updated bom and finished pcb

.gitignore

@@ -37,6 +37,7 @@ fp-info-cache
 
 # Archived Backups (KiCad 6.0)
 **/*-backups/*.zip
+**/.history/
 
 # Local project settings
 *.kicad_prl

PCBs/esp32-racer-B_Mask.gbr

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PCBs/esp32-racer-B_Paste.gbr

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PCBs/esp32-racer-Edge_Cuts.gbr

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PCBs/esp32-racer-NPTH.drl

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PCBs/esp32-racer-job.gbrjob

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+      "Application": "Pcbnew",
+      "Version": "10.0.0"
+    },
+    "CreationDate": "2026-04-16T08:54:22+12:00"
+  },
+  "GeneralSpecs": {
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+      "Name": "esp32-racer",
+      "GUID": "65737033-322d-4726-9163-65722e6b6963",
+      "Revision": "rev?"
+    },
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+      "Y": 80.05
+    },
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+    "BoardThickness": 1.6,
+    "Finish": "None"
+  },
+  "DesignRules": [
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+      "RegionToRegion": 0.2
+    }
+  ],
+  "FilesAttributes": [
+    {
+      "Path": "esp32-racer-F_Cu.gbr",
+      "FileFunction": "Copper,L1,Top",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-In1_Cu.gbr",
+      "FileFunction": "Copper,L2,Inr",
+      "FilePolarity": "Positive"
+    },
+    {
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+      "FileFunction": "Copper,L3,Inr",
+      "FilePolarity": "Positive"
+    },
+    {
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+      "Name": "In1.Cu"
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+    {
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+    }
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PCBs/old/esp32-racer-B_Mask.gbr

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PCBs/old/esp32-racer-B_Paste.gbr

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PCBs/old/esp32-racer-Edge_Cuts.gbr

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+%TF.FileFunction,Profile,NP*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 10.0.0) date 2026-04-15 11:42:03*
+%MOMM*%
+%LPD*%
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PCBs/old/esp32-racer-NPTH.drl

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+M48
+; DRILL file KiCad 10.0.0 date 2026-04-15T11:42:13
+; FORMAT={-:-/ absolute / metric / decimal}
+; #@! TF.CreationDate,2026-04-15T11:42:13+12:00
+; #@! TF.GenerationSoftware,Kicad,Pcbnew,10.0.0
+; #@! TF.FileFunction,NonPlated,1,4,NPTH
+FMAT,2
+METRIC
+; #@! TA.AperFunction,NonPlated,NPTH,ComponentDrill
+T1C0.650
+%
+G90
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PCBs/old/esp32-racer-job.gbrjob

