * np.sin(ze) * np.cos(az) 20 | y = ra * np.sin(ze) * np.sin(az) 21 | z = ra * np.cos(ze)""" 22 | 23 | x = x1 24 | y = -y1 25 | z = z1 26 | 27 | #print(np.sin(np.radians(az))) 28 | s += str(x) + " " + str(y) + " " + str(z) + "\n" 29 | 30 | o = open("/home/nik/out.xyz", "w") 31 | o.write(s) 32 | #print(s)""" 33 | -------------------------------------------------------------------------------- /src/buffer.h: -------------------------------------------------------------------------------- 1 | #ifndef BUFFER_H 2 | #define BUFFER_H 3 | 4 | template 5 | class buffer { 6 | private: 7 | int dim; 8 | public: 9 | T *arr; 10 | int size; 11 | 12 | buffer(int s); 13 | 14 | void append(T); 15 | bool full(); 16 | void clear(); 17 | 18 | ~buffer(){ 19 | delete[] arr; 20 | } 21 | }; 22 | 23 | template 24 | buffer::buffer(int s) { 25 | arr = new T[s]; 26 | dim = s; 27 | size = -1; 28 | } 29 | 30 | template 31 | void buffer::append(T t) { 32 | if(full()){ 33 | return; 34 | } 35 | arr[++size] = t; 36 | } 37 | 38 | template 39 | bool buffer::full() { 40 | return size == dim; 41 | } 42 | 43 | template 44 | void buffer::clear() { 45 | size = -1; 46 | } 47 | 48 | #endif 49 | 50 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # nik-lidar 2 | a low cost 3d printed 3d lidar based on ydlidar-x4, esp32 and cheap parts! 3 | 4 | - project status: complete, needs cleanup 5 | 6 | # info 7 | In this repo you can find all what's necessary to assemble your own 3d lidar able to make acceptable quality 360° 3d scans 8 | 9 | feel free to contribute since I don't have time to clean up this project 10 | 11 | # images and results 12 | ![alt text](https://github.com/nikisalli/nik-lidar/raw/master/images/photo1.jpg) 13 | ![alt text](https://github.com/nikisalli/nik-lidar/raw/master/images/photo2.jpg) 14 | ![alt text](https://github.com/nikisalli/nik-lidar/raw/master/images/photo3.jpg) 15 | ![alt text](https://github.com/nikisalli/nik-lidar/raw/master/images/photo4.jpg) 16 | ![alt text](https://github.com/nikisalli/nik-lidar/raw/master/images/photo5.jpg) 17 | ![alt text](https://github.com/nikisalli/nik-lidar/raw/master/images/photo6.jpg) 18 | ![alt text](https://github.com/nikisalli/nik-lidar/raw/master/images/photo7.jpg) -------------------------------------------------------------------------------- /hardware/lidar_driver_board/esp32_stepper_driver.pro: -------------------------------------------------------------------------------- 1 | update=ven 6 mar 2020, 14:31:36 2 | version=1 3 | last_client=kicad 4 | [general] 5 | version=1 6 | RootSch= 7 | BoardNm= 8 | [pcbnew] 9 | version=1 10 | LastNetListRead= 11 | UseCmpFile=1 12 | PadDrill=0.600000000000 13 | PadDrillOvalY=0.600000000000 14 | PadSizeH=1.500000000000 15 | PadSizeV=1.500000000000 16 | PcbTextSizeV=1.500000000000 17 | PcbTextSizeH=1.500000000000 18 | PcbTextThickness=0.300000000000 19 | ModuleTextSizeV=1.000000000000 20 | ModuleTextSizeH=1.000000000000 21 | ModuleTextSizeThickness=0.150000000000 22 | SolderMaskClearance=0.000000000000 23 | SolderMaskMinWidth=0.000000000000 24 | DrawSegmentWidth=0.200000000000 25 | BoardOutlineThickness=0.100000000000 26 | ModuleOutlineThickness=0.150000000000 27 | [cvpcb] 28 | version=1 29 | NetIExt=net 30 | [eeschema] 31 | version=1 32 | LibDir= 33 | [eeschema/libraries] 34 | [schematic_editor] 35 | version=1 36 | PageLayoutDescrFile= 37 | PlotDirectoryName=./ 38 | SubpartIdSeparator=0 39 | SubpartFirstId=65 40 | NetFmtName= 41 | SpiceAjustPassiveValues=0 42 | LabSize=50 43 | ERC_TestSimilarLabels=1 44 | -------------------------------------------------------------------------------- /visualizer/scan.py: -------------------------------------------------------------------------------- 1 | import socket 2 | import time 3 | import numpy as np 4 | import copy 5 | 6 | sock = socket.socket() 7 | sock.connect(('192.168.43.169', 80)) # lidar hostname or local ip address 8 | 9 | head = [0xFF,0xFE,0xFD,0xFC,0xFB,0xFA,0xF9,0xF8,0x0F7,0xF6] 10 | buf_size = 1800 11 | meas_length = 6 12 | 13 | f = open("./file.xyz", "w") # path for the output point cloud file (~100MB for each full scan) 14 | percent = 0 15 | 16 | while(1): 17 | i = 0 18 | t = time.time() 19 | 20 | while(i < (len(head))): 21 | c = int.from_bytes(sock.recv(1), "little") 22 | if(c == head[i]): 23 | i = i+1 24 | else: 25 | i = 0 26 | buf = sock.recv(buf_size, socket.MSG_WAITALL) 27 | 28 | print("scan advancement: " + str(percent) + "%") # print scan advancement 29 | 30 | for i in range(int(buf_size/meas_length)): 31 | ze = (buf[i*meas_length+1] + (buf[i*meas_length] << 8))/100 32 | ra = buf[i*meas_length+3] + (buf[i*meas_length+2] << 8) 33 | az = (buf[i*meas_length+5] + (buf[i*meas_length+4] << 8))/22.22222222222222222 34 | 35 | percent = az/1.8 36 | 37 | x = ra * np.sin(np.radians(ze)) * np.cos(np.radians(az)) 38 | y = ra * np.sin(np.radians(ze)) * np.sin(np.radians(az)) 39 | z = ra * np.cos(np.radians(ze)) 40 | 41 | f.write(str(x) + " " + str(y) + " " + str(z) + "\n") -------------------------------------------------------------------------------- /hardware/lidar_driver_board/gerber/esp32_stepper_driver-Edge_Cuts.gbr: -------------------------------------------------------------------------------- 1 | G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,5.1.6* 2 | G04 #@! TF.CreationDate,2020-07-21T22:46:31+02:00* 3 | G04 #@! TF.ProjectId,esp32_stepper_driver,65737033-325f-4737-9465-707065725f64,rev?* 4 | G04 #@! TF.SameCoordinates,Original* 5 | G04 #@! TF.FileFunction,Profile,NP* 6 | %FSLAX46Y46*% 7 | G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* 8 | G04 Created by KiCad (PCBNEW 5.1.6) date 2020-07-21 22:46:31* 9 | %MOMM*% 10 | %LPD*% 11 | G01* 12 | G04 APERTURE LIST* 13 | G04 #@! TA.AperFunction,Profile* 14 | %ADD10C,0.150000*% 15 | G04 #@! TD* 16 | G04 #@! TA.AperFunction,Profile* 17 | %ADD11C,0.200000*% 18 | G04 #@! TD* 19 | G04 APERTURE END LIST* 20 | D10* 21 | X137000000Y-108900000D02* 22 | X140700000Y-108900000D01* 23 | X135890000Y-145415000D02* 24 | X135900000Y-110000000D01* 25 | X135890000Y-74930000D02* 26 | X135900000Y-90800000D01* 27 | X140700000Y-91900000D02* 28 | X137000000Y-91900000D01* 29 | X137000000Y-91900000D02* 30 | G75* 31 | G02* 32 | X135900000Y-90800000I0J1100000D01* 33 | G01* 34 | X140700000Y-91900000D02* 35 | G75* 36 | G02* 37 | X141800000Y-93000000I0J-1100000D01* 38 | G01* 39 | X141800000Y-107800000D02* 40 | X141800000Y-93000000D01* 41 | X141800000Y-107800000D02* 42 | G75* 43 | G02* 44 | X140700000Y-108900000I-1100000J0D01* 45 | G01* 46 | X135900000Y-110000000D02* 47 | G75* 48 | G02* 49 | X137000000Y-108900000I1100000J0D01* 50 | G01* 51 | X135890000Y-74930000D02* 52 | G75* 53 | G02* 54 | X140970000Y-69850000I5080000J0D01* 55 | G01* 56 | X189230000Y-69850000D02* 57 | G75* 58 | G02* 59 | X194310000Y-74930000I0J-5080000D01* 60 | G01* 61 | X194310000Y-145415000D02* 62 | G75* 63 | G02* 64 | X189230000Y-150495000I-5080000J0D01* 65 | G01* 66 | X140970000Y-150495000D02* 67 | G75* 68 | G02* 69 | X135890000Y-145415000I0J5080000D01* 70 | G01* 71 | D11* 72 | X189230000Y-69850000D02* 73 | X140970000Y-69850000D01* 74 | X194310000Y-145415000D02* 75 | X194310000Y-74930000D01* 76 | X140970000Y-150495000D02* 77 | X189230000Y-150495000D01* 78 | M02* 79 | -------------------------------------------------------------------------------- /src/queuelist.h: -------------------------------------------------------------------------------- 1 | // header defining the interface of the source. 