components placement redone, work in progress

1 files changed, 422 insertions, 451 deletions

diff --git a/PID_servo/PID_schematic.sch b/PID_servo/PID_schematic.sch
index a2eb462..983f99f 100644
--- a/PID_servo/PID_schematic.sch
+++ b/PID_servo/PID_schematic.sch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!DOCTYPE eagle SYSTEM "eagle.dtd">
-<eagle version="6.5.0">
+<eagle version="6.4">
 <drawing>
 <settings>
 <setting alwaysvectorfont="no"/>
@@ -143,10 +143,8 @@ http://catalog.tycoelectronics.com/TE/bin/TE.Connect?C=1&amp;PN=227677-1&amp;M=S
 <text x="3.937" y="-2.413" size="1.27" layer="96" rot="MR180">&gt;VALUE</text>
 <text x="-2.286" y="0.508" size="1.778" layer="94" font="vector">BNC</text>
 <pin name="CONDUCTOR" x="-5.08" y="0" visible="off" length="point"/>
-<pin name="SHIELD2" x="0" y="-5.08" visible="off" length="point" rot="R90"/>
-<pin name="SHIELD1" x="2.54" y="-5.08" visible="off" length="point" rot="R90"/>
-<wire x1="0" y1="-5.08" x2="0" y2="-3.81" width="0.254" layer="94"/>
-<wire x1="2.54" y1="-5.08" x2="2.54" y2="-2.54" width="0.254" layer="94"/>
+<pin name="SHIELD1" x="0" y="-5.08" visible="off" length="point" rot="R90"/>
+<wire x1="0" y1="-5.08" x2="0" y2="-3.6068" width="0.254" layer="94"/>
 </symbol>
 </symbols>
 <devicesets>
@@ -163,8 +161,7 @@ http://catalog.tycoelectronics.com/TE/bin/TE.Connect?C=1&amp;M=BYPN&amp;PID=4946
 <device name="-TYPE1VERT" package="CONN-BNC-AMP-TYPE1VERT">
 <connects>
 <connect gate="." pin="CONDUCTOR" pad="CONDUCTOR"/>
-<connect gate="." pin="SHIELD1" pad="SHIELD1"/>
-<connect gate="." pin="SHIELD2" pad="SHIELD2"/>
+<connect gate="." pin="SHIELD1" pad="SHIELD1 SHIELD2"/>
 </connects>
 <technologies>
 <technology name="">
@@ -175,8 +172,7 @@ http://catalog.tycoelectronics.com/TE/bin/TE.Connect?C=1&amp;M=BYPN&amp;PID=4946
 <device name="TYPE3HORIZ" package="CONN-BNC-AMP-TYPE3HORIZ">
 <connects>
 <connect gate="." pin="CONDUCTOR" pad="CONDUCTOR"/>
-<connect gate="." pin="SHIELD1" pad="SHIELD1"/>
-<connect gate="." pin="SHIELD2" pad="SHIELD2"/>
+<connect gate="." pin="SHIELD1" pad="SHIELD1 SHIELD2"/>
 </connects>
 <technologies>
 <technology name=""/>
@@ -633,13 +629,6 @@ In this library the device names are the same as the pin names of the symbols, t
 <text x="-1.905" y="-3.175" size="1.778" layer="96">&gt;VALUE</text>
 <pin name="GND" x="0" y="2.54" visible="off" length="short" direction="sup" rot="R270"/>
 </symbol>
-<symbol name="GND1">
-<wire x1="-1.27" y1="0" x2="1.27" y2="0" width="0.254" layer="94"/>
-<wire x1="1.27" y1="0" x2="0" y2="-1.27" width="0.254" layer="94"/>
-<wire x1="0" y1="-1.27" x2="-1.27" y2="0" width="0.254" layer="94"/>
-<text x="-2.159" y="-3.175" size="1.778" layer="96">&gt;VALUE</text>
-<pin name="GND1" x="0" y="2.54" visible="off" length="short" direction="sup" rot="R270"/>
-</symbol>
 </symbols>
 <devicesets>
 <deviceset name="GND" prefix="SUPPLY">
@@ -655,19 +644,6 @@ In this library the device names are the same as the pin names of the symbols, t
 </device>
 </devices>
 </deviceset>
-<deviceset name="GND1" prefix="SUPPLY">
-<description>&lt;b&gt;SUPPLY SYMBOL&lt;/b&gt;</description>
-<gates>
-<gate name="G$1" symbol="GND1" x="0" y="0"/>
-</gates>
-<devices>
-<device name="">
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
 </devicesets>
 </library>
 <library name="evmik_trimmers">
@@ -935,7 +911,7 @@ In this library the device names are the same as the pin names of the symbols, t
 </classes>
 <parts>
 <part name="INPUT" library="evmik_bnc_sma_connectors" deviceset="CONN-BNC" device="TYPE3HORIZ"/>
-<part name="MONITOR" library="evmik_bnc_sma_connectors" deviceset="CONN-BNC" device="TYPE3HORIZ"/>
+<part name="ERROR" library="evmik_bnc_sma_connectors" deviceset="CONN-BNC" device="TYPE3HORIZ"/>
 <part name="BUFFER" library="evmik_opamp" deviceset="OPAMP_GENERIC" device="SOIC8"/>
 <part name="V_ERROR" library="evmik_opamp" deviceset="OPAMP_GENERIC" device="SOIC8"/>
 <part name="INT" library="evmik_opamp" deviceset="OPAMP_GENERIC" device="SOIC8"/>
@@ -966,13 +942,11 @@ In this library the device names are the same as the pin names of the symbols, t
 <part name="SUPPLY3" library="supply2" deviceset="GND" device=""/>
 <part name="SUPPLY4" library="supply2" deviceset="GND" device=""/>
 <part name="SUPPLY1" library="supply2" deviceset="GND" device=""/>
-<part name="C6" library="evmik_rcl" deviceset="C0805" device=""/>
 <part name="C5" library="evmik_rcl" deviceset="C0805" device=""/>
 <part name="R7" library="evmik_rcl" deviceset="R1206" device=""/>
 <part name="P_GAIN" library="evmik_trimmers" deviceset="BOURNS-3386F" device=""/>
 <part name="I_GAIN" library="evmik_trimmers" deviceset="BOURNS-3386F" device=""/>
 <part name="SUPPLY5" library="supply2" deviceset="GND" device=""/>
-<part name="SUPPLY6" library="supply2" deviceset="GND1" device=""/>
 <part name="SUPPLY7" library="supply2" deviceset="GND" device=""/>
 <part name="P+6" library="supply1" deviceset="V+" device=""/>
 <part name="P-6" library="supply1" deviceset="V-" device=""/>
@@ -1005,7 +979,7 @@ In this library the device names are the same as the pin names of the symbols, t
 <part name="P-13" library="supply1" deviceset="V-" device=""/>
 <part name="R14" library="evmik_rcl" deviceset="R1206" device=""/>
 <part name="COMMON_GAIN" library="evmik_trimmers" deviceset="OFFBOARD_3PIN" device=""/>
-<part name="INVERSION" library="evmik_switches" deviceset="OFF_BOARD" device=""/>
+<part name="INV_SW" library="evmik_switches" deviceset="OFF_BOARD" device=""/>
 <part name="MOD_GAIN" library="evmik_trimmers" deviceset="OFFBOARD_3PIN" device=""/>
 <part name="R15" library="evmik_rcl" deviceset="R1206" device=""/>
 <part name="R16" library="evmik_rcl" deviceset="R1206" device=""/>