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+{
+  "Header": {
+    "GenerationSoftware": {
+      "Vendor": "KiCad",
+      "Application": "Pcbnew",
+      "Version": "10.0.0"
+    },
+    "CreationDate": "2026-04-15T11:42:03+12:00"
+  },
+  "GeneralSpecs": {
+    "ProjectId": {
+      "Name": "esp32-racer",
+      "GUID": "65737033-322d-4726-9163-65722e6b6963",
+      "Revision": "rev?"
+    },
+    "Size": {
+      "X": 160.05,
+      "Y": 80.05
+    },
+    "LayerNumber": 4,
+    "BoardThickness": 1.6,
+    "Finish": "None"
+  },
+  "DesignRules": [
+    {
+      "Layers": "Outer",
+      "PadToPad": 0.2,
+      "PadToTrack": 0.2,
+      "TrackToTrack": 0.2,
+      "MinLineWidth": 0.2,
+      "TrackToRegion": 0.2,
+      "RegionToRegion": 0.2
+    },
+    {
+      "Layers": "Inner",
+      "PadToPad": 0.0,
+      "PadToTrack": 0.0,
+      "TrackToTrack": 0.2,
+      "MinLineWidth": 0.2,
+      "TrackToRegion": 0.2,
+      "RegionToRegion": 0.2
+    }
+  ],
+  "FilesAttributes": [
+    {
+      "Path": "esp32-racer-F_Cu.gbr",
+      "FileFunction": "Copper,L1,Top",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-In1_Cu.gbr",
+      "FileFunction": "Copper,L2,Inr",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-In2_Cu.gbr",
+      "FileFunction": "Copper,L3,Inr",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-B_Cu.gbr",
+      "FileFunction": "Copper,L4,Bot",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-F_Paste.gbr",
+      "FileFunction": "SolderPaste,Top",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-B_Paste.gbr",
+      "FileFunction": "SolderPaste,Bot",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-F_Silkscreen.gbr",
+      "FileFunction": "Legend,Top",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-B_Silkscreen.gbr",
+      "FileFunction": "Legend,Bot",
+      "FilePolarity": "Positive"
+    },
+    {
+      "Path": "esp32-racer-F_Mask.gbr",
+      "FileFunction": "SolderMask,Top",
+      "FilePolarity": "Negative"
+    },
+    {
+      "Path": "esp32-racer-B_Mask.gbr",
+      "FileFunction": "SolderMask,Bot",
+      "FilePolarity": "Negative"
+    },
+    {
+      "Path": "esp32-racer-Edge_Cuts.gbr",
+      "FileFunction": "Profile",
+      "FilePolarity": "Positive"
+    }
+  ],
+  "MaterialStackup": [
+    {
+      "Type": "Legend",
+      "Name": "Top Silk Screen"
+    },
+    {
+      "Type": "SolderPaste",
+      "Name": "Top Solder Paste"
+    },
+    {
+      "Type": "SolderMask",
+      "Thickness": 0.01,
+      "Name": "Top Solder Mask"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.035,
+      "Name": "F.Cu"
+    },
+    {
+      "Type": "Dielectric",
+      "Thickness": 0.1,
+      "Material": "FR4",
+      "Name": "F.Cu/In1.Cu",
+      "Notes": "Type: dielectric layer 1 (from F.Cu to In1.Cu)"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.035,
+      "Name": "In1.Cu"
+    },
+    {
+      "Type": "Dielectric",
+      "Thickness": 1.24,
+      "Material": "FR4",
+      "Name": "In1.Cu/In2.Cu",
+      "Notes": "Type: dielectric layer 2 (from In1.Cu to In2.Cu)"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.035,
+      "Name": "In2.Cu"
+    },
+    {
+      "Type": "Dielectric",
+      "Thickness": 0.1,
+      "Material": "FR4",
+      "Name": "In2.Cu/B.Cu",
+      "Notes": "Type: dielectric layer 3 (from In2.Cu to B.Cu)"
+    },
+    {
+      "Type": "Copper",
+      "Thickness": 0.035,
+      "Name": "B.Cu"
+    },
+    {
+      "Type": "SolderMask",
+      "Thickness": 0.01,
+      "Name": "Bottom Solder Mask"
+    },
+    {
+      "Type": "SolderPaste",
+      "Name": "Bottom Solder Paste"
+    },
+    {
+      "Type": "Legend",
+      "Name": "Bottom Silk Screen"
+    }
+  ]
+}

docs/esp32-racer_erc.rpt

@@ -1,61 +1,35 @@
-ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
+ERC report (2026-04-14T22:31:54, Encoding UTF8)
+Report includes: Errors, Warnings
 
