mohan-bee/tscircuit-robot-vacuum

robot-electronics.tsx

PCB

Schematic

// Native tscircuit engineering draft. No externally generated CAD/PCB geometry.
// Pin coordinates follow Espressif's official ESP32-S3-WROOM-1 land pattern
// and TI's PWP0016A package example. See docs/electrical-review.md.
import React from "react"

const NET = (s: string) => `net.${s}`
const v3 = NET("V3V3_SERVICE")
const v5 = NET("V5_SERVICE")
const vm = NET("VBAT_PROTECTED")
const gnd = NET("GND")

const schematicPositions: Record<string, { schX: number; schY: number; schRotation: number }> = {
  "U1": {"schX": -0.22999999999999998, "schY": 0.0, "schRotation": 0},
  "C1": {"schX": -4.5, "schY": 0.99, "schRotation": -90.0},
  "C2": {"schX": -3.3, "schY": 0.99, "schRotation": -90.0},
  "R1": {"schX": 1.07, "schY": 4.61, "schRotation": -90.0},
  "C3": {"schX": 2.525, "schY": 4.61, "schRotation": -90.0},
  "R2": {"schX": -0.335, "schY": 6.305, "schRotation": -90.0},
  "R3": {"schX": 3.31, "schY": 1.9, "schRotation": -90.0},
  "R4": {"schX": 5.2, "schY": 3.71, "schRotation": -90.0},
  "J_UART": {"schX": -1.58, "schY": 4.1, "schRotation": 0},
  "U2": {"schX": 0, "schY": 0, "schRotation": 0},
  "C21": {"schX": 2.76, "schY": 0.0, "schRotation": 0},
  "C22": {"schX": 3.1, "schY": -2.0, "schRotation": -90.0},
  "C23": {"schX": 2.47, "schY": -1, "schRotation": -90.0},
  "C24": {"schX": 4.05, "schY": -1.0, "schRotation": -90.0},
  "R21": {"schX": -2.67, "schY": -1.03, "schRotation": -90.0},
  "R22": {"schX": -3, "schY": 0.83, "schRotation": -90.0},
  "R23": {"schX": -4.79, "schY": -1.03, "schRotation": -90.0},
  "TP2": {"schX": -0.931, "schY": 2.3, "schRotation": 0},
  "J_M1": {"schX": -2.775, "schY": -2.895, "schRotation": 0},
  "U3": {"schX": 0, "schY": 0, "schRotation": 0},
  "C31": {"schX": 2.76, "schY": 0.0, "schRotation": 0},
  "C32": {"schX": 3.1, "schY": -2.0, "schRotation": -90.0},
  "C33": {"schX": 2.47, "schY": -1, "schRotation": -90.0},
  "C34": {"schX": 4.05, "schY": -1.0, "schRotation": -90.0},
  "R31": {"schX": -2.67, "schY": -1.03, "schRotation": -90.0},
  "R32": {"schX": -3, "schY": 0.83, "schRotation": -90.0},
  "R33": {"schX": -4.79, "schY": -1.03, "schRotation": -90.0},
  "TP3": {"schX": -0.931, "schY": 2.3, "schRotation": 0},
  "J_M2": {"schX": -2.775, "schY": -2.895, "schRotation": 0},
  "U4": {"schX": 0, "schY": 0, "schRotation": 0},
  "C41": {"schX": 2.76, "schY": 0.0, "schRotation": 0},
  "C42": {"schX": 3.1, "schY": -2.0, "schRotation": -90.0},
  "C43": {"schX": 2.47, "schY": -1, "schRotation": -90.0},
  "C44": {"schX": 4.05, "schY": -1.0, "schRotation": -90.0},
  "R41": {"schX": -2.67, "schY": -1.03, "schRotation": -90.0},
  "R42": {"schX": -3, "schY": 0.83, "schRotation": -90.0},