@@ -1071,12 +1045,11 @@ In this library the device names are the same as the pin names of the symbols, t
 <part name="SUPPLY33" library="supply2" deviceset="GND" device=""/>
 <part name="SUPPLY34" library="supply2" deviceset="GND" device=""/>
 <part name="IN" library="evmik_testpads" deviceset="TP-13" device=""/>
-<part name="V_MOD" library="evmik_testpads" deviceset="TP-13" device=""/>
 <part name="BUFF" library="evmik_testpads" deviceset="TP-13" device=""/>
 <part name="V+" library="evmik_testpads" deviceset="TP-13" device=""/>
 <part name="GND" library="evmik_testpads" deviceset="TP-13" device=""/>
 <part name="V-" library="evmik_testpads" deviceset="TP-13" device=""/>
-<part name="V_SETT" library="evmik_testpads" deviceset="TP-13" device=""/>
+<part name="SET_TP" library="evmik_testpads" deviceset="TP-13" device=""/>
 <part name="V_ERR" library="evmik_testpads" deviceset="TP-13" device=""/>
 <part name="V_INT" library="evmik_testpads" deviceset="TP-13" device=""/>
 <part name="V_INT2" library="evmik_testpads" deviceset="TP-13" device=""/>
@@ -1103,6 +1076,11 @@ In this library the device names are the same as the pin names of the symbols, t
 <part name="SUPPLY38" library="supply2" deviceset="GND" device=""/>
 <part name="R31" library="evmik_rcl" deviceset="R1206" device=""/>
 <part name="SUPPLY36" library="supply2" deviceset="GND" device=""/>
+<part name="PI_OUT" library="evmik_bnc_sma_connectors" deviceset="CONN-BNC" device="TYPE3HORIZ"/>
+<part name="SUPPLY39" library="supply2" deviceset="GND" device=""/>
+<part name="R35" library="evmik_rcl" deviceset="R1206" device=""/>
+<part name="SUPPLY6" library="supply2" deviceset="GND" device=""/>
+<part name="V_MODIN" library="evmik_testpads" deviceset="TP-13" device=""/>
 </parts>
 <sheets>
 <sheet>
@@ -1111,82 +1089,83 @@ In this library the device names are the same as the pin names of the symbols, t
  of the proportional part  1
  R6 should also follow the rule of 10
 with the 10k pot for the proportional gain</text>
+<text x="-66.04" y="129.54" size="7.62" layer="97">PI Servo
+Designed by Owen Wolfe and Eugeniy Mikhailov
+June 2014</text>
 </plain>
 <instances>
-<instance part="INPUT" gate="." x="-63.5" y="43.18" rot="MR0"/>
-<instance part="MONITOR" gate="." x="78.74" y="76.2"/>
-<instance part="BUFFER" gate="G$1" x="-35.56" y="45.72"/>
-<instance part="V_ERROR" gate="G$1" x="53.34" y="45.72"/>
-<instance part="INT" gate="G$1" x="172.72" y="30.48"/>
-<instance part="BOOSTER" gate="G$1" x="226.06" y="27.94"/>
+<instance part="INPUT" gate="." x="-71.12" y="43.18" rot="MR0"/>
+<instance part="ERROR" gate="." x="66.04" y="73.66"/>
+<instance part="BUFFER" gate="G$1" x="-43.18" y="45.72"/>
+<instance part="V_ERROR" gate="G$1" x="25.4" y="45.72"/>
+<instance part="INT" gate="G$1" x="172.72" y="40.64"/>
+<instance part="BOOSTER" gate="G$1" x="226.06" y="38.1"/>
 <instance part="PID_ADDER" gate="G$1" x="289.56" y="-10.16"/>
-<instance part="INVERT1" gate="G$1" x="261.62" y="25.4"/>
-<instance part="POWER" gate="G$1" x="0" y="93.98" rot="R90"/>
-<instance part="PWR_OUT" gate="G$1" x="45.72" y="93.98" rot="MR90"/>
-<instance part="R1" gate="G$1" x="15.24" y="48.26"/>
-<instance part="R3" gate="G$1" x="53.34" y="66.04"/>
-<instance part="R2" gate="G$1" x="15.24" y="-7.62"/>
-<instance part="V_SET" gate="G$1" x="-2.54" y="-7.62"/>
-<instance part="R24" gate="G$1" x="-2.54" y="7.62" rot="R90"/>
-<instance part="R25" gate="G$1" x="-2.54" y="-22.86" rot="R90"/>
-<instance part="P+1" gate="1" x="17.78" y="109.22"/>
-<instance part="P-1" gate="1" x="7.62" y="76.2"/>
-<instance part="R5" gate="G$1" x="73.66" y="60.96" rot="R90"/>
-<instance part="C1" gate="G$1" x="10.16" y="-12.7" rot="R90"/>
-<instance part="P+2" gate="1" x="-2.54" y="17.78"/>
-<instance part="P-2" gate="1" x="-2.54" y="-33.02" smashed="yes">
-<attribute name="VALUE" x="-7.62" y="-30.48" size="1.778" layer="96" rot="R270"/>
+<instance part="INVERT1" gate="G$1" x="261.62" y="35.56"/>
+<instance part="POWER" gate="G$1" x="22.86" y="-73.66" rot="R90"/>
+<instance part="PWR_OUT" gate="G$1" x="68.58" y="-73.66" rot="MR90"/>
+<instance part="R1" gate="G$1" x="-15.24" y="48.26"/>
+<instance part="R3" gate="G$1" x="25.4" y="66.04"/>
+<instance part="R2" gate="G$1" x="-12.7" y="-7.62"/>
+<instance part="V_SET" gate="G$1" x="-30.48" y="-7.62"/>
+<instance part="R24" gate="G$1" x="-30.48" y="7.62" rot="R90"/>
+<instance part="R25" gate="G$1" x="-30.48" y="-22.86" rot="R90"/>
+<instance part="P+1" gate="1" x="40.64" y="-58.42"/>
+<instance part="P-1" gate="1" x="30.48" y="-91.44"/>
+<instance part="R5" gate="G$1" x="48.26" y="60.96" rot="R90"/>
+<instance part="C1" gate="G$1" x="-17.78" y="-12.7" rot="R90"/>
+<instance part="P+2" gate="1" x="-30.48" y="17.78"/>
+<instance part="P-2" gate="1" x="-30.48" y="-35.56" smashed="yes">
+<attribute name="VALUE" x="-35.56" y="-35.56" size="1.778" layer="96" rot="R270"/>
 </instance>
-<instance part="P-3" gate="1" x="-38.1" y="30.48"/>
-<instance part="P-4" gate="1" x="170.18" y="15.24"/>
-<instance part="P+3" gate="1" x="-38.1" y="63.5"/>
-<instance part="P+4" gate="1" x="170.18" y="53.34"/>
-<instance part="P+5" gate="1" x="50.8" y="60.96"/>
-<instance part="P-5" gate="1" x="50.8" y="30.48"/>
-<instance part="SUPPLY2" gate="GND" x="10.16" y="-22.86"/>
-<instance part="SUPPLY3" gate="GND" x="162.56" y="12.7"/>
-<instance part="SUPPLY4" gate="GND" x="81.28" y="60.96"/>
-<instance part="SUPPLY1" gate="GND" x="12.7" y="88.9"/>
-<instance part="C6" gate="G$1" x="170.18" y="58.42"/>
-<instance part="C5" gate="G$1" x="170.18" y="68.58"/>
-<instance part="R7" gate="G$1" x="170.18" y="78.74"/>
+<instance part="P-3" gate="1" x="-45.72" y="30.48"/>
+<instance part="P-4" gate="1" x="170.18" y="25.4"/>
+<instance part="P+3" gate="1" x="-45.72" y="63.5"/>
