diff --git a/hardware/esp32-racer/esp32-racer.kicad_sch b/hardware/esp32-racer/esp32-racer.kicad_sch
index 43f240a..245ecf3 100644
--- a/hardware/esp32-racer/esp32-racer.kicad_sch
+++ b/hardware/esp32-racer/esp32-racer.kicad_sch
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 		(pin "ENABLE" input
-			(at 215.9 118.11 180)
+			(at 163.83 152.4 180)
 			(uuid "b7ae08a6-08a8-4264-968d-b91153358fb4")
 			(effects
 				(font
@@ -446,7 +778,7 @@
 			)
 		)
 		(pin "PHASE" input
-			(at 215.9 120.65 180)
+			(at 163.83 154.94 180)
 			(uuid "7f5fd817-8930-4789-847a-5e1c37516e03")
 			(effects
 				(font
@@ -456,13 +788,13 @@
 			)
 		)
 		(pin "SENSEOUT" output
-			(at 215.9 123.19 180)
+			(at 180.34 157.48 0)
 			(uuid "64b2dc56-387a-462e-b0a1-bf75e2b88e47")
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(justify left)
+				(justify right)
 			)
 		)
 		(instances
@@ -474,7 +806,7 @@
 		)
 	)
 	(sheet
-		(at 215.9 57.15)
+		(at 163.83 91.44)
 		(size 16.51 12.7)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -490,7 +822,7 @@
 		)
 		(uuid "4837f08b-5d87-49c9-b981-95448901171f")
 		(property "Sheetname" "MOTOR_DRIVER1"
-			(at 215.9 56.4384 0)
+			(at 163.83 90.7284 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -499,7 +831,7 @@
 			)
 		)
 		(property "Sheetfile" "MOTOR_DRIVER.kicad_sch"
-			(at 215.9 70.4346 0)
+			(at 163.83 104.7246 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -508,7 +840,7 @@
 			)
 		)
 		(pin "ENABLE" input
-			(at 215.9 60.96 180)
+			(at 163.83 95.25 180)
 			(uuid "3ff75901-35e0-4806-9df3-c55973988882")
 			(effects
 				(font
@@ -518,7 +850,7 @@
 			)
 		)
 		(pin "PHASE" input
-			(at 215.9 63.5 180)
+			(at 163.83 97.79 180)
 			(uuid "09b6045e-f750-4e5b-ae54-f5a07374dff1")
 			(effects
 				(font
@@ -528,13 +860,13 @@
 			)
 		)
 		(pin "SENSEOUT" output
-			(at 215.9 66.04 180)
+			(at 180.34 100.33 0)
 			(uuid "c2440072-c51b-40b8-a866-cd8945014a35")
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(justify left)
+				(justify right)
 			)
 		)
 		(instances
@@ -546,7 +878,7 @@
 		)
 	)
 	(sheet
-		(at 215.9 95.25)
+		(at 163.83 129.54)
 		(size 16.51 12.7)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -562,7 +894,7 @@
 		)
 		(uuid "8dd888fe-139d-4562-9eea-8fb99112fc9f")
 		(property "Sheetname" "MOTOR_DRIVER3"
-			(at 215.9 94.5384 0)
+			(at 163.83 128.8284 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -571,7 +903,7 @@
 			)
 		)
 		(property "Sheetfile" "MOTOR_DRIVER.kicad_sch"
-			(at 215.9 108.5346 0)
+			(at 163.83 142.8246 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -580,7 +912,7 @@
 			)
 		)
 		(pin "ENABLE" input
-			(at 215.9 99.06 180)
+			(at 163.83 133.35 180)
 			(uuid "bd68e65a-4e95-4318-8bf5-09b061f55f0f")
 			(effects
 				(font
@@ -590,7 +922,7 @@
 			)
 		)
 		(pin "PHASE" input
-			(at 215.9 101.6 180)
+			(at 163.83 135.89 180)
 			(uuid "5a68219a-e94c-4206-9f74-99b6673edc9f")
 			(effects
 				(font
@@ -600,13 +932,13 @@
 			)
 		)
 		(pin "SENSEOUT" output
-			(at 215.9 104.14 180)
+			(at 180.34 138.43 0)