  "R43": {"schX": -4.79, "schY": -1.03, "schRotation": -90.0},
  "TP4": {"schX": -0.931, "schY": 2.3, "schRotation": 0},
  "J_M3": {"schX": -2.775, "schY": -2.895, "schRotation": 0},
  "U5": {"schX": 0, "schY": 0, "schRotation": 0},
  "C51": {"schX": 2.76, "schY": 0.0, "schRotation": 0},
  "C52": {"schX": 3.1, "schY": -2.0, "schRotation": -90.0},
  "C53": {"schX": 2.47, "schY": -1, "schRotation": -90.0},
  "C54": {"schX": 4.05, "schY": -1.0, "schRotation": -90.0},
  "R51": {"schX": -2.67, "schY": -1.03, "schRotation": -90.0},
  "R52": {"schX": -3, "schY": 0.83, "schRotation": -90.0},
  "R53": {"schX": -4.79, "schY": -1.03, "schRotation": -90.0},
  "TP5": {"schX": -0.931, "schY": 2.3, "schRotation": 0},
  "J_M4": {"schX": -2.775, "schY": -2.895, "schRotation": 0},
  "J_ENCODER_L": {"schX": 0, "schY": 0, "schRotation": 0},
  "J_ENCODER_R": {"schX": 0, "schY": 2.2, "schRotation": 0},
  "U6": {"schX": 0, "schY": 0, "schRotation": 0},
  "C61": {"schX": 2.47, "schY": -1.1, "schRotation": -90.0},
  "C62": {"schX": 3.71, "schY": -1.1, "schRotation": -90.0},
  "C63": {"schX": 4.95, "schY": -1.1, "schRotation": -90.0},
  "R61": {"schX": 0.295, "schY": 4.11, "schRotation": -90.0},
  "R62": {"schX": -0.239, "schY": -2.305, "schRotation": -90.0},
  "J_LIDAR": {"schX": 0.3, "schY": 0.0, "schRotation": 0},
  "J_BLOWER": {"schX": 0.18, "schY": 2.2, "schRotation": 0},
  "R63": {"schX": 2.92, "schY": 4.9, "schRotation": -90.0},
  "R64": {"schX": 2.31, "schY": 3.09, "schRotation": -90.0},
  "J_CLIFF_1": {"schX": -0.48, "schY": 4.3, "schRotation": 0},
  "R71": {"schX": 1.635, "schY": 7.615, "schRotation": -90.0},
  "C71": {"schX": 3.2600000000000002, "schY": 7.7700000000000005, "schRotation": -90.0},
  "J_CLIFF_2": {"schX": -0.48, "schY": 6.7, "schRotation": 0},
  "R72": {"schX": 4.21, "schY": 5.96, "schRotation": -90.0},
  "C72": {"schX": 5.82, "schY": 5.81, "schRotation": -90.0},
  "J_CLIFF_3": {"schX": -0.48, "schY": 8.7, "schRotation": 0},
  "R73": {"schX": 1.98, "schY": 11.23, "schRotation": -90.0},
  "C73": {"schX": 3.595, "schY": 11.235, "schRotation": -90.0},
  "J_CLIFF_4": {"schX": -0.83, "schY": 10.7, "schRotation": 0},
  "R74": {"schX": 0.695, "schY": 13.277, "schRotation": -90.0},
  "C74": {"schX": 2.655, "schY": 13.277, "schRotation": -90.0},
  "J_BUMPER_L": {"schX": 8, "schY": 4, "schRotation": 0},
  "J_BUMPER_R": {"schX": 7.315, "schY": 7.3, "schRotation": 0},
  "R81": {"schX": 5.475, "schY": 9.15, "schRotation": -90.0},
  "R82": {"schX": 7.415, "schY": 9.15, "schRotation": -90.0},
  "J_BATTERY": {"schX": -4.02, "schY": 0.4, "schRotation": 0},
  "J_LOGIC_SERVICE": {"schX": -3.89, "schY": 2.3, "schRotation": 0}
}
const schematicPlacement = (name: string) => schematicPositions[name]

