diff --git a/balancing-footprints.pretty/bal-10x10mm.kicad_mod b/balancing-footprints.pretty/bal-10x10mm.kicad_mod
index b669740..2e8f278 100644
--- a/balancing-footprints.pretty/bal-10x10mm.kicad_mod
+++ b/balancing-footprints.pretty/bal-10x10mm.kicad_mod
@@ -1,30 +1,33 @@
 (footprint "bal-10x10mm" (version 20230620) (generator pcbnew)
   (layer "F.Cu")
-  (property "Reference" "REF**" (at 0 -0.5 0 unlocked) (layer "F.SilkS") (tstamp 3359a3e4-31fb-47b9-b16b-0de58bdb9045)
+  (property "Reference" "REF**" (at 0 -0.5 0 unlocked) (layer "F.SilkS") (tstamp de0f3d4f-0548-4afe-b757-b007f83a9e35)
     (effects (font (size 1 1) (thickness 0.1)))
   )
-  (property "Value" "bal-10x10mm" (at 0 1 0 unlocked) (layer "F.Fab") (tstamp 64a76c86-9dcb-403b-9cc1-498db73315bd)
+  (property "Value" "bal-10x10mm" (at 0 1 0 unlocked) (layer "F.Fab") (tstamp 94288aec-ce17-4e59-976e-5bed69e3739d)
     (effects (font (size 1 1) (thickness 0.15)))
   )
-  (property "Footprint" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 447a31db-e46c-4599-80f8-8228935a2474)
+  (property "Footprint" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 18e72dd5-2a40-41d0-80e6-e822e387c67d)
     (effects (font (size 1 1) (thickness 0.15)))
   )
-  (property "Datasheet" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp a78abcd1-67b1-46a6-9d26-349df0dd048a)
+  (property "Datasheet" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 81b3448f-0b7a-44d9-bd6d-a2750652caea)
     (effects (font (size 1 1) (thickness 0.15)))
   )
-  (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 9b04e6e6-2c0a-43b8-aace-405f3681e211)
+  (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 52617972-8d1c-497f-9a3d-12806d7165c1)
     (effects (font (size 1 1) (thickness 0.15)))
   )
   (attr smd)
   (fp_rect (start -5 -5) (end 5 5)
-    (stroke (width 0.05) (type default)) (fill none) (layer "F.CrtYd") (tstamp e638c5a1-c193-4c12-b8c5-fc574824dfad))
-  (fp_text user "${REFERENCE}" (at 0 2.5 0 unlocked) (layer "F.Fab") (tstamp 615c98ba-759a-478e-bee0-2f8fa8dbc4fb)
+    (stroke (width 0.05) (type default)) (fill none) (layer "F.CrtYd") (tstamp 80d6ffe1-35d8-42e6-a99c-61c162456205))
+  (fp_text user "${REFERENCE}" (at 0 2.5 0 unlocked) (layer "F.Fab") (tstamp 1dd43b51-1b85-4dbe-a3d5-14a2b02cedd6)
     (effects (font (size 1 1) (thickness 0.15)))
   )
   (pad "1" smd circle (at 0 0) (size 10 10) (layers "F.Cu")
-    (tstamp 5a84eceb-f684-46f8-b85a-c96eb1f31ff5)
+    (tstamp fd751de0-95ad-4daa-b946-9bc8a04d145a)
   )
-  (zone (net 0) (net_name "") (layer "F.Cu") (tstamp ed385c04-3160-4b79-9161-5d0c0fd0b46f) (hatch edge 0.5)
+  (pad "1" smd circle (at 0 0) (size 10 10) (layers "B.Cu")
+    (tstamp 3c838a9d-3381-4b97-808d-b167edae1cfd)
+  )
+  (zone (net 0) (net_name "") (layer "F.Cu") (tstamp 0a2147b6-82c0-4257-a804-2263f1f662b4) (hatch edge 0.5)
     (connect_pads (clearance 0))
     (min_thickness 0.25) (filled_areas_thickness no)
     (keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour not_allowed) (footprints not_allowed))
diff --git a/fp-info-cache b/fp-info-cache
index fa59cfd..4d2776f 100644
--- a/fp-info-cache
+++ b/fp-info-cache
@@ -1,4 +1,4 @@
-21311776131427538
+21311777255776150
 Audio_Module
 Reverb_BTDR-1H
 Digital Reverberation Unit, http://www.belton.co.kr/inc/downfile.php?seq=17&file=pdf (footprint from http://www.uk-electronic.de/PDF/BTDR-1.pdf)
@@ -88505,7 +88505,7 @@ coil_rx
 
 
 0
-18
+20
 3
 footprints
 mesh_conn
diff --git a/layout_radial.py b/layout_radial.py
index 808284d..d2023e0 100644
--- a/layout_radial.py
+++ b/layout_radial.py
@@ -22,12 +22,14 @@ def parse_si(s, unit=''):
     return float(f'{left}.{right or ""}0') * multiplier
     
 
-b = pcb.Board.open('self-balancing-test-a.kicad_pcb.bak')
+b = pcb.Board.open('self-balancing-test-a.kicad_pcb')
+b.unfill_zones()
 
 matches = list(b.find_footprints(name='Package_TO_SOT_SMD:SOT-23', sheetfile='resistor_bank.kicad_sch'))
 for i, fp in enumerate(matches):
     alpha = 2*math.pi * i/len(matches)
     fp.at.x, fp.at.y = cx+r, cy
+    fp.set_rotation(0)
     fp.rotate(alpha, cx, cy)
 
     res1, res2 = fp.pads_by_number[3].find_connected(name='Resistor_SMD.*')
@@ -35,9 +37,11 @@ for i, fp in enumerate(matches):
         res1, res2 = res2, res1
 
     res1.at.x, res1.at.y = cx+r+5, cy+2
-    res2.at.x, res2.at.y = cx+r+5, cy-2
-
+    res1.set_rotation(0)
     res1.rotate(alpha, cx, cy)
+
+    res2.at.x, res2.at.y = cx+r+5, cy-2
+    res2.set_rotation(0)
     res2.rotate(alpha, cx, cy)
 
 b.write('self-balancing-test-a.testout.kicad_pcb')
diff --git a/self-balancing-test-a.kicad_pcb b/self-balancing-test-a.kicad_pcb
index 6a01728..176417a 100644
--- a/self-balancing-test-a.kicad_pcb
+++ b/self-balancing-test-a.kicad_pcb
@@ -43,7 +43,7 @@
     (grid_origin 150 100)
     (pcbplotparams
       (layerselection 0x00010fc_ffffffff)
-      (plot_on_all_layers_selection 0x0000000_00000000)
+      (plot_on_all_layers_selection 0x0001000_00000000)
       (disableapertmacros false)
       (usegerberextensions false)
       (usegerberattributes true)
@@ -256,531 +256,462 @@
   (net 174 "/PMOD")
   (net 175 "Net-(U1-SDO{slash}SA0)")
 