 ***** Sheet /
 [hier_label_mismatch]: Sheet pin POWER_EN has no matching hierarchical label inside the sheet
     ; error
-    @(57.15 mm, 49.53 mm): Hierarchical Sheet Pin POWER_EN
+    @(57.15 mm, 49.53 mm): Hierarchical Sheet Pin 'POWER_EN'
 [no_connect_dangling]: Unconnected "no connection" flag
     ; warning
     @(57.15 mm, 53.34 mm): No Connect
-[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
+[lib_symbol_issues]: The current configuration does not include the symbol library 'power_switch'
-    ; error
-    @(143.51 mm, 83.82 mm): Symbol #PWR01 Pin 1 [Power input, Line]
-[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
-    ; error
-    @(143.51 mm, 124.46 mm): Symbol #PWR03 Pin 1 [Power input, Line]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(12.70 mm, 12.70 mm): Directive Label [Net Class ]
-[undefined_netclass]: Netclass  is not defined
-    ; error
-    @(12.70 mm, 12.70 mm): Directive Label [Net Class ]
-[duplicate_pins]: Symbol 'LMR33630BDDA' has multiple pins with the same pin number
-    ; error
-    @(82.55 mm, 31.75 mm): Symbol U4 [LMR33630BDDA]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(13.97 mm, 129.54 mm): Directive Label [Net Class ]
-[undefined_netclass]: Netclass  is not defined
-    ; error
-    @(13.97 mm, 129.54 mm): Directive Label [Net Class ]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(13.97 mm, 130.81 mm): Directive Label [Net Class ]
-[undefined_netclass]: Netclass  is not defined
-    ; error
-    @(13.97 mm, 130.81 mm): Directive Label [Net Class ]
-[lib_symbol_mismatch]: Symbol 'NCP45770IMN24TWG' doesn't match copy in library 'power_switch'
     ; warning
     @(96.52 mm, 92.71 mm): Symbol U5 [NCP45770IMN24TWG]
-[label_dangling]: Label not connected to anything
+[lib_symbol_issues]: The current configuration does not include the symbol library 'power_switch'
-    ; error
-    @(139.70 mm, 66.04 mm): Directive Label [Net Class ]
-[undefined_netclass]: Netclass  is not defined
-    ; error
-    @(139.70 mm, 66.04 mm): Directive Label [Net Class ]
-[lib_symbol_mismatch]: Symbol 'NCP45770IMN24TWG' doesn't match copy in library 'power_switch'
     ; warning
     @(96.52 mm, 154.94 mm): Symbol U6 [NCP45770IMN24TWG]
-[duplicate_pins]: Symbol 'LMR33630BDDA' has multiple pins with the same pin number
-    ; error
-    @(191.77 mm, 82.55 mm): Symbol U7 [LMR33630BDDA]
 [lib_symbol_mismatch]: Symbol 'TPS2116DRL' doesn't match copy in library 'Power_Management'
     ; warning
     @(217.17 mm, 27.94 mm): Symbol U8 [TPS2116DRL]
-[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'.
+[unconnected_wire_endpoint]: Unconnected wire endpoint
+    ; warning
+    @(176.53 mm, 134.62 mm): Vertical Wire, length 11.43 mm
+[unconnected_wire_endpoint]: Unconnected wire endpoint
+    ; warning
+    @(191.77 mm, 134.62 mm): Vertical Wire, length 13.97 mm
+[lib_symbol_mismatch]: Symbol 'Battery' doesn't match copy in library 'Device'
+    ; warning
+    @(25.40 mm, 99.06 mm): Symbol BT1 [Battery]
+[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'
     ; warning
     @(73.66 mm, 109.22 mm): Symbol Q17 [DOZ50N03]
-[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'.
+[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'
     ; warning
     @(134.62 mm, 109.22 mm): Symbol Q18 [DOZ50N03]
 [lib_symbol_mismatch]: Symbol 'USB_C_Receptacle_USB2.0_14P' doesn't match copy in library 'Connector'
@@ -79,53 +53,26 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
 [lib_symbol_mismatch]: Symbol 'ADC128D818' doesn't match copy in library 'Analog_ADC'
     ; warning
     @(49.53 mm, 165.10 mm): Symbol U13 [ADC128D818]
-[label_dangling]: Label not connected to anything
+[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'
-    ; error
-    @(82.55 mm, 40.64 mm): Directive Label [Net Class ]
-[undefined_netclass]: Netclass  is not defined
-    ; error
-    @(82.55 mm, 40.64 mm): Directive Label [Net Class ]
-[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'.
     ; warning
     @(129.54 mm, 91.44 mm): Symbol U12 [DRV8701E]
-[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'.
+[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'
     ; warning
     @(162.56 mm, 71.12 mm): Symbol Q13 [DOZ50N03]
-[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'.
+[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'
     ; warning
     @(162.56 mm, 81.28 mm): Symbol Q14 [DOZ50N03]
-[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'.
+[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'
     ; warning
     @(180.34 mm, 86.36 mm): Symbol Q15 [DOZ50N03]
-[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'.
+[lib_symbol_issues]: The symbol library 'esp32-racer-lib' was not found at '/home/zekkos/Documents/ta/461/esp32-racer/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym'
     ; warning
     @(180.34 mm, 96.52 mm): Symbol Q16 [DOZ50N03]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(200.66 mm, 40.64 mm): Directive Label [Net Class ]
-[undefined_netclass]: Netclass  is not defined
-    ; error
-    @(200.66 mm, 40.64 mm): Directive Label [Net Class ]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(82.55 mm, 40.64 mm): Directive Label [Net Class ]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(200.66 mm, 40.64 mm): Directive Label [Net Class ]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(82.55 mm, 40.64 mm): Directive Label [Net Class ]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(200.66 mm, 40.64 mm): Directive Label [Net Class ]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(82.55 mm, 40.64 mm): Directive Label [Net Class ]
-[label_dangling]: Label not connected to anything
-    ; error
-    @(200.66 mm, 40.64 mm): Directive Label [Net Class ]
 