function EspressifS3Footprint() {
  return <footprint>
    {Array.from({ length: 14 }, (_, i) => <smtpad portHints={[`pin${i + 1}`]} shape="rect" pcbX={-8.75} pcbY={8.26 - i * 1.27} width={1.5} height={0.9} />)}
    {Array.from({ length: 12 }, (_, i) => <smtpad portHints={[`pin${i + 15}`]} shape="rect" pcbX={-6.985 + i * 1.27} pcbY={-9.5} width={0.9} height={1.5} />)}
    {Array.from({ length: 14 }, (_, i) => <smtpad portHints={[`pin${i + 27}`]} shape="rect" pcbX={8.75} pcbY={-8.25 + i * 1.27} width={1.5} height={0.9} />)}
    {[-2.9,-1.5,-0.1].flatMap((x, i) => [-1.94,-0.54,0.86].map((y, j) => <smtpad portHints={["pin41"]} shape="rect" pcbX={x} pcbY={-y} width={0.9} height={0.9} />))}
    <courtyardrect width={19.6} height={26.6} pcbY={2.75} />
    <silkscreenrect width={18} height={25.5} pcbY={3} />
    <silkscreentext text="ANTENNA" pcbY={12.75} fontSize={1} />
    <silkscreencircle pcbX={-10.2} pcbY={8.26} radius={0.4} />
  </footprint>
}

function Pwp16Footprint() {
  return <footprint>
    {Array.from({ length: 8 }, (_, i) => <smtpad portHints={[`pin${i+1}`]} shape="rect" pcbX={-2.9} pcbY={2.275 - i * 0.65} width={1.5} height={0.45} />)}
    {Array.from({ length: 8 }, (_, i) => <smtpad portHints={[`pin${i+9}`]} shape="rect" pcbX={2.9} pcbY={-2.275 + i * 0.65} width={1.5} height={0.45} />)}
    <smtpad portHints={["pin17"]} shape="rect" width={3.3} height={3.3} />
    <courtyardrect width={8.1} height={5.5} />
    <silkscreenrect width={4.4} height={5} />
    <silkscreencircle pcbX={-3.9} pcbY={2.275} radius={0.25} />
  </footprint>
}

// TDK 14-pad 2.5 x 3.0mm LGA; custom nominal land pattern remains DFM-review pending.
function IcmFootprint() {
  return <footprint>
    {[1,2,3,4].map((p, i) => <smtpad portHints={[`pin${p}`]} shape="rect" pcbX={-1.175} pcbY={0.75-i*0.5} width={0.55} height={0.3} />)}
    {[5,6,7].map((p, i) => <smtpad portHints={[`pin${p}`]} shape="rect" pcbX={-0.5+i*0.5} pcbY={-1.425} width={0.3} height={0.55} />)}
    {[8,9,10,11].map((p, i) => <smtpad portHints={[`pin${p}`]} shape="rect" pcbX={1.175} pcbY={-0.75+i*0.5} width={0.55} height={0.3} />)}
    {[12,13,14].map((p, i) => <smtpad portHints={[`pin${p}`]} shape="rect" pcbX={0.5-i*0.5} pcbY={1.425} width={0.3} height={0.55} />)}
    <courtyardrect width={3.4} height={3.9} />
    <silkscreenrect width={2.5} height={3} />
    <silkscreencircle pcbX={-1.8} pcbY={1} radius={0.2} />
  </footprint>
}

function Header({ name, x, y, signals, rotation = 0, pitch = 2.54, schWidth }: { name: string, x: number, y: number, signals: string[], rotation?: number, pitch?: number, schWidth?: number }) {
  const labels = Object.fromEntries(signals.map((s, i) => [`pin${i+1}`, s]))
  return <pinheader name={name} {...schematicPlacement(name)} pinCount={signals.length} pitch={pitch} pcbX={x} pcbY={y} pcbRotation={rotation} schWidth={schWidth} pinLabels={labels} connections={Object.fromEntries(signals.map((s, i) => [`pin${i+1}`,NET(s)]))} showSilkscreenPinLabels />
}