2 | #ifndef _QUEUELIST_H 3 | #define _QUEUELIST_H 4 | 5 | // the definition of the queue class. 6 | template 7 | class QueueList { 8 | public: 9 | // init the queue (constructor). 10 | QueueList (); 11 | 12 | // clear the queue (destructor). 13 | ~QueueList (); 14 | 15 | // push an item to the queue. 16 | void push (const T i); 17 | 18 | // pop an item from the queue. 19 | T pop (); 20 | 21 | // get an item from the queue. 22 | T peek () const; 23 | 24 | // check if the queue is empty. 25 | bool isEmpty () const; 26 | 27 | // get the number of items in the queue. 28 | int count () const; 29 | 30 | private: 31 | // the structure of each node in the list. 32 | typedef struct node { 33 | T item; // the item in the node. 34 | node * next; // the next node in the list. 35 | } node; 36 | 37 | typedef node * link; // synonym for pointer to a node. 38 | 39 | int size; // the size of the queue. 40 | link head; // the head of the list. 41 | link tail; // the tail of the list. 42 | }; 43 | 44 | // init the queue (constructor). 45 | template 46 | QueueList::QueueList () { 47 | size = 0; // set the size of queue to zero. 48 | head = NULL; // set the head of the list to point nowhere. 49 | tail = NULL; // set the tail of the list to point nowhere. 50 | } 51 | 52 | // clear the queue (destructor). 53 | template 54 | QueueList::~QueueList () { 55 | // deallocate memory space of each node in the list. 56 | for (link t = head; t != NULL; head = t) { 57 | t = head->next; delete head; 58 | } 59 | 60 | size = 0; // set the size of queue to zero. 61 | tail = NULL; // set the tail of the list to point nowhere. 62 | } 63 | 64 | // push an item to the queue. 65 | template 66 | void QueueList::push (const T i) { 67 | // create a temporary pointer to tail. 68 | link t = tail; 69 | 70 | // create a new node for the tail. 71 | tail = (link) new node; 72 | 73 | 74 | // set the next of the new node. 75 | tail->next = NULL; 76 | 77 | // store the item to the new node. 78 | tail->item = i; 79 | 80 | // check if the queue is empty. 81 | if (isEmpty ()) 82 | // make the new node the head of the list. 83 | head = tail; 84 | else 85 | // make the new node the tail of the list. 86 | t->next = tail; 87 | 88 | // increase the items. 89 | size++; 90 | } 91 | 92 | // pop an item from the queue. 93 | template 94 | T QueueList::pop () { 95 | 96 | // get the item of the head node. 97 | T item = head->item; 98 | 99 | // remove only the head node. 100 | link t = head->next; delete head; head = t; 101 | 102 | // decrease the items. 103 | size--; 104 | 105 | // return the item. 106 | return item; 107 | } 108 | 109 | // get an item from the queue. 110 | template 111 | T QueueList::peek () const { 112 | 113 | // return the item of the head node. 114 | return head->item; 115 | } 116 | 117 | // check if the queue is empty. 118 | template 119 | bool QueueList::isEmpty () const { 120 | return head == NULL; 121 | } 122 | 123 | // get the number of items in the queue. 124 | template 125 | int QueueList::count () const { 126 | return size; 127 | } 128 | 129 | 130 | 131 | #endif // _QUEUELIST_H 132 | -------------------------------------------------------------------------------- /hardware/lidar_driver_board/esp32_stepper_driver-rescue.lib: -------------------------------------------------------------------------------- 1 | EESchema-LIBRARY Version 2.4 2 | #encoding utf-8 3 | # 4 | # CH340G-ch34x-Nightmare-V2-pcb-V6-rescue 5 | # 6 | DEF CH340G-ch34x-Nightmare-V2-pcb-V6-rescue U 0 40 Y Y 1 F N 7 | F0 "U" 25 475 60 H V C CNN 8 | F1 "CH340G-ch34x-Nightmare-V2-pcb-V6-rescue" 0 -475 60 H V C CNN 9 | F2 "" 100 -200 60 H V C CNN 10 | F3 "" 100 -200 60 H V C CNN 11 | DRAW 12 | S -250 400 250 -400 0 1 12 f 13 | X GND 1 -450 350 200 R 50 50 1 1 W 14 | X DSR 10 450 -250 200 L 50 50 1 1 O 15 | X RI 11 450 -150 200 L 50 50 1 1 O 16 | X DCD 12 450 -50 200 L 50 50 1 1 O 17 | X DTR 13 450 50 200 L 50 50 1 1 O 18 | X RTS 14 450 150 200 L 50 50 1 1 O 19 | X RS232 15 450 250 200 L 50 50 1 1 I 20 | X VCC 16 450 350 200 L 50 50 1 1 W 21 | X TX 2 -450 250 200 R 50 50 1 1 O 22 | X RX 3 -450 150 200 R 50 50 1 1 I 23 | X V3 4 -450 50 200 R 50 50 1 1 W 24 | X D+ 5 -450 -50 200 R 50 50 1 1 B 25 | X D- 6 -450 -150 200 R 50 50 1 1 B 26 | X XI 7 -450 -250 200 R 50 50 1 1 I 27 | X XO 8 -450 -350 200 R 50 50 1 1 I 28 | X CTS 9 450 -350 200 L 50 50 1 1 O 29 | ENDDRAW 30 | ENDDEF 31 | # 32 | # ESP-32S-z_esp32-Nightmare-V2-pcb-V6-rescue 33 | # 34 | DEF ESP-32S-z_esp32-Nightmare-V2-pcb-V6-rescue M 0 40 Y Y 1 F N 35 | F0 "M" -650 1100 60 H V C CNN 36 | F1 "ESP-32S-z_esp32-Nightmare-V2-pcb-V6-rescue" 450 1100 60 H V C CNN 37 | F2 "" 50 1150 60 H I C CNN 38 | F3 "" -350 250 60 H I C CNN 39 | DRAW 40 | S -800 1050 800 -1000 0 1 0 f 41 | P 2 0 1 35 400 950 400 550 N 42 | P 12 0 1 35 -550 600 -550 950 -400 950 -400 700 -200 700 -200 950 0 950 0 700 200 700 200 950 550 950 550 550 N 43 | X GND 1 -1000 400 200 R 50 50 1 1 W 44 | X IO25 10 -1000 -500 200 R 50 50 1 1 B 45 | X IO26 11 -1000 -600 200 R 50 50 1 1 B 46 | X IO27 12 -1000 -700 200 R 50 50 1 1 B 47 | X IO14 13 -1000 -800 200 R 50 50 1 1 B 48 | X IO12 14 -1000 -900 200 R 50 50 1 1 B 49 | X GND 15 -450 -1200 200 U 50 50 1 1 W 50 | X IO13 16 -350 -1200 200 U 50 50 1 1 B 51 | X SD2 17 -250 -1200 200 U 50 50 1 1 B 52 | X SD3 18 -150 -1200 200 U 50 50 1 1 B 53 | X CMD 19 -50 -1200 200 U 50 50 1 1 B 54 | X 3V3 2 -1000 300 200 R 50 50 1 1 W 55 | X CLK 20 50 -1200 200 U 50 50 1 1 B 56 | X SD0 21 150 -1200 200 U 50 50 1 1 B 57 | X SD1 22 250 -1200 200 U 50 50 1 1 B 58 | X IO15 23 350 -1200 200 U 50 50 1 1 B 59 | X IO2 24 450 -1200 200 U 50 50 1 1 B 60 | X IO0 25 1000 -900 200 L 50 50 1 1 B 61 | X IO4 26 1000 -800 200 L 50 50 1 1 B 62 | X IO16 27 1000 -700 200 L 50 50 1 1 B 63 | X IO17 28 1000 -600 200 L 50 50 1 1 B 64 | X IO5 29 1000 -500 200 L 50 50 1 1 B 65 | X EN 3 -1000 200 200 R 50 50 1 1 I 66 | X IO18 30 1000 -400 200 L 50 50 1 1 B 67 | X IO19 31 1000 -300 200 L 50 50 1 1 B 68 | X NC 32 1000 -200 200 L 50 50 1 1 N 69 | X IO21 33 1000 -100 200 L 50 50 1 1 B 70 | X RXD0 34 1000 0 200 L 50 50 1 1 I 71 | X TXD0 35 1000 100 200 L 50 50 1 1 O 72 | X IO22 36 1000 200 200 L 50 50 1 1 B 73 | X IO23 37 1000 300 200 L 50 50 1 1 B 74 | X GND 38 1000 400 200 L 50 50 1 1 W 75 | X SVP 4 -1000 100 200 R 50 50 1 1 I 76 | X SVN 5 -1000 0 200 R 50 50 1 1 I 77 | X IO34 6 -1000 -100 200 R 50 50 1 1 B 78 | X IO35 7 -1000 -200 200 R 50 50 1 1 B 79 | X IO32 8 -1000 -300 200 R 50 50 1 1 B 80 | X IO33 9 -1000 -400 200 R 50 50 1 1 B 81 | ENDDRAW 82 | ENDDEF 83 | # 84 | # KA78M05_TO252-regul-Nightmare-V2-pcb-V6-rescue 85 | # 86 | DEF KA78M05_TO252-regul-Nightmare-V2-pcb-V6-rescue U 0 10 Y Y 1 F N 87 | F0 "U" -150 125 50 H V C CNN 88 | F1 "KA78M05_TO252-regul-Nightmare-V2-pcb-V6-rescue" 0 125 50 H V L CNN 89 | F2 "TO_SOT_Packages_THT:TO-252-2" 0 225 50 H I C CIN 90 | F3 "" 0 -50 50 H I C CNN 91 | $FPLIST 92 | TO?252* 93 | $ENDFPLIST 94 | DRAW 95 | S -200 75 200 -200 0 1 10 f 96 | X VI 1 -300 0 100 R 50 50 1 1 W 97 | X GND 2 0 -300 100 U 50 50 1 1 W 98 | X VO 3 300 0 100 L 50 50 1 1 w 99 | ENDDRAW 100 | ENDDEF 101 | # 102 | #End Library 103 | -------------------------------------------------------------------------------- /hardware/lidar_driver_board/gerber/esp32_stepper_driver-PTH.drl: -------------------------------------------------------------------------------- 1 | M48 