+<instance part="P+4" gate="1" x="170.18" y="63.5"/>
+<instance part="P+5" gate="1" x="22.86" y="60.96"/>
+<instance part="P-5" gate="1" x="22.86" y="25.4"/>
+<instance part="SUPPLY2" gate="GND" x="-17.78" y="-22.86"/>
+<instance part="SUPPLY3" gate="GND" x="162.56" y="22.86"/>
+<instance part="SUPPLY4" gate="GND" x="66.04" y="63.5"/>
+<instance part="SUPPLY1" gate="GND" x="35.56" y="-78.74"/>
+<instance part="C5" gate="G$1" x="175.26" y="78.74"/>
+<instance part="R7" gate="G$1" x="175.26" y="88.9"/>
 <instance part="P_GAIN" gate="G$1" x="139.7" y="-12.7"/>
-<instance part="I_GAIN" gate="G$1" x="190.5" y="7.62"/>
+<instance part="I_GAIN" gate="G$1" x="190.5" y="10.16"/>
 <instance part="SUPPLY5" gate="GND" x="139.7" y="-22.86"/>
-<instance part="SUPPLY6" gate="G$1" x="190.5" y="-2.54"/>
-<instance part="SUPPLY7" gate="GND" x="210.82" y="12.7"/>
-<instance part="P+6" gate="1" x="223.52" y="45.72"/>
-<instance part="P-6" gate="1" x="223.52" y="12.7"/>
-<instance part="R8" gate="G$1" x="200.66" y="30.48"/>
-<instance part="C9" gate="G$1" x="223.52" y="50.8"/>
-<instance part="BOOSTER_TOGGLE" gate="G$1" x="220.98" y="66.04" rot="MR270"/>
-<instance part="R10" gate="G$1" x="246.38" y="27.94"/>
-<instance part="R11" gate="G$1" x="261.62" y="45.72"/>
-<instance part="P+7" gate="1" x="259.08" y="43.18"/>
+<instance part="SUPPLY7" gate="GND" x="210.82" y="22.86"/>
+<instance part="P+6" gate="1" x="223.52" y="55.88"/>
+<instance part="P-6" gate="1" x="223.52" y="22.86"/>
+<instance part="R8" gate="G$1" x="200.66" y="40.64"/>
+<instance part="C9" gate="G$1" x="223.52" y="60.96"/>
+<instance part="BOOSTER_TOGGLE" gate="G$1" x="220.98" y="76.2" rot="MR270"/>
+<instance part="R10" gate="G$1" x="246.38" y="38.1"/>
+<instance part="R11" gate="G$1" x="264.16" y="60.96"/>
+<instance part="P+7" gate="1" x="259.08" y="53.34"/>
 <instance part="P+8" gate="1" x="287.02" y="5.08"/>
-<instance part="P-7" gate="1" x="259.08" y="12.7"/>
+<instance part="P-7" gate="1" x="259.08" y="22.86"/>
 <instance part="P-8" gate="1" x="287.02" y="-22.86"/>
-<instance part="SUPPLY8" gate="GND" x="251.46" y="7.62"/>
-<instance part="R12" gate="G$1" x="276.86" y="20.32" rot="R90"/>
-<instance part="R9" gate="G$1" x="205.74" y="7.62" rot="R180"/>
+<instance part="SUPPLY8" gate="GND" x="251.46" y="17.78"/>
+<instance part="R12" gate="G$1" x="276.86" y="15.24" rot="R90"/>
+<instance part="R9" gate="G$1" x="205.74" y="10.16" rot="R180"/>
 <instance part="R6" gate="G$1" x="256.54" y="-12.7" rot="R180"/>
 <instance part="R13" gate="G$1" x="289.56" y="10.16"/>
-<instance part="COMMON_AMP" gate="G$1" x="332.74" y="-12.7"/>
+<instance part="COMMON_AMP" gate="G$1" x="347.98" y="-12.7"/>
 <instance part="INVERT2" gate="G$1" x="109.22" y="43.18"/>
 <instance part="MOD_A" gate="G$1" x="342.9" y="71.12"/>
 <instance part="OUTPUT_ADDER" gate="G$1" x="434.34" y="-2.54"/>
-<instance part="P+9" gate="1" x="330.2" y="2.54"/>
-<instance part="P+10" gate="1" x="340.36" y="86.36"/>
+<instance part="P+9" gate="1" x="345.44" y="12.7"/>
+<instance part="P+10" gate="1" x="340.36" y="88.9"/>
 <instance part="P+11" gate="1" x="106.68" y="58.42"/>
 <instance part="P+12" gate="1" x="429.26" y="15.24"/>
-<instance part="P-9" gate="1" x="330.2" y="-27.94"/>
+<instance part="P-9" gate="1" x="345.44" y="-30.48"/>
 <instance part="P-10" gate="1" x="106.68" y="30.48"/>
 <instance part="P-11" gate="1" x="431.8" y="-17.78"/>
 <instance part="P-12" gate="1" x="340.36" y="55.88"/>
 <instance part="P-13" gate="1" x="378.46" y="-81.28"/>
-<instance part="R14" gate="G$1" x="314.96" y="-10.16"/>
-<instance part="COMMON_GAIN" gate="G$1" x="332.74" y="15.24" rot="R270"/>
-<instance part="INVERSION" gate="G$1" x="88.9" y="35.56" rot="MR270"/>
+<instance part="R14" gate="G$1" x="330.2" y="-10.16"/>
+<instance part="COMMON_GAIN" gate="G$1" x="347.98" y="25.4" rot="R270"/>
+<instance part="INV_SW" gate="G$1" x="88.9" y="35.56" rot="MR270"/>
 <instance part="MOD_GAIN" gate="G$1" x="342.9" y="99.06" rot="R270"/>
 <instance part="R15" gate="G$1" x="91.44" y="45.72"/>
 <instance part="R16" gate="G$1" x="106.68" y="66.04"/>
@@ -1195,95 +1174,99 @@ with the 10k pot for the proportional gain</text>
 <instance part="OFFSET" gate="G$1" x="378.46" y="-58.42"/>
 <instance part="P+13" gate="1" x="378.46" y="-30.48"/>
 <instance part="SUPPLY9" gate="GND" x="83.82" y="10.16"/>
-<instance part="SUPPLY10" gate="GND" x="332.74" y="53.34"/>
+<instance part="SUPPLY10" gate="GND" x="330.2" y="50.8"/>
 <instance part="SUPPLY11" gate="GND" x="299.72" y="-22.86"/>
 <instance part="R23" gate="G$1" x="320.04" y="73.66"/>
-<instance part="R17" gate="G$1" x="373.38" y="-12.7"/>
+<instance part="R17" gate="G$1" x="383.54" y="-12.7"/>
 <instance part="R21" gate="G$1" x="398.78" y="-58.42"/>
 <instance part="R18" gate="G$1" x="383.54" y="71.12"/>
 <instance part="MOD_IN" gate="." x="302.26" y="73.66" rot="MR0"/>
 <instance part="OUTPUT" gate="." x="474.98" y="2.54"/>
 <instance part="R22" gate="G$1" x="429.26" y="27.94"/>
-<instance part="SUPPLY12" gate="GND" x="299.72" y="58.42"/>
-<instance part="SUPPLY13" gate="GND" x="477.52" y="-15.24"/>
+<instance part="SUPPLY12" gate="GND" x="302.26" y="63.5"/>
+<instance part="SUPPLY13" gate="GND" x="474.98" y="-7.62"/>
 <instance part="SUPPLY14" gate="GND" x="426.72" y="-25.4"/>
 <instance part="SUPPLY15" gate="GND" x="393.7" y="-73.66"/>
 <instance part="C19" gate="G$1" x="393.7" y="-66.04" rot="R90"/>
-<instance part="C25" gate="G$1" x="27.94" y="99.06" rot="R90"/>
-<instance part="C26" gate="G$1" x="27.94" y="86.36" rot="R90"/>
-<instance part="C+" gate="G$1" x="7.62" y="99.06" rot="R90"/>
-<instance part="C-" gate="G$1" x="7.62" y="88.9" rot="R90"/>
-<instance part="SUPPLY16" gate="GND" x="-66.04" y="27.94" rot="MR0"/>