function MotorDriver({ index, x, y, role }: { index:number, x:number, y:number, role:string }) {
  const n = `U${index}`
  const prefix = `M${index-1}`
  const ip = NET(`${prefix}_CURRENT`)
  const vr = NET(`${prefix}_VREF`)
  const cph = NET(`${prefix}_CPH`)
  const cpl = NET(`${prefix}_CPL`)
  const vcp = NET(`${prefix}_VCP`)
  return <>
    <chip name={n} manufacturerPartNumber="DRV8876PWPR" pcbX={x} pcbY={y} footprint={<Pwp16Footprint />}
      cadModel={{jscad:{type:"cuboid",size:[4.4,5,1.2],center:[0,0,0.6]}}}
      pinAttributes={{VM:{requiresPower:true},GND:{requiresGround:true},PGND:{requiresGround:true},EP:{requiresGround:true},EN:{isInput:true},PH:{isInput:true},nSLEEP:{isInput:true},nFAULT:{isOutput:true,canUseOpenDrain:true,isUsingOpenDrain:true},VREF:{isInput:true},IPROPI:{isOutput:true},IMODE:{isInput:true},PMODE:{isInput:true},OUT1:{isOutput:true},OUT2:{isOutput:true}}}
      pinLabels={{pin1:"EN",pin2:"PH",pin3:"nSLEEP",pin4:"nFAULT",pin5:"VREF",pin6:"IPROPI",pin7:"IMODE",pin8:"OUT1",pin9:"PGND",pin10:"OUT2",pin11:"VM",pin12:"VCP",pin13:"CPH",pin14:"CPL",pin15:"GND",pin16:"PMODE",pin17:"EP"}}
      connections={{EN:NET(`${prefix}_PWM`),PH:NET(`${prefix}_DIR`),nSLEEP:NET("MOTORS_ENABLE"),nFAULT:NET("MOTORS_nFAULT"),VREF:vr,IPROPI:ip,IMODE:gnd,OUT1:NET(`${prefix}_A`),OUT2:NET(`${prefix}_B`),VM:vm,GND:gnd,PGND:gnd,PMODE:gnd,EP:gnd,CPH:cph,CPL:cpl,VCP:vcp}} />
    <capacitor name={`C${index}1`} {...schematicPlacement(`C${index}1`)} capacitance="22nF" maxVoltageRating="50V" footprint="0603" pcbX={x+6} pcbY={y+0.8} pcbRotation={90} connections={{pin1:cph,pin2:cpl}} />
    <capacitor name={`C${index}2`} {...schematicPlacement(`C${index}2`)} capacitance="100nF" maxVoltageRating="16V" footprint="0603" pcbX={x+6} pcbY={y-3} pcbRotation={90} connections={{pin1:vcp,pin2:vm}} />
    <capacitor name={`C${index}3`} {...schematicPlacement(`C${index}3`)} capacitance="100nF" maxVoltageRating="25V" footprint="0603" pcbX={x+6} pcbY={y-6} pcbRotation={180} connections={{pin1:vm,pin2:gnd}} />
    <capacitor name={`C${index}4`} {...schematicPlacement(`C${index}4`)} capacitance="22uF" maxVoltageRating="25V" footprint="1210" pcbX={x+11} pcbY={y-6} connections={{pin1:vm,pin2:gnd}} />
    <resistor name={`R${index}1`} {...schematicPlacement(`R${index}1`)} resistance="2.49k" footprint="0603" pcbX={x-8} pcbY={y-3} connections={{pin1:ip,pin2:gnd}} />
    <resistor name={`R${index}2`} {...schematicPlacement(`R${index}2`)} resistance="10k" footprint="0603" pcbX={x-8} pcbY={y+3} pcbRotation={180} connections={{pin1:v3,pin2:vr}} />
    <resistor name={`R${index}3`} {...schematicPlacement(`R${index}3`)} resistance="30.1k" footprint="0603" pcbX={x-8} pcbY={y} connections={{pin1:vr,pin2:gnd}} />
    <testpoint name={`TP${index}`} {...schematicPlacement(`TP${index}`)} doNotPlace cadModel={null} footprint={<footprint><smtpad portHints={["pin1"]} shape="circle" radius={0.6} /></footprint>} pcbX={x-12} pcbY={y-3} connections={{pin1:ip}} />
    <Header name={`J_M${index-1}`} x={x} y={y+11} signals={[`${prefix}_A`,`${prefix}_B`]} />
    <silkscreentext text={`${role} / DRV8876`} pcbX={x} pcbY={y+16} fontSize={1} />
  </>
}