2 | ; DRILL file {KiCad 5.1.6} date Tue Jul 21 22:46:34 2020 3 | ; FORMAT={-:-/ absolute / inch / decimal} 4 | ; #@! TF.CreationDate,2020-07-21T22:46:34+02:00 5 | ; #@! TF.GenerationSoftware,Kicad,Pcbnew,5.1.6 6 | ; #@! TF.FileFunction,Plated,1,2,PTH 7 | FMAT,2 8 | INCH 9 | T1C0.0157 10 | T2C0.0300 11 | T3C0.0374 12 | T4C0.0394 13 | T5C0.1260 14 | % 15 | G90 16 | G05 17 | T1 18 | X5.42Y-4.405 19 | X5.5Y-4.57 20 | X5.5698Y-4.6448 21 | X5.5733Y-4.5741 22 | X5.5758Y-5.3297 23 | X5.6198Y-4.5402 24 | X5.62Y-4.61 25 | X5.63Y-4.41 26 | X5.64Y-4.08 27 | X5.64Y-4.115 28 | X5.64Y-4.15 29 | X5.64Y-4.185 30 | X5.64Y-4.22 31 | X5.64Y-5.34 32 | X5.68Y-5.34 33 | X5.72Y-5.33 34 | X5.74Y-3.69 35 | X5.7437Y-4.6155 36 | X5.75Y-3.89 37 | X5.75Y-4.25 38 | X5.75Y-4.7 39 | X5.76Y-5.33 40 | X5.7874Y-3.9606 41 | X5.7874Y-3.9961 42 | X5.7874Y-4.0315 43 | X5.7874Y-4.0669 44 | X5.79Y-4.68 45 | X5.79Y-5.42 46 | X5.79Y-5.46 47 | X5.79Y-5.5 48 | X5.79Y-5.54 49 | X5.8Y-3.38 50 | X5.8Y-3.49 51 | X5.8Y-4.825 52 | X5.8246Y-5.3297 53 | X5.83Y-3.44 54 | X5.85Y-4.14 55 | X5.85Y-4.19 56 | X5.88Y-3.44 57 | X5.89Y-3.69 58 | X5.93Y-3.4 59 | X5.96Y-4.67 60 | X6.0076Y-3.4473 61 | X6.02Y-3.41 62 | X6.05Y-4.62 63 | X6.06Y-3.28 64 | X6.07Y-3.69 65 | X6.09Y-3.55 66 | X6.095Y-5.17 67 | X6.11Y-3.27 68 | X6.135Y-5.225 69 | X6.15Y-3.82 70 | X6.16Y-3.155 71 | X6.16Y-3.19 72 | X6.195Y-3.155 73 | X6.195Y-3.19 74 | X6.21Y-3.28 75 | X6.21Y-3.69 76 | X6.23Y-3.155 77 | X6.23Y-3.19 78 | X6.23Y-4.69 79 | X6.24Y-5.17 80 | X6.27Y-3.835 81 | X6.27Y-3.87 82 | X6.27Y-3.905 83 | X6.27Y-3.94 84 | X6.2795Y-3.9961 85 | X6.28Y-4.045 86 | X6.28Y-4.095 87 | X6.29Y-3.68 88 | X6.33Y-5.225 89 | X6.33Y-5.26 90 | X6.34Y-4.85 91 | X6.365Y-5.225 92 | X6.365Y-5.26 93 | X6.378Y-4.2718 94 | X6.4027Y-3.5427 95 | X6.455Y-3.605 96 | X6.5157Y-5.122 97 | X6.5188Y-5.437 98 | X6.545Y-3.555 99 | X6.545Y-4.43 100 | X6.545Y-4.47 101 | X6.545Y-4.5094 102 | X6.545Y-4.5487 103 | X6.545Y-4.665 104 | X6.57Y-3.805 105 | X6.57Y-3.84 106 | X6.5738Y-5.2638 107 | X6.6024Y-5.2087 108 | X6.605Y-3.805 109 | X6.605Y-3.84 110 | X6.6374Y-5.4013 111 | X6.6417Y-5.3622 112 | X6.65Y-4.715 113 | X6.7616Y-4.4066 114 | X6.9094Y-5.3622 115 | X6.9138Y-5.4013 116 | X6.9312Y-3.6713 117 | X7.0072Y-3.0418 118 | X7.04Y-3.02 119 | X7.16Y-4.06 120 | X7.16Y-4.69 121 | X7.17Y-4.15 122 | X7.27Y-3.28 123 | X7.27Y-3.32 124 | X7.31Y-3.28 125 | X7.31Y-3.32 126 | T2 127 | X6.6Y-4.975 128 | X6.6Y-5.475 129 | X6.7Y-4.975 130 | X6.7Y-5.475 131 | X6.8Y-4.975 132 | X6.8Y-5.475 133 | X6.9Y-4.975 134 | X6.9Y-5.475 135 | X7.0Y-4.975 136 | X7.0Y-5.475 137 | X7.1Y-4.975 138 | X7.1Y-5.475 139 | X7.2Y-4.975 140 | X7.2Y-5.475 141 | X7.3Y-4.975 142 | X7.3Y-5.475 143 | X6.6Y-4.35 144 | X6.6Y-4.85 145 | X6.7Y-4.35 146 | X6.7Y-4.85 147 | X6.8Y-4.35 148 | X6.8Y-4.85 149 | X6.9Y-4.35 150 | X6.9Y-4.85 151 | X7.0Y-4.35 152 | X7.0Y-4.85 153 | X7.1Y-4.35 154 | X7.1Y-4.85 155 | X7.2Y-4.35 156 | X7.2Y-4.85 157 | X7.3Y-4.35 158 | X7.3Y-4.85 159 | X6.6Y-3.1 160 | X6.6Y-3.6 161 | X6.7Y-3.1 162 | X6.7Y-3.6 163 | X6.8Y-3.1 164 | X6.8Y-3.6 165 | X6.9Y-3.1 166 | X6.9Y-3.6 167 | X7.0Y-3.1 168 | X7.0Y-3.6 169 | X7.1Y-3.1 170 | X7.1Y-3.6 171 | X7.2Y-3.1 172 | X7.2Y-3.6 173 | X7.3Y-3.1 174 | X7.3Y-3.6 175 | X6.6Y-3.725 176 | X6.6Y-4.225 177 | X6.7Y-3.725 178 | X6.7Y-4.225 179 | X6.8Y-3.725 180 | X6.8Y-4.225 181 | X6.9Y-3.725 182 | X6.9Y-4.225 183 | X7.0Y-3.725 184 | X7.0Y-4.225 185 | X7.1Y-3.725 186 | X7.1Y-4.225 187 | X7.2Y-3.725 188 | X7.2Y-4.225 189 | X7.3Y-3.725 190 | X7.3Y-4.225 191 | T3 192 | X6.49Y-2.875 193 | X6.5884Y-2.875 194 | X6.6869Y-2.875 195 | X6.7853Y-2.875 196 | X7.025Y-2.875 197 | X7.1234Y-2.875 198 | X7.2219Y-2.875 199 | X7.52Y-3.52 200 | X7.52Y-3.6184 201 | X7.52Y-3.7169 202 | X7.52Y-3.8153 203 | X7.52Y-4.08 204 | X7.52Y-4.1784 205 | X7.52Y-4.2769 206 | X7.52Y-4.3753 207 | X7.52Y-4.64 208 | X7.52Y-4.7384 209 | X7.52Y-4.8369 210 | X7.52Y-4.9353 211 | X7.52Y-5.2 212 | X7.52Y-5.2984 213 | X7.52Y-5.3969 214 | X7.52Y-5.4953 215 | T4 216 | X6.725Y-5.175 217 | X6.725Y-5.275 218 | X6.825Y-5.175 219 | X6.825Y-5.275 220 | X6.925Y-5.175 221 | X6.925Y-5.275 222 | X7.52Y-3.17 223 | X7.52Y-3.2684 224 | X6.725Y-4.55 225 | X6.725Y-4.65 226 | X6.825Y-4.55 227 | X6.825Y-4.65 228 | X6.925Y-4.55 229 | X6.925Y-4.65 230 | X6.725Y-3.925 231 | X6.725Y-4.025 232 | X6.825Y-3.925 233 | X6.825Y-4.025 234 | X6.925Y-3.925 235 | X6.925Y-4.025 236 | X6.725Y-3.3 237 | X6.725Y-3.4 238 | X6.825Y-3.3 239 | X6.825Y-3.4 240 | X6.925Y-3.3 241 | X6.925Y-3.4 242 | T5 243 | X7.475Y-2.925 244 | X7.475Y-5.75 245 | X5.525Y-5.75 246 | X5.525Y-2.925 247 | T4 248 | G00X5.9706Y-5.36 249 | M15 250 | G01X6.0494Y-5.36 251 | M16 252 | G05 253 | G00X5.9706Y-5.5962 254 | M15 255 | G01X6.0494Y-5.5962 256 | M16 257 | G05 258 | G00X6.195Y-5.5175 259 | M15 260 | G01X6.195Y-5.4387 261 | M16 262 | G05 263 | T0 264 | M30 265 | -------------------------------------------------------------------------------- /src/niklidar.ino: -------------------------------------------------------------------------------- 1 | #include "queuelist.h" 2 | #include "buffer.h" 3 | #include "config.h" 4 | #include 5 | #include 6 | #include 7 | 8 | #define STEP1 32 9 | #define DIR1 33 10 | #define YDLIDAR_MOTRO_EN 4 11 | #define SWITCH_OUT 12 12 | #define SWITCH 13 13 | #define CW 0 14 | #define CCW 1 15 | #define SIZE_OF_SCAN_BUFFER 1024 16 | #define MAX_POS 4000 // 1600 * 2.5 17 | #define BUF_SIZE 1800 18 | 19 | PCF8574 pcf8574(0x38); 20 | WiFiServer wifiServer(80); 21 | YDLidar lidar; 22 | QueueList scans; 23 | buffer buf(BUF_SIZE); 24 | 25 | bool isScanning = false; 26 | 27 | unsigned int pos = 0; 28 | bool dir = CW; 29 | 30 | uint8_t header[10] = {0xFF,0xFE,0xFD,0xFC,0xFB,0xFA,0xF9,0xF8,0x0F7,0xF6}; 31 | 32 | void lidar_parser(Stream& S) { 33 | if (lidar.waitScanDot() == RESULT_OK) { 34 | scanPoint _point = lidar.getCurrentScanPoint(); 35 | if(scans.count() <= SIZE_OF_SCAN_BUFFER){ 36 | scans.push(_point); 37 | }else{ 38 | scans.pop(); 39 | scans.push(_point); 40 | } 41 | }else{ 42 | //S.println(" YDLIDAR get Scandata failed!!"); 43 | //restartScan(S); 44 | } 45 | } 46 | 47 | void setup() { 48 | disableCore0WDT(); 49 | disableCore1WDT(); 50 | 51 | Serial.begin(2000000); 52 | Serial2.begin(128000); 53 | pinMode(YDLIDAR_MOTRO_EN, OUTPUT); 54 | pinMode(STEP1, OUTPUT); 55 | pinMode(DIR1, OUTPUT); 56 | pinMode(SWITCH_OUT, OUTPUT); 57 | pinMode(SWITCH, INPUT_PULLDOWN); 58 | 59 | digitalWrite(SWITCH_OUT, HIGH); 60 | //esp32server_setup(); 61 | 62 | WiFi.mode(WIFI_STA); 63 | WiFi.begin(ssid, password); 64 | WiFi.setHostname(hostname); 65 | 66 | while (WiFi.status() != WL_CONNECTED) { 67 | delay(500); 68 | Serial.print("."); 69 | } 70 | 71 | lidar.begin(Serial2, 128000); 72 | Wire.begin (21, 22); // sda= GPIO_21 /scl= GPIO_22 73 | wifiServer.begin(); 74 | pcf8574.pinMode(P0, OUTPUT); 75 | pcf8574.begin(); 76 | pcf8574.digitalWrite(P0, LOW); 77 | 78 | while(Serial2.read() >= 0){}; 79 | 80 | digitalWrite(DIR1, CCW); 81 | dir = CCW; 82 | 83 | while(!digitalRead(SWITCH)){ 84 | digitalWrite(STEP1, HIGH); 85 | delay(1); 86 | digitalWrite(STEP1, LOW); 87 | delay(1); 88 | } 89 | 90 | delay(500); 91 | 92 | digitalWrite(DIR1, CW); 93 | dir = CW; 94 | 95 | for(int i=0; i<120; i++){ 96 | digitalWrite(STEP1, HIGH); 97 | delay(1); 98 | digitalWrite(STEP1, LOW); 99 | delay(1); 100 | } 101 | 102 | delay(500); 103 | 104 | digitalWrite(DIR1, CCW); 105 | dir = CCW; 106 | 107 | while(!digitalRead(SWITCH)){ 