-<instance part="C0" gate="G$1" x="-33.02" y="60.96"/>
-<instance part="C2" gate="G$1" x="-40.64" y="35.56"/>
-<instance part="C4" gate="G$1" x="48.26" y="35.56"/>
-<instance part="C3" gate="G$1" x="58.42" y="58.42"/>
-<instance part="C7" gate="G$1" x="175.26" y="50.8"/>
-<instance part="C8" gate="G$1" x="175.26" y="20.32"/>
-<instance part="C10" gate="G$1" x="228.6" y="15.24"/>
-<instance part="C24" gate="G$1" x="228.6" y="43.18"/>
-<instance part="C11" gate="G$1" x="264.16" y="40.64"/>
-<instance part="C12" gate="G$1" x="264.16" y="15.24"/>
+<instance part="C25" gate="G$1" x="50.8" y="-68.58" rot="R90"/>
+<instance part="C26" gate="G$1" x="50.8" y="-81.28" rot="R90"/>
+<instance part="C+" gate="G$1" x="30.48" y="-68.58" rot="R90"/>
+<instance part="C-" gate="G$1" x="30.48" y="-78.74" rot="R90"/>
+<instance part="SUPPLY16" gate="GND" x="-71.12" y="33.02" rot="MR0"/>
+<instance part="C0" gate="G$1" x="-40.64" y="60.96"/>
+<instance part="C2" gate="G$1" x="-48.26" y="35.56"/>
+<instance part="C4" gate="G$1" x="27.94" y="33.02" rot="R180"/>
+<instance part="C3" gate="G$1" x="30.48" y="58.42"/>
+<instance part="C7" gate="G$1" x="175.26" y="60.96"/>
+<instance part="C8" gate="G$1" x="175.26" y="30.48"/>
+<instance part="C10" gate="G$1" x="228.6" y="25.4"/>
+<instance part="C24" gate="G$1" x="228.6" y="53.34"/>
+<instance part="C11" gate="G$1" x="264.16" y="50.8"/>
+<instance part="C12" gate="G$1" x="264.16" y="25.4"/>
 <instance part="C13" gate="G$1" x="294.64" y="2.54"/>
 <instance part="C14" gate="G$1" x="294.64" y="-20.32"/>
-<instance part="C20" gate="G$1" x="345.44" y="81.28"/>
-<instance part="C21" gate="G$1" x="345.44" y="60.96"/>
-<instance part="C15" gate="G$1" x="335.28" y="-2.54"/>
-<instance part="C16" gate="G$1" x="335.28" y="-22.86"/>
+<instance part="C20" gate="G$1" x="347.98" y="83.82"/>
+<instance part="C21" gate="G$1" x="347.98" y="60.96"/>
+<instance part="C15" gate="G$1" x="350.52" y="5.08"/>
+<instance part="C16" gate="G$1" x="350.52" y="-25.4"/>
 <instance part="C18" gate="G$1" x="114.3" y="33.02"/>
 <instance part="C17" gate="G$1" x="114.3" y="55.88"/>
 <instance part="C22" gate="G$1" x="434.34" y="12.7"/>
 <instance part="C23" gate="G$1" x="436.88" y="-12.7"/>
-<instance part="SUPPLY18" gate="GND" x="-27.94" y="58.42"/>
-<instance part="SUPPLY19" gate="GND" x="-45.72" y="33.02"/>
-<instance part="SUPPLY20" gate="GND" x="45.72" y="33.02"/>
-<instance part="SUPPLY21" gate="GND" x="180.34" y="17.78"/>
-<instance part="SUPPLY22" gate="GND" x="180.34" y="48.26"/>
-<instance part="SUPPLY23" gate="GND" x="233.68" y="40.64"/>
-<instance part="SUPPLY24" gate="GND" x="233.68" y="12.7"/>
-<instance part="SUPPLY25" gate="GND" x="269.24" y="12.7"/>
-<instance part="SUPPLY26" gate="GND" x="271.78" y="40.64" rot="R90"/>
+<instance part="SUPPLY18" gate="GND" x="-35.56" y="58.42"/>
+<instance part="SUPPLY19" gate="GND" x="-53.34" y="33.02"/>
+<instance part="SUPPLY20" gate="GND" x="33.02" y="27.94"/>
+<instance part="SUPPLY21" gate="GND" x="180.34" y="27.94"/>
+<instance part="SUPPLY22" gate="GND" x="180.34" y="58.42"/>
+<instance part="SUPPLY23" gate="GND" x="233.68" y="50.8"/>
+<instance part="SUPPLY24" gate="GND" x="233.68" y="22.86"/>
+<instance part="SUPPLY25" gate="GND" x="269.24" y="22.86"/>
+<instance part="SUPPLY26" gate="GND" x="271.78" y="50.8" rot="R90"/>
 <instance part="SUPPLY27" gate="GND" x="121.92" y="55.88" rot="R90"/>
 <instance part="SUPPLY28" gate="GND" x="121.92" y="30.48" rot="R90"/>
 <instance part="SUPPLY29" gate="GND" x="441.96" y="12.7" rot="R90"/>
 <instance part="SUPPLY30" gate="GND" x="444.5" y="-12.7" rot="R90"/>
-<instance part="SUPPLY31" gate="GND" x="63.5" y="58.42" rot="R90"/>
-<instance part="SUPPLY32" gate="GND" x="347.98" y="53.34"/>
-<instance part="SUPPLY33" gate="GND" x="350.52" y="76.2"/>
+<instance part="SUPPLY31" gate="GND" x="35.56" y="58.42" rot="R90"/>
+<instance part="SUPPLY32" gate="GND" x="355.6" y="58.42"/>
+<instance part="SUPPLY33" gate="GND" x="355.6" y="81.28"/>
 <instance part="SUPPLY34" gate="GND" x="299.72" y="2.54" rot="R90"/>
-<instance part="IN" gate="G$1" x="-50.8" y="45.72"/>
-<instance part="V_MOD" gate="G$1" x="312.42" y="76.2"/>
-<instance part="BUFF" gate="G$1" x="-22.86" y="48.26"/>
-<instance part="V+" gate="G$1" x="33.02" y="104.14"/>
-<instance part="GND" gate="G$1" x="33.02" y="93.98"/>
-<instance part="V-" gate="G$1" x="33.02" y="81.28"/>
-<instance part="V_SETT" gate="G$1" x="7.62" y="-7.62"/>
-<instance part="V_ERR" gate="G$1" x="66.04" y="43.18" rot="R180"/>
-<instance part="V_INT" gate="G$1" x="185.42" y="30.48"/>
-<instance part="V_INT2" gate="G$1" x="236.22" y="27.94"/>
-<instance part="V_INV2" gate="G$1" x="274.32" y="25.4"/>
+<instance part="IN" gate="G$1" x="-58.42" y="45.72"/>
+<instance part="BUFF" gate="G$1" x="-25.4" y="48.26"/>
+<instance part="V+" gate="G$1" x="55.88" y="-63.5"/>
+<instance part="GND" gate="G$1" x="55.88" y="-73.66"/>
+<instance part="V-" gate="G$1" x="55.88" y="-86.36"/>
+<instance part="SET_TP" gate="G$1" x="-20.32" y="-7.62"/>
+<instance part="V_ERR" gate="G$1" x="48.26" y="43.18" rot="R180"/>
+<instance part="V_INT" gate="G$1" x="185.42" y="40.64"/>
+<instance part="V_INT2" gate="G$1" x="236.22" y="38.1"/>
+<instance part="V_INV2" gate="G$1" x="284.48" y="40.64"/>
 <instance part="PI" gate="G$1" x="302.26" y="-10.16" rot="R180"/>
-<instance part="V_COM" gate="G$1" x="347.98" y="-12.7"/>
+<instance part="V_COM" gate="G$1" x="373.38" y="-12.7"/>
 <instance part="V_INV" gate="G$1" x="132.08" y="43.18" rot="R180"/>
-<instance part="V_MODG" gate="G$1" x="360.68" y="71.12"/>
+<instance part="V_MODG" gate="G$1" x="368.3" y="71.12"/>
 <instance part="OUT" gate="G$1" x="457.2" y="2.54"/>
 <instance part="V_OFF" gate="G$1" x="386.08" y="-58.42"/>
