<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="9.3.0">
<drawing>
<schematic>
<libraries>
<library name="fab">
<packages>
<package name="SOIC14">
<description>&lt;b&gt;Small Outline Package&lt;/b&gt;</description>
</package>
<package name="DIL14">
<description>&lt;b&gt;Dual In Line Package&lt;/b&gt;</description>
</package>
<package name="QFN/MLF20">
<description>&lt;b&gt;HP-VFQFP-N20&lt;/b&gt; Micro Lead Frame package (MLF)</description>
</package>
<package name="2X03SMD">
</package>
<package name="C1206">
<description>&lt;b&gt;CAPACITOR&lt;/b&gt;</description>
</package>
<package name="C1206FAB">
</package>
<package name="C2220">
<description>&lt;b&gt;CAPACITOR&lt;/b&gt;</description>
</package>
<package name="2X02SMD">
</package>
<package name="R1206">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;</description>
</package>
<package name="R1206W">
<description>&lt;b&gt;RESISTOR&lt;/b&gt;&lt;p&gt;
wave soldering</description>
</package>
<package name="R1206FAB">
</package>
<package name="SOT23">
<description>&lt;b&gt;SOT 23&lt;/b&gt;</description>
</package>
</packages>
<symbols>
<symbol name="ATTINY24/44/84">
<pin name="GND" direction="pwr"/>
<pin name="VCC" direction="pwr"/>
<pin name="(PCINT7/ICP/OC0B/ADC7)PA7"/>
<pin name="(PCINT6/OC1A/SDA/MOSI/ADC6)PA6"/>
<pin name="(PCINT5/OC1B/MISO/DO/ADC5)PA5"/>
<pin name="(PCINT4/T1/SCL/USCK/ADC4)PA4"/>
<pin name="(PCINT3/T0/ADC3)PA3"/>
<pin name="(PCINT2/AIN1/ADC2)PA2"/>
<pin name="(PCINT1/AIN0/ADC1)PA1"/>
<pin name="(PCINT0/AREF/ADC0)PA0"/>
<pin name="(PCINT11/RESET/DW)PB3"/>
<pin name="(PCINT10/INT0/OC0A/CKOUT)PB2"/>
<pin name="(PCINT9/XTAL2)PB1"/>
<pin name="(PCINT8/XTAL1/CLKI)PB0"/>
</symbol>
<symbol name="PINH2X3">
<pin name="1" direction="pas" function="dot"/>
<pin name="2" direction="pas" function="dot"/>
<pin name="3" direction="pas" function="dot"/>
<pin name="4" direction="pas" function="dot"/>
<pin name="5" direction="pas" function="dot"/>
<pin name="6" direction="pas" function="dot"/>
</symbol>
<symbol name="CAP-NONPOLARIZED">
<description>non-polarized capacitor</description>
<pin name="1" direction="pas"/>
<pin name="2" direction="pas"/>
</symbol>
<symbol name="PINH2X2">
<pin name="1" direction="pas" function="dot"/>
<pin name="2" direction="pas" function="dot"/>
<pin name="3" direction="pas" function="dot"/>
<pin name="4" direction="pas" function="dot"/>
</symbol>
<symbol name="R-US">
<pin name="2" direction="pas"/>
<pin name="1" direction="pas"/>
</symbol>
<symbol name="REGULATOR">
<pin name="IN"/>
<pin name="GND"/>
<pin name="OUT"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="ATTINY44" prefix="IC">
<gates>
<gate name="1" symbol="ATTINY24/44/84"/>
</gates>
<devices>
<device name="-SSU" package="SOIC14">
<connects>
<connect gate="1" pin="(PCINT0/AREF/ADC0)PA0" pad="13"/>
<connect gate="1" pin="(PCINT1/AIN0/ADC1)PA1" pad="12"/>
<connect gate="1" pin="(PCINT10/INT0/OC0A/CKOUT)PB2" pad="5"/>
<connect gate="1" pin="(PCINT11/RESET/DW)PB3" pad="4"/>
<connect gate="1" pin="(PCINT2/AIN1/ADC2)PA2" pad="11"/>
<connect gate="1" pin="(PCINT3/T0/ADC3)PA3" pad="10"/>
<connect gate="1" pin="(PCINT4/T1/SCL/USCK/ADC4)PA4" pad="9"/>
<connect gate="1" pin="(PCINT5/OC1B/MISO/DO/ADC5)PA5" pad="8"/>