 ***** Sheet /MOTOR_DRIVER2/
+[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
+    ; error
+    @(129.54 mm, 63.50 mm): Symbol U12 Pin 1 [VM, Power input, Line]
 
 ***** Sheet /MCU/
 [pin_not_connected]: Pin not connected
@@ -138,10 +85,14 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
 ***** Sheet /PWR/
 [power_pin_not_driven]: Input Power pin not driven by any Output Power pins
     ; error
-    @(20.32 mm, 22.86 mm): Symbol #PWR046 Pin 1 [Power input, Line]
+    @(72.39 mm, 26.67 mm): Symbol U4 Pin 2 [VIN, Power input, Line]
 [pin_not_connected]: Pin not connected
     ; error
     @(82.55 mm, 48.26 mm): Symbol U4 Hidden pin 9 [GND, Passive, Line]
+[duplicate_pins]: Pin 9 on symbol 'U4' is connected to different nets: GND and Net-(U4-GND-Pad9)
+    ; error
+    @(90.17 mm, 55.88 mm): Symbol U4 Pin 9 [EPAD, Passive, Line]
+    @(82.55 mm, 48.26 mm): Symbol U4 Hidden pin 9 [GND, Passive, Line]
 [pin_to_pin]: Pins of type Output and Output are connected
     ; error
     @(55.88 mm, 106.68 mm): Symbol U5 Pin 8 [PG, Output, Line]
@@ -158,10 +109,6 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
     ; error
     @(96.52 mm, 97.79 mm): Symbol U5 Pin 3 [VOUT, Output, Line]
     @(96.52 mm, 100.33 mm): Symbol U5 Pin 4 [VOUT, Output, Line]
-[similar_labels]: Labels are similar (lower/upper case difference only)
-    ; warning
-    @(133.35 mm, 34.29 mm): Label '5v@3A'
-    @(231.14 mm, 69.85 mm): Label '5V@3A'
 [pin_to_pin]: Pins of type Output and Output are connected
     ; error
     @(96.52 mm, 100.33 mm): Symbol U5 Pin 4 [VOUT, Output, Line]
@@ -170,18 +117,6 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
     ; error
     @(76.20 mm, 120.65 mm): Symbol U5 Pin 6 [VSS, Power output, Line]
     @(76.20 mm, 182.88 mm): Symbol U6 Pin 6 [VSS, Power output, Line]
-[pin_to_pin]: Pins of type Unspecified and Passive are connected
-    ; warning
-    @(96.52 mm, 107.95 mm): Symbol U5 Pin 7 [SR, Unspecified, Line]
-    @(110.49 mm, 110.49 mm): Symbol C38 Pin 1 [Passive, Line]
-[pin_to_pin]: Pins of type Unspecified and Passive are connected
-    ; warning
-    @(96.52 mm, 111.76 mm): Symbol U5 Pin 9 [OCP, Unspecified, Line]
-    @(96.52 mm, 111.76 mm): Symbol R24 Pin 1 [Passive, Line]
-[similar_labels]: Labels are similar (lower/upper case difference only)
-    ; warning
-    @(171.45 mm, 22.86 mm): Label '5v@3A'
-    @(231.14 mm, 69.85 mm): Label '5V@3A'
 [pin_to_pin]: Pins of type Output and Output are connected
     ; error
     @(96.52 mm, 154.94 mm): Symbol U6 Pin 1 [VOUT, Output, Line]
@@ -200,7 +135,31 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
     @(96.52 mm, 165.10 mm): Symbol U6 Pin 5 [VOUT, Output, Line]
 [power_pin_not_driven]: Input Power pin not driven by any Output Power pins
     ; error
-    @(185.42 mm, 44.45 mm): Symbol #PWR093 Pin 1 [Power input, Line]
+    @(207.01 mm, 22.86 mm): Symbol U8 Pin 3 [VIN1, Power input, Line]
+[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
+    ; error