-<instance part="SUPPLY35" gate="GND" x="340.36" y="-5.08"/>
+<instance part="SUPPLY35" gate="GND" x="358.14" y="0"/>
 <instance part="FEEDBACK" gate="G$1" x="406.4" y="-10.16" rot="MR270"/>
-<instance part="R26" gate="G$1" x="43.18" y="38.1" rot="R90"/>
-<instance part="R27" gate="G$1" x="162.56" y="22.86" rot="R90"/>
-<instance part="R28" gate="G$1" x="210.82" y="20.32" rot="R90"/>
-<instance part="R29" gate="G$1" x="251.46" y="17.78" rot="R90"/>
-<instance part="R30" gate="G$1" x="317.5" y="-22.86" rot="R90"/>
+<instance part="R26" gate="G$1" x="15.24" y="35.56" rot="R90"/>
+<instance part="R27" gate="G$1" x="162.56" y="33.02" rot="R90"/>
+<instance part="R28" gate="G$1" x="210.82" y="30.48" rot="R90"/>
+<instance part="R29" gate="G$1" x="251.46" y="27.94" rot="R90"/>
+<instance part="R30" gate="G$1" x="332.74" y="-22.86" rot="R90"/>
 <instance part="R32" gate="G$1" x="83.82" y="22.86" rot="R90"/>
-<instance part="R33" gate="G$1" x="332.74" y="63.5" rot="R90"/>
+<instance part="R33" gate="G$1" x="330.2" y="60.96" rot="R90"/>
 <instance part="R34" gate="G$1" x="426.72" y="-12.7" rot="R90"/>
-<instance part="R4" gate="G$1" x="154.94" y="33.02"/>
-<instance part="SUPPLY17" gate="GND" x="43.18" y="27.94"/>
-<instance part="SUPPLY37" gate="GND" x="317.5" y="-33.02"/>
-<instance part="SUPPLY38" gate="GND" x="340.36" y="-30.48"/>
+<instance part="R4" gate="G$1" x="154.94" y="43.18"/>
+<instance part="SUPPLY17" gate="GND" x="15.24" y="22.86"/>
+<instance part="SUPPLY37" gate="GND" x="332.74" y="-33.02"/>
+<instance part="SUPPLY38" gate="GND" x="358.14" y="-33.02"/>
 <instance part="R31" gate="G$1" x="269.24" y="-25.4" rot="R90"/>
 <instance part="SUPPLY36" gate="GND" x="269.24" y="-38.1"/>
+<instance part="PI_OUT" gate="." x="317.5" y="-45.72"/>
+<instance part="SUPPLY39" gate="GND" x="317.5" y="-55.88"/>
+<instance part="R35" gate="G$1" x="309.88" y="-33.02" rot="R90"/>
+<instance part="SUPPLY6" gate="GND" x="190.5" y="0"/>
+<instance part="V_MODIN" gate="G$1" x="312.42" y="78.74"/>
 </instances>
 <busses>
 </busses>
@@ -1291,108 +1274,110 @@ with the 10k pot for the proportional gain</text>
 <net name="V_ERR" class="0">
 <segment>
 <pinref part="BUFFER" gate="G$1" pin="-IN"/>
-<wire x1="-43.18" y1="48.26" x2="-45.72" y2="48.26" width="0.1524" layer="91"/>
-<wire x1="-45.72" y1="48.26" x2="-45.72" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="-45.72" y1="66.04" x2="-25.4" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="-25.4" y1="66.04" x2="-25.4" y2="48.26" width="0.1524" layer="91"/>
+<wire x1="-50.8" y1="48.26" x2="-53.34" y2="48.26" width="0.1524" layer="91"/>
+<wire x1="-53.34" y1="48.26" x2="-53.34" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="-53.34" y1="66.04" x2="-33.02" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="-33.02" y1="66.04" x2="-33.02" y2="48.26" width="0.1524" layer="91"/>
 <pinref part="BUFFER" gate="G$1" pin="OUT"/>
-<wire x1="-25.4" y1="48.26" x2="-25.4" y2="45.72" width="0.1524" layer="91"/>
-<wire x1="-25.4" y1="45.72" x2="-27.94" y2="45.72" width="0.1524" layer="91"/>
+<wire x1="-33.02" y1="48.26" x2="-33.02" y2="45.72" width="0.1524" layer="91"/>
+<wire x1="-33.02" y1="45.72" x2="-35.56" y2="45.72" width="0.1524" layer="91"/>
 <pinref part="R1" gate="G$1" pin="1"/>
-<wire x1="-25.4" y1="48.26" x2="-22.86" y2="48.26" width="0.1524" layer="91"/>
-<junction x="-25.4" y="48.26"/>
+<wire x1="-33.02" y1="48.26" x2="-25.4" y2="48.26" width="0.1524" layer="91"/>
+<junction x="-33.02" y="48.26"/>
 <pinref part="BUFF" gate="G$1" pin="TP"/>
-<wire x1="-22.86" y1="48.26" x2="10.16" y2="48.26" width="0.1524" layer="91"/>
-<junction x="-22.86" y="48.26"/>
+<wire x1="-25.4" y1="48.26" x2="-20.32" y2="48.26" width="0.1524" layer="91"/>
+<junction x="-25.4" y="48.26"/>
 </segment>
 </net>
 <net name="V_SETT" class="0">
 <segment>
 <pinref part="V_SET" gate="G$1" pin="2"/>
 <pinref part="R2" gate="G$1" pin="1"/>
-<wire x1="-2.54" y1="-7.62" x2="7.62" y2="-7.62" width="0.1524" layer="91"/>
+<wire x1="-30.48" y1="-7.62" x2="-20.32" y2="-7.62" width="0.1524" layer="91"/>
 <pinref part="C1" gate="G$1" pin="2"/>
-<wire x1="7.62" y1="-7.62" x2="10.16" y2="-7.62" width="0.1524" layer="91"/>
-<wire x1="10.16" y1="-10.16" x2="10.16" y2="-7.62" width="0.1524" layer="91"/>
-<junction x="10.16" y="-7.62"/>
-<pinref part="V_SETT" gate="G$1" pin="TP"/>
-<junction x="7.62" y="-7.62"/>
+<wire x1="-20.32" y1="-7.62" x2="-17.78" y2="-7.62" width="0.1524" layer="91"/>
+<wire x1="-17.78" y1="-10.16" x2="-17.78" y2="-7.62" width="0.1524" layer="91"/>
+<junction x="-17.78" y="-7.62"/>
+<pinref part="SET_TP" gate="G$1" pin="TP"/>
+<junction x="-20.32" y="-7.62"/>
 </segment>
 </net>
 <net name="N$9" class="0">
 <segment>
-<pinref part="R2" gate="G$1" pin="2"/>
-<pinref part="R1" gate="G$1" pin="2"/>
-<wire x1="20.32" y1="-7.62" x2="20.32" y2="48.26" width="0.1524" layer="91"/>
 <pinref part="V_ERROR" gate="G$1" pin="-IN"/>
-<wire x1="20.32" y1="48.26" x2="45.72" y2="48.26" width="0.1524" layer="91"/>
-<junction x="20.32" y="48.26"/>
-<wire x1="45.72" y1="48.26" x2="45.72" y2="66.04" width="0.1524" layer="91"/>
-<junction x="45.72" y="48.26"/>
+<wire x1="-2.54" y1="48.26" x2="17.78" y2="48.26" width="0.1524" layer="91"/>
+<wire x1="17.78" y1="48.26" x2="17.78" y2="66.04" width="0.1524" layer="91"/>
+<junction x="17.78" y="48.26"/>
 <pinref part="R3" gate="G$1" pin="1"/>
-<wire x1="45.72" y1="66.04" x2="48.26" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="17.78" y1="66.04" x2="20.32" y2="66.04" width="0.1524" layer="91"/>
+<pinref part="R2" gate="G$1" pin="2"/>
+<wire x1="-7.62" y1="-7.62" x2="-2.54" y2="-7.62" width="0.1524" layer="91"/>
+<wire x1="-2.54" y1="-7.62" x2="-2.54" y2="48.26" width="0.1524" layer="91"/>
+<pinref part="R1" gate="G$1" pin="2"/>