-  (footprint "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (layer "F.Cu")
-    (tstamp 007db222-1b56-412f-82f9-330214e0293c)
-    (at 202.05 83.95)
-    (descr "Capacitor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
-    (tags "capacitor handsolder")
-    (property "Reference" "C34" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 42c75eab-ddd1-4051-aa53-3dac6ec71dba)
+  (footprint "Package_TO_SOT_SMD:SOT-23" (layer "F.Cu")
+    (tstamp 009cfdcb-4029-47d3-8c68-9be6597d2baf)
+    (at 225.735555 138.589192 -27)
+    (descr "SOT, 3 Pin (https://www.jedec.org/system/files/docs/to-236h.pdf variant AB), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+    (tags "SOT TO_SOT_SMD")
+    (property "Reference" "Q26" (at 0 -2.4 0 unlocked) (layer "F.SilkS") (tstamp ac1b0fbd-fde6-4106-88f5-affc3085fef9)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Value" "1n" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 57c6d19e-71d5-4288-99e6-955891396b65)
+    (property "Value" "AO3400A" (at 0 2.4 0 unlocked) (layer "F.Fab") (tstamp f14902f3-21b8-42e4-b1af-01124700ebc3)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 9e680349-9477-4bd7-9932-268deafb0630)
+    (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp a5957c87-8739-4385-b5b2-a7cfc7c82bb3)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 13900e5e-4ed8-4c61-b36a-7a11026a2983)
+    (property "Datasheet" "http://www.aosmd.com/pdfs/datasheet/AO3400A.pdf" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 5d21e54c-3c88-4865-bb2c-c8f08715cb08)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp a42c71b6-62f3-44ae-bf76-9191147e5601)
+    (property "Description" "30V Vds, 5.7A Id, N-Channel MOSFET, SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 78a1b490-8fb7-4f6a-b064-c7acc33caaa0)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "DNP" "DNP" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 219cf201-fb57-437a-b089-62c705397d61)
+    (property "mass" "8.5mg" (at 6.321 -98.843 0 unlocked) (layer "F.Fab") hide (tstamp a04f55e1-fbb6-4679-bbe7-965bcd96c8a9)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (path "/d9dd8301-3c73-4baa-ad63-b060d8ba6e6d/57ed75ae-4730-4e01-81c3-81aee7122643")
-    (sheetname "PD_TIA")
-    (sheetfile "pd_tia.kicad_sch")
+    (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at 6.321 -98.843 0 unlocked) (layer "F.Fab") hide (tstamp 3a46f32b-fdc8-4c5e-95ec-b283f49c469f)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (path "/9165aeea-e5c9-4847-b386-ddb52c57fdca/042bb9a7-dd9c-4bc0-95f1-10bc858ef4ca")
+    (sheetname "resistor_bank2")
+    (sheetfile "resistor_bank.kicad_sch")
     (attr smd)
-    (fp_line (start -0.146267 -0.51) (end 0.146267 -0.51)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 7a8121e6-9a68-4166-9fd6-03fc27680e4b))
-    (fp_line (start -0.146267 0.51) (end 0.146267 0.51)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp e874e772-4378-4175-b9fa-c03681839f9a))
-    (fp_line (start -1.65 -0.73) (end 1.65 -0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 6882a590-0ce7-4e6a-a123-a3f11ea8d6fd))
-    (fp_line (start -1.65 0.73) (end -1.65 -0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 45190667-cb5f-4b27-90d3-177b14ff352e))
-    (fp_line (start 1.65 -0.73) (end 1.65 0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 42317a79-574a-4c9d-8b9a-e5410f79370e))
-    (fp_line (start 1.65 0.73) (end -1.65 0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 2c2fb21c-1eed-4f11-a43b-6373129954dc))
-    (fp_line (start -0.8 -0.4) (end 0.8 -0.4)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a85baa40-78eb-46b4-a034-669879707e1c))
-    (fp_line (start -0.8 0.4) (end -0.8 -0.4)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp dda861f5-9b7a-473e-ae8b-3ba7e8176ee6))
-    (fp_line (start 0.8 -0.4) (end 0.8 0.4)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp b0543032-13df-4d1b-b260-2ddd0b5f52ea))
-    (fp_line (start 0.8 0.4) (end -0.8 0.4)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 316c562b-638e-496a-b0ed-4dad230907d3))
-    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 7197dc3c-1ff0-4221-a644-f8fc794880a1)
-      (effects (font (size 0.4 0.4) (thickness 0.06)))
+    (fp_line (start 0 1.56) (end -0.65 1.559999)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp def89c44-32d1-4759-908b-93b66eab7ad9))
+    (fp_line (start 0 1.56) (end 0.65 1.56)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 27a1a7f2-711b-4dfb-9cab-6c5d539e4d8a))
+    (fp_line (start 0 -1.56) (end -1.675 -1.56)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp c3230a91-9d19-4376-8774-01ebb8f8954d))
+    (fp_line (start 0 -1.56) (end 0.65 -1.559999)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 50282270-8f84-43de-bdce-ded5ef6c8cea))
+    (fp_line (start -1.92 1.7) (end 1.92 1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 4034cb7e-e6dc-4487-b429-da0a98ed36b4))
+    (fp_line (start -1.92 -1.7) (end -1.92 1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp d05fd607-a653-4a2c-85c3-a8d80ba09eab))
+    (fp_line (start 1.92 1.7) (end 1.92 -1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 78ddf0c2-32a0-4e5a-8774-e86d12f4c01b))
+    (fp_line (start 1.92 -1.7) (end -1.92 -1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 9551f5a6-ec7e-40b6-b10d-c4c079c4bfaa))
+    (fp_line (start -0.649999 1.45) (end -0.65 -1.125)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 96ae7200-9733-442b-8d19-4ff306073896))
+    (fp_line (start 0.65 1.45) (end -0.649999 1.45)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp f292ad53-14fe-460e-b1e2-83fd79e87de9))
+    (fp_line (start -0.65 -1.125) (end -0.325 -1.45)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 10a4f121-e11b-4cab-8a66-d838c2253363))
+    (fp_line (start -0.325 -1.45) (end 0.649999 -1.45)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a0c9a7bc-0228-4c8a-b261-09283448d3c0))
+    (fp_line (start 0.649999 -1.45) (end 0.65 1.45)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 93e53def-e043-4f87-b15b-3b2a7ba8fece))
+    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp d3e51ca0-62aa-4c7d-bf64-7f920f5de3bb)
+      (effects (font (size 0.32 0.32) (thickness 0.05)))
     )
-    (pad "1" smd roundrect (at -0.8625 0) (size 1.075 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 4 "GND") (pintype "passive")
-      (tstamp 5b2885ec-32d0-4cd9-8163-3c16f02935c7)
+    (pad "1" smd roundrect (at -0.9375 -0.95 333) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 53 "/LG5") (pinfunction "G") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp b7f88f16-93a5-4eed-b13a-49803d6eab25)
     )
-    (pad "2" smd roundrect (at 0.8625 0) (size 1.075 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 23 "/PD2") (pintype "passive")
-      (tstamp 42e97adb-dccd-483f-9977-376eeab400b3)
+    (pad "2" smd roundrect (at -0.9375 0.95 333) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 4 "GND") (pinfunction "S") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 0a98203c-1c35-4af0-89b5-a8a6b3ae8ef0)
     )
-    (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0603_1608Metric.wrl"
+    (pad "3" smd roundrect (at 0.9375 0 333) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 72 "Net-(Q26-D)") (pinfunction "D") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 1ed2ac50-baad-43a1-ae01-2efd7fe4834b)
+    )
+    (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (footprint "Diode_SMD:D_SOD-123F" (layer "F.Cu")
+    (tstamp 014802a9-1363-408c-a7f1-b8f1c042fb3c)
+    (at 179 115.5 90)
+    (descr "D_SOD-123F")
+    (tags "D_SOD-123F")
+    (property "Reference" "D12" (at -0.127 -1.905 90 unlocked) (layer "F.SilkS") (tstamp d2e4453d-3956-4fc5-a6e7-9329da436ec0)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Value" "K36" (at 0 2.1 90 unlocked) (layer "F.Fab") (tstamp c380e527-55a8-4ea0-aba7-b5d14b1f6bb9)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Footprint" "" (at 0 0 90 unlocked) (layer "F.Fab") hide (tstamp 86d94404-63fa-4a14-a434-94f515c92f3b)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Datasheet" "" (at 0 0 90 unlocked) (layer "F.Fab") hide (tstamp b1f37514-4cf1-4069-b15a-9bb689843dab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Description" "" (at 0 0 90 unlocked) (layer "F.Fab") hide (tstamp c093c018-f7cd-4fbc-98ca-f0eebce1f1ad)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "LCSC" "C2922184" (at -0.079 -94.758 90 unlocked) (layer "F.Fab") hide (tstamp d6542d14-4913-41e1-b132-1a58f5782ccd)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "mass" "17mg" (at 115.5 -179 0 unlocked) (layer "F.Fab") hide (tstamp 70c8bb62-35aa-4650-9e40-0b020c264808)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "mass_ref" "https://www.centralsemi.com/docs/PDD/SOD-123FPD.PDF" (at 115.5 -179 0 unlocked) (layer "F.Fab") hide (tstamp e8f8f05e-0b6a-4feb-8b7c-8294cfef6757)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (path "/286a33b4-fad9-4a6f-9dd4-633c545f6929")
+    (sheetfile "self-balancing-test-a.kicad_sch")
+    (attr smd)
+    (fp_line (start -2.21 -1) (end 1.65 -1)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 58ab8f49-865b-413e-8bfd-434fff7bed53))
+    (fp_line (start -2.21 -1) (end -2.21 1)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp fa727ce5-5f7e-4ead-819c-91875c60b072))
+    (fp_line (start -2.21 1) (end 1.65 1)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 8cd9b37b-8ebb-4b4b-93e5-7fd1b623deae))
+    (fp_line (start 2.2 -1.15) (end 2.2 1.15)
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@@ -6191,19 +4646,19 @@
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@@ -6211,35 +4666,35 @@
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       (clearance 0.2) (zone_connect 0) (thermal_bridge_width 0.5)
-      (tstamp 3bda0d6c-e95e-4f77-83ae-fc0e599bd1bd)
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       (clearance 0.2) (zone_connect 0) (thermal_bridge_width 0.5)
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       (clearance 0.2) (zone_connect 0) (thermal_bridge_width 0.5)
-      (tstamp 84af042b-bf73-472e-afed-7c003c822549)
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@@ -6247,7 +4702,7 @@
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-      (tstamp 07c3e785-4706-451a-9b2c-d7692f621702)
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@@ -6257,7 +4712,7 @@
       (clearance 0.2) (zone_connect 0) (thermal_bridge_width 0.5)
       (tstamp e495cae8-b9ef-4cf0-aec6-7f9c802d2bf8)
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-    (zone (net 0) (net_name "") (layers "*.Cu") (tstamp 7708d55d-2d3f-4b5d-adf4-8624da34fc1a) (hatch edge 0.5)
+    (zone (net 0) (net_name "") (layers "*.Cu") (tstamp 860e3de9-c0ef-472f-98fb-6644b1819b67) (hatch edge 0.5)
       (connect_pads (clearance 0))
       (min_thickness 0.254) (filled_areas_thickness no)
       (keepout (tracks allowed) (vias allowed) (pads allowed) (copperpour not_allowed) (footprints allowed))
@@ -6312,79 +4767,302 @@
   )
 