 			(uuid "a871f974-a25c-4cc5-9f8b-7f268c2c80ac")
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(justify left)
+				(justify right)
 			)
 		)
 		(instances
@@ -618,8 +950,8 @@
 		)
 	)
 	(sheet
-		(at 121.92 15.24)
-		(size 38.1 26.67)
+		(at 129.54 15.24)
+		(size 77.47 26.67)
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
@@ -634,7 +966,7 @@
 		)
 		(uuid "df5c9f92-b859-4081-bd3f-9fae1c883360")
 		(property "Sheetname" "BOARD_STAT_MESUREMENT"
-			(at 121.92 14.5284 0)
+			(at 129.54 14.5284 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -643,7 +975,7 @@
 			)
 		)
 		(property "Sheetfile" "BOARD_STAT_MESUREMENT.kicad_sch"
-			(at 121.92 42.4946 0)
+			(at 129.54 42.4946 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -652,7 +984,7 @@
 			)
 		)
 		(pin "!PWR_ALERT" output
-			(at 125.73 41.91 270)
+			(at 133.35 41.91 270)
 			(uuid "f37a7e65-ddb3-49f8-854a-a78ab041b42d")
 			(effects
 				(font
@@ -662,7 +994,7 @@
 			)
 		)
 		(pin "BATT_SHUNT+" input
-			(at 121.92 21.59 180)
+			(at 129.54 21.59 180)
 			(uuid "521ca607-6f05-4f8d-8a57-86eb6f96555b")
 			(effects
 				(font
@@ -672,7 +1004,7 @@
 			)
 		)
 		(pin "BATT_SHUNT-" output
-			(at 121.92 19.05 180)
+			(at 129.54 19.05 180)
 			(uuid "ad982888-33da-4b05-9859-5a7cdc34311c")
 			(effects
 				(font
@@ -682,7 +1014,7 @@
 			)
 		)
 		(pin "SCL" bidirectional
-			(at 129.54 41.91 270)
+			(at 137.16 41.91 270)
 			(uuid "863e7b2b-db13-4236-9a56-5f2aea6119e2")
 			(effects
 				(font
@@ -692,7 +1024,7 @@
 			)
 		)
 		(pin "SDA" bidirectional
-			(at 132.08 41.91 270)
+			(at 139.7 41.91 270)
 			(uuid "4123a036-07a1-446b-b750-a445a7ca6339")
 			(effects
 				(font
@@ -701,6 +1033,46 @@
 				(justify left)
 			)
 		)
+		(pin "MOTOR_DRIVER_1_I_SENSE" input
+			(at 184.15 41.91 270)
+			(uuid "be8923eb-c359-47a3-89fc-faabccfdd055")
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(pin "MOTOR_DRIVER_2_I_SENSE" input
+			(at 186.69 41.91 270)
+			(uuid "5d1a58ee-89ed-47c1-b1a2-754770158e45")
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(pin "MOTOR_DRIVER_3_I_SENSE" input
+			(at 189.23 41.91 270)
+			(uuid "2878e906-8536-4cc7-92af-985cb263aef3")
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(pin "MOTOR_DRIVER_4_I_SENSE" input
+			(at 191.77 41.91 270)
+			(uuid "6f5bc67d-8c17-4e03-92a2-ac10b960a586")
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
 		(instances
 			(project "esp32-racer"
 				(path "/1d580319-54a9-438f-a4a3-ea2f61f357b8"
@@ -710,7 +1082,7 @@
 		)
 	)
 	(sheet
-		(at 165.1 15.24)
+		(at 66.04 167.64)
 		(size 39.37 26.67)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -726,7 +1098,7 @@
 		)
 		(uuid "e5460bb5-125d-426a-9dc8-174d1b37f5db")
 		(property "Sheetname" "EXTERNAL_INTERFACING_DEVICES"
-			(at 165.1 14.5284 0)
+			(at 66.04 166.9284 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -735,7 +1107,7 @@
 			)
 		)
 		(property "Sheetfile" "EXTERNAL_INTERFACING_DEVICES.kicad_sch"
-			(at 165.1 42.4946 0)
+			(at 66.04 194.8946 0)
 			(effects
 				(font
 					(size 1.27 1.27)