108 | digitalWrite(STEP1, HIGH); 109 | delay(15); 110 | digitalWrite(STEP1, LOW); 111 | delay(15); 112 | } 113 | 114 | digitalWrite(DIR1, CW); 115 | dir = CW; 116 | 117 | for(int i=0; i<100; i++){ 118 | digitalWrite(STEP1, HIGH); 119 | delay(2); 120 | digitalWrite(STEP1, LOW); 121 | delay(2); 122 | } 123 | 124 | delay(1000); 125 | } 126 | 127 | void loop(){ 128 | WiFiClient client = wifiServer.available(); 129 | if (client) { 130 | int prev = 0; 131 | unsigned long time = 0; 132 | int samples = 0; 133 | while (client.connected()) { 134 | if(buf.size == BUF_SIZE){ 135 | client.write(header, sizeof(header)/sizeof(uint8_t)); 136 | client.write(buf.arr, buf.size); 137 | buf.clear(); 138 | } 139 | lidar_parser(Serial); 140 | if(isScanning){ 141 | if(scans.count() > 0){ 142 | scanPoint _point; 143 | _point = scans.pop(); 144 | float distance = _point.distance; //distance value in mm unit 145 | float angle = _point.angle; //anglue value in degree 146 | 147 | if(distance > 0){ 148 | buf.append((uint8_t)(((uint16_t)(angle*100)) >> 8)); 149 | buf.append((uint8_t)(((uint16_t)(angle*100)) & 0xFF)); 150 | buf.append((uint8_t)(((uint16_t)distance) >> 8)); 151 | buf.append((uint8_t)(((uint16_t)distance) & 0xFF)); 152 | buf.append((uint8_t)(((uint16_t)(pos)) >> 8)); 153 | buf.append((uint8_t)(((uint16_t)(pos)) & 0xFF)); 154 | 155 | samples++; 156 | } 157 | 158 | if(prev-angle > 300){ 159 | int t = millis() - time; 160 | time = millis(); 161 | Serial.println( "rev! time: " + String(t) + 162 | " freq:" + String(1000.0/t) + 163 | " samples:" + String(samples) + 164 | " sps:" + String((float)samples/(t/1000.0))); 165 | samples = 0; 166 | 167 | pos += 1 - dir*2; 168 | 169 | digitalWrite(STEP1, HIGH); 170 | delayMicroseconds(50); 171 | digitalWrite(STEP1, LOW); 172 | 173 | if(pos >= MAX_POS){ 174 | digitalWrite(YDLIDAR_MOTRO_EN, LOW); 175 | while(1); 176 | dir = !dir; 177 | digitalWrite(DIR1, dir); 178 | } 179 | } 180 | prev = angle; 181 | } 182 | }else{ 183 | digitalWrite(YDLIDAR_MOTRO_EN, LOW); 184 | restartScan(Serial); 185 | } 186 | } 187 | client.stop(); 188 | } 189 | } 190 | 191 | void restartScan(Stream& S){ 192 | device_info deviceinfo; 193 | if (lidar.getDeviceInfo(deviceinfo, 100) == RESULT_OK) { 194 | int _samp_rate=4; 195 | String model; 196 | float freq = 7.0f; 197 | switch(deviceinfo.model){ 198 | case 1: 199 | model="F4"; 200 | _samp_rate=4; 201 | freq = 7.0; 202 | break; 203 | case 4: 204 | model="S4"; 205 | _samp_rate=4; 206 | freq = 7.0; 207 | break; 208 | case 5: 209 | model="G4"; 210 | _samp_rate=9; 211 | freq = 7.0; 212 | break; 213 | case 6: 214 | model="X4"; 215 | _samp_rate=5; 216 | freq = 7.0; 217 | break; 218 | default: 219 | model = "Unknown"; 220 | } 221 | 222 | uint16_t maxv = (uint16_t)(deviceinfo.firmware_version>>8); 223 | uint16_t midv = (uint16_t)(deviceinfo.firmware_version&0xff)/10; 224 | uint16_t minv = (uint16_t)(deviceinfo.firmware_version&0xff)%10; 225 | if(midv==0){ 226 | midv = minv; 227 | minv = 0; 228 | } 229 | 230 | S.print("Firmware version:"); 231 | S.print(maxv,DEC); 232 | S.print("."); 233 | S.print(midv,DEC); 234 | S.print("."); 235 | S.println(minv,DEC); 236 | 237 | S.print("Hardware version:"); 238 | S.println((uint16_t)deviceinfo.hardware_version,DEC); 239 | 240 | S.print("Model:"); 241 | S.println(model); 242 | 243 | S.print("Serial:"); 244 | for (int i=0;i<16;i++){ 245 | S.print(deviceinfo.serialnum[i]&0xff, DEC); 246 | } 247 | S.println(""); 248 | 249 | S.print("[YDLIDAR INFO] Current Sampling Rate:"); 250 | S.print(_samp_rate,DEC); 251 | S.println("K"); 252 | 253 | S.print("[YDLIDAR INFO] Current Scan Frequency:"); 254 | S.print(freq,DEC); 255 | S.println("Hz"); 256 | delay(100); 257 | device_health healthinfo; 258 | if (lidar.getHealth(healthinfo, 100) == RESULT_OK){ 259 | // detected... 260 | S.print("[YDLIDAR INFO] YDLIDAR running correctly! The health status:"); 261 | S.println( healthinfo.status==0?"well":"bad"); 262 | digitalWrite(YDLIDAR_MOTRO_EN, HIGH); 263 | vTaskDelay(pdMS_TO_TICKS(500)); 264 | if(lidar.startScan() == RESULT_OK){ 265 | isScanning = true; 266 | //start motor in 1.8v 267 | //digitalWrite(YDLIDAR_MOTRO_EN, HIGH); 268 | S.println("Now YDLIDAR is scanning ......"); 269 | //vTaskDelay(pdMS_TO_TICKS(1000)); 270 | }else{ 271 | S.println("start YDLIDAR is failed! Continue........"); 272 | } 273 | }else{ 274 | S.println("cannot retrieve YDLIDAR health"); 275 | } 276 | }else{ 277 | S.println("YDLIDAR get DeviceInfo Error!!!"); 278 | } 279 | } -------------------------------------------------------------------------------- /hardware/lidar_driver_board/esp32_stepper_driver-cache.lib: -------------------------------------------------------------------------------- 1 | EESchema-LIBRARY Version 2.4 2 | #encoding utf-8 3 | # 4 | # Connector_Barrel_Jack 5 | # 6 | DEF Connector_Barrel_Jack J 0 40 Y Y 1 F N 7 | F0 "J" 0 210 50 H V C CNN 8 | F1 "Connector_Barrel_Jack" 0 -175 50 H V C CNN 9 | F2 "" 50 -40 50 H I C CNN 10 | F3 "" 50 -40 50 H I C CNN 11 | ALIAS Jack-DC 12 | $FPLIST 13 | Barrel*Jack* 14 | BARREL*JACK* 15 | $ENDFPLIST 16 | DRAW 17 | A -130 100 25 901 -901 0 1 10 F -130 125 -130 75 18 | A -130 100 25 901 -901 0 1 10 N -130 125 -130 75 19 | S 145 125 -130 75 0 1 10 F 20 | P 2 0 1 10 50 -90 75 -65 N 21 | P 2 0 1 10 200 100 150 100 N 22 | P 4 0 1 10 200 0 50 0 50 -90 25 -65 N 23 | P 6 0 1 10 -150 -100 -100 -100 -50 -50 0 -100 100 -100 200 -100 N 24 | X ~ 1 300 100 100 L 50 50 1 1 P 25 | X ~ 2 300 -100 100 L 50 50 1 1 P 26 | X ~ 3 300 0 100 L 50 50 1 1 P 27 | ENDDRAW 28 | ENDDEF 29 | # 30 | # Connector_Conn_01x02_Female 31 | # 32 | DEF Connector_Conn_01x02_Female J 0 40 Y N 1 F N 33 | F0 "J" 0 100 50 H V C CNN 34 | F1 "Connector_Conn_01x02_Female" 0 -200 50 H V C CNN 35 | F2 "" 0 0 50 H I C CNN 36 | F3 "" 0 0 50 H I C CNN 37 | $FPLIST 38 | Connector*:*_??x*mm* 39 | Connector*:*1x??x*mm* 40 | Socket?Strip?Straight?1X* 41 | Socket?Strip?Angled?1X* 42 | $ENDFPLIST 43 | DRAW 44 | A 0 -100 20 901 -901 1 1 6 N 0 -80 0 -120 45 | A 0 0 20 901 -901 1 1 6 N 0 20 0 -20 46 | P 2 1 1 6 -50 -100 -20 -100 N 47 | P 2 1 1 6 -50 0 -20 0 N 48 | X Pin_1 1 -200 0 150 R 50 50 1 1 P 49 | X Pin_2 2 -200 -100 150 R 50 50 1 1 P 50 | ENDDRAW 51 | ENDDEF 52 | # 53 | # Connector_Conn_01x03_Female 54 | # 55 | DEF Connector_Conn_01x03_Female J 0 40 Y N 1 F N 56 | F0 "J" 0 200 50 H V C CNN 57 | F1 "Connector_Conn_01x03_Female" 0 -200 50 H V C CNN 58 | F2 "" 0 0 50 H I C CNN 59 | F3 "" 0 0 50 H I C CNN 60 | $FPLIST 61 | Connector*:*_??x*mm* 62 | Connector*:*1x??x*mm* 63 | Socket?Strip?Straight?1X* 64 | Socket?Strip?Angled?1X* 65 | $ENDFPLIST 66 | DRAW 67 | A 0 -100 20 901 -901 1 1 6 N 0 -80 0 -120 68 | A 0 0 20 901 -901 1 1 6 N 0 20 0 -20 69 | A 0 100 20 901 -901 1 1 6 N 0 120 0 80 70 | P 2 1 1 6 -50 -100 -20 -100 N 71 | P 2 1 1 6 -50 0 -20 0 N 72 | P 2 1 1 6 -50 100 -20 100 N 73 | X Pin_1 1 -200 100 150 R 50 50 1 1 P 74 | X Pin_2 2 -200 0 150 R 50 50 1 1 P 75 | X Pin_3 3 -200 -100 150 R 50 50 1 1 P 76 | ENDDRAW 77 | ENDDEF 78 | # 79 | # Connector_Conn_01x04_Female 80 | # 81 | DEF Connector_Conn_01x04_Female J 0 40 Y N 1 F N 82 | F0 "J" 0 200 50 H V C CNN 83 | F1 "Connector_Conn_01x04_Female" 0 -300 50 H V C CNN 84 | F2 "" 0 0 50 H I C CNN 85 | F3 "" 0 0 50 H I C CNN 86 | $FPLIST 87 | Connector*:*_??x*mm* 88 | Connector*:*1x??x*mm* 89 | Socket?Strip?Straight?1X* 90 | Socket?Strip?Angled?1X* 91 | $ENDFPLIST 92 | DRAW 93 | A 0 -200 20 