<connect gate="1" pin="(PCINT6/OC1A/SDA/MOSI/ADC6)PA6" pad="7"/>
<connect gate="1" pin="(PCINT7/ICP/OC0B/ADC7)PA7" pad="6"/>
<connect gate="1" pin="(PCINT8/XTAL1/CLKI)PB0" pad="2"/>
<connect gate="1" pin="(PCINT9/XTAL2)PB1" pad="3"/>
<connect gate="1" pin="GND" pad="14"/>
<connect gate="1" pin="VCC" pad="1"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-PU" package="DIL14">
<connects>
<connect gate="1" pin="(PCINT0/AREF/ADC0)PA0" pad="13"/>
<connect gate="1" pin="(PCINT1/AIN0/ADC1)PA1" pad="12"/>
<connect gate="1" pin="(PCINT10/INT0/OC0A/CKOUT)PB2" pad="5"/>
<connect gate="1" pin="(PCINT11/RESET/DW)PB3" pad="4"/>
<connect gate="1" pin="(PCINT2/AIN1/ADC2)PA2" pad="11"/>
<connect gate="1" pin="(PCINT3/T0/ADC3)PA3" pad="10"/>
<connect gate="1" pin="(PCINT4/T1/SCL/USCK/ADC4)PA4" pad="9"/>
<connect gate="1" pin="(PCINT5/OC1B/MISO/DO/ADC5)PA5" pad="8"/>
<connect gate="1" pin="(PCINT6/OC1A/SDA/MOSI/ADC6)PA6" pad="7"/>
<connect gate="1" pin="(PCINT7/ICP/OC0B/ADC7)PA7" pad="6"/>
<connect gate="1" pin="(PCINT8/XTAL1/CLKI)PB0" pad="2"/>
<connect gate="1" pin="(PCINT9/XTAL2)PB1" pad="3"/>
<connect gate="1" pin="GND" pad="14"/>
<connect gate="1" pin="VCC" pad="1"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="-MU" package="QFN/MLF20">
<connects>
<connect gate="1" pin="(PCINT0/AREF/ADC0)PA0" pad="5"/>
<connect gate="1" pin="(PCINT1/AIN0/ADC1)PA1" pad="4"/>
<connect gate="1" pin="(PCINT10/INT0/OC0A/CKOUT)PB2" pad="14"/>
<connect gate="1" pin="(PCINT11/RESET/DW)PB3" pad="13"/>
<connect gate="1" pin="(PCINT2/AIN1/ADC2)PA2" pad="3"/>
<connect gate="1" pin="(PCINT3/T0/ADC3)PA3" pad="2"/>
<connect gate="1" pin="(PCINT4/T1/SCL/USCK/ADC4)PA4" pad="1"/>
<connect gate="1" pin="(PCINT5/OC1B/MISO/DO/ADC5)PA5" pad="20"/>
<connect gate="1" pin="(PCINT6/OC1A/SDA/MOSI/ADC6)PA6" pad="16"/>
<connect gate="1" pin="(PCINT7/ICP/OC0B/ADC7)PA7" pad="15"/>
<connect gate="1" pin="(PCINT8/XTAL1/CLKI)PB0" pad="11"/>
<connect gate="1" pin="(PCINT9/XTAL2)PB1" pad="12"/>
<connect gate="1" pin="GND" pad="8"/>
<connect gate="1" pin="VCC" pad="9"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="PINHD-2X3-SMD" prefix="JP" uservalue="yes">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
<gates>
<gate name="A" symbol="PINH2X3"/>
</gates>
<devices>
<device name="" package="2X03SMD">
<connects>
<connect gate="A" pin="1" pad="1"/>
<connect gate="A" pin="2" pad="2"/>
<connect gate="A" pin="3" pad="3"/>
<connect gate="A" pin="4" pad="4"/>
<connect gate="A" pin="5" pad="5"/>
<connect gate="A" pin="6" pad="6"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="CAP-UNPOLARIZED" prefix="C" uservalue="yes">
<gates>
<gate name="&gt;NAME" symbol="CAP-NONPOLARIZED"/>
</gates>
<devices>
<device name="" package="C1206">
<connects>
<connect gate="&gt;NAME" pin="1" pad="1"/>
<connect gate="&gt;NAME" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="FAB" package="C1206FAB">
<connects>
<connect gate="&gt;NAME" pin="1" pad="1"/>
<connect gate="&gt;NAME" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="2220" package="C2220">
<connects>
<connect gate="&gt;NAME" pin="1" pad="1"/>
<connect gate="&gt;NAME" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="PINHD-2X2-SMD">
<gates>
<gate name="G$1" symbol="PINH2X2"/>
</gates>