+<wire x1="-10.16" y1="48.26" x2="-2.54" y2="48.26" width="0.1524" layer="91"/>
+<junction x="-2.54" y="48.26"/>
 </segment>
 </net>
 <net name="V+" class="0">
 <segment>
 <pinref part="POWER" gate="G$1" pin="1"/>
-<wire x1="2.54" y1="96.52" x2="2.54" y2="104.14" width="0.1524" layer="91"/>
-<wire x1="2.54" y1="104.14" x2="7.62" y2="104.14" width="0.1524" layer="91"/>
-<wire x1="7.62" y1="104.14" x2="17.78" y2="104.14" width="0.1524" layer="91"/>
-<wire x1="17.78" y1="104.14" x2="27.94" y2="104.14" width="0.1524" layer="91"/>
-<wire x1="27.94" y1="104.14" x2="33.02" y2="104.14" width="0.1524" layer="91"/>
+<wire x1="25.4" y1="-71.12" x2="25.4" y2="-63.5" width="0.1524" layer="91"/>
+<wire x1="25.4" y1="-63.5" x2="30.48" y2="-63.5" width="0.1524" layer="91"/>
+<wire x1="30.48" y1="-63.5" x2="40.64" y2="-63.5" width="0.1524" layer="91"/>
+<wire x1="40.64" y1="-63.5" x2="50.8" y2="-63.5" width="0.1524" layer="91"/>
+<wire x1="50.8" y1="-63.5" x2="55.88" y2="-63.5" width="0.1524" layer="91"/>
 <pinref part="P+1" gate="1" pin="V+"/>
-<wire x1="17.78" y1="106.68" x2="17.78" y2="104.14" width="0.1524" layer="91"/>
-<junction x="17.78" y="104.14"/>
+<wire x1="40.64" y1="-60.96" x2="40.64" y2="-63.5" width="0.1524" layer="91"/>
+<junction x="40.64" y="-63.5"/>
 <pinref part="C25" gate="G$1" pin="2"/>
-<wire x1="27.94" y1="104.14" x2="27.94" y2="101.6" width="0.1524" layer="91"/>
-<junction x="27.94" y="104.14"/>
+<wire x1="50.8" y1="-63.5" x2="50.8" y2="-66.04" width="0.1524" layer="91"/>
+<junction x="50.8" y="-63.5"/>
 <pinref part="C+" gate="G$1" pin="+"/>
-<wire x1="7.62" y1="101.6" x2="7.62" y2="104.14" width="0.1524" layer="91"/>
-<junction x="7.62" y="104.14"/>
+<wire x1="30.48" y1="-66.04" x2="30.48" y2="-63.5" width="0.1524" layer="91"/>
+<junction x="30.48" y="-63.5"/>
 <pinref part="V+" gate="G$1" pin="TP"/>
 <pinref part="PWR_OUT" gate="G$1" pin="1"/>
-<wire x1="43.18" y1="96.52" x2="40.64" y2="96.52" width="0.1524" layer="91"/>
-<wire x1="40.64" y1="96.52" x2="40.64" y2="104.14" width="0.1524" layer="91"/>
-<wire x1="40.64" y1="104.14" x2="33.02" y2="104.14" width="0.1524" layer="91"/>
-<junction x="33.02" y="104.14"/>
+<wire x1="66.04" y1="-71.12" x2="63.5" y2="-71.12" width="0.1524" layer="91"/>
+<wire x1="63.5" y1="-71.12" x2="63.5" y2="-63.5" width="0.1524" layer="91"/>
+<wire x1="63.5" y1="-63.5" x2="55.88" y2="-63.5" width="0.1524" layer="91"/>
+<junction x="55.88" y="-63.5"/>
 </segment>
 <segment>
 <pinref part="P+5" gate="1" pin="V+"/>
 <pinref part="C3" gate="G$1" pin="1"/>
-<wire x1="55.88" y1="58.42" x2="50.8" y2="58.42" width="0.1524" layer="91"/>
+<wire x1="27.94" y1="58.42" x2="22.86" y2="58.42" width="0.1524" layer="91"/>
 <pinref part="V_ERROR" gate="G$1" pin="V+"/>
-<wire x1="50.8" y1="53.34" x2="50.8" y2="58.42" width="0.1524" layer="91"/>
-<junction x="50.8" y="58.42"/>
+<wire x1="22.86" y1="53.34" x2="22.86" y2="58.42" width="0.1524" layer="91"/>
+<junction x="22.86" y="58.42"/>
 </segment>
 <segment>
 <pinref part="BUFFER" gate="G$1" pin="V+"/>
 <pinref part="P+3" gate="1" pin="V+"/>
-<wire x1="-38.1" y1="53.34" x2="-38.1" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="-45.72" y1="53.34" x2="-45.72" y2="60.96" width="0.1524" layer="91"/>
 <pinref part="C0" gate="G$1" pin="1"/>
-<junction x="-38.1" y="60.96"/>
-<wire x1="-38.1" y1="60.96" x2="-35.56" y2="60.96" width="0.1524" layer="91"/>
+<junction x="-45.72" y="60.96"/>
+<wire x1="-45.72" y1="60.96" x2="-43.18" y2="60.96" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="P+2" gate="1" pin="V+"/>
 <pinref part="R24" gate="G$1" pin="2"/>
-<wire x1="-2.54" y1="15.24" x2="-2.54" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="-30.48" y1="15.24" x2="-30.48" y2="12.7" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="P+4" gate="1" pin="V+"/>
 <pinref part="INT" gate="G$1" pin="V+"/>
-<wire x1="170.18" y1="50.8" x2="170.18" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="170.18" y1="60.96" x2="170.18" y2="48.26" width="0.1524" layer="91"/>
 <pinref part="C7" gate="G$1" pin="1"/>
-<wire x1="170.18" y1="50.8" x2="172.72" y2="50.8" width="0.1524" layer="91"/>
-<junction x="170.18" y="50.8"/>
+<wire x1="170.18" y1="60.96" x2="172.72" y2="60.96" width="0.1524" layer="91"/>
+<junction x="170.18" y="60.96"/>
 </segment>
 <segment>
 <pinref part="BOOSTER" gate="G$1" pin="V+"/>
 <pinref part="P+6" gate="1" pin="V+"/>
-<wire x1="223.52" y1="35.56" x2="223.52" y2="43.18" width="0.1524" layer="91"/>
+<wire x1="223.52" y1="45.72" x2="223.52" y2="53.34" width="0.1524" layer="91"/>
 <pinref part="C24" gate="G$1" pin="1"/>
-<wire x1="226.06" y1="43.18" x2="223.52" y2="43.18" width="0.1524" layer="91"/>
-<junction x="223.52" y="43.18"/>
+<wire x1="226.06" y1="53.34" x2="223.52" y2="53.34" width="0.1524" layer="91"/>
+<junction x="223.52" y="53.34"/>
 </segment>
 <segment>
 <pinref part="P+8" gate="1" pin="V+"/>
@@ -1405,19 +1390,19 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="P+7" gate="1" pin="V+"/>
 <pinref part="INVERT1" gate="G$1" pin="V+"/>
-<wire x1="259.08" y1="40.64" x2="259.08" y2="33.02" width="0.1524" layer="91"/>
+<wire x1="259.08" y1="50.8" x2="259.08" y2="43.18" width="0.1524" layer="91"/>
 <pinref part="C11" gate="G$1" pin="1"/>
-<wire x1="259.08" y1="40.64" x2="261.62" y2="40.64" width="0.1524" layer="91"/>
-<junction x="259.08" y="40.64"/>
+<wire x1="259.08" y1="50.8" x2="261.62" y2="50.8" width="0.1524" layer="91"/>
+<junction x="259.08" y="50.8"/>
 </segment>
 <segment>
 <pinref part="P+9" gate="1" pin="V+"/>
 <pinref part="COMMON_AMP" gate="G$1" pin="V+"/>
-<wire x1="330.2" y1="0" x2="330.2" y2="-2.54" width="0.1524" layer="91"/>
+<wire x1="345.44" y1="10.16" x2="345.44" y2="5.08" width="0.1524" layer="91"/>
 <pinref part="C15" gate="G$1" pin="1"/>