901 -901 1 1 6 N 0 -180 0 -220 94 | A 0 -100 20 901 -901 1 1 6 N 0 -80 0 -120 95 | A 0 0 20 901 -901 1 1 6 N 0 20 0 -20 96 | A 0 100 20 901 -901 1 1 6 N 0 120 0 80 97 | P 2 1 1 6 -50 -200 -20 -200 N 98 | P 2 1 1 6 -50 -100 -20 -100 N 99 | P 2 1 1 6 -50 0 -20 0 N 100 | P 2 1 1 6 -50 100 -20 100 N 101 | X Pin_1 1 -200 100 150 R 50 50 1 1 P 102 | X Pin_2 2 -200 0 150 R 50 50 1 1 P 103 | X Pin_3 3 -200 -100 150 R 50 50 1 1 P 104 | X Pin_4 4 -200 -200 150 R 50 50 1 1 P 105 | ENDDRAW 106 | ENDDEF 107 | # 108 | # Connector_Conn_02x03_Odd_Even 109 | # 110 | DEF Connector_Conn_02x03_Odd_Even J 0 40 Y N 1 F N 111 | F0 "J" 50 200 50 H V C CNN 112 | F1 "Connector_Conn_02x03_Odd_Even" 50 -200 50 H V C CNN 113 | F2 "" 0 0 50 H I C CNN 114 | F3 "" 0 0 50 H I C CNN 115 | $FPLIST 116 | Connector*:*2x??x*mm* 117 | Connector*:*2x???Pitch* 118 | Pin_Header_Straight_2X* 119 | Pin_Header_Angled_2X* 120 | Socket_Strip_Straight_2X* 121 | Socket_Strip_Angled_2X* 122 | $ENDFPLIST 123 | DRAW 124 | S -50 -95 0 -105 1 1 6 N 125 | S -50 5 0 -5 1 1 6 N 126 | S -50 105 0 95 1 1 6 N 127 | S -50 150 150 -150 1 1 10 f 128 | S 150 -95 100 -105 1 1 6 N 129 | S 150 5 100 -5 1 1 6 N 130 | S 150 105 100 95 1 1 6 N 131 | X Pin_1 1 -200 100 150 R 50 50 1 1 P 132 | X Pin_2 2 300 100 150 L 50 50 1 1 P 133 | X Pin_3 3 -200 0 150 R 50 50 1 1 P 134 | X Pin_4 4 300 0 150 L 50 50 1 1 P 135 | X Pin_5 5 -200 -100 150 R 50 50 1 1 P 136 | X Pin_6 6 300 -100 150 L 50 50 1 1 P 137 | ENDDRAW 138 | ENDDEF 139 | # 140 | # Connector_Micro_SD_Card 141 | # 142 | DEF Connector_Micro_SD_Card J 0 40 Y Y 1 F N 143 | F0 "J" -650 600 50 H V C CNN 144 | F1 "Connector_Micro_SD_Card" 650 600 50 H V R CNN 145 | F2 "" 1150 300 50 H I C CNN 146 | F3 "" 0 0 50 H I C CNN 147 | DRAW 148 | S -300 -375 -200 -425 0 1 0 F 149 | S -300 -275 -200 -325 0 1 0 F 150 | S -300 -175 -200 -225 0 1 0 F 151 | S -300 -75 -200 -125 0 1 0 F 152 | S -300 25 -200 -25 0 1 0 F 153 | S -300 125 -200 75 0 1 0 F 154 | S -300 225 -200 175 0 1 0 F 155 | S -300 325 -200 275 0 1 0 F 156 | P 6 0 1 10 650 500 650 550 -750 550 -750 -650 650 -650 650 -450 N 157 | P 11 0 1 10 -350 -450 -350 350 -50 350 100 500 150 500 150 450 250 450 300 500 800 500 800 -450 -350 -450 f 158 | X DAT2 1 -900 300 150 R 50 50 1 1 B 159 | X DAT3/CD 2 -900 200 150 R 50 50 1 1 B 160 | X CMD 3 -900 100 150 R 50 50 1 1 I 161 | X VDD 4 -900 0 150 R 50 50 1 1 W 162 | X CLK 5 -900 -100 150 R 50 50 1 1 I 163 | X VSS 6 -900 -200 150 R 50 50 1 1 W 164 | X DAT0 7 -900 -300 150 R 50 50 1 1 I 165 | X DAT1 8 -900 -400 150 R 50 50 1 1 I 166 | X SHIELD 9 800 -600 150 L 50 50 1 1 P 167 | ENDDRAW 168 | ENDDEF 169 | # 170 | # Connector_USB_B_Micro 171 | # 172 | DEF Connector_USB_B_Micro J 0 40 Y Y 1 F N 173 | F0 "J" -200 450 50 H V L CNN 174 | F1 "Connector_USB_B_Micro" -200 350 50 H V L CNN 175 | F2 "" 150 -50 50 H I C CNN 176 | F3 "" 150 -50 50 H I C CNN 177 | ALIAS USB_B_Mini 178 | $FPLIST 179 | USB* 180 | $ENDFPLIST 181 | DRAW 182 | C -150 85 25 0 1 10 F 183 | C -25 135 15 0 1 10 F 184 | S -200 -300 200 300 0 1 10 f 185 | S -5 -300 5 -270 0 1 0 N 186 | S 10 50 -20 20 0 1 10 F 187 | S 200 -205 170 -195 0 1 0 N 188 | S 200 -105 170 -95 0 1 0 N 189 | S 200 -5 170 5 0 1 0 N 190 | S 200 195 170 205 0 1 0 N 191 | P 2 0 1 10 -75 85 25 85 N 192 | P 4 0 1 10 -125 85 -100 85 -50 135 -25 135 N 193 | P 4 0 1 10 -100 85 -75 85 -50 35 0 35 N 194 | P 4 0 1 10 25 110 25 60 75 85 25 110 F 195 | P 5 0 1 0 -170 220 -70 220 -80 190 -160 190 -170 220 F 196 | P 9 0 1 0 -185 230 -185 220 -175 190 -175 180 -65 180 -65 190 -55 220 -55 230 -185 230 N 197 | X VBUS 1 300 200 100 L 50 50 1 1 w 198 | X D- 2 300 -100 100 L 50 50 1 1 P 199 | X D+ 3 300 0 100 L 50 50 1 1 P 200 | X ID 4 300 -200 100 L 50 50 1 1 P 201 | X GND 5 0 -400 100 U 50 50 1 1 w 202 | X Shield 6 -100 -400 100 U 50 50 1 1 P 203 | ENDDRAW 204 | ENDDEF 205 | # 206 | # Diode_1N5819 207 | # 208 | DEF Diode_1N5819 D 0 40 N N 1 F N 209 | F0 "D" 0 100 50 H V C CNN 210 | F1 "Diode_1N5819" 0 -100 50 H V C CNN 211 | F2 "Diodes_THT:D_DO-41_SOD81_Horizontal_RM10" 0 -175 50 H I C CNN 212 | F3 "" 0 0 50 H I C CNN 213 | ALIAS SB130 SB140 SB150 SB160 1N5817 1N5818 1N5819 214 | $FPLIST 215 | D*SOD81* 216 | D*DO?41* 217 | $ENDFPLIST 218 | DRAW 219 | P 2 0 1 0 50 0 -50 0 N 220 | P 4 0 1 8 50 50 50 -50 -50 0 50 50 N 221 | P 6 0 1 8 -75 25 -75 50 -50 50 -50 -50 -25 -50 -25 -25 N 222 | X K 1 -150 0 100 R 50 50 1 1 P 223 | X A 2 150 0 100 L 50 50 1 1 P 224 | ENDDRAW 225 | ENDDEF 226 | # 227 | # Mechanical_Mounting_Hole 228 | # 229 | DEF Mechanical_Mounting_Hole MK 0 40 Y Y 1 F N 230 | F0 "MK" 0 200 50 H V C CNN 231 | F1 "Mechanical_Mounting_Hole" 0 125 50 H V C CNN 232 | F2 "" 0 0 50 H I C CNN 233 | F3 "" 0 0 50 H I C CNN 234 | $FPLIST 235 | Mounting?Hole* 236 | Hole* 237 | $ENDFPLIST 238 | DRAW 239 | C 0 0 50 0 1 50 N 240 | ENDDRAW 241 | ENDDEF 242 | # 243 | # SparkFun-Aesthetics_VIN 244 | # 245 | DEF SparkFun-Aesthetics_VIN #SUPPLY 0 40 N N 1 L P 246 | F0 "#SUPPLY" 0 0 50 H I L BNN 247 | F1 "SparkFun-Aesthetics_VIN" -40 140 50 H V L BNN 248 | F2 "" 0 0 50 H I C CNN 249 | F3 "" 0 0 50 H I C CNN 250 | DRAW 251 | P 2 1 0 0 0 0 0 100 N 252 | P 2 1 0 0 0 100 -30 50 N 253 | P 2 1 0 0 30 50 0 100 N 254 | X VIN ~ 0 0 100 U 40 40 1 1 W N 255 | ENDDRAW 256 | ENDDEF 257 | # 258 | # Switch_SW_Push 259 | # 260 | DEF Switch_SW_Push SW 0 40 N N 1 F N 261 | F0 "SW" 50 100 50 H V L CNN 262 | F1 "Switch_SW_Push" 0 -60 50 H V C CNN 263 | F2 "" 0 200 50 H I C CNN 264 | F3 "" 0 200 50 H I C CNN 265 | DRAW 266 | C -80 0 20 0 1 0 N 267 | C 80 0 20 0 1 0 N 268 | P 2 0 1 0 0 50 0 120 N 269 | P 2 0 1 0 100 50 -100 50 N 270 | X 1 1 -200 0 100 R 50 50 0 1 P 271 | X 2 2 200 0 100 L 50 50 0 1 P 272 | ENDDRAW 273 | ENDDEF 274 | # 275 | # Transistor_2N7002 276 | # 277 | DEF Transistor_2N7002 Q 0 0 Y N 1 F N 278 | F0 "Q" 200 75 50 H V L CNN 279 | F1 "Transistor_2N7002" 200 0 50 H V L CNN 280 | F2 "TO_SOT_Packages_SMD:SOT-23" 200 -75 50 H I L CIN 281 | F3 "" 0 0 50 H I L CNN 282 | ALIAS 2N7002 MMBF170 283 | $FPLIST 284 | SOT?23* 285 | $ENDFPLIST 286 | DRAW 287 | C 65 0 111 0 1 10 N 288 | C 100 -70 11 0 1 0 F 289 | C 100 70 11 0 1 0 F 290 | P 2 0 1 0 30 -70 100 -70 N 291 | P 2 0 1 10 30 -50 30 -90 N 292 | P 2 0 1 0 30 0 100 0 N 293 | P 2 0 1 10 30 20 30 -20 N 294 | P 2 0 1 0 30 70 100 70 N 295 | P 2 0 1 10 30 90 30 50 N 296 | P 2 0 1 0 100 -70 100 -100 N 297 | P 2 0 1 0 100 -70 100 0 N 298 | P 2 0 1 0 100 100 100 70 N 299 | P 3 0 1 10 10 75 10 -75 10 -75 N 300 | P 4 0 1 0 40 0 80 15 80 -15 40 0 F 301 | P 4 0 1 0 100 -70 130 -70 130 70 100 70 N 302 | P 4 0 1 0 110 20 115 15 145 15 150 10 N 303 | P 4 0 1 0 130 15 115 -10 145 -10 130 15 N 304 | X G 1 -200 0 210 R 50 50 1 1 I 305 | X S 2 100 -200 100 U 50 50 1 1 P 306 | X D 3 100 200 100 D 50 50 1 1 P 307 | ENDDRAW 308 | ENDDEF 309 | # 310 | # dc-dc_LM2596S-5 311 | # 312 | DEF dc-dc_LM2596S-5 U 0 20 Y Y 1 F N 313 | F0 "U" -400 250 50 H V L CNN 314 | F1 "dc-dc_LM2596S-5" 0 250 50 H V L CNN 315 | F2 "TO_SOT_Packages_SMD:TO-263-5_TabPin3" 50 -250 50 H I L CIN 316 | F3 "" 0 0 50 H I C CNN 317 | ALIAS LM2596S-5 LM2596S-3.3 LM2596S-ADJ 318 | $FPLIST 319 | TO?263* 320 | $ENDFPLIST 321 | DRAW 322 | S -400 200 400 -200 0 1 10 f 323 | X VIN 1 -500 100 100 R 50 50 1 1 W 324 | X OUT 2 500 -100 100 L 50 50 1 1 O 325 | X GND 3 0 -300 100 U 50 50 1 1 W 326 | X FB 4 500 100 100 L 50 50 1 1 I 327 | X ~ON~/OFF 5 -500 -100 100 R 50 50 1 1 I 328 | ENDDRAW 329 | ENDDEF 330 | # 331 | # device_C 332 | # 333 | DEF device_C C 0 10 N Y 1 F N 334 | F0 "C" 25 100 50 H V L CNN 335 | F1 "device_C" 25 -100 50 H V L CNN 336 | F2 "" 38 -150 50 H I C CNN 337 | F3 "" 0 0 50 H I C CNN 338 | $FPLIST 339 | C_* 340 | $ENDFPLIST 341 | DRAW 342 | P 2 0 1 20 -80 -30 80 -30 N 343 | P 2 0 1 20 -80 30 80 30 N 344 | X ~ 1 0 150 110 D 50 50 1 1 P 345 | X ~ 2 0 -150 110 U 50 50 1 1 P 346 | ENDDRAW 347 | ENDDEF 348 | # 349 | # device_LED 350 | # 351 | DEF device_LED D 0 40 Y N 1 F N 352 | F0 "D" 0 100 50 H V C CNN 353 | F1 "device_LED" 0 -100 50 H V C CNN 354 | F2 "" 0 0 50 H I C CNN 355 | F3 "" 0 0 50 H I C CNN 356 | $FPLIST 357 | LED* 358 | $ENDFPLIST 359 | DRAW 360 | P 2 0 1 8 -50 -50 -50 50 N 361 | P 2 0 1 0 -50 0 50 0 N 362 | P 4 0 1 8 50 -50 50 50 -50 0 50 -50 N 363 | P 5 0 1 0 -120 -30 -180 -90 -150 -90 -180 -90 -180 -60 N 364 | P 5 0 1 0 -70 -30 -130 -90 -100 -90 -130 -90 -130 -60 N 365 | X K 1 -150 0 100 R 50 50 1 1 P 366 | X A 2 150 0 100 L 50 50 1 1 P 367 | ENDDRAW 368 | ENDDEF 369 | # 370 | # device_R 371 | # 372 | DEF device_R R 0 0 N Y 1 F N 373 | F0 "R" 80 0 50 V V C CNN 374 | F1 "device_R" 0 0 50 V V C CNN 375 | F2 "" -70 0 50 V I C CNN 376 | F3 "" 0 0 50 H I C CNN 377 | $FPLIST 378 | R_* 379 | R_* 380 | $ENDFPLIST 381 | DRAW 382 | S -40 -100 40 100 0 1 10 N 383 | X ~ 1 0 150 50 D 50 50 1 1 P 384 | X ~ 2 0 -150 50 U 50 50 1 1 P 385 | ENDDRAW 386 | ENDDEF 387 | # 388 | # esp32_stepper_driver-rescue_CH340G-ch34x-Nightmare-V2-pcb-V6-rescue 389 | # 390 | DEF esp32_stepper_driver-rescue_CH340G-ch34x-Nightmare-V2-pcb-V6-rescue U 0 40 Y Y 1 F N 391 | F0 "U" 25 475 60 H V C CNN 392 | F1 "esp32_stepper_driver-rescue_CH340G-ch34x-Nightmare-V2-pcb-V6-rescue" 0 -475 60 H V C CNN 393 | F2 "" 100 -200 60 H V C CNN 394 | F3 "" 100 -200 60 H V C CNN 395 | DRAW 396 | S -250 400 250 -400 0 1 12 f 397 | X GND 1 -450 350 200 R 50 50 1 1 W 398 | X DSR 10 450 -250 200 L 50 50 1 1 O 399 | X RI 11 450 -150 200 L 50 50 1 1 O 400 | X DCD 12 450 -50 200 L 50 50 1 1 O 401 | X DTR 13 450 50 200 L 50 50 1 1 O 402 | X RTS 14 450 150 200 L 50 50 1 1 O 403 | X RS232 15 450 250 200 L 50 50 1 1 I 404 | X VCC 16 450 350 200 L 50 50 1 1 W 405 | X TX 2 -450 250 200 R 50 50 1 1 O 406 | X RX 3 -450 150 200 R 50 50 1 1 I 407 | X V3 4 -450 50 200 R 50 50 1 1 W 408 | X D+ 5 -450 -50 200 R 50 50 1 1 B 409 | X D- 6 -450 -150 200 R 50 50 1 1 B 410 | X XI 7 -450 -250 200 R 50 50 1 1 I 411 | X XO 8 -450 -350 200 R 50 50 1 1 I 412 | X CTS 9 450 -350 200 L 50 50 1 1 O 413 | ENDDRAW 414 | ENDDEF 415 | # 416 | # esp32_stepper_driver-rescue_ESP-32S-z_esp32-Nightmare-V2-pcb-V6-rescue 417 | # 418 | DEF esp32_stepper_driver-rescue_ESP-32S-z_esp32-Nightmare-V2-pcb-V6-rescue M 0 40 Y Y 1 F N 419 | F0 "M" -650 1100 60 H V C CNN 420 | F1 "esp32_stepper_driver-rescue_ESP-32S-z_esp32-Nightmare-V2-pcb-V6-rescue" 450 1100 60 H V C CNN 421 | F2 "" 50 1150 60 H I C CNN 422 | F3 "" -350 250 60 H I C CNN 423 | DRAW 424 | S -800 1050 800 -1000 0 1 0 f 425 | P 2 0 1 35 400 950 400 550 N 426 | P 12 0 1 35 -550 600 -550 950 -400 950 -400 700 -200 700 -200 950 0 950 0 700 200 700 200 950 550 950 550 550 N 427 | X GND 1 -1000 400 200 R 50 50 1 1 W 428 | X IO25 10 -1000 -500 200 R 50 50 1 1 B 429 | X IO26 11 -1000 -600 200 R 50 50 1 1 B 430 | X IO27 12 -1000 -700 200 R 50 50 1 1 B 431 | X IO14 13 -1000 -800 200 R 50 50 1 1 B 432 | X IO12 14 -1000 -900 200 R 50 50 1 1 B 433 | X GND 15 -450 -1200 200 U 50 50 1 1 W 434 | X IO13 16 -350 -1200 200 U 50 50 1 1 B 435 | X SD2 17 -250 -1200 200 U 50 50 1 1 B 436 | X SD3 18 -150 -1200 200 U 50 50 1 1 B 437 | X CMD 19 -50 -1200 200 U 50 50 1 1 B 438 | X 3V3 2 -1000 300 200 R 50 50 1 1 W 439 | X CLK 20 50 -1200 200 U 50 50 1 1 B 440 | X SD0 21 150 -1200 200 U 50 50 1 1 B 441 | X SD1 22 250 -1200 200 U 50 50 1 1 B 442 | X IO15 23 350 -1200 200 U 50 50 1 1 B 443 | X IO2 24 450 -1200 200 U 50 50 1 1 B 444 | X IO0 25 1000 -900 200 L 50 50 1 1 B 445 | X IO4 26 1000 -800 200 L 50 50 1 1 B 446 | X IO16 27 1000 -700 200 L 50 50 1 1 B 447 | X IO17 28 1000 -600 200 L 50 50 1 1 B 448 | X IO5 29 1000 -500 200 L 50 50 1 1 B 449 | X EN 3 -1000 200 200 R 50 50 1 1 I 450 | X IO18 30 1000 -400 200 L 50 50 1 1 B 451 | X IO19 31 1000 -300 200 L 50 50 1 1 B 452 | X NC 32 1000 -200 200 L 50 50 1 1 N 453 | X IO21 33 1000 -100 200 L 50 50 1 1 B 454 | X RXD0 34 1000 0 200 L 50 50 1 1 I 455 | X TXD0 35 1000 100 200 L 50 50 1 1 O 456 | X IO22 36 1000 200 200 L 50 50 1 1 B 457 | X IO23 37 1000 300 200 L 50 50 1 1 B 458 | X GND 38 1000 400 200 L 50 50 1 1 W 459 | X SVP 4 -1000 100 200 R 50 50 1 1 I 460 | X SVN 5 -1000 0 200 R 50 50 1 1 I 461 | X IO34 6 -1000 -100 200 R 50 50 1 1 B 462 | X IO35 7 -1000 -200 200 R 50 50 1 1 B 463 | X IO32 8 -1000 -300 200 R 50 50 1 1 B 464 | X IO33 9 -1000 -400 200 R 50 50 1 1 B 465 | ENDDRAW 466 | ENDDEF 467 | # 468 | # modules_Pololu_Breakout_A4988 469 | # 470 | DEF modules_Pololu_Breakout_A4988 A 0 20 Y Y 1 F N 471 | F0 "A" -100 750 50 H V R CNN 472 | F1 "modules_Pololu_Breakout_A4988" -100 650 50 H V R CNN 473 | F2 "Modules:Pololu_Breakout-16_15.2x20.3mm" 275 -750 50 H I L CNN 474 | F3 "" 100 -300 50 H I C CNN 475 | $FPLIST 476 | Pololu*Breakout*15.2x20.3mm* 477 | $ENDFPLIST 478 | DRAW 479 | S 400 -700 -300 600 0 1 10 f 480 | X GND 1 0 -800 100 U 50 50 1 1 W 481 | X MS1 10 -400 -300 100 R 50 50 1 1 I 482 | X MS2 11 -400 -400 100 R 50 50 1 1 I 483 | X MS3 12 -400 -500 100 R 50 50 1 1 I 484 | X ~RESET 13 -400 400 100 R 50 50 1 1 I 485 | X ~SLEEP 14 -400 300 100 R 50 50 1 1 I 486 | X STEP 15 -400 0 100 R 50 50 1 1 I 487 | X DIR 16 -400 -100 100 R 50 50 1 1 I 488 | X VDD 2 0 700 100 D 50 50 1 1 W 489 | X 1B 3 500 100 100 L 50 50 1 1 O 490 | X 1A 4 500 0 100 L 50 50 1 1 O 491 | X 2A 5 500 -100 100 L 50 50 1 1 O 492 | X 2B 6 500 -200 100 L 50 50 1 1 O 493 | X GND 7 200 -800 100 U 50 50 1 1 W 494 | X VMOT 8 200 700 100 D 50 50 1 1 W 495 | X ~ENABLE 9 -400 100 100 R 50 50 1 1 I 496 | ENDDRAW 497 | ENDDEF 498 | # 499 | # philips_PCF8574 500 | # 501 | DEF philips_PCF8574 U 0 40 Y Y 1 F N 502 | F0 "U" -350 600 50 H V L CNN 503 | F1 "philips_PCF8574" 100 600 50 H V L CNN 504 | F2 "" 0 0 50 H I C CNN 505 | F3 "" 0 0 50 H I C CNN 506 | ALIAS PCF8574A 507 | $FPLIST 508 | DIP* 509 | PDIP* 510 | SO* 511 | SOIC* 512 | $ENDFPLIST 513 | DRAW 514 | S -350 -550 350 550 0 1 10 f 515 | X A0 1 -500 100 150 R 50 50 1 1 I 516 | X P5 10 500 -100 150 L 50 50 1 1 B 517 | X P6 11 500 -200 150 L 50 50 1 1 B 518 | X P7 12 500 -300 150 L 50 50 1 1 B 519 | X ~INT~ 13 -500 -400 150 R 50 50 1 1 C V 520 | X SCL 14 -500 400 150 R 50 50 1 1 I 521 | X SDA 15 -500 300 150 R 50 50 1 1 B 522 | X VDD 16 0 700 150 D 50 50 1 1 W 523 | X A1 2 -500 0 150 R 50 50 1 1 I 524 | X A2 3 -500 -100 150 R 50 50 1 1 I 525 | X P0 4 500 400 150 L 50 50 1 1 B 526 | X P1 5 500 300 150 L 50 50 1 1 B 527 | X P2 6 500 200 150 L 50 50 1 1 B 528 | X P3 7 500 100 150 L 50 50 1 1 B 529 | X VSS 8 0 -700 150 U 50 50 1 1 W 530 | X P4 9 500 0 150 L 50 50 1 1 B 531 | ENDDRAW 532 | ENDDEF 533 | # 534 | # power_+3.3V 535 | # 536 | DEF power_+3.3V #PWR 0 0 Y Y 1 F P 537 | F0 "#PWR" 0 -150 50 H I C CNN 538 | F1 "power_+3.3V" 0 140 50 H V C CNN 539 | F2 "" 0 0 50 H I C CNN 540 | F3 "" 0 0 50 H I C CNN 541 | ALIAS +3.3V 542 | DRAW 543 | P 2 0 1 0 -30 50 0 100 N 544 | P 2 0 1 0 0 0 0 100 N 545 | P 2 0 1 0 0 100 30 50 N 546 | X +3V3 1 0 0 0 U 50 50 1 1 W N 547 | ENDDRAW 548 | ENDDEF 549 | # 550 | # power_+3V3 551 | # 552 | DEF power_+3V3 #PWR 0 0 Y Y 1 F