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-    (tstamp 55b9d4a4-6462-47b0-a3f3-de14c955ed4e)
-    (at -37.931 109.853)
+    (tstamp 4bc9f7f2-a9c1-4120-a04e-27aff6c4c69f)
+    (at 173.5875 78)
     (descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
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-    (sheetfile "resistor_bank.kicad_sch")
+    (path "/acf6ba3c-a2ef-4637-bbf0-b1d647beba07")
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+    (property "Reference" "R119" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 1fdf549e-4a9a-4856-8ab0-93e67c28fd6d)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Value" "100" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 944cc7ea-2caa-4510-9c21-0a4467deaf59)
+    (property "Value" "100" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 88334b4a-90f4-4e12-ae61-d4b4598d40eb)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 77a0d012-fde1-407d-825f-812ff5c9b790)
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 5353218d-9c65-4c5a-b4c3-ef8790668242)
       (effects (font (size 1 1) (thickness 0.15)))
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     (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp b1512605-0277-4650-b4d9-77b7e3e897fc)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 75f0c389-0505-485a-9eeb-3b4708a1630e)
+    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp b950b7cc-1d9a-47b3-9823-7344dfab3626)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (path "/3618f925-efd9-4896-ac69-1f98eb774124/eb76983d-d270-4293-a714-74afd72d32da")
@@ -12065,46 +8754,46 @@
     (sheetfile "resistor_bank.kicad_sch")
     (attr smd)
     (fp_line (start -0.254724 -0.5225) (end 0.254724 -0.5225)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 2a3a5c01-e44c-4439-b0e7-0fc9a799fab9))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 761cdd35-f1d7-4486-9a53-f52160cf3f25))
     (fp_line (start -0.254724 0.5225) (end 0.254724 0.5225)
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-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 44eadea4-d11b-4804-b1af-0b2eb5a007f8))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 69479d24-657c-4ee7-b7c8-78b4e03c251a))
     (fp_line (start 1.65 -0.73) (end 1.65 0.73)
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     (fp_line (start 1.65 0.73) (end -1.65 0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 6c2cb971-fcfe-4fcd-b814-e139aa09d970))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp b64532f0-844b-41ed-b5b6-78d2917ceee2))
     (fp_line (start -0.8 -0.4125) (end 0.8 -0.4125)
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-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 947f18a5-d78a-425c-bb47-1c97e41bc434))
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp add14335-8dff-465c-9dbe-0fa8a9b33b5c))
     (fp_line (start 0.8 -0.4125) (end 0.8 0.4125)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp e31b7055-6c91-41bc-adaa-8ddb58b2e3c8))
     (fp_line (start 0.8 0.4125) (end -0.8 0.4125)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 898b6d55-31dd-4c72-8e9c-ae2b51b599b8))
-    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 45d7df0f-3ab9-4d8c-b5b7-424ca512eed2)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 2faca648-8f3e-4c0b-9caf-aa309e519d94))
+    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 870d1b74-f2c5-4944-b9a2-7563830ce832)
       (effects (font (size 0.4 0.4) (thickness 0.06)))
     )
     (pad "1" smd roundrect (at -0.9125 0) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 100 "/resistor_bank4/V+") (pintype "passive")
-      (tstamp 9054aaea-c169-4b01-9823-0e61e7cf9127)
+      (net 100 "/resistor_bank4/V+") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 495b1acf-7c76-42f5-a713-cd9ebeb4a7f5)
     )
     (pad "2" smd roundrect (at 0.9125 0) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 88 "Net-(Q42-D)") (pintype "passive")
+      (net 88 "Net-(Q42-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp e03d6b00-5daa-4326-bd2e-498ac1bc2df2)
     )
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
 
   (footprint "Package_TO_SOT_SMD:SOT-23" (layer "F.Cu")
     (tstamp aeb6935e-4038-44ad-a953-119cbe88d4bb)
-    (at 15.239 94.393)
+    (at 74.264445 61.410808 153)
     (descr "SOT, 3 Pin (https://www.jedec.org/system/files/docs/to-236h.pdf variant AB), generated with kicad-footprint-generator ipc_gullwing_generator.py")
     (tags "SOT TO_SOT_SMD")
     (property "Reference" "Q33" (at 0 -2.4 0 unlocked) (layer "F.SilkS") (tstamp bcd07c68-e8b4-4f0b-aa6e-5c3deb553e62)
@@ -12125,82 +8814,82 @@
     (property "mass" "8.5mg" (at -15.239 -94.393 0 unlocked) (layer "F.Fab") hide (tstamp d3853882-6ea7-4ff0-9420-6446f61aae62)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at -15.239 -94.393 0 unlocked) (layer "F.Fab") hide (tstamp 8fa5509d-aec7-427d-8a7f-1fcd12e94450)
+    (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at -15.239 -94.393 0 unlocked) (layer "F.Fab") hide (tstamp 61da8606-7427-40ac-851c-4fc6b99b2049)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (path "/91df35e2-6076-4ca0-8a79-437a67d41236/e507db81-cd04-4738-8e6b-19c57e889829")
     (sheetname "resistor_bank3")
     (sheetfile "resistor_bank.kicad_sch")
     (attr smd)
+    (fp_line (start 0 -1.56) (end 0.65 -1.559999)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 7e11924f-96ba-4f20-854b-f78288e99cb9))
     (fp_line (start 0 -1.56) (end -1.675 -1.56)
       (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp a2b78b30-de6a-48b1-ae36-3b07a7d5596c))
-    (fp_line (start 0 -1.56) (end 0.65 -1.56)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 2ee11b54-0e6b-4581-8014-703bee0a89a5))
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-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 10296ac6-277c-49ee-a264-21b2397c9f90))
     (fp_line (start 0 1.56) (end 0.65 1.56)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 26958f8f-3f28-4e2c-8aaa-b3cbcd7e5024))
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-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 0737a839-c7ce-46eb-a8fc-a7d0a639f7eb))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 0a41b0ae-c460-4ebf-9212-36dbaca0cf67))
+    (fp_line (start 0 1.56) (end -0.65 1.559999)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 1a941b67-d5e6-4655-b25d-e92e2c154cd2))
     (fp_line (start 1.92 -1.7) (end -1.92 -1.7)
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     (fp_line (start 1.92 1.7) (end 1.92 -1.7)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 242ce334-9ea2-42d2-adf3-7e3fd4afbaad))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp dbf14c91-219b-4a19-a10f-ed85379a0968))
+    (fp_line (start -1.92 -1.7) (end -1.92 1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp bf2bbf4c-45d8-419e-b640-34c2b59c6d00))
+    (fp_line (start -1.92 1.7) (end 1.92 1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp f390e991-fe94-46d4-aa5c-1e314e4d5a0f))
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+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 3237a2cd-d7d6-40af-a812-f300f7d5d287))
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       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp e9d49a71-bafc-4c97-a441-bc407d90fad2))
-    (fp_line (start -0.65 1.45) (end -0.65 -1.125)
+    (fp_line (start 0.65 1.45) (end -0.649999 1.45)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp cd679ab4-c4ab-4bd5-a170-2c5720424805))
+    (fp_line (start -0.649999 1.45) (end -0.65 -1.125)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a6dd541f-0aa5-436c-a65f-2224743d5d36))
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-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 5497f826-e10d-4abb-b54c-795ad8e8d146))
-    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 77a2f70a-0db9-4dd9-8933-e9ab54f19142)
+    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp eb806cdd-2334-458f-935f-a031442cd63b)
       (effects (font (size 0.32 0.32) (thickness 0.05)))
     )
-    (pad "1" smd roundrect (at -0.9375 -0.95) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 51 "/LG4") (pinfunction "G") (pintype "input")
+    (pad "1" smd roundrect (at -0.9375 -0.95 153) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 51 "/LG4") (pinfunction "G") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp bdf5c322-8bcd-42d6-b826-82bc41f18b54)
     )
-    (pad "2" smd roundrect (at -0.9375 0.95) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 4 "GND") (pinfunction "S") (pintype "passive")
+    (pad "2" smd roundrect (at -0.9375 0.95 153) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 4 "GND") (pinfunction "S") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp c16f69e9-eaac-43a0-8c67-24d192c38230)
     )
-    (pad "3" smd roundrect (at 0.9375 0) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 79 "Net-(Q33-D)") (pinfunction "D") (pintype "passive")
+    (pad "3" smd roundrect (at 0.9375 0 153) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 79 "Net-(Q33-D)") (pinfunction "D") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp c557bce7-346f-4fbb-a804-9dd0cb2bba08)
     )
     (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
 