<devices>
<device name="" package="2X02SMD">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
<connect gate="G$1" pin="3" pad="3"/>
<connect gate="G$1" pin="4" pad="4"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="RES-US" prefix="R" uservalue="yes">
<description>&lt;b&gt;Resistor (US Symbol)&lt;/b&gt;
&lt;p&gt;
Variants with postfix FAB are widened to allow the routing of internal traces</description>
<gates>
<gate name="G$1" symbol="R-US"/>
</gates>
<devices>
<device name="1206" package="R1206">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="1206W" package="R1206W">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="1206FAB" package="R1206FAB">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="REGULATOR" prefix="IC" uservalue="yes">
<gates>
<gate name="G$1" symbol="REGULATOR"/>
</gates>
<devices>
<device name="SOT23" package="SOT23">
<connects>
<connect gate="G$1" pin="GND" pad="3"/>
<connect gate="G$1" pin="IN" pad="2"/>
<connect gate="G$1" pin="OUT" pad="1"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="allegro">
<description>Motor Drivers and Current Sense from Allegro</description>
<packages>
<package name="SOIC8TP">
</package>
</packages>
<symbols>
<symbol name="A4950">
<pin name="IN1"/>
<pin name="IN2\"/>
<pin name="GND"/>
<pin name="VREF"/>
<pin name="LSS"/>
<pin name="OUT2"/>
<pin name="OUT1"/>
<pin name="VBB"/>
<pin name="PAD"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="A4950ELJTR-T" prefix="U">
<description>IC MOTOR DRIVER PAR 8SOIC&lt;br&gt;
tested: YES (parallel gripper mcb)</description>
<gates>
<gate name="G$1" symbol="A4950"/>
</gates>
<devices>
<device name="" package="SOIC8TP">
<connects>
<connect gate="G$1" pin="GND" pad="1"/>
<connect gate="G$1" pin="IN1" pad="3"/>
<connect gate="G$1" pin="IN2\" pad="2"/>
<connect gate="G$1" pin="LSS" pad="7"/>
<connect gate="G$1" pin="OUT1" pad="6"/>
<connect gate="G$1" pin="OUT2" pad="8"/>
<connect gate="G$1" pin="PAD" pad="PAD"/>
<connect gate="G$1" pin="VBB" pad="5"/>
<connect gate="G$1" pin="VREF" pad="4"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<parts>
<part name="IC3" library="fab" deviceset="ATTINY44" device="-SSU">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="J1ISP1" library="fab" deviceset="PINHD-2X3-SMD" device="">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="C1-1UF1" library="fab" deviceset="CAP-UNPOLARIZED" device="FAB">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="C2-1UF1" library="fab" deviceset="CAP-UNPOLARIZED" device="FAB">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="C310UF1" library="fab" deviceset="CAP-UNPOLARIZED" device="FAB">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="J2POWER1" library="fab" deviceset="PINHD-2X2-SMD" device="">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="R1-10K1" library="fab" deviceset="RES-US" device="1206FAB">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="U$1" library="fab" deviceset="PINHD-2X2-SMD" device="">
<attribute name="MF" value=""/>
<attribute name="MPN" value=""/>
<attribute name="OC_FARNELL" value="unknown"/>
</part>
<part name="U2" library="allegro" deviceset="A4950ELJTR-T" device="">
<attribute name="MF" value="ALLEGRO MICROSYSTEMS"/>