+    @(207.01 mm, 45.72 mm): Symbol U8 Pin 6 [VIN2, Power input, Line]
+[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
+    ; error
+    @(173.99 mm, 123.19 mm): Symbol #PWR089 Pin 1 [Power input, Line]
+[duplicate_pins]: Pin 9 on symbol 'U7' is connected to different nets: Net-(U7-GND-Pad9) and GND
+    ; error
+    @(191.77 mm, 99.06 mm): Symbol U7 Hidden pin 9 [GND, Passive, Line]
+    @(199.39 mm, 106.68 mm): Symbol U7 Pin 9 [EPAD, Passive, Line]
+[pin_not_connected]: Pin not connected
+    ; error
+    @(191.77 mm, 99.06 mm): Symbol U7 Hidden pin 9 [GND, Passive, Line]
+[hier_label_mismatch]: Hierarchical label POWER_SUPPLIED has no matching sheet pin in the parent sheet
+    ; error
+    @(236.22 mm, 45.72 mm): Hierarchical Label 'POWER_SUPPLIED'
+[pin_to_pin]: Pins of type Unspecified and Passive are connected
+    ; warning
+    @(96.52 mm, 107.95 mm): Symbol U5 Pin 7 [SR, Unspecified, Line]
+    @(110.49 mm, 110.49 mm): Symbol C38 Pin 1 [Passive, Line]
+[pin_to_pin]: Pins of type Unspecified and Passive are connected
+    ; warning
+    @(96.52 mm, 111.76 mm): Symbol U5 Pin 9 [OCP, Unspecified, Line]
+    @(96.52 mm, 111.76 mm): Symbol R24 Pin 1 [Passive, Line]
 [pin_to_pin]: Pins of type Unspecified and Passive are connected
     ; warning
     @(96.52 mm, 170.18 mm): Symbol U6 Pin 7 [SR, Unspecified, Line]
@@ -209,34 +168,25 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
     ; warning
     @(96.52 mm, 173.99 mm): Symbol U6 Pin 9 [OCP, Unspecified, Line]
     @(96.52 mm, 173.99 mm): Symbol R25 Pin 1 [Passive, Line]
-[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
-    ; error
-    @(207.01 mm, 22.86 mm): Symbol U8 Pin 3 [VIN1, Power input, Line]
-[pin_not_connected]: Pin not connected
-    ; error
-    @(191.77 mm, 99.06 mm): Symbol U7 Hidden pin 9 [GND, Passive, Line]
-[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
-    ; error
-    @(191.77 mm, 129.54 mm): Symbol #PWR097 Pin 1 [Power input, Line]
 [multiple_net_names]: Both +5V and 5v@2.5A are attached to the same items; +5V will be used in the netlist
     ; warning
-    @(217.17 mm, 146.05 mm): Symbol #PWR0104 Pin 1 [Power input, Line]
+    @(280.67 mm, 19.05 mm): Symbol #PWR0112 Pin 1 [Power input, Line]
     @(236.22 mm, 22.86 mm): Label '5v@2.5A'
-[hier_label_mismatch]: Hierarchical label POWER_SUPPLIED has no matching sheet pin in the parent sheet
-    ; error
-    @(236.22 mm, 45.72 mm): Hierarchical Label 'POWER_SUPPLIED'
 [multiple_net_names]: Both +8V and 8v@3A are attached to the same items; +8V will be used in the netlist
     ; warning
     @(280.67 mm, 74.93 mm): Symbol #PWR0114 Pin 1 [Power input, Line]
     @(240.03 mm, 85.09 mm): Label '8v@3A'
 [multiple_net_names]: Both +3.3V and 3.3v@1A are attached to the same items; +3.3V will be used in the netlist
     ; warning
-    @(146.05 mm, 129.54 mm): Symbol #PWR079 Pin 1 [Power input, Line]
+    @(276.86 mm, 146.05 mm): Symbol #PWR0110 Pin 1 [Power input, Line]
     @(266.70 mm, 147.32 mm): Label '3.3v@1A'
 