   (footprint "Package_TO_SOT_SMD:SOT-23" (layer "F.Cu")
     (tstamp aecb891d-1de6-4977-b881-1ebce48ffbd8)
-    (at 10.349 98.843)
+    (at 81.233555 50.038254 144)
     (descr "SOT, 3 Pin (https://www.jedec.org/system/files/docs/to-236h.pdf variant AB), generated with kicad-footprint-generator ipc_gullwing_generator.py")
     (tags "SOT TO_SOT_SMD")
-    (property "Reference" "Q32" (at 0 -2.4 0 unlocked) (layer "F.SilkS") (tstamp 9a86e7ea-0ac5-4b65-9501-958e0e409459)
+    (property "Reference" "Q32" (at 0 -2.4 0 unlocked) (layer "F.SilkS") (tstamp ee56c24e-154e-45a1-8c8a-e1bb400ebea6)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Value" "AO3400A" (at 0 2.4 0 unlocked) (layer "F.Fab") (tstamp 138337f5-da1f-4471-8217-d1197bd141be)
+    (property "Value" "AO3400A" (at 0 2.4 0 unlocked) (layer "F.Fab") (tstamp 276b85d2-cd92-4464-9e74-2c0a19fbf332)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp f97e60b9-7c7d-4c50-b4d4-fe2fe7c6266c)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Datasheet" "http://www.aosmd.com/pdfs/datasheet/AO3400A.pdf" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 74f1b7b8-e892-4789-b60e-e4db60164b98)
+    (property "Datasheet" "http://www.aosmd.com/pdfs/datasheet/AO3400A.pdf" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 36b049c3-6fa4-47d9-b89f-0709bd06ca70)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (property "Description" "30V Vds, 5.7A Id, N-Channel MOSFET, SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp a1623ac5-1907-432a-98d9-d35ba19ca0b0)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "mass" "8.5mg" (at -10.349 -98.843 0 unlocked) (layer "F.Fab") hide (tstamp 9116dada-3f94-4704-94b6-083afd0fe6fe)
+    (property "mass" "8.5mg" (at -10.349 -98.843 0 unlocked) (layer "F.Fab") hide (tstamp 87308cdb-571b-4ca7-b03c-7f3ed2bc65c8)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at -10.349 -98.843 0 unlocked) (layer "F.Fab") hide (tstamp f9a404d7-1fc1-4ca8-a0d8-15b91973d58f)
@@ -12210,72 +8899,72 @@
     (sheetname "resistor_bank3")
     (sheetfile "resistor_bank.kicad_sch")
     (attr smd)
+    (fp_line (start 0 -1.56) (end 0.65 -1.56)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 66cbee36-58b6-4d7c-85c4-92b2dcb02abe))
     (fp_line (start 0 -1.56) (end -1.675 -1.56)
       (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp e7c5aa8c-6ef7-4f58-a2b2-8ca61dd7b671))
-    (fp_line (start 0 -1.56) (end 0.65 -1.56)
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-    (fp_line (start 0 1.56) (end -0.65 1.56)
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     (fp_line (start 0 1.56) (end 0.65 1.56)
       (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp b960e535-a2fa-48e2-ae47-35edf0c1318a))
+    (fp_line (start 0 1.56) (end -0.65 1.56)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp a3369b3e-9dc1-4a8a-99ee-8202fc9d89ef))
+    (fp_line (start 1.92 -1.7) (end -1.92 -1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 2a3dc115-bf96-402c-b3c6-be6c57f2fbb9))
+    (fp_line (start 1.92 1.7) (end 1.92 -1.7)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a1bfa4a7-f66c-4f0f-8b08-e29d9960906b))
     (fp_line (start -1.92 -1.7) (end -1.92 1.7)
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     (fp_line (start -1.92 1.7) (end 1.92 1.7)
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+      (net 49 "/LG3") (pinfunction "G") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 4 "GND") (pinfunction "S") (pintype "passive")
-      (tstamp 457b7a29-ff08-4fbf-9182-f12851cbfda2)
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+      (net 4 "GND") (pinfunction "S") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 78 "Net-(Q32-D)") (pinfunction "D") (pintype "passive")
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+      (net 78 "Net-(Q32-D)") (pinfunction "D") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 5c39f2ca-836c-48f1-83e3-0a2338d19d16)
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+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp c5aa66b0-1b79-4af7-9aef-13d781fccbf7)
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-    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 50fa8dc9-e3a9-4507-8731-0f3d3b29b3e3)
+    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp d9929138-d995-4336-8c2b-d068e6ad82fd)
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+    (pad "2" smd roundrect (at 0.912499 0 27) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
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-    (property "Footprint" "" (at 0 0 90 unlocked) (layer "F.Fab") hide (tstamp 4906cb2f-6159-49a9-bf8a-119c38f639d7)
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-      (tstamp 960611d7-871b-4f04-96a1-8420a2279bb9)
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-      (tstamp 19813766-d401-48c9-a90b-49061e8bd5df)
+      (net 4 "GND") (pinfunction "A") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-    (at -27.881 94.393)
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+      (tstamp f6bcd007-3673-453f-85fc-11487f7ff4d1)
+    )
+    (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
+      (offset (xyz 0 0 0))
+      (scale (xyz 0 0 0))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (footprint "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (layer "F.Cu")
+    (tstamp b794820f-7564-4baf-8b14-0f2d652c9ed2)
+    (at 138.5 116.5)
+    (descr "Capacitor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+    (tags "capacitor handsolder")
+    (property "Reference" "C10" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp c93f7d69-8847-43e6-acb0-263e1c43b0c3)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Value" "100n X7R" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp e0b35eec-92af-49d9-a185-9d84fe656e8b)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 6ff10bf4-32fc-4ba0-b71d-bb06c27e2cff)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp e27c0309-0ec7-44ee-ae5b-1359a86599f2)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp ac2c6068-0d7c-48d0-be3a-09d766f83e38)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (property "LCSC" "C1591" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp c9eff809-dd93-4ebb-92e1-eb0d587796c6)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (path "/5cbd6646-55bb-4b10-8505-325e9e24a56b")
+    (sheetfile "self-balancing-test-a.kicad_sch")
+    (attr smd)
+    (fp_line (start -0.146267 -0.51) (end 0.146267 -0.51)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp e7e78987-d1e5-4557-b88d-2d3fd7f39265))
+    (fp_line (start -0.146267 0.51) (end 0.146267 0.51)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 914d4c65-11c8-4595-b25f-d3435b4dd61b))
+    (fp_line (start -1.65 -0.73) (end 1.65 -0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 051598a7-37a8-4ff0-a02d-74ec1e45103a))
+    (fp_line (start -1.65 0.73) (end -1.65 -0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 4a5c87e4-616a-4a8c-9139-326e08faef89))
+    (fp_line (start 1.65 -0.73) (end 1.65 0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 36874f96-4a8f-44e6-a1e0-25791fbfeeba))
+    (fp_line (start 1.65 0.73) (end -1.65 0.73)
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp df13a32a-34b1-4a4b-9a15-24456c92e059))
+    (fp_line (start -0.8 -0.4) (end 0.8 -0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a38fa774-294c-4ea1-a791-c812a99db1cf))
+    (fp_line (start -0.8 0.4) (end -0.8 -0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp b334bea4-3eb2-46ba-8118-3cb10205b742))
+    (fp_line (start 0.8 -0.4) (end 0.8 0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp c3f24376-d4c4-466e-9919-3013271f111e))
+    (fp_line (start 0.8 0.4) (end -0.8 0.4)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp dcc2aa05-43ae-48ea-8afe-61b9a74b9752))
+    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 83d145e5-2d00-427a-95d7-6db2e5aa6858)
+      (effects (font (size 0.4 0.4) (thickness 0.06)))
+    )
+    (pad "1" smd roundrect (at -0.8625 0) (size 1.075 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 4 "GND") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp dc244c9d-6a39-4e95-80a0-f140335e8708)
+    )
+    (pad "2" smd roundrect (at 0.8625 0) (size 1.075 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 6 "+3V3") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 8c5e9864-c41d-4a05-b479-86ba5aae1245)
+    )
+    (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0603_1608Metric.wrl"
+      (offset (xyz 0 0 0))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
@@ -12670,28 +9809,28 @@
     (at 215.05 60.5)
     (descr "SOT-363, SC-70-6")
     (tags "SOT-363 SC-70-6")
-    (property "Reference" "Q3" (at 0 -2 0 unlocked) (layer "F.SilkS") (tstamp 94964705-3719-4354-8b40-5a61cd720536)
+    (property "Reference" "Q3" (at 0 -2 0 unlocked) (layer "F.SilkS") (tstamp 53c74500-a9ac-4c56-8c8b-7501ac939a75)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Value" "UMX4NTR" (at 0 2 180 unlocked) (layer "F.Fab") (tstamp 4f85dff3-7cb5-464a-bc29-25e4c7bffb65)
+    (property "Value" "UMX4NTR" (at 0 2 180 unlocked) (layer "F.Fab") (tstamp 300c32a0-2bae-436f-9853-1d7e331816e1)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Footprint" "Package_TO_SOT_SMD:SOT-363_SC-70-6" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 07f5493a-db85-45ad-94de-ccbc55971c69)
+    (property "Footprint" "Package_TO_SOT_SMD:SOT-363_SC-70-6" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp a9084f43-1db2-41ef-ad19-ef1f8e12c9bb)
       (effects (font (size 1 1) (thickness 0.15)))
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     (property "Datasheet" "https://datasheet.lcsc.com/lcsc/2203252253_ROHM-Semicon-UMX4NTR_C2986260.pdf" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp b5856e50-f8af-494a-a452-9e264394a0af)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 9d372e64-aa8d-416b-a4ff-08a2084a12cc)
+    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 23cabe7e-b2be-41dd-8c17-055467813f58)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "LCSC" "C2986260" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 16fb76b6-3b47-4247-8211-be727e4e7b88)
+    (property "LCSC" "C2986260" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 4f9b75d9-8739-476a-98cc-7ea0ab9c0380)
       (effects (font (size 1 1) (thickness 0.15)))
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     (property "mass" "17.6mg" (at -215.05 -60.5 0 unlocked) (layer "F.Fab") hide (tstamp ca78570f-76f6-431c-9ab2-5671d2370650)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "mass_ref" "https://www.analog.com/media/en/package-pcb-resources/material-declaration/sot23/sot23%20-%206lds.pdf" (at -215.05 -60.5 0 unlocked) (layer "F.Fab") hide (tstamp 1d1e7aa4-863c-451d-bf39-194730043e64)
+    (property "mass_ref" "https://www.analog.com/media/en/package-pcb-resources/material-declaration/sot23/sot23%20-%206lds.pdf" (at -215.05 -60.5 0 unlocked) (layer "F.Fab") hide (tstamp 6af13518-d07d-4528-9e03-b67abb8a9982)
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@@ -12701,55 +9840,55 @@
     (fp_line (start -0.7 1.16) (end 0.7 1.16)
       (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp d43e66da-506b-4a66-a969-57b4432928d5))
     (fp_line (start 0.7 -1.16) (end -1.2 -1.16)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 59d40108-3733-4066-8930-277b58415487))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 36fe062e-76cd-4b1f-8182-6761f745b110))
     (fp_line (start -1.6 -1.4) (end -1.6 1.4)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 24e7292e-d968-4eae-8704-781ee1767b53))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 8541356c-bc15-4316-8c35-5761cdb134e7))
     (fp_line (start -1.6 -1.4) (end 1.6 -1.4)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 886730b1-c390-444d-8e26-fa4b3161e7b7))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp d7f82d04-9746-4d6d-9766-99ef79ef41f7))
     (fp_line (start -1.6 1.4) (end 1.6 1.4)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 30e13498-4e52-41b1-ae20-0dd66ae8080a))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 75c8d0c1-e16e-40dc-ad48-ae9c9cdd2120))
     (fp_line (start 1.6 1.4) (end 1.6 -1.4)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 617a6115-544e-4fab-bf2c-f9916e583a43))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a7fca22a-91f2-43e1-a39f-120973dfc4a5))
     (fp_line (start -0.675 -0.6) (end -0.675 1.1)
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-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 3da07605-d6c0-404d-b71b-e00e14014b40))
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 985fa5f9-d7fb-48fa-8916-05140e15f2a9))
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-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 661a2ec5-805f-4e9d-af34-64a01e4f0beb))
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp b6c2d447-9182-4dde-859f-cf7c9687a4c0))
     (fp_line (start 0.675 -1.1) (end 0.675 1.1)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp ec68057e-64c9-4048-bb5f-0ed0c2a557c1))
     (fp_line (start 0.675 1.1) (end -0.675 1.1)
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-    (fp_text user "${REFERENCE}" (at 0 0 90) (layer "F.Fab") (tstamp 576aa0f1-14e1-4a2b-b79c-1776b67da59b)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 72f78fab-1305-489d-9050-5c61dca4d8b4))
+    (fp_text user "${REFERENCE}" (at 0 0 90) (layer "F.Fab") (tstamp 0e0e8cc7-4093-4d14-87c0-d06b1911843a)
       (effects (font (size 0.5 0.5) (thickness 0.075)))
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     (pad "1" smd rect (at -0.95 -0.65) (size 0.65 0.4) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 14 "Net-(Q3A-E1)") (pinfunction "E1") (pintype "passive")
+      (net 14 "Net-(Q3A-E1)") (pinfunction "E1") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp ebdaea63-e523-4035-9402-a6b89cb81ab3)
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     (pad "2" smd rect (at -0.95 0) (size 0.65 0.4) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 40 "Net-(Q3A-B1)") (pinfunction "B1") (pintype "input")
-      (tstamp 1e95b2bc-7272-4a75-875e-3a255823537e)
+      (net 40 "Net-(Q3A-B1)") (pinfunction "B1") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 8618fdd7-8c36-4a1f-ae9b-799894700f31)
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     (pad "3" smd rect (at -0.95 0.65) (size 0.65 0.4) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 40 "Net-(Q3A-B1)") (pinfunction "B2") (pintype "input")
-      (tstamp 265a22ce-a95c-4cca-893f-0597d32779f7)
+      (net 40 "Net-(Q3A-B1)") (pinfunction "B2") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 3d59da71-de82-4ea7-a6df-5f0700d20360)
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     (pad "4" smd rect (at 0.95 0.65) (size 0.65 0.4) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 41 "Net-(Q3B-C2)") (pinfunction "C2") (pintype "passive")
-      (tstamp 89cc6056-e771-48d0-95d9-4a60965d46ab)
+      (net 41 "Net-(Q3B-C2)") (pinfunction "C2") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 15b7d639-14ca-4689-a00c-58f255559521)
     )
     (pad "5" smd rect (at 0.95 0) (size 0.65 0.4) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 15 "/PD3") (pinfunction "E2") (pintype "passive")
+      (net 15 "/PD3") (pinfunction "E2") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp a74e55a2-2b0e-4960-85d0-6d739489b1a7)
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     (pad "6" smd rect (at 0.95 -0.65) (size 0.65 0.4) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 42 "Net-(Q3A-C1)") (pinfunction "C1") (pintype "passive")
+      (net 42 "Net-(Q3A-C1)") (pinfunction "C1") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp e1e3feab-4ce3-4453-86bb-af053153c4d5)
     )
     (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-363_SC-70-6.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
@@ -12757,45 +9896,45 @@
   (footprint "footprints:mesh_conn" (layer "F.Cu")
     (tstamp b891fcc2-9879-4d60-bd91-59607181b0c2)
     (at 140 68.35)
-    (property "Reference" "J1" (at 0 -2.25 0 unlocked) (layer "F.SilkS") hide (tstamp 1210fbdb-e40e-4cc1-9f46-a668955ead65)
+    (property "Reference" "J1" (at 0 -2.25 0 unlocked) (layer "F.SilkS") hide (tstamp 6ae14c9f-c3fe-4707-8b00-a6c4fc89ecda)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Value" "~" (at 0 1 0 unlocked) (layer "F.Fab") (tstamp 455a3e12-67fa-43b9-8782-bd93089f5654)
+    (property "Value" "~" (at 0 1 0 unlocked) (layer "F.Fab") (tstamp e91cfcd0-4a24-404b-a905-7fa620039181)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Footprint" "footprints:mesh_conn" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 91634a8e-dc32-4932-a69f-85884b6a8feb)
+    (property "Footprint" "footprints:mesh_conn" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 96d42fbf-1289-49de-932a-0686932d2430)
       (effects (font (size 1 1) (thickness 0.15)))
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     )
-    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 4fa67669-3654-46ce-805d-8f9f2975cf42)
+    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp e0ad4576-a4d3-4c93-bbd1-bb747ae1bad0)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "mass" "0mg" (at -140 -68.35 0 unlocked) (layer "F.Fab") hide (tstamp 6dd4228c-2db6-4588-9b16-ed68d1df797d)
+    (property "mass" "0mg" (at -140 -68.35 0 unlocked) (layer "F.Fab") hide (tstamp 0ebf6769-015f-4c04-9bec-9cac0b8a8911)
       (effects (font (size 1 1) (thickness 0.15)))
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     (path "/2e645474-55b1-4969-ac28-887035c3f0b6")
     (sheetfile "self-balancing-test-a.kicad_sch")
     (attr smd)
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+    (fp_text user "${REFERENCE}" (at 0 2.5 0 unlocked) (layer "F.Fab") (tstamp ad520eca-27d3-4502-b807-9027d6c26b9b)
       (effects (font (size 1 1) (thickness 0.15)))
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     (pad "1" smd circle (at 0 -0.45) (size 0.15 0.15) (layers "F.Cu")
-      (net 33 "/M1SEND") (pinfunction "I1") (pintype "bidirectional")
-      (tstamp 573e049f-e9e0-4ff7-ae94-53c599aaaf7f)
+      (net 33 "/M1SEND") (pinfunction "I1") (pintype "bidirectional") (thermal_bridge_width 0.5)
+      (tstamp 5e77f1f2-c910-45e9-a37e-0e9160092306)
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     (pad "2" smd circle (at 0 -0.15) (size 0.15 0.15) (layers "F.Cu")
-      (net 34 "/M1RETURN") (pinfunction "I2") (pintype "bidirectional")
+      (net 34 "/M1RETURN") (pinfunction "I2") (pintype "bidirectional") (thermal_bridge_width 0.5)
       (tstamp eed5adbd-058e-47dd-82f6-83ac0b0197dc)
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     (pad "3" smd circle (at 0 0.15) (size 0.15 0.15) (layers "F.Cu")
-      (net 35 "/M2RETURN") (pinfunction "O2") (pintype "bidirectional")
-      (tstamp 4fffeaf8-4bf2-4a1f-8f17-d67bda79faa7)
+      (net 35 "/M2RETURN") (pinfunction "O2") (pintype "bidirectional") (thermal_bridge_width 0.5)
+      (tstamp c1316f33-23f1-4b3b-9550-8ce5648242ad)
     )
     (pad "4" smd circle (at 0 0.45) (size 0.15 0.15) (layers "F.Cu")
-      (net 36 "/M2SEND") (pinfunction "O1") (pintype "bidirectional")
-      (tstamp 33fe945a-2e49-429e-aa53-6ba9c80d0030)
+      (net 36 "/M2SEND") (pinfunction "O1") (pintype "bidirectional") (thermal_bridge_width 0.5)
+      (tstamp c2ed9cfd-3d54-4174-9921-e8858d56dd4c)
     )
   )
 