-<wire x1="330.2" y1="-2.54" x2="330.2" y2="-5.08" width="0.1524" layer="91"/>
-<wire x1="330.2" y1="-2.54" x2="332.74" y2="-2.54" width="0.1524" layer="91"/>
-<junction x="330.2" y="-2.54"/>
+<wire x1="345.44" y1="5.08" x2="345.44" y2="-5.08" width="0.1524" layer="91"/>
+<wire x1="345.44" y1="5.08" x2="347.98" y2="5.08" width="0.1524" layer="91"/>
+<junction x="345.44" y="5.08"/>
 </segment>
 <segment>
 <pinref part="P+11" gate="1" pin="V+"/>
@@ -1430,11 +1415,11 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="MOD_A" gate="G$1" pin="V+"/>
 <pinref part="P+10" gate="1" pin="V+"/>
-<wire x1="340.36" y1="78.74" x2="340.36" y2="81.28" width="0.1524" layer="91"/>
+<wire x1="340.36" y1="78.74" x2="340.36" y2="83.82" width="0.1524" layer="91"/>
 <pinref part="C20" gate="G$1" pin="1"/>
-<wire x1="340.36" y1="81.28" x2="340.36" y2="83.82" width="0.1524" layer="91"/>
-<wire x1="340.36" y1="81.28" x2="342.9" y2="81.28" width="0.1524" layer="91"/>
-<junction x="340.36" y="81.28"/>
+<wire x1="340.36" y1="83.82" x2="340.36" y2="86.36" width="0.1524" layer="91"/>
+<wire x1="340.36" y1="83.82" x2="345.44" y2="83.82" width="0.1524" layer="91"/>
+<junction x="340.36" y="83.82"/>
 </segment>
 <segment>
 <pinref part="P+12" gate="1" pin="V+"/>
@@ -1454,54 +1439,55 @@ with the 10k pot for the proportional gain</text>
 <net name="V-" class="0">
 <segment>
 <pinref part="POWER" gate="G$1" pin="3"/>
-<wire x1="2.54" y1="91.44" x2="2.54" y2="81.28" width="0.1524" layer="91"/>
-<wire x1="2.54" y1="81.28" x2="7.62" y2="81.28" width="0.1524" layer="91"/>
-<wire x1="7.62" y1="81.28" x2="27.94" y2="81.28" width="0.1524" layer="91"/>
-<wire x1="27.94" y1="81.28" x2="33.02" y2="81.28" width="0.1524" layer="91"/>
+<wire x1="25.4" y1="-76.2" x2="25.4" y2="-86.36" width="0.1524" layer="91"/>
+<wire x1="25.4" y1="-86.36" x2="30.48" y2="-86.36" width="0.1524" layer="91"/>
+<wire x1="30.48" y1="-86.36" x2="50.8" y2="-86.36" width="0.1524" layer="91"/>
+<wire x1="50.8" y1="-86.36" x2="55.88" y2="-86.36" width="0.1524" layer="91"/>
 <pinref part="P-1" gate="1" pin="V-"/>
-<wire x1="7.62" y1="78.74" x2="7.62" y2="81.28" width="0.1524" layer="91"/>
-<junction x="7.62" y="81.28"/>
+<wire x1="30.48" y1="-88.9" x2="30.48" y2="-86.36" width="0.1524" layer="91"/>
+<junction x="30.48" y="-86.36"/>
 <pinref part="C26" gate="G$1" pin="1"/>
-<wire x1="27.94" y1="83.82" x2="27.94" y2="81.28" width="0.1524" layer="91"/>
-<junction x="27.94" y="81.28"/>
+<wire x1="50.8" y1="-83.82" x2="50.8" y2="-86.36" width="0.1524" layer="91"/>
+<junction x="50.8" y="-86.36"/>
 <pinref part="C-" gate="G$1" pin="-"/>
-<wire x1="7.62" y1="81.28" x2="7.62" y2="86.36" width="0.1524" layer="91"/>
+<wire x1="30.48" y1="-86.36" x2="30.48" y2="-81.28" width="0.1524" layer="91"/>
 <pinref part="V-" gate="G$1" pin="TP"/>
 <pinref part="PWR_OUT" gate="G$1" pin="3"/>
-<wire x1="43.18" y1="91.44" x2="40.64" y2="91.44" width="0.1524" layer="91"/>
-<wire x1="40.64" y1="91.44" x2="40.64" y2="81.28" width="0.1524" layer="91"/>
-<wire x1="40.64" y1="81.28" x2="33.02" y2="81.28" width="0.1524" layer="91"/>
-<junction x="33.02" y="81.28"/>
+<wire x1="66.04" y1="-76.2" x2="63.5" y2="-76.2" width="0.1524" layer="91"/>
+<wire x1="63.5" y1="-76.2" x2="63.5" y2="-86.36" width="0.1524" layer="91"/>
+<wire x1="63.5" y1="-86.36" x2="55.88" y2="-86.36" width="0.1524" layer="91"/>
+<junction x="55.88" y="-86.36"/>
 </segment>
 <segment>
 <pinref part="V_ERROR" gate="G$1" pin="V-"/>
 <pinref part="P-5" gate="1" pin="V-"/>
-<wire x1="50.8" y1="38.1" x2="50.8" y2="35.56" width="0.1524" layer="91"/>
+<wire x1="22.86" y1="38.1" x2="22.86" y2="33.02" width="0.1524" layer="91"/>
 <pinref part="C4" gate="G$1" pin="2"/>
-<wire x1="50.8" y1="35.56" x2="50.8" y2="33.02" width="0.1524" layer="91"/>
-<junction x="50.8" y="35.56"/>
+<wire x1="22.86" y1="33.02" x2="22.86" y2="27.94" width="0.1524" layer="91"/>
+<wire x1="25.4" y1="33.02" x2="22.86" y2="33.02" width="0.1524" layer="91"/>
+<junction x="22.86" y="33.02"/>
 </segment>
 <segment>
 <pinref part="INT" gate="G$1" pin="V-"/>
 <pinref part="P-4" gate="1" pin="V-"/>
-<wire x1="170.18" y1="22.86" x2="170.18" y2="20.32" width="0.1524" layer="91"/>
+<wire x1="170.18" y1="33.02" x2="170.18" y2="30.48" width="0.1524" layer="91"/>
 <pinref part="C8" gate="G$1" pin="1"/>
-<wire x1="170.18" y1="20.32" x2="170.18" y2="17.78" width="0.1524" layer="91"/>
-<wire x1="172.72" y1="20.32" x2="170.18" y2="20.32" width="0.1524" layer="91"/>
-<junction x="170.18" y="20.32"/>
+<wire x1="170.18" y1="30.48" x2="170.18" y2="27.94" width="0.1524" layer="91"/>
+<wire x1="172.72" y1="30.48" x2="170.18" y2="30.48" width="0.1524" layer="91"/>
+<junction x="170.18" y="30.48"/>
 </segment>
 <segment>
 <pinref part="R25" gate="G$1" pin="1"/>
 <pinref part="P-2" gate="1" pin="V-"/>
-<wire x1="-2.54" y1="-27.94" x2="-2.54" y2="-30.48" width="0.1524" layer="91"/>
+<wire x1="-30.48" y1="-27.94" x2="-30.48" y2="-33.02" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="BOOSTER" gate="G$1" pin="V-"/>
 <pinref part="P-6" gate="1" pin="V-"/>
-<wire x1="223.52" y1="20.32" x2="223.52" y2="15.24" width="0.1524" layer="91"/>
+<wire x1="223.52" y1="30.48" x2="223.52" y2="25.4" width="0.1524" layer="91"/>
 <pinref part="C10" gate="G$1" pin="1"/>
-<wire x1="223.52" y1="15.24" x2="226.06" y2="15.24" width="0.1524" layer="91"/>
-<junction x="223.52" y="15.24"/>
+<wire x1="223.52" y1="25.4" x2="226.06" y2="25.4" width="0.1524" layer="91"/>
+<junction x="223.52" y="25.4"/>
 </segment>
 <segment>
 <pinref part="PID_ADDER" gate="G$1" pin="V-"/>
@@ -1514,18 +1500,18 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="INVERT1" gate="G$1" pin="V-"/>
 <pinref part="P-7" gate="1" pin="V-"/>