export function MainBoard({ routingDisabled = true, mountedTo }: { routingDisabled?: boolean, mountedTo?: string }) {
  return <board width={160} height={130} thickness={1.6} layers={4} routingDisabled={routingDisabled} mountedTo={mountedTo} schLayout={{ layoutMode: "relative" }}>
    {[-72,72].flatMap(x => [-52,52].map(y => <hole name={`MOUNT_${x}_${y}`} pcbX={x} pcbY={y} diameter={3.2} />))}
    <silkscreentext text="VACUUM / R0 - ENGINEERING DRAFT" pcbX={0} pcbY={-61} fontSize={1.8} />
    <silkscreentext text="NO CHARGER / NO REGULATORS / NOT FOR FABRICATION" pcbX={0} pcbY={-57} fontSize={1.1} />

    <schematicsheet name="CONTROL" displayName="ESP32-S3 control and programming" sheetIndex={0}>
    <chip name="U1" {...schematicPlacement("U1")} manufacturerPartNumber="ESP32-S3-WROOM-1-N16R8" pcbX={42} pcbY={45} footprint={<EspressifS3Footprint />}
      cadModel={{jscad:{type:"cuboid",size:[18,25.5,3.1],center:[0,3.77,1.55]}}}
      pinAttributes={{V3V3:{requiresPower:true,requiresVoltage:3.3},GND1:{requiresGround:true},GND40:{requiresGround:true},EP:{requiresGround:true},EN:{isInput:true},GPIO0:{isInput:true},GPIO1:{isInput:true},GPIO2:{isInput:true},GPIO4:{isInput:true},GPIO5:{isInput:true},GPIO6:{isOutput:true},GPIO7:{isOutput:true},GPIO8:{isOutput:true},GPIO9:{isOutput:true},GPIO10:{isOutput:true},GPIO11:{isOutput:true},GPIO12:{isBidirectional:true,canUseOpenDrain:true,isUsingOpenDrain:true},GPIO13:{isBidirectional:true,canUseOpenDrain:true,isUsingOpenDrain:true},GPIO14:{isOutput:true},GPIO15:{isOutput:true},GPIO16:{isInput:true},GPIO17:{isInput:true},GPIO18:{isInput:true},GPIO19:{isInput:true},GPIO20:{isInput:true},GPIO21:{isInput:true},GPIO38:{isOutput:true},GPIO39:{isInput:true},GPIO40:{isOutput:true},GPIO41:{isInput:true},GPIO42:{isOutput:true},GPIO47:{isInput:true},GPIO48:{isInput:true},RXD0:{isInput:true},TXD0:{isOutput:true}}}
      pinLabels={{pin1:"GND1",pin2:"V3V3",pin3:"EN",pin4:"GPIO4",pin5:"GPIO5",pin6:"GPIO6",pin7:"GPIO7",pin8:"GPIO15",pin9:"GPIO16",pin10:"GPIO17",pin11:"GPIO18",pin12:"GPIO8",pin13:"GPIO19",pin14:"GPIO20",pin15:"GPIO3",pin16:"GPIO46",pin17:"GPIO9",pin18:"GPIO10",pin19:"GPIO11",pin20:"GPIO12",pin21:"GPIO13",pin22:"GPIO14",pin23:"GPIO21",pin24:"GPIO47",pin25:"GPIO48",pin26:"GPIO45",pin27:"GPIO0",pin28:"GPIO35",pin29:"GPIO36",pin30:"GPIO37",pin31:"GPIO38",pin32:"GPIO39",pin33:"GPIO40",pin34:"GPIO41",pin35:"GPIO42",pin36:"RXD0",pin37:"TXD0",pin38:"GPIO2",pin39:"GPIO1",pin40:"GND40",pin41:"EP"}}