@@ -12807,10 +9946,10 @@
     (property "Reference" "C8" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp eb35b8ac-103c-4e72-97be-f63016f63164)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Value" "100n X7R" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 3f6165fd-2108-4315-a3f6-5cd96144e8bc)
+    (property "Value" "100n X7R" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 991673b7-caf7-467b-959d-d1f07bbb8bc1)
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+      (net 71 "Net-(Q25-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 21933c5e-61da-459d-a140-bf1eaf9f71cf)
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+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 50e12caa-423b-4447-8192-7ead59ef30ec)
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+      (tstamp e7ac73c0-e0c7-4d72-a1a7-26a47fa037dd)
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       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
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       (rotate (xyz 0 0 0))
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-    (at 25.499 51.973)
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+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 36ef26f0-0920-4b68-9843-c9459f175532)
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-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 8e99fde0-5a4f-4652-8954-87279caf0f36)
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+      (net 92 "/resistor_bank/V+") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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+    (pad "2" smd roundrect (at 0.9125 0.000001 279) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 54 "Net-(Q10-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp ff9b6221-fbfe-4fbf-ad43-c6038324911e)
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       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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@@ -13194,25 +10519,25 @@
     (at 118 80)
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-      (tstamp 7b984b5e-dd2a-41f9-9ddf-e4af3141127e)
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-    (property "Value" "4.7µH" (at 0 3.5 0 unlocked) (layer "F.Fab") (tstamp 81dc1c39-4fd4-43ec-9f48-ceb0f743abce)
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-      (net 142 "Net-(D12-K)") (pinfunction "1") (pintype "passive")
+      (net 142 "Net-(D12-K)") (pinfunction "1") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 32 "Net-(D11-K)") (pinfunction "2") (pintype "passive")
+      (net 32 "Net-(D11-K)") (pinfunction "2") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp e359211c-7fd4-43d6-8713-4e74714a65e3)
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     (model "${KICAD6_3DMODEL_DIR}/Inductor_SMD.3dshapes/L_Taiyo-Yuden_MD-4040.wrl"
       (offset (xyz 0 0 0))
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     (tstamp bb50aa30-4239-462b-a6d6-d207a91b951f)
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+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 84978a17-f74e-4a56-b32c-abfe45106450)
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+      (net 89 "Net-(Q43-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp f74a6b76-5a8d-4809-99dd-c96528324159)
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+      (net 10 "/PD_VREF") (pinfunction "+") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 39952d81-1241-4e68-aa71-d3d7cf76cb19)
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     (pad "4" smd roundrect (at -2.15 0.975) (size 1.45 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 4 "GND") (pinfunction "V-") (pintype "power_in")
-      (tstamp 76e41e39-4065-4744-a03c-3e745fe7823a)
+      (net 4 "GND") (pinfunction "V-") (pintype "power_in") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp d0999ec2-59a6-4f4c-9877-027768272f53)
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-      (net 10 "/PD_VREF") (pinfunction "+") (pintype "input")
+      (net 10 "/PD_VREF") (pinfunction "+") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp d2c524ff-d477-4d03-97cf-59c06abb5cc5)
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     (pad "6" smd roundrect (at 2.15 0.325) (size 1.45 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 24 "/PD_TIA2/IN2") (pinfunction "-") (pintype "input")
-      (tstamp 5f5b74f5-e57f-416e-a512-c26ff8ee4a4e)
+      (net 24 "/PD_TIA2/IN2") (pinfunction "-") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp cabd7ebb-8395-4385-adbd-c95754bb0274)
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-      (net 104 "Net-(Q52A-B1)") (pintype "output")
-      (tstamp 567818b0-6b26-48ba-be73-29d2ec10a3a4)
+      (net 104 "Net-(Q52A-B1)") (pintype "output") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 3058aaea-ef0e-4a94-aca8-6111958f69d0)
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     (pad "8" smd roundrect (at 2.15 -0.975) (size 1.45 0.4) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 6 "+3V3") (pinfunction "V+") (pintype "power_in")
-      (tstamp 9f986825-18fd-4fdb-8aca-1d7de17b7cee)
+      (net 6 "+3V3") (pinfunction "V+") (pintype "power_in") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 1b78342a-adcf-4ad7-97c4-6db8b66a74b8)
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     (pad "9" smd rect (at 0 0) (size 1.68 1.88) (layers "F.Cu" "F.Mask")
-      (net 4 "GND") (pinfunction "V-") (pintype "passive")
+      (net 4 "GND") (pinfunction "V-") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp e3f4cd5f-2de5-4167-aaf6-a23d75c29394)
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       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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     (tstamp c6990093-e324-4bc4-aaf4-9a24cb076e43)
-    (at -12.021 102.323)
+    (at 98.717361 26.0129 126)
     (descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "resistor handsolder")
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+    (property "Reference" "R83" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 55d6ec4a-e839-42a7-8790-465a0acf8886)
       (effects (font (size 1 1) (thickness 0.15)))
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     (property "Value" "100" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp df77ed42-d336-428c-afc3-88d7c631f929)
@@ -14404,10 +12341,10 @@
     (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp bb61981a-468c-4b8f-9fd7-617e38862ba3)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 31064ea3-5492-4ebc-bfc8-36b0da5acfd5)
+    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 61cf6632-e8ec-453c-85cf-510593639bc8)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 6b56b7ae-b37d-4b08-8801-712de79a3110)
+    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp b7f77c74-3e8d-4355-913b-38a0dec623e8)
       (effects (font (size 1 1) (thickness 0.15)))
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@@ -14415,58 +12352,58 @@
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+      (net 96 "/resistor_bank2/V+") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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+      (net 70 "Net-(Q24-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 0d603ac6-b4a4-4847-bcae-3e50d30235e1)
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     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
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     (tstamp c6d94a08-9e3a-45fc-abf8-190670fec3ec)
-    (at -11.211 94.393)
+    (at 188.589192 24.264445 63)
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     (tags "SOT TO_SOT_SMD")
-    (property "Reference" "Q23" (at 0 -2.4 0 unlocked) (layer "F.SilkS") (tstamp 5514d167-4133-4f17-b259-acc51126ec0b)
+    (property "Reference" "Q23" (at 0 -2.4 0 unlocked) (layer "F.SilkS") (tstamp 499bfd13-05f0-49fa-a7c6-ff9a7bb018af)
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-    (property "Value" "AO3400A" (at 0 2.4 0 unlocked) (layer "F.Fab") (tstamp 23d9dd69-680e-4da3-963b-1dafd578347f)
+    (property "Value" "AO3400A" (at 0 2.4 0 unlocked) (layer "F.Fab") (tstamp 2c0be126-9e58-4fb4-84bb-731efa3e1def)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 58e26f76-0d68-49e3-abf6-f460f41e3db4)
+    (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 1e741210-f8d8-4519-b051-317271864225)
       (effects (font (size 1 1) (thickness 0.15)))
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+    (property "Datasheet" "http://www.aosmd.com/pdfs/datasheet/AO3400A.pdf" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp d87dada6-2608-427d-b9e4-642282e47a15)
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     (property "Description" "30V Vds, 5.7A Id, N-Channel MOSFET, SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp bf026916-e0ea-4964-9883-9d395b4c001c)
@@ -14475,7 +12412,7 @@
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       (effects (font (size 1 1) (thickness 0.15)))
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+    (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at 11.211 -94.393 0 unlocked) (layer "F.Fab") hide (tstamp 8b06f0d1-932c-43f2-8719-dcf62460664e)
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       (tstamp f8e36259-62e9-48b9-8964-d80b8fa87fc4)
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     (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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     (sheetfile "self-balancing-test-a.kicad_sch")
     (attr smd)
     (fp_line (start -0.254724 -0.5225) (end 0.254724 -0.5225)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 51a0cf6c-9e69-4c5b-a67b-8f857748c92c))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 20e13e09-ce01-4482-a0a7-db95ef583a43))
     (fp_line (start -0.254724 0.5225) (end 0.254724 0.5225)
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+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp b009794b-c3a9-4d7a-aa5a-09683df8469a))
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+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp d1bdabf3-b7fb-49b6-b232-2cdd98d08b46))
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+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 8f7c2740-d093-4193-b00f-f921732447d3))
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-    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 12e4acb6-25d0-4347-81c8-f67f9c3b3cc1)
+    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 4410ca07-994a-4bff-81fd-ed036e1fba11)
       (effects (font (size 0.4 0.4) (thickness 0.06)))
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     (pad "1" smd roundrect (at -0.9125 0) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 6 "+3V3") (pintype "passive")
-      (tstamp 448436d9-a63c-4d4c-97d2-8f35b3c372d1)
+      (net 6 "+3V3") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp c3a70671-cf4d-4b51-abb8-d1afd24940d4)
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-      (net 121 "/SDA{slash}MOSI") (pintype "passive")
-      (tstamp 8609354b-111d-4fe1-a614-93a2b6b5349c)
+      (net 121 "/SDA{slash}MOSI") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp aca72ac1-07a2-448c-b725-43e345929c1a)
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     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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@@ -14599,36 +12536,36 @@
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-    (property "Value" "100n X7R" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 4b954a80-77e9-43c9-bfea-d5fd465be05b)
+    (property "Value" "100n X7R" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 5e594739-2ee6-48c0-b647-f9c19abc07f7)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 4a9da854-8a53-435a-b27d-56010130d161)
+    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 100ede5f-445e-4846-9291-1aa156fb0b03)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 00a328e3-10d0-4ad4-a6af-e6ddfa0edcd8)
+    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 5fc85c73-ec06-4deb-b324-179dbd706a90)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 6510c0f3-c1c0-436b-87b0-9f64fa725af2)
+    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp dd20914e-1788-48ad-bc98-aa370a998ab0)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "LCSC" "C1591" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 0ed1a64e-a98f-4ab8-97c5-e94716c9c433)
+    (property "LCSC" "C1591" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 05b94d3b-52d9-489a-94e0-8730d8714ec6)
       (effects (font (size 1 1) (thickness 0.15)))
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     (attr smd)
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-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 5fe75ae7-0987-42b8-829e-225b74eea05d))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp d43a8c68-6571-4232-89ce-351b5bf8b5c6))
     (fp_line (start -0.146267 0.51) (end 0.146267 0.51)
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     (fp_line (start -1.65 -0.73) (end 1.65 -0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 2ab2111c-0f3c-4fa3-a3e7-4131b6861885))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 4df04fbc-7be8-43e7-bfb5-2451e30bf23b))
     (fp_line (start -1.65 0.73) (end -1.65 -0.73)
       (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp fd80dfdc-d1f3-49bb-a907-b3b2269a09a7))
     (fp_line (start 1.65 -0.73) (end 1.65 0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 291bb92a-9516-400c-92f2-f74ee11be7b0))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 918fd29b-c408-4405-b0b7-8285d127411c))
     (fp_line (start 1.65 0.73) (end -1.65 0.73)
-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 32076f5b-73b4-4607-9d0e-7ed0a3bbfb51))
+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp dea3761f-1968-425b-a4d4-4265881f65d8))
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@@ -14636,31 +12573,31 @@
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     (fp_line (start 0.8 0.4) (end -0.8 0.4)
-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 824b1e36-a818-4640-b598-b34caaef2943))
-    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 9a3b1f9f-1f14-4dfd-a8c9-22e2fa137de1)
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp ecdd803a-72d8-4359-b893-7b050a4edf5c))
+    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp ef6d0fc3-aafc-4f4a-be14-83bcc995b0ad)
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-      (net 4 "GND") (pintype "passive")
+      (net 4 "GND") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp e6da68a9-91a8-4ee6-8bf5-186e16a8d8b7)
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     (pad "2" smd roundrect (at 0.8625 0) (size 1.075 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 6 "+3V3") (pintype "passive")
+      (net 6 "+3V3") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp d7fa1828-348b-4b9c-895a-cc335f6c1dd7)
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     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
 