 ***** Sheet /MOTOR_DRIVER1/
 
 ***** Sheet /MOTOR_DRIVER3/
+[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
+    ; error
+    @(129.54 mm, 63.50 mm): Symbol U12 Pin 1 [VM, Power input, Line]
 
 ***** Sheet /MOTOR_DRIVER4/
 
@@ -254,6 +204,9 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
     @(210.82 mm, 125.73 mm): Symbol U20 Pin 7 [VCCB, Power input, Line]
 
 ***** Sheet /PWR/POWER_CONNECTORS/
+[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
+    ; error
+    @(205.74 mm, 130.81 mm): Symbol #PWR0206 Pin 1 [Power input, Line]
 [multiple_net_names]: Both +VBAT and BATT_SHUNT- are attached to the same items; +VBAT will be used in the netlist
     ; warning
     @(181.61 mm, 88.90 mm): Symbol #PWR0205 Pin 1 [Power input, Line]
@@ -262,8 +215,11 @@ ERC report (2026-03-31T15:48:14+1300, Encoding UTF8)
     ; warning
     @(252.73 mm, 67.31 mm): Symbol #PWR0213 Pin 1 [Power input, Line]
     @(231.14 mm, 69.85 mm): Label '5V@3A'
-[power_pin_not_driven]: Input Power pin not driven by any Output Power pins
-    ; error
-    @(205.74 mm, 130.81 mm): Symbol #PWR0206 Pin 1 [Power input, Line]
 
- ** ERC messages: 75  Errors 46  Warnings 29
+ ** ERC messages: 58  Errors 28  Warnings 30
+
+ ** Ignored checks:
+    - Global label only appears once in the schematic
+    - Four connection points are joined together
+    - SPICE model issue
+    - Assigned footprint doesn't match footprint filters

hardware/esp32-racer/C:\Users\User\Desktop\kleplace.log

@@ -1,2 +0,0 @@
-Hello World
-No module named 'KLEPlacement'Bye

hardware/esp32-racer/esp32-racer.kicad_prl

@@ -1,11 +1,11 @@
 {
   "board": {
-    "active_layer": 6,
+    "active_layer": 5,
     "active_layer_preset": "",
     "auto_track_width": true,
     "hidden_netclasses": [],
     "hidden_nets": [],
-    "high_contrast_mode": 0,
+    "high_contrast_mode": 1,
     "net_color_mode": 1,
     "opacity": {
       "images": 0.6,
@@ -15,6 +15,7 @@
       "vias": 1.0,
       "zones": 0.6
     },
+    "prototype_zone_fills": false,
     "selection_filter": {
       "dimensions": true,
       "footprints": true,
@@ -53,6 +54,7 @@
     "zone_display_mode": 0
   },
   "git": {
+    "integration_disabled": false,
     "repo_type": "",
     "repo_username": "",
     "ssh_key": ""
@@ -91,18 +93,18 @@
       11
     ],
     "col_widths": [
-      0,
+      67,
-      0,
+      66,
-      0,
+      91,
-      0,
+      73,
-      0,
+      80,
-      0,
+      94,
-      0,
+      83,
-      0,
+      78,
-      0,
+      40,
-      0,
+      43,
-      0,
+      55,
-      0
+      1260
     ],
     "custom_group_rules": [],
     "expanded_rows": [],
@@ -111,6 +113,7 @@
     "filter_text": "",
     "group_by_constraint": false,
     "group_by_netclass": false,
+    "show_time_domain_details": false,
     "show_unconnected_nets": false,
     "show_zero_pad_nets": false,
     "sort_ascending": true,
@@ -121,6 +124,7 @@
     "files": []
   },
   "schematic": {
+    "hierarchy_collapsed": [],
     "selection_filter": {
       "graphics": true,
       "images": true,
@@ -128,6 +132,7 @@
       "lockedItems": false,
       "otherItems": true,
       "pins": true,
+      "ruleAreas": true,
       "symbols": true,
       "text": true,
       "wires": true