      noConnect={["GPIO3","GPIO45","GPIO46","GPIO35","GPIO36","GPIO37"]}
      connections={{GND1:gnd,GND40:gnd,EP:gnd,V3V3:v3,EN:NET("ESP_EN"),GPIO0:NET("BOOT"),GPIO1:NET("CLIFF_1"),GPIO2:NET("CLIFF_2"),GPIO4:NET("CLIFF_3"),GPIO5:NET("CLIFF_4"),GPIO6:NET("M1_PWM"),GPIO7:NET("M1_DIR"),GPIO8:NET("M2_PWM"),GPIO9:NET("M2_DIR"),GPIO10:NET("M3_PWM"),GPIO11:NET("M3_DIR"),GPIO12:NET("I2C_SDA"),GPIO13:NET("I2C_SCL"),GPIO14:NET("M4_PWM"),GPIO15:NET("M4_DIR"),GPIO16:NET("ENC_L_A"),GPIO17:NET("ENC_L_B"),GPIO18:NET("ENC_R_A"),GPIO21:NET("ENC_R_B"),GPIO19:NET("BUMPER_L"),GPIO20:NET("BUMPER_R"),GPIO38:NET("LIDAR_MCU_TX"),GPIO39:NET("LIDAR_MCU_RX"),GPIO40:NET("BLOWER_PWM"),GPIO41:NET("BLOWER_TACH"),GPIO42:NET("MOTORS_ENABLE"),GPIO47:NET("MOTORS_nFAULT"),GPIO48:NET("IMU_INT"),RXD0:NET("UART0_RX"),TXD0:NET("UART0_TX")}} />
    <keepout shape="rect" pcbX={42} pcbY={60} width={48} height={9.8} layers={["top","inner1","inner2","bottom"]} excludeRefs={[".U1"]} />
    <capacitor name="C1" {...schematicPlacement("C1")} capacitance="10uF" maxVoltageRating="6.3V" footprint="0805" pcbX={26} pcbY={47} connections={{pin1:v3,pin2:gnd}} />
    <capacitor name="C2" {...schematicPlacement("C2")} capacitance="100nF" maxVoltageRating="6.3V" footprint="0603" pcbX={26} pcbY={44} connections={{pin1:v3,pin2:gnd}} />
    <resistor name="R1" {...schematicPlacement("R1")} resistance="10k" footprint="0603" pcbX={24} pcbY={37} pcbRotation={180} connections={{pin1:v3,pin2:NET("ESP_EN")}} />
    <capacitor name="C3" {...schematicPlacement("C3")} capacitance="1uF" maxVoltageRating="6.3V" footprint="0603" pcbX={24} pcbY={34} connections={{pin1:NET("ESP_EN"),pin2:gnd}} />
    <resistor name="R2" {...schematicPlacement("R2")} resistance="10k" footprint="0603" pcbX={52} pcbY={31} pcbRotation={180} connections={{pin1:v3,pin2:NET("BOOT")}} />
    <resistor name="R3" {...schematicPlacement("R3")} resistance="10k" footprint="0603" pcbX={20} pcbY={25} connections={{pin1:v3,pin2:NET("MOTORS_nFAULT")}} />
    <resistor name="R4" {...schematicPlacement("R4")} resistance="100k" footprint="0603" pcbX={20} pcbY={22} connections={{pin1:NET("MOTORS_ENABLE"),pin2:gnd}} />
    <Header name="J_UART" schWidth={1.34} x={67} y={34} rotation={90} signals={["GND","V3V3_SERVICE","UART0_TX","UART0_RX","ESP_EN","BOOT"]} />