P 553 | F0 "#PWR" 0 -150 50 H I C CNN 554 | F1 "power_+3V3" 0 140 50 H V C CNN 555 | F2 "" 0 0 50 H I C CNN 556 | F3 "" 0 0 50 H I C CNN 557 | DRAW 558 | P 2 0 1 0 -30 50 0 100 N 559 | P 2 0 1 0 0 0 0 100 N 560 | P 2 0 1 0 0 100 30 50 N 561 | X +3V3 1 0 0 0 U 50 50 1 1 W N 562 | ENDDRAW 563 | ENDDEF 564 | # 565 | # power_+5V 566 | # 567 | DEF power_+5V #PWR 0 0 Y Y 1 F P 568 | F0 "#PWR" 0 -150 50 H I C CNN 569 | F1 "power_+5V" 0 140 50 H V C CNN 570 | F2 "" 0 0 50 H I C CNN 571 | F3 "" 0 0 50 H I C CNN 572 | DRAW 573 | P 2 0 1 0 -30 50 0 100 N 574 | P 2 0 1 0 0 0 0 100 N 575 | P 2 0 1 0 0 100 30 50 N 576 | X +5V 1 0 0 0 U 50 50 1 1 W N 577 | ENDDRAW 578 | ENDDEF 579 | # 580 | # power_GND 581 | # 582 | DEF power_GND #PWR 0 0 Y Y 1 F P 583 | F0 "#PWR" 0 -250 50 H I C CNN 584 | F1 "power_GND" 0 -150 50 H V C CNN 585 | F2 "" 0 0 50 H I C CNN 586 | F3 "" 0 0 50 H I C CNN 587 | DRAW 588 | P 6 0 1 0 0 0 0 -50 50 -50 0 -100 -50 -50 0 -50 N 589 | X GND 1 0 0 0 D 50 50 1 1 W N 590 | ENDDRAW 591 | ENDDEF 592 | # 593 | # power_VBUS 594 | # 595 | DEF power_VBUS #PWR 0 0 Y Y 1 F P 596 | F0 "#PWR" 0 -150 50 H I C CNN 597 | F1 "power_VBUS" 0 150 50 H V C CNN 598 | F2 "" 0 0 50 H I C CNN 599 | F3 "" 0 0 50 H I C CNN 600 | DRAW 601 | P 2 0 1 0 -30 50 0 100 N 602 | P 2 0 1 0 0 0 0 100 N 603 | P 2 0 1 0 0 100 30 50 N 604 | X VBUS 1 0 0 0 U 50 50 1 1 W N 605 | ENDDRAW 606 | ENDDEF 607 | # 608 | # pspice_INDUCTOR 609 | # 610 | DEF pspice_INDUCTOR L 0 0 N Y 1 F N 611 | F0 "L" 0 100 50 H V C CNN 612 | F1 "pspice_INDUCTOR" 0 -50 50 H V C CNN 613 | F2 "" 0 0 50 H I C CNN 614 | F3 "" 0 0 50 H I C CNN 615 | DRAW 616 | A -150 0 50 1 1799 0 1 0 N -100 0 -200 0 617 | A -50 0 50 1 1799 0 1 0 N 0 0 -100 0 618 | A 50 0 50 1 1799 0 1 0 N 100 0 0 0 619 | A 150 0 50 1 1799 0 1 0 N 200 0 100 0 620 | X 1 1 -250 0 50 R 30 30 1 1 I 621 | X 2 2 250 0 50 L 30 30 1 1 I 622 | ENDDRAW 623 | ENDDEF 624 | # 625 | # regul_LM1117-3.3 626 | # 627 | DEF regul_LM1117-3.3 U 0 10 Y Y 1 F N 628 | F0 "U" -150 125 50 H V C CNN 629 | F1 "regul_LM1117-3.3" 0 125 50 H V L CNN 630 | F2 "" 0 0 50 H I C CNN 631 | F3 "" 0 0 50 H I C CNN 632 | ALIAS LM1117-2.5 LM1117-3.3 LM1117-5.0 TLV1117-15 TLV1117-18 TLV1117-25 TLV1117-33 TLV1117-50 633 | $FPLIST 634 | SOT?223* 635 | TO?263* 636 | TO?252* 637 | TO?220* 638 | $ENDFPLIST 639 | DRAW 640 | S -200 -200 200 75 0 1 10 f 641 | X GND 1 0 -300 100 U 50 50 1 1 W 642 | X VO 2 300 0 100 L 50 50 1 1 w 643 | X VI 3 -300 0 100 R 50 50 1 1 W 644 | ENDDRAW 645 | ENDDEF 646 | # 647 | #End Library 648 | -------------------------------------------------------------------------------- /hardware/lidar_driver_board/gerber/esp32_stepper_driver-B_SilkS.gbr: -------------------------------------------------------------------------------- 1 | G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,5.1.6* 2 | G04 #@! TF.CreationDate,2020-07-21T22:46:31+02:00* 3 | G04 #@! TF.ProjectId,esp32_stepper_driver,65737033-325f-4737-9465-707065725f64,rev?* 4 | G04 #@! TF.SameCoordinates,Original* 5 | G04 #@! TF.FileFunction,Legend,Bot* 6 | G04 #@! TF.FilePolarity,Positive* 7 | %FSLAX46Y46*% 8 | G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* 9 | G04 Created by KiCad (PCBNEW 5.1.6) date 2020-07-21 22:46:31* 10 | %MOMM*% 11 | %LPD*% 12 | G01* 13 | G04 APERTURE LIST* 14 | %ADD10C,0.120000*% 15 | %ADD11C,0.150000*% 16 | G04 APERTURE END LIST* 17 | D10* 18 | X159004000Y-107368000D02* 19 | X155144000Y-107368000D01* 20 | X155144000Y-107368000D02* 21 | X155144000Y-107113000D01* 22 | X159004000Y-107368000D02* 23 | X162864000Y-107368000D01* 24 | X162864000Y-107368000D02* 25 | X162864000Y-107113000D01* 26 | X159004000Y-96848000D02* 27 | X155144000Y-96848000D01* 28 | X155144000Y-96848000D02* 29 | X155144000Y-97103000D01* 30 | X159004000Y-96848000D02* 31 | X162864000Y-96848000D01* 32 | X162864000Y-96848000D02* 33 | X162864000Y-97103000D01* 34 | X162864000Y-97103000D02* 35 | X164679000Y-97103000D01* 36 | X146812000Y-112288000D02* 37 | X148762000Y-112288000D01* 38 | X146812000Y-112288000D02* 39 | X144862000Y-112288000D01* 40 | 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TF.GenerationSoftware,KiCad,Pcbnew,5.1.6* 2 | G04 #@! TF.CreationDate,2020-07-21T22:46:31+02:00* 3 | G04 #@! TF.ProjectId,esp32_stepper_driver,65737033-325f-4737-9465-707065725f64,rev?* 4 | G04 #@! TF.SameCoordinates,Original* 5 | G04 #@! TF.FileFunction,Paste,Bot* 6 | G04 #@! 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TF.GenerationSoftware,KiCad,Pcbnew,5.1.6* 2 | G04 #@! TF.CreationDate,2020-07-21T22:46:31+02:00* 3 | G04 #@! TF.ProjectId,esp32_stepper_driver,65737033-325f-4737-9465-707065725f64,rev?* 4 | G04 #@! TF.SameCoordinates,Original* 5 | G04 #@! TF.FileFunction,Paste,Top* 6 | G04 #@! TF.FilePolarity,Positive* 7 | %FSLAX46Y46*% 8 | G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* 9 | G04 Created by KiCad (PCBNEW 5.1.6) date 2020-07-21 22:46:31* 10 | %MOMM*% 11 | %LPD*% 12 | G01* 13 | G04 APERTURE LIST* 14 | %ADD10R,0.700000X1.600000*% 15 | %ADD11R,1.200000X1.400000*% 16 | %ADD12R,1.600000X1.400000*% 17 | %ADD13R,1.200000X2.200000*% 18 | %ADD14R,5.250000X4.550000*% 19 | %ADD15R,1.100000X4.600000*% 20 | %ADD16R,2.000000X1.500000*% 21 | %ADD17R,2.000000X3.800000*% 22 | %ADD18R,1.800000X1.100000*% 23 | %ADD19R,6.000000X6.000000*% 24 | %ADD20R,2.000000X0.900000*% 25 | %ADD21R,0.900000X2.000000*% 26 | %ADD22R,2.900000X5.400000*% 27 | %ADD23R,1.900000X1.175000*% 28 | %ADD24R,1.900000X2.375000*% 29 | %ADD25R,2.100000X1.475000*% 30 | %ADD26R,1.380000X0.450000*% 31 | %ADD27R,0.900000X1.200000*% 32 | G04 APERTURE END LIST* 33 | D10* 34 | X152908000Y-84922000D03* 35 | X151808000Y-84922000D03* 36 | X150708000Y-84922000D03* 37 | X154008000Y-84922000D03* 38 | 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X179812500Y-100170000D01* 1622 | G75* 1623 | G02* 1624 | X179575000Y-99932500I0J237500D01* 1625 | G01* 1626 | G37* 1627 | M02* 1628 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /hardware/lidar_driver_board/gerber/esp32_stepper_driver-B_Mask.gbr: -------------------------------------------------------------------------------- 1 | G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,5.1.6* 2 | G04 #@! TF.CreationDate,2020-07-21T22:46:31+02:00* 3 | G04 #@! TF.ProjectId,esp32_stepper_driver,65737033-325f-4737-9465-707065725f64,rev?* 4 | G04 #@! TF.SameCoordinates,Original* 5 | G04 #@! TF.FileFunction,Soldermask,Bot* 6 | G04 #@! 