hardware/esp32-racer/esp32-racer.kicad_pro

@@ -3,6 +3,8 @@
     "3dviewports": [],
     "design_settings": {
       "defaults": {
+        "apply_defaults_to_fp_barcodes": false,
+        "apply_defaults_to_fp_dimensions": false,
         "apply_defaults_to_fp_fields": false,
         "apply_defaults_to_fp_shapes": false,
         "apply_defaults_to_fp_text": false,
@@ -38,8 +40,8 @@
         "other_text_upright": false,
         "pads": {
           "drill": 0.0,
-          "height": 4.9,
+          "height": 0.95,
-          "width": 2.95
+          "width": 0.8
         },
         "silk_line_width": 0.1,
         "silk_text_italic": false,
@@ -58,7 +60,12 @@
           "width": 0.0
         }
       ],
-      "drc_exclusions": [],
+      "drc_exclusions": [
+        [
+          "courtyards_overlap|39255000|68870000|e06bdfe1-53ae-4fc2-b728-570ca465444f|e2dcf49c-eee1-4d66-a3a4-d1ffe470ec14",
+          "no they dont"
+        ]
+      ],
       "meta": {
         "version": 2
       },
@@ -77,6 +84,7 @@
         "extra_footprint": "warning",
         "footprint": "error",
         "footprint_filters_mismatch": "ignore",
+        "footprint_symbol_field_mismatch": "warning",
         "footprint_symbol_mismatch": "warning",
         "footprint_type_mismatch": "ignore",
         "hole_clearance": "error",
@@ -94,6 +102,7 @@
         "mirrored_text_on_front_layer": "warning",
         "missing_courtyard": "ignore",
         "missing_footprint": "warning",
+        "missing_tuning_profile": "warning",
         "net_conflict": "warning",
         "nonmirrored_text_on_back_layer": "warning",
         "npth_inside_courtyard": "ignore",
@@ -113,9 +122,12 @@
         "too_many_vias": "error",
         "track_angle": "error",
         "track_dangling": "warning",
+        "track_not_centered_on_via": "ignore",
+        "track_on_post_machined_layer": "error",
         "track_segment_length": "error",
         "track_width": "error",
         "tracks_crossing": "error",
+        "tuning_profile_track_geometries": "ignore",
         "unconnected_items": "error",
         "unresolved_variable": "error",
         "via_dangling": "warning",
@@ -225,17 +237,28 @@
       "zones_allow_external_fillets": false
     },
     "ipc2581": {
+      "bom_rev": "",
       "dist": "",
       "distpn": "",
       "internal_id": "",
       "mfg": "",
-      "mpn": ""
+      "mpn": "",
+      "sch_revision": ""
     },
     "layer_pairs": [],
     "layer_presets": [],
     "viewports": []
   },
   "boards": [],
+  "component_class_settings": {
+    "assignments": [],
+    "meta": {
+      "version": 0
+    },
+    "sheet_component_classes": {
+      "enabled": false
+    }
+  },
   "cvpcb": {
     "equivalence_files": []
   },
@@ -425,11 +448,14 @@
       "duplicate_sheet_names": "error",
       "endpoint_off_grid": "warning",
       "extra_units": "error",
+      "field_name_whitespace": "warning",
       "footprint_filter": "ignore",
       "footprint_link_issues": "warning",
       "four_way_junction": "ignore",
       "global_label_dangling": "warning",
+      "ground_pin_not_ground": "warning",
       "hier_label_mismatch": "error",
+      "isolated_pin_label": "warning",