    </schematicsheet>
    <schematicsheet name="LEFT_MOTOR" displayName="Left wheel motor driver" sheetIndex={1}>
      <MotorDriver index={2} x={-53} y={31} role="LEFT WHEEL" />
    </schematicsheet>
    <schematicsheet name="RIGHT_MOTOR" displayName="Right wheel motor driver" sheetIndex={2}>
      <MotorDriver index={3} x={-17} y={31} role="RIGHT WHEEL" />
    </schematicsheet>
    <schematicsheet name="ROLLER_MOTOR" displayName="Main roller motor driver" sheetIndex={3}>
      <MotorDriver index={4} x={-53} y={-3} role="ROLLER" />
    </schematicsheet>
    <schematicsheet name="SIDE_MOTOR" displayName="Side brush motor driver" sheetIndex={4}>
      <MotorDriver index={5} x={-17} y={-3} role="SIDE BRUSH" />
    </schematicsheet>
    <schematicsheet name="ENCODERS" displayName="Wheel encoder connectors" sheetIndex={5}>
    <Header name="J_ENCODER_L" schWidth={1.34} x={-57} y={57} signals={["V3V3_SERVICE","GND","ENC_L_A","ENC_L_B"]} />
    <Header name="J_ENCODER_R" schWidth={1.34} x={-16} y={57} signals={["V3V3_SERVICE","GND","ENC_R_A","ENC_R_B"]} />

    </schematicsheet>
    <schematicsheet name="INERTIAL" displayName="IMU and I2C" sheetIndex={6}>
    <chip name="U6" {...schematicPlacement("U6")} manufacturerPartNumber="ICM-42688-P" pcbX={17} pcbY={7} footprint={<IcmFootprint />}
      cadModel={{jscad:{type:"cuboid",size:[2.5,3,0.9],center:[0,0,0.45]}}}
      pinAttributes={{VDD:{requiresPower:true,requiresVoltage:3.3},VDDIO:{requiresPower:true,requiresVoltage:3.3},GND:{requiresGround:true},RESV7:{requiresGround:true},CS:{isInput:true},AD0:{isInput:true},INT1:{isOutput:true},INT2:{isInput:true},SCL:{isInput:true},SDA:{isBidirectional:true,canUseOpenDrain:true,isUsingOpenDrain:true}}}
      pinLabels={{pin1:"AD0",pin2:"RESV2",pin3:"RESV3",pin4:"INT1",pin5:"VDDIO",pin6:"GND",pin7:"RESV7",pin8:"VDD",pin9:"INT2",pin10:"RESV10",pin11:"RESV11",pin12:"CS",pin13:"SCL",pin14:"SDA"}}
      connections={{AD0:gnd,RESV2:gnd,RESV3:gnd,RESV7:gnd,RESV10:gnd,RESV11:gnd,INT1:NET("IMU_INT"),INT2:gnd,VDDIO:v3,VDD:v3,GND:gnd,CS:v3,SDA:NET("I2C_SDA"),SCL:NET("I2C_SCL")}} />
    <capacitor name="C61" {...schematicPlacement("C61")} capacitance="100nF" maxVoltageRating="6.3V" footprint="0603" pcbX={21} pcbY={6} connections={{pin1:v3,pin2:gnd}} />
    <capacitor name="C62" {...schematicPlacement("C62")} capacitance="2.2uF" maxVoltageRating="6.3V" footprint="0603" pcbX={21} pcbY={3} connections={{pin1:v3,pin2:gnd}} />
    <capacitor name="C63" {...schematicPlacement("C63")} capacitance="10nF" maxVoltageRating="6.3V" footprint="0603" pcbX={13} pcbY={3} connections={{pin1:v3,pin2:gnd}} />
    <resistor name="R61" {...schematicPlacement("R61")} resistance="4.7k" footprint="0603" pcbX={13} pcbY={14} connections={{pin1:v3,pin2:NET("I2C_SDA")}} />
    <resistor name="R62" {...schematicPlacement("R62")} resistance="4.7k" footprint="0603" pcbX={21} pcbY={14} connections={{pin1:v3,pin2:NET("I2C_SCL")}} />
    <silkscreentext text="IMU / KEEP VIBRATION LOW" pcbX={19} pcbY={-2} fontSize={0.8} />
    </schematicsheet>
    <schematicsheet name="SENSORS_POWER" displayName="Sensors, blower, and service power" sheetIndex={7}>
    <Header name="J_LIDAR" schWidth={1.34} x={66} y={13} rotation={90} signals={["V5_SERVICE","GND","LIDAR_MCU_RX","LIDAR_MCU_TX"]} />
    <silkscreentext text="C1 / 5V / 3V3 UART" pcbX={62} pcbY={22} fontSize={0.9} />
    <Header name="J_BLOWER" schWidth={1.53} x={64} y={-9} rotation={90} signals={["VBAT_PROTECTED","GND","BLOWER_PWM","BLOWER_TACH"]} />
    <silkscreentext text="BLOWER + BUILT-IN DRIVER" pcbX={58} pcbY={-18} fontSize={0.8} />
    <resistor name="R63" {...schematicPlacement("R63")} resistance="100k" footprint="0603" pcbX={53} pcbY={-9} connections={{pin1:NET("BLOWER_PWM"),pin2:gnd}} />
    <resistor name="R64" {...schematicPlacement("R64")} resistance="10k" footprint="0603" pcbX={53} pcbY={-12} connections={{pin1:v3,pin2:NET("BLOWER_TACH")}} />