   (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (layer "F.Cu")
     (tstamp c890ca61-8b65-4494-b1b5-4cb0936be3ff)
-    (at 25.499 41.933)
+    (at 84.946176 162.225397 -135)
     (descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "resistor handsolder")
-    (property "Reference" "R50" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 7d1734b2-2fe9-4d67-8aa1-a6428810d1c3)
+    (property "Reference" "R50" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 078b7c00-bdb9-4277-8f1b-dce6ae7c6223)
       (effects (font (size 1 1) (thickness 0.15)))
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     (property "Value" "100" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp ae73f05d-70b8-40bd-a3ee-129ed134b341)
@@ -14669,7 +12606,7 @@
     (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp e588e2aa-4d49-4d25-8556-abf6194dc14e)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 74e72b6f-0e38-4aa9-b23f-2b00865c001f)
+    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp c56429a9-528b-4235-b369-34cf777f1f84)
       (effects (font (size 1 1) (thickness 0.15)))
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     (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp cef37ca2-9fe1-4768-80b9-90938c3b3168)
@@ -14679,40 +12616,40 @@
     (sheetname "resistor_bank")
     (sheetfile "resistor_bank.kicad_sch")
     (attr smd)
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       (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp cf25521d-9025-4bb8-8661-5c48649ecb25))
-    (fp_line (start -1.65 -0.73) (end 1.65 -0.73)
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-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 94c641e5-f86d-4961-8314-72e689a4aee8))
+    (fp_line (start -0.254724 -0.5225) (end 0.254724 -0.5225)
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp aa1569b9-efe9-4d3b-b1b4-59d8bbb9b889))
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     (fp_line (start 1.65 -0.73) (end 1.65 0.73)
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+    (fp_line (start -1.65 0.73) (end -1.65 -0.73)
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+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 4e10133f-654a-4d45-a7d7-4fee82ad10da))
     (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp be715537-0db7-4e13-aa17-70c860638b43)
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-      (net 92 "/resistor_bank/V+") (pintype "passive")
-      (tstamp 19a029e1-0976-4367-84fc-934a34dc05f3)
+    (pad "1" smd roundrect (at -0.9125 0 225) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 92 "/resistor_bank/V+") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp a5db8770-c191-4813-871f-6b15fc727918)
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-      (net 50 "Net-(Q8-D)") (pintype "passive")
-      (tstamp 26999be9-8cb1-4af6-8f30-4be4d14794d3)
+    (pad "2" smd roundrect (at 0.9125 0 225) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 50 "Net-(Q8-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 04f735f6-006b-42d9-ae95-971a12959e93)
     )
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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@@ -14725,16 +12662,16 @@
     (property "Reference" "C22" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp c6075534-b5fc-417e-9f3c-0abaa6b24b2f)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Value" "1n" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp 54c71741-cdf8-4bdd-abc0-188d77beef79)
+    (property "Value" "1n" (at 0 1.43 0 unlocked) (layer "F.Fab") (tstamp e5b052f8-0b79-4195-af90-8f63285becbf)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 8a809ac7-1618-4378-b569-1a3cc8d031b1)
+    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 61d2626f-274a-48fc-8b7f-e5ebade823bd)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 47878716-e0eb-4c5e-9ce8-e7ef85207019)
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+      (scale (xyz 0 0 0))
+      (rotate (xyz 0 0 0))
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+      (net 33 "/M1SEND") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp d9f41fcc-a98a-4d90-833a-c2ea9a19d6f4)
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+    (pad "2" smd roundrect (at 0.9125 0) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 16 "Net-(U15-S1A)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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     (tstamp cbd7a226-69cc-4b18-aaf5-43147e006575)
-    (at -1.431 94.393)
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-    (property "Value" "AO3400A" (at 0 2.4 0 unlocked) (layer "F.Fab") (tstamp 416ac245-0d0e-4957-b384-1165995473ed)
+    (property "Value" "AO3400A" (at 0 2.4 0 unlocked) (layer "F.Fab") (tstamp 237a60ea-9152-4dda-84d1-612c767bddae)
       (effects (font (size 1 1) (thickness 0.15)))
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+    (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp fa035790-34ee-4e68-acec-117ec3f4a4d8)
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+    (property "mass" "8.5mg" (at 1.431001 -94.393 0 unlocked) (layer "F.Fab") hide (tstamp c0f8ad8c-aba2-4a7f-961f-8c78524d7ec9)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at 1.431 -94.393 0 unlocked) (layer "F.Fab") hide (tstamp 93d3d365-810b-46dd-a86e-9a4d414d9b7b)
+    (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at 1.431001 -94.393 0 unlocked) (layer "F.Fab") hide (tstamp f87febb3-7e6e-484d-9012-dce9d7dcec3e)
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@@ -14813,49 +12811,49 @@
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-      (net 55 "/LG6") (pinfunction "G") (pintype "input")
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+      (net 55 "/LG6") (pinfunction "G") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 4 "GND") (pinfunction "S") (pintype "passive")
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+      (net 4 "GND") (pinfunction "S") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (tstamp 3ab204bf-22d5-4c4f-9e90-bf50be4a25c9)
+    (pad "3" smd roundrect (at 0.9375 0.000001 54) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 73 "Net-(Q27-D)") (pinfunction "D") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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@@ -14865,7 +12863,7 @@
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@@ -14874,7 +12872,7 @@
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-      (net 5 "VCC") (pinfunction "K") (pintype "passive")
-      (tstamp 6137caf3-ad81-4735-af87-085a452d46c5)
+    (pad "1" smd roundrect (at -1.4 0 90) (size 1.1 1.1) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.227273)
+      (net 5 "VCC") (pinfunction "K") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 3 "Net-(D1-A)") (pinfunction "A") (pintype "passive")
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+      (net 3 "Net-(D1-A)") (pinfunction "A") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 0777e43b-665f-4719-af8e-9fea72032ce2)
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     (model "${KICAD6_3DMODEL_DIR}/Diode_SMD.3dshapes/D_SOD-123F.wrl"
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     (tstamp e04c3c23-7b0d-44a8-8bc1-20d84b158ed7)
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+    (property "Reference" "Q30" (at 0 -2.4 0 unlocked) (layer "F.SilkS") (tstamp 0b6e31d4-7ecf-4e63-a028-b4651f5f906b)
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-    (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 357f332e-56ae-4750-ba72-c57384349c75)
+    (property "Footprint" "Package_TO_SOT_SMD:SOT-23" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp fb70b8b2-27be-462f-99f3-266b2b0dcd21)
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+    (property "Datasheet" "http://www.aosmd.com/pdfs/datasheet/AO3400A.pdf" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 92f5873f-cf71-4518-a3e3-502351cb7424)
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@@ -16033,7 +15185,7 @@
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+    (property "mass_ref" "https://www.centralsemi.com/PDFs/material/MCD_SOT-23.pdf" (at -5.459 -98.843 0 unlocked) (layer "F.Fab") hide (tstamp cac5421f-97d8-430c-b0f2-dd46bad0f682)
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       (offset (xyz 0 0 0))
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       (rotate (xyz 0 0 0))
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   )
 