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1557 | G36* 1558 | G01* 1559 | X187810000Y-82847500D02* 1560 | X187810000Y-83522500D01* 1561 | G75* 1562 | G02* 1563 | X187472500Y-83860000I-337500J0D01* 1564 | G01* 1565 | X186697500Y-83860000D01* 1566 | G75* 1567 | G02* 1568 | X186360000Y-83522500I0J337500D01* 1569 | G01* 1570 | X186360000Y-82847500D01* 1571 | G75* 1572 | G02* 1573 | X186697500Y-82510000I337500J0D01* 1574 | G01* 1575 | X187472500Y-82510000D01* 1576 | G75* 1577 | G02* 1578 | X187810000Y-82847500I0J-337500D01* 1579 | G01* 1580 | G37* 1581 | G36* 1582 | G01* 1583 | X189560000Y-82847500D02* 1584 | X189560000Y-83522500D01* 1585 | G75* 1586 | G02* 1587 | X189222500Y-83860000I-337500J0D01* 1588 | G01* 1589 | X188447500Y-83860000D01* 1590 | G75* 1591 | G02* 1592 | X188110000Y-83522500I0J337500D01* 1593 | G01* 1594 | X188110000Y-82847500D01* 1595 | G75* 1596 | G02* 1597 | X188447500Y-82510000I337500J0D01* 1598 | G01* 1599 | X189222500Y-82510000D01* 1600 | G75* 1601 | G02* 1602 | X189560000Y-82847500I0J-337500D01* 1603 | G01* 1604 | G37* 1605 | G36* 1606 | G01* 1607 | X184808000Y-113113500D02* 1608 | X184808000Y-112438500D01* 1609 | G75* 1610 | G02* 1611 | X185145500Y-112101000I337500J0D01* 1612 | G01* 1613 | X185920500Y-112101000D01* 1614 | G75* 1615 | G02* 1616 | X186258000Y-112438500I0J-337500D01* 1617 | G01* 1618 | X186258000Y-113113500D01* 1619 | G75* 1620 | G02* 1621 | X185920500Y-113451000I-337500J0D01* 1622 | G01* 1623 | X185145500Y-113451000D01* 1624 | G75* 1625 | G02* 1626 | X184808000Y-113113500I0J337500D01* 1627 | G01* 1628 | G37* 1629 | G36* 1630 | G01* 1631 | X183058000Y-113113500D02* 1632 | X183058000Y-112438500D01* 1633 | G75* 1634 | G02* 1635 | X183395500Y-112101000I337500J0D01* 1636 | G01* 1637 | X184170500Y-112101000D01* 1638 | G75* 1639 | G02* 1640 | X184508000Y-112438500I0J-337500D01* 1641 | G01* 1642 | X184508000Y-113113500D01* 1643 | G75* 1644 | G02* 1645 | X184170500Y-113451000I-337500J0D01* 1646 | G01* 1647 | X183395500Y-113451000D01* 1648 | G75* 1649 | G02* 1650 | X183058000Y-113113500I0J337500D01* 1651 | G01* 1652 | G37* 1653 | G36* 1654 | G01* 1655 | X149014500Y-124610000D02* 1656 | X149689500Y-124610000D01* 1657 | G75* 1658 | G02* 1659 | X150027000Y-124947500I0J-337500D01* 1660 | G01* 1661 | X150027000Y-125722500D01* 1662 | G75* 1663 | G02* 1664 | X149689500Y-126060000I-337500J0D01* 1665 | G01* 1666 | X149014500Y-126060000D01* 1667 | G75* 1668 | G02* 1669 | X148677000Y-125722500I0J337500D01* 1670 | G01* 1671 | X148677000Y-124947500D01* 1672 | G75* 1673 | G02* 1674 | X149014500Y-124610000I337500J0D01* 1675 | G01* 1676 | G37* 1677 | G36* 1678 | G01* 1679 | X149014500Y-122860000D02* 1680 | X149689500Y-122860000D01* 1681 | G75* 1682 | G02* 1683 | X150027000Y-123197500I0J-337500D01* 1684 | G01* 1685 | X150027000Y-123972500D01* 1686 | G75* 1687 | G02* 1688 | X149689500Y-124310000I-337500J0D01* 1689 | G01* 1690 | X149014500Y-124310000D01* 1691 | G75* 1692 | G02* 1693 | X148677000Y-123972500I0J337500D01* 1694 | G01* 1695 | X148677000Y-123197500D01* 1696 | G75* 1697 | G02* 1698 | X149014500Y-122860000I337500J0D01* 1699 | G01* 1700 | G37* 1701 | G36* 1702 | G01* 1703 | X163255000Y-125610176D02* 1704 | X163255000Y-127119824D01* 1705 | G75* 1706 | G02* 1707 | X162934824Y-127440000I-320176J0D01* 1708 | G01* 1709 | X161750176Y-127440000D01* 1710 | G75* 1711 | G02* 1712 | X161430000Y-127119824I0J320176D01* 1713 | G01* 1714 | X161430000Y-125610176D01* 1715 | G75* 1716 | G02* 1717 | X161750176Y-125290000I320176J0D01* 1718 | G01* 1719 | X162934824Y-125290000D01* 1720 | G75* 1721 | G02* 1722 | X163255000Y-125610176I0J-320176D01* 1723 | G01* 1724 | G37* 1725 | G36* 1726 | G01* 1727 | X166230000Y-125610176D02* 1728 | X166230000Y-127119824D01* 1729 | G75* 1730 | G02* 1731 | X165909824Y-127440000I-320176J0D01* 1732 | G01* 1733 | X164725176Y-127440000D01* 1734 | G75* 1735 | G02* 1736 | X164405000Y-127119824I0J320176D01* 1737 | G01* 1738 | X164405000Y-125610176D01* 1739 | G75* 1740 | G02* 1741 | X164725176Y-125290000I320176J0D01* 1742 | G01* 1743 | X165909824Y-125290000D01* 1744 | G75* 1745 | G02* 1746 | X166230000Y-125610176I0J-320176D01* 1747 | G01* 1748 | G37* 1749 | D18* 1750 | X185420000Y-91440000D03* 1751 | X182880000Y-91440000D03* 1752 | X180340000Y-91440000D03* 1753 | X177800000Y-91440000D03* 1754 | X175260000Y-91440000D03* 1755 | X172720000Y-91440000D03* 1756 | X170180000Y-91440000D03* 1757 | X167640000Y-91440000D03* 1758 | X167640000Y-78740000D03* 1759 | X170180000Y-78740000D03* 1760 | X172720000Y-78740000D03* 1761 | X175260000Y-78740000D03* 1762 | X177800000Y-78740000D03* 1763 | X180340000Y-78740000D03* 1764 | X182880000Y-78740000D03* 1765 | X185420000Y-78740000D03* 1766 | X185420000Y-107315000D03* 1767 | X182880000Y-107315000D03* 1768 | X180340000Y-107315000D03* 1769 | X177800000Y-107315000D03* 1770 | X175260000Y-107315000D03* 1771 | X172720000Y-107315000D03* 1772 | X170180000Y-107315000D03* 1773 | X167640000Y-107315000D03* 1774 | X167640000Y-94615000D03* 1775 | X170180000Y-94615000D03* 1776 | X172720000Y-94615000D03* 1777 | X175260000Y-94615000D03* 1778 | X177800000Y-94615000D03* 1779 | X180340000Y-94615000D03* 1780 | X182880000Y-94615000D03* 1781 | X185420000Y-94615000D03* 1782 | X185420000Y-123190000D03* 1783 | X182880000Y-123190000D03* 1784 | X180340000Y-123190000D03* 1785 | X177800000Y-123190000D03* 1786 | X175260000Y-123190000D03* 1787 | X172720000Y-123190000D03* 1788 | X170180000Y-123190000D03* 1789 | X167640000Y-123190000D03* 1790 | X167640000Y-110490000D03* 1791 | X170180000Y-110490000D03* 1792 | X172720000Y-110490000D03* 1793 | X175260000Y-110490000D03* 1794 | X177800000Y-110490000D03* 1795 | X180340000Y-110490000D03* 1796 | X182880000Y-110490000D03* 1797 | X185420000Y-110490000D03* 1798 | X185420000Y-139065000D03* 1799 | X182880000Y-139065000D03* 1800 | X180340000Y-139065000D03* 1801 | X177800000Y-139065000D03* 1802 | X175260000Y-139065000D03* 1803 | X172720000Y-139065000D03* 1804 | X170180000Y-139065000D03* 1805 | X167640000Y-139065000D03* 1806 | X167640000Y-126365000D03* 1807 | X170180000Y-126365000D03* 1808 | X172720000Y-126365000D03* 1809 | X175260000Y-126365000D03* 1810 | X177800000Y-126365000D03* 1811 | X180340000Y-126365000D03* 1812 | X182880000Y-126365000D03* 1813 | X185420000Y-126365000D03* 1814 | G36* 1815 | G01* 1816 | X184300000Y-129242500D02* 1817 | X184300000Y-128567500D01* 1818 | G75* 1819 | G02* 1820 | X184637500Y-128230000I337500J0D01* 1821 | G01* 1822 | X185412500Y-128230000D01* 1823 | G75* 1824 | G02* 1825 | X185750000Y-128567500I0J-337500D01* 1826 | G01* 1827 | X185750000Y-129242500D01* 1828 | G75* 1829 | G02* 1830 | X185412500Y-129580000I-337500J0D01* 1831 | G01* 1832 | X184637500Y-129580000D01* 1833 | G75* 1834 | G02* 1835 | X184300000Y-129242500I0J337500D01* 1836 | G01* 1837 | G37* 1838 | G36* 1839 | G01* 1840 | X182550000Y-129242500D02* 1841 | X182550000Y-128567500D01* 1842 | G75* 1843 | G02* 1844 | X182887500Y-128230000I337500J0D01* 1845 | G01* 1846 | X183662500Y-128230000D01* 1847 | G75* 1848 | G02* 1849 | X184000000Y-128567500I0J-337500D01* 1850 | G01* 1851 | X184000000Y-129242500D01* 1852 | G75* 1853 | G02* 1854 | X183662500Y-129580000I-337500J0D01* 1855 | G01* 1856 | X182887500Y-129580000D01* 1857 | G75* 1858 | G02* 1859 | X182550000Y-129242500I0J337500D01* 1860 | G01* 1861 | G37* 1862 | G36* 1863 | G01* 1864 | X166230000Y-77985176D02* 1865 | X166230000Y-79494824D01* 1866 | G75* 1867 | G02* 1868 | X165909824Y-79815000I-320176J0D01* 1869 | G01* 1870 | X164725176Y-79815000D01* 1871 | G75* 1872 | G02* 1873 | X164405000Y-79494824I0J320176D01* 1874 | G01* 1875 | X164405000Y-77985176D01* 1876 | G75* 1877 | G02* 1878 | X164725176Y-77665000I320176J0D01* 1879 | G01* 1880 | X165909824Y-77665000D01* 1881 | G75* 1882 | G02* 1883 | X166230000Y-77985176I0J-320176D01* 1884 | G01* 1885 | G37* 1886 | G36* 1887 | G01* 1888 | X163255000Y-77985176D02* 1889 | X163255000Y-79494824D01* 1890 | G75* 1891 | G02* 1892 | X162934824Y-79815000I-320176J0D01* 1893 | G01* 1894 | X161750176Y-79815000D01* 1895 | G75* 1896 | G02* 1897 | X161430000Y-79494824I0J320176D01* 1898 | G01* 1899 | X161430000Y-77985176D01* 1900 | G75* 1901 | G02* 1902 | X161750176Y-77665000I320176J0D01* 1903 | G01* 1904 | X162934824Y-77665000D01* 1905 | G75* 1906 | G02* 1907 | X163255000Y-77985176I0J-320176D01* 1908 | G01* 1909 | G37* 1910 | M02* 1911 | --------------------------------------------------------------------------------