    {[1,2,3,4].map((i) => <React.Fragment key={i}>
      <Header name={`J_CLIFF_${i}`} x={-64+(i-1)*18} y={-46} rotation={90} signals={["V3V3_SERVICE","GND",`CLIFF_${i}`]} />
      <resistor name={`R7${i}`} {...schematicPlacement(`R7${i}`)} resistance="10k" footprint="0603" pcbX={-64+(i-1)*18} pcbY={-35} connections={{pin1:v3,pin2:NET(`CLIFF_${i}`)}} />
      <capacitor name={`C7${i}`} {...schematicPlacement(`C7${i}`)} capacitance="10nF" maxVoltageRating="6.3V" footprint="0603" pcbX={-60+(i-1)*18} pcbY={-35} connections={{pin1:NET(`CLIFF_${i}`),pin2:gnd}} />
    </React.Fragment>)}
    <Header name="J_BUMPER_L" x={8} y={-46} rotation={90} signals={["BUMPER_L","GND"]} />
    <Header name="J_BUMPER_R" x={22} y={-46} rotation={90} signals={["BUMPER_R","GND"]} />
    <resistor name="R81" {...schematicPlacement("R81")} resistance="10k" footprint="0603" pcbX={8} pcbY={-35} connections={{pin1:v3,pin2:NET("BUMPER_L")}} />
    <resistor name="R82" {...schematicPlacement("R82")} resistance="10k" footprint="0603" pcbX={22} pcbY={-35} connections={{pin1:v3,pin2:NET("BUMPER_R")}} />

    <Header name="J_BATTERY" x={-64} y={-22} signals={["VBAT_PROTECTED","GND"]} />
    <Header name="J_LOGIC_SERVICE" x={63} y={-45} signals={["GND","V3V3_SERVICE","V5_SERVICE"]} />
    <silkscreenrect pcbX={27} pcbY={-24} width={33} height={12} />
    <silkscreentext text="BQ25798 + 5V/3V3 BUCKS" pcbX={27} pcbY={-22} fontSize={1} />
    <silkscreentext text="RESERVED - NOT IMPLEMENTED" pcbX={27} pcbY={-26} fontSize={0.8} />
    <keepout shape="rect" pcbX={27} pcbY={-24} width={33} height={12} layers={["top","bottom"]} />
    </schematicsheet>
  </board>
}

export default MainBoard