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+    (tstamp e0636058-af3b-4b69-944d-a24cc13bccce)
+    (at 189.5 65 90)
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+      (effects (font (size 1 1) (thickness 0.15)))
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+      (effects (font (size 1 1) (thickness 0.15)))
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+      (net 21 "/PD_TIA/IN2") (pinfunction "K") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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+      (tstamp b70f7650-b0a1-429d-9a53-ea4081958493)
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-      (net 66 "Net-(Q20-D)") (pintype "passive")
+    (pad "2" smd roundrect (at 0.9125 0 45) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 66 "Net-(Q20-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp a71d0218-73aa-4dac-a9cd-7468d768f1c8)
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     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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     (sheetfile "self-balancing-test-a.kicad_sch")
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-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 33039c84-ed41-4368-b104-0954854b8651))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp cc66e6fa-6c96-42af-bf49-f8e12f79ad19))
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+      (net 4 "GND") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 6 "+3V3") (pintype "passive")
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+      (net 6 "+3V3") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
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     (tstamp e853bc26-35bf-49c9-a897-80cd8e928612)
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@@ -16713,47 +16177,47 @@
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-    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 6aefa20d-3892-436d-8c32-bc9855a01a9d)
+    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 2ac5f246-4076-47ec-a349-4b875a4a4824)
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+      (net 94 "/resistor_bank1/V+") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 65 "Net-(Q19-D)") (pintype "passive")
+    (pad "2" smd roundrect (at 0.9125 0 270) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 65 "Net-(Q19-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp e28e289e-d7a3-4cd9-bab0-634ef8eece40)
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-      (scale (xyz 1 1 1))
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@@ -16766,29 +16230,29 @@
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-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 308a17a0-8aa1-46c2-9d47-a44cfc91bc3e)
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+      (net 173 "Net-(U17-QG)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 141c7cd6-e6fd-4e07-9360-5a4f8a8d4705)
     )
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_2512_6332Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
 