<attribute name="MPN" value="A4950ELJTR-T"/>
<attribute name="OC_FARNELL" value="2057412"/>
</part>
<part name="IC4" library="fab" deviceset="REGULATOR" device="SOT23">
<attribute name="MF" value="BOURNS"/>
<attribute name="MPN" value="CDSOT23-SM712"/>
<attribute name="OC_FARNELL" value="1824869"/>
</part>
<part name="U$2" library="fab" deviceset="PINHD-2X2-SMD" device=""/>
</parts>
<sheets>
<sheet>
<plain>
</plain>
<busses>
</busses>
<nets>
<net name="N$1">
<segment>
<pinref part="J2POWER1" gate="G$1" pin="1"/>
<pinref part="U2" gate="G$1" pin="VBB"/>
<pinref part="J2POWER1" gate="G$1" pin="2"/>
<pinref part="C2-1UF1" gate="&gt;NAME" pin="2"/>
<pinref part="C310UF1" gate="&gt;NAME" pin="2"/>
<pinref part="IC4" gate="G$1" pin="IN"/>
</segment>
</net>
<net name="N$9">
<segment>
<pinref part="U$1" gate="G$1" pin="1"/>
<pinref part="U$1" gate="G$1" pin="2"/>
<pinref part="U2" gate="G$1" pin="OUT1"/>
</segment>
</net>
<net name="N$11">
<segment>
<pinref part="U$1" gate="G$1" pin="4"/>
<pinref part="U$1" gate="G$1" pin="3"/>
<pinref part="U2" gate="G$1" pin="OUT2"/>
</segment>
</net>
<net name="N$14">
<segment>
<pinref part="U2" gate="G$1" pin="IN1"/>
<pinref part="IC3" gate="1" pin="(PCINT3/T0/ADC3)PA3"/>
</segment>
</net>
<net name="N$16">
<segment>
<pinref part="U2" gate="G$1" pin="IN2\"/>
<pinref part="IC3" gate="1" pin="(PCINT2/AIN1/ADC2)PA2"/>
</segment>
</net>
<net name="N$17">
<segment>
<pinref part="C1-1UF1" gate="&gt;NAME" pin="2"/>
<pinref part="J2POWER1" gate="G$1" pin="4"/>
<pinref part="J2POWER1" gate="G$1" pin="3"/>
<pinref part="J1ISP1" gate="A" pin="1"/>
<pinref part="C310UF1" gate="&gt;NAME" pin="1"/>
<pinref part="C2-1UF1" gate="&gt;NAME" pin="1"/>
<pinref part="IC3" gate="1" pin="GND"/>
<pinref part="U2" gate="G$1" pin="GND"/>
<pinref part="U2" gate="G$1" pin="LSS"/>
<pinref part="IC4" gate="G$1" pin="GND"/>
<pinref part="U$2" gate="G$1" pin="1"/>
</segment>
</net>
<net name="N$18">
<segment>
<pinref part="R1-10K1" gate="G$1" pin="1"/>
<pinref part="IC3" gate="1" pin="(PCINT11/RESET/DW)PB3"/>
<pinref part="J1ISP1" gate="A" pin="2"/>
</segment>
</net>
<net name="N$19">
<segment>
<pinref part="J1ISP1" gate="A" pin="3"/>
<pinref part="IC3" gate="1" pin="(PCINT6/OC1A/SDA/MOSI/ADC6)PA6"/>
</segment>
</net>
<net name="N$20">
<segment>
<pinref part="J1ISP1" gate="A" pin="4"/>
<pinref part="IC3" gate="1" pin="(PCINT4/T1/SCL/USCK/ADC4)PA4"/>
</segment>
</net>
<net name="N$21">
<segment>
<pinref part="J1ISP1" gate="A" pin="6"/>
<pinref part="IC3" gate="1" pin="(PCINT5/OC1B/MISO/DO/ADC5)PA5"/>
</segment>
</net>
<net name="N$22">
<segment>
<pinref part="C1-1UF1" gate="&gt;NAME" pin="1"/>
<pinref part="J1ISP1" gate="A" pin="5"/>
<pinref part="R1-10K1" gate="G$1" pin="2"/>
<pinref part="U2" gate="G$1" pin="VREF"/>
<pinref part="IC3" gate="1" pin="VCC"/>
<pinref part="IC4" gate="G$1" pin="OUT"/>
<pinref part="U$2" gate="G$1" pin="3"/>
</segment>
</net>
<net name="N$2">
<segment>
<pinref part="U$2" gate="G$1" pin="4"/>
<pinref part="IC3" gate="1" pin="(PCINT8/XTAL1/CLKI)PB0"/>
</segment>
</net>
<net name="N$3">
<segment>
<pinref part="U$2" gate="G$1" pin="2"/>
<pinref part="IC3" gate="1" pin="(PCINT9/XTAL2)PB1"/>
</segment>
</net>
</nets>
</sheet>
</sheets>
</schematic>
</drawing>
</eagle>