       "label_dangling": "error",
       "label_multiple_wires": "warning",
       "lib_symbol_issues": "warning",
@@ -452,6 +478,7 @@
       "similar_power": "warning",
       "simulation_model_issue": "ignore",
       "single_global_label": "ignore",
+      "stacked_pin_name": "warning",
       "unannotated": "error",
       "unconnected_wire_endpoint": "warning",
       "undefined_netclass": "error",
@@ -484,13 +511,14 @@
         "priority": 2147483647,
         "schematic_color": "rgba(0, 0, 0, 0.000)",
         "track_width": 0.2,
+        "tuning_profile": "",
         "via_diameter": 0.6,
         "via_drill": 0.3,
         "wire_width": 6
       }
     ],
     "meta": {
-      "version": 4
+      "version": 5
     },
     "net_colors": null,
     "netclass_assignments": null,
@@ -501,7 +529,7 @@
       "gencad": "",
       "idf": "",
       "netlist": "",
-      "plot": "",
+      "plot": "../../PCBs/",
       "pos_files": "",
       "specctra_dsn": "",
       "step": "",
@@ -512,6 +540,10 @@
   },
   "schematic": {
     "annotate_start_num": 0,
+    "annotation": {
+      "method": 0,
+      "sort_order": 0
+    },
     "bom_export_filename": "${PROJECTNAME}.csv",
     "bom_fmt_presets": [],
     "bom_fmt_settings": {
@@ -667,6 +699,7 @@
       "sort_asc": true,
       "sort_field": "Reference"
     },
+    "bus_aliases": {},
     "connection_grid_size": 50.0,
     "drawing": {
       "dashed_lines_dash_length_ratio": 12.0,
@@ -695,6 +728,7 @@
           "visible": false
         }
       ],
+      "hop_over_size_choice": 0,
       "intersheets_ref_own_page": false,
       "intersheets_ref_prefix": "",
       "intersheets_ref_short": false,
@@ -718,6 +752,7 @@
     "net_format_name": "",
     "page_layout_descr_file": "",
     "plot_directory": "",
+    "reuse_designators": true,
     "space_save_all_events": true,
     "spice_current_sheet_as_root": false,
     "spice_external_command": "spice \"%I\"",
@@ -726,12 +761,21 @@
     "spice_save_all_dissipations": false,
     "spice_save_all_voltages": false,
     "subpart_first_id": 65,
-    "subpart_id_separator": 0
+    "subpart_id_separator": 0,
+    "top_level_sheets": [
+      {
+        "filename": "esp32-racer.kicad_sch",
+        "name": "esp32-racer",
+        "uuid": "1d580319-54a9-438f-a4a3-ea2f61f357b8"
+      }
+    ],
+    "used_designators": "",
+    "variants": []
   },
   "sheets": [
     [
       "1d580319-54a9-438f-a4a3-ea2f61f357b8",
-      "Root"
+      "esp32-racer"
     ],
     [
       "2494d45e-acf4-40f6-9a55-62c15b4ed8bc",
@@ -770,5 +814,11 @@
       "POWER_CONNECTORS"
     ]
   ],
-  "text_variables": {}
+  "text_variables": {},
+  "tuning_profiles": {
+    "meta": {
+      "version": 0
+    },
+    "tuning_profiles_impedance_geometric": []
+  }
 }

hardware/esp32-racer/pins.txt

@@ -0,0 +1,29 @@
+IO0 boot
+IO1 PWR_SWITCH_EN
+IO2 PWR_SWITCH_PG
+IO3 x
+IO4 SERVO_1
+IO5 SERVO_2
+IO6 SERVO_3
+IO7 SERVO_4
+IO8 OUTBOUND_COMS_EN
+IO9 PHASE_3
+IO10 ENABLE_3
+IO11 PHASE_4
+IO12 ENABLE_4
+IO13 PHASE_1
+IO14 ENABLE_1
+IO15 SDA
+IO16 SCL
+IO17 UART_TX
+IO18 UART_RX
+IO19 D-
+IO20 D+
+IO21 PHASE_2
+IO38 LED_DATA
+IO43 PROG_UART_TX
+IO44 PROG_UART_RX
+IO45 ENABLE_2
+IO46 SERVO_EN
+IO47 UNUSED
+IO48 UNUSED