   (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (layer "F.Cu")
     (tstamp eb2486a5-33b7-4cd4-92cd-ed7028215856)
-    (at -7.671 102.323)
+    (at 201.282639 26.0129 54)
     (descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "resistor handsolder")
-    (property "Reference" "R88" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 66901c6b-8d9f-46bd-9720-3df953a240af)
+    (property "Reference" "R88" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 7a60ab88-d6a2-47eb-8ea3-52e12a0057b3)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 28455b03-6d60-484c-a26e-96e962276fdd)
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 744be170-cb89-4f79-8c98-65bad2e5fc32)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 0b19a140-b2c9-4800-a590-0ba0c9f7c306)
+    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp f3c9d6cb-10f4-4c4d-b97a-21d0c13d5005)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 7f6d968a-c31d-4ead-9c75-592b0453553c)
+    (property "Description" "Resistive heater" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp b96b304b-d208-4658-b4ac-4693a9c36894)
       (effects (font (size 1 1) (thickness 0.15)))
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@@ -17092,39 +16770,39 @@
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-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 12f9c5c3-8032-496d-a510-e1cdcb90c62d))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 2d5c743b-60eb-459c-bd5b-045cb266cc7b))
     (fp_line (start -0.254724 0.5225) (end 0.254724 0.5225)
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+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp eaa36b0c-05a5-4c25-be24-d02ea6ee9ee5))
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+      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp ffc5325e-30b9-4896-ba6e-784379b96e96))
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+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 07295c33-6286-4d92-81bf-2b73cd9b97d5))
     (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp dc9e3f12-70c8-43e6-8d70-1c42cc76ff25)
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-      (net 96 "/resistor_bank2/V+") (pintype "passive")
-      (tstamp 11713e51-0e79-4ddd-b93f-9b392c33aaf5)
+    (pad "1" smd roundrect (at -0.9125 0 54) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 96 "/resistor_bank2/V+") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 06952019-4859-45f6-9a8e-fccbcea3e83c)
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-    (pad "2" smd roundrect (at 0.9125 0) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 73 "Net-(Q27-D)") (pintype "passive")
-      (tstamp 9cda6fe6-a72b-4c2d-a596-9b6f1031f03a)
+    (pad "2" smd roundrect (at 0.9125 0 54) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 73 "Net-(Q27-D)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp c686527f-b95f-4120-bf09-9330bab2b556)
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     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
@@ -17134,19 +16812,19 @@
     (at 206.4 67.36)
     (descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "resistor handsolder")
-    (property "Reference" "R139" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 744075b2-b707-442f-a6c6-28d02fa8fa2f)
+    (property "Reference" "R139" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 5f7398e2-998f-4f00-91f5-7d3954b3f9e5)
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       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 59b84d69-18a2-486a-b023-7864c070529f)
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp c4d70cb3-cc4d-4460-ba71-07098b7b4290)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 22786463-008f-47a3-a4ea-31ddbbc11501)
+    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp deb7b614-df75-488b-af11-f3a7385f53d6)
       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 6ae7b6ba-f7a3-4902-a920-050d8323b017)
+    (property "Description" "" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 301cb6eb-1d06-49dc-9e1d-f2eabfbc66e1)
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@@ -17154,9 +16832,9 @@
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-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 8b112662-58ef-4879-b955-de1ebafacdb8))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 72d38c3a-2219-49c6-9a17-fdae92bce932))
     (fp_line (start -0.254724 0.5225) (end 0.254724 0.5225)
-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 85a93e6f-e23f-44aa-921c-b026a15bbcb6))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp a98690c5-c33f-4cde-8d4c-e4e684c32c65))
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-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 67d4301a-4b6a-434f-a980-d4e2bdf61e10))
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-      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 9c276ad0-c249-444a-b26b-3319c51978d2))
+      (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp d8b3bbc8-de75-45c2-b599-a4c48f5c0287))
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       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp b318847a-b4c8-4ccf-b9c1-29289442d64c))
-    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 8eaa7641-4ba0-446b-beb4-41826f455fc9)
+    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp a151454e-c44d-4d50-9756-1f07391973b6)
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-      (net 105 "Net-(Q52B-C2)") (pintype "passive")
+      (net 105 "Net-(Q52B-C2)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp b51c8ef9-8542-4d74-b248-0f9850e5b8f0)
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     (pad "2" smd roundrect (at 0.9125 0) (size 0.975 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 6 "+3V3") (pintype "passive")
+      (net 6 "+3V3") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
       (tstamp d970a7df-01e2-4a22-9589-3bf835b321db)
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     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
     )
   )
@@ -17196,16 +16874,16 @@
     (at 202 87)
     (descr "Capacitor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "capacitor handsolder")
-    (property "Reference" "C19" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 161caee4-07cb-4089-bfd4-2134cc88bab0)
+    (property "Reference" "C19" (at 0 -1.43 0 unlocked) (layer "F.SilkS") (tstamp 6133b36b-1deb-46d8-89c9-dd861842fa91)
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       (effects (font (size 1 1) (thickness 0.15)))
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-    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 3dc24251-6870-4fc5-b1dc-7e242faef027)
+    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 117a9b0e-1779-4d2e-bd24-a7877f0c8af4)
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-    (property "Datasheet" "~" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp 627b0a2e-268f-4bf7-9427-e7c984edd37a)
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@@ -17218,58 +16896,58 @@
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-      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 3ce20286-f171-48ac-a366-70a4c9e29171))
+      (stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp cc2d62f5-f66e-4c7f-a738-59ba2aa4f90f))
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-      (stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 2bf8c810-6d1a-41d8-bc67-5c355b47cccc))
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-    (fp_text user "${REFERENCE}" (at 0 0 0) (layer "F.Fab") (tstamp 1adc8232-034e-42af-bc3d-684275beca60)
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-      (net 4 "GND") (pintype "passive")
+      (net 4 "GND") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 10 "/PD_VREF") (pintype "passive")
-      (tstamp 878c2968-cdf3-48c2-bb1f-b4a3f389f5bd)
+      (net 10 "/PD_VREF") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 95912242-0ef1-47a0-a54a-42d0dc75fbe8)
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     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
-      (scale (xyz 1 1 1))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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   )
 
   (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (layer "F.Cu")
     (tstamp ecb63cae-4104-46ec-abb0-c21df42e5911)
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+      (effects (font (size 1 1) (thickness 0.15)))
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+      (net 43 "/LG0") (pinfunction "G") (pintype "input") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp d0308a91-425e-43cc-be3d-c387de4561c4)
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+    (pad "2" smd roundrect (at -0.9375 0.95 207) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 4 "GND") (pinfunction "S") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp b1ab9679-6d91-4280-be5e-0d4c46f3eeab)
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+    (pad "3" smd roundrect (at 0.9375 0 207) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
+      (net 75 "Net-(Q29-D)") (pinfunction "D") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
+      (tstamp 390a692e-da68-4111-84cf-fb5c2730cc23)
+    )
+    (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23.wrl"
+      (offset (xyz 0 0 0))
+      (scale (xyz 0 0 0))
       (rotate (xyz 0 0 0))
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   )
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     (at 110.5 103.5)
     (descr "Capacitor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "capacitor handsolder")
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+    (property "Footprint" "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder" (at 0 0 0 unlocked) (layer "F.Fab") hide (tstamp f0535357-df57-418e-a949-d224086ee007)
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-      (net 4 "GND") (pintype "passive")
+      (net 4 "GND") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 6 "+3V3") (pintype "passive")
-      (tstamp 2147e6a6-9454-493a-ae79-796ab7020007)
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       (offset (xyz 0 0 0))
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-      (net 170 "Net-(Q49-G)") (pinfunction "G") (pintype "input")
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+      (net 100 "/resistor_bank4/V+") (pinfunction "D") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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-      (net 38 "Net-(Q1B-C2)") (pintype "passive")
+      (net 38 "Net-(Q1B-C2)") (pintype "passive") (thermal_bridge_width 0.5) (thermal_bridge_angle 45)
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diff --git a/self-balancing-test-a.kicad_sch b/self-balancing-test-a.kicad_sch
index 6766e5b..6310f8a 100644
--- a/self-balancing-test-a.kicad_sch
+++ b/self-balancing-test-a.kicad_sch
@@ -8782,6 +8782,33 @@
     )
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+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 123.19 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 123.19 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 123.19 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H6") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:+3V3") (at 231.14 304.8 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 34f5d4df-4ab7-40f4-8eeb-fb9e9b54964b)
@@ -8838,6 +8865,33 @@
     )
   )
 
+  (symbol (lib_id "Mechanical:MountingHole") (at 123.19 44.45 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 367843df-0569-4288-ab81-4b2205d6fed6)
+    (property "Reference" "H7" (at 125.73 43.18 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "balance" (at 125.73 45.72 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 123.19 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 123.19 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 123.19 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H7") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:GND") (at 86.36 336.55 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 36c7ccb9-2db4-414f-8a9b-bbbc7f8e8047)
@@ -9319,6 +9373,33 @@
     )
   )
 
+  (symbol (lib_id "Mechanical:MountingHole") (at 137.16 39.37 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid 46b5961b-e9cd-4a38-aa50-a3626436cca1)
+    (property "Reference" "H8" (at 139.7 38.1 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "balance" (at 139.7 40.64 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 137.16 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 137.16 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 137.16 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H8") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "Device:R_Small") (at 342.9 320.04 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 4730e99d-b0cc-497f-aec7-3bb32095d4a3)
@@ -12517,6 +12598,33 @@
     )
   )
 
+  (symbol (lib_id "Mechanical:MountingHole") (at 151.13 44.45 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid b624f70d-fecb-41c6-9c16-1d7b4aec5355)
+    (property "Reference" "H11" (at 153.67 43.18 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "balance" (at 153.67 45.72 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 151.13 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 151.13 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 151.13 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H11") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:GND") (at 204.47 341.63 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid b6e2d18f-5d10-4339-9b41-9962d9f08350)
@@ -12731,6 +12839,60 @@
     )
   )
 
+  (symbol (lib_id "Mechanical:MountingHole") (at 109.22 44.45 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid bf778f1b-cdc2-462d-b12a-7117bef3cb52)
+    (property "Reference" "H4" (at 111.76 43.18 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "balance" (at 111.76 45.72 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 109.22 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 109.22 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 109.22 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H4") (unit 1)
+        )
+      )
+    )
+  )
+
+  (symbol (lib_id "Mechanical:MountingHole") (at 151.13 39.37 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid bf9adbc6-e6f6-4d11-b300-44b61a289de1)
+    (property "Reference" "H10" (at 153.67 38.1 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "balance" (at 153.67 40.64 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 151.13 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 151.13 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 151.13 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H10") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "Device:R_Small") (at 508 74.93 270) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid c2cf5361-21b0-4d45-b1aa-09002c392d01)
@@ -12821,6 +12983,33 @@
     )
   )
 
+  (symbol (lib_id "Mechanical:MountingHole") (at 109.22 39.37 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid c5f3bd6c-674d-4084-b503-6be95ee31d0e)
+    (property "Reference" "H5" (at 111.76 38.1 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "balance" (at 111.76 40.64 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 109.22 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 109.22 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 109.22 39.37 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H5") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "power:GND") (at 502.92 128.27 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid c7739c75-df14-478b-bbf9-1ac9f2ef8fb4)
@@ -13530,6 +13719,33 @@
     )
   )
 
+  (symbol (lib_id "Mechanical:MountingHole") (at 137.16 44.45 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid e5b1c07e-4cc5-4a72-b908-c18104733480)
+    (property "Reference" "H9" (at 139.7 43.18 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "balance" (at 139.7 45.72 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "balancing-footprints:bal-10x10mm" (at 137.16 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 137.16 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Description" "Balancing pad" (at 137.16 44.45 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (instances
+      (project "self-balancing-test-a"
+        (path "/3046137d-98ba-4fe6-98da-3a8a74d99ad5"
+          (reference "H9") (unit 1)
+        )
+      )
+    )
+  )
+
   (symbol (lib_id "Amplifier_Operational:MCP602") (at 458.47 241.3 180) (unit 2)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid e6836819-b178-4592-8dd3-bdd3661d08c2)