-<wire x1="259.08" y1="17.78" x2="259.08" y2="15.24" width="0.1524" layer="91"/>
+<wire x1="259.08" y1="27.94" x2="259.08" y2="25.4" width="0.1524" layer="91"/>
 <pinref part="C12" gate="G$1" pin="1"/>
-<wire x1="259.08" y1="15.24" x2="261.62" y2="15.24" width="0.1524" layer="91"/>
-<junction x="259.08" y="15.24"/>
+<wire x1="259.08" y1="25.4" x2="261.62" y2="25.4" width="0.1524" layer="91"/>
+<junction x="259.08" y="25.4"/>
 </segment>
 <segment>
 <pinref part="COMMON_AMP" gate="G$1" pin="V-"/>
 <pinref part="P-9" gate="1" pin="V-"/>
-<wire x1="330.2" y1="-20.32" x2="330.2" y2="-22.86" width="0.1524" layer="91"/>
-<wire x1="330.2" y1="-22.86" x2="330.2" y2="-25.4" width="0.1524" layer="91"/>
-<wire x1="332.74" y1="-22.86" x2="330.2" y2="-22.86" width="0.1524" layer="91"/>
-<junction x="330.2" y="-22.86"/>
+<wire x1="345.44" y1="-20.32" x2="345.44" y2="-25.4" width="0.1524" layer="91"/>
+<wire x1="345.44" y1="-25.4" x2="345.44" y2="-27.94" width="0.1524" layer="91"/>
+<wire x1="347.98" y1="-25.4" x2="345.44" y2="-25.4" width="0.1524" layer="91"/>
+<junction x="345.44" y="-25.4"/>
 <pinref part="C16" gate="G$1" pin="1"/>
 </segment>
 <segment>
@@ -1542,7 +1528,7 @@ with the 10k pot for the proportional gain</text>
 <wire x1="340.36" y1="63.5" x2="340.36" y2="60.96" width="0.1524" layer="91"/>
 <pinref part="C21" gate="G$1" pin="1"/>
 <wire x1="340.36" y1="60.96" x2="340.36" y2="58.42" width="0.1524" layer="91"/>
-<wire x1="340.36" y1="60.96" x2="342.9" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="340.36" y1="60.96" x2="345.44" y2="60.96" width="0.1524" layer="91"/>
 <junction x="340.36" y="60.96"/>
 </segment>
 <segment>
@@ -1562,71 +1548,62 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="BUFFER" gate="G$1" pin="V-"/>
 <pinref part="P-3" gate="1" pin="V-"/>
-<wire x1="-38.1" y1="38.1" x2="-38.1" y2="35.56" width="0.1524" layer="91"/>
+<wire x1="-45.72" y1="38.1" x2="-45.72" y2="35.56" width="0.1524" layer="91"/>
 <pinref part="C2" gate="G$1" pin="2"/>
-<wire x1="-38.1" y1="35.56" x2="-38.1" y2="33.02" width="0.1524" layer="91"/>
-<junction x="-38.1" y="35.56"/>
+<wire x1="-45.72" y1="35.56" x2="-45.72" y2="33.02" width="0.1524" layer="91"/>
+<junction x="-45.72" y="35.56"/>
 </segment>
 </net>
 <net name="R5" class="0">
 <segment>
 <pinref part="INT" gate="G$1" pin="-IN"/>
-<wire x1="162.56" y1="33.02" x2="165.1" y2="33.02" width="0.1524" layer="91"/>
-<wire x1="162.56" y1="33.02" x2="162.56" y2="58.42" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="43.18" x2="165.1" y2="43.18" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="43.18" x2="162.56" y2="78.74" width="0.1524" layer="91"/>
 <pinref part="R7" gate="G$1" pin="1"/>
-<wire x1="162.56" y1="58.42" x2="162.56" y2="68.58" width="0.1524" layer="91"/>
-<wire x1="162.56" y1="68.58" x2="162.56" y2="78.74" width="0.1524" layer="91"/>
-<wire x1="162.56" y1="78.74" x2="165.1" y2="78.74" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="78.74" x2="162.56" y2="88.9" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="88.9" x2="170.18" y2="88.9" width="0.1524" layer="91"/>
 <pinref part="C5" gate="G$1" pin="1"/>
-<wire x1="167.64" y1="68.58" x2="162.56" y2="68.58" width="0.1524" layer="91"/>
-<junction x="162.56" y="68.58"/>
-<pinref part="C6" gate="G$1" pin="1"/>
-<wire x1="167.64" y1="58.42" x2="162.56" y2="58.42" width="0.1524" layer="91"/>
-<junction x="162.56" y="58.42"/>
+<wire x1="172.72" y1="78.74" x2="162.56" y2="78.74" width="0.1524" layer="91"/>
+<junction x="162.56" y="78.74"/>
 <pinref part="R4" gate="G$1" pin="2"/>
-<wire x1="160.02" y1="33.02" x2="162.56" y2="33.02" width="0.1524" layer="91"/>
-<junction x="162.56" y="33.02"/>
+<wire x1="160.02" y1="43.18" x2="162.56" y2="43.18" width="0.1524" layer="91"/>
+<junction x="162.56" y="43.18"/>
 </segment>
 </net>
 <net name="GND" class="0">
 <segment>
 <pinref part="C1" gate="G$1" pin="1"/>
 <pinref part="SUPPLY2" gate="GND" pin="GND"/>
-<wire x1="10.16" y1="-15.24" x2="10.16" y2="-20.32" width="0.1524" layer="91"/>
+<wire x1="-17.78" y1="-15.24" x2="-17.78" y2="-20.32" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="SUPPLY4" gate="GND" pin="GND"/>
-<wire x1="81.28" y1="63.5" x2="81.28" y2="66.04" width="0.1524" layer="91"/>
-<pinref part="MONITOR" gate="." pin="SHIELD1"/>
-<pinref part="MONITOR" gate="." pin="SHIELD2"/>
-<wire x1="81.28" y1="66.04" x2="81.28" y2="71.12" width="0.1524" layer="91"/>
-<wire x1="78.74" y1="71.12" x2="78.74" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="78.74" y1="66.04" x2="81.28" y2="66.04" width="0.1524" layer="91"/>
-<junction x="81.28" y="66.04"/>
+<pinref part="ERROR" gate="." pin="SHIELD1"/>
+<wire x1="66.04" y1="66.04" x2="66.04" y2="68.58" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="POWER" gate="G$1" pin="2"/>
-<wire x1="2.54" y1="93.98" x2="7.62" y2="93.98" width="0.1524" layer="91"/>
-<wire x1="7.62" y1="93.98" x2="12.7" y2="93.98" width="0.1524" layer="91"/>
-<wire x1="12.7" y1="93.98" x2="27.94" y2="93.98" width="0.1524" layer="91"/>
-<wire x1="27.94" y1="93.98" x2="33.02" y2="93.98" width="0.1524" layer="91"/>
+<wire x1="25.4" y1="-73.66" x2="30.48" y2="-73.66" width="0.1524" layer="91"/>
+<wire x1="30.48" y1="-73.66" x2="35.56" y2="-73.66" width="0.1524" layer="91"/>
+<wire x1="35.56" y1="-73.66" x2="50.8" y2="-73.66" width="0.1524" layer="91"/>
+<wire x1="50.8" y1="-73.66" x2="55.88" y2="-73.66" width="0.1524" layer="91"/>
 <pinref part="SUPPLY1" gate="GND" pin="GND"/>
-<wire x1="12.7" y1="91.44" x2="12.7" y2="93.98" width="0.1524" layer="91"/>
-<junction x="12.7" y="93.98"/>
+<wire x1="35.56" y1="-76.2" x2="35.56" y2="-73.66" width="0.1524" layer="91"/>
+<junction x="35.56" y="-73.66"/>
 <pinref part="C25" gate="G$1" pin="1"/>
-<wire x1="27.94" y1="96.52" x2="27.94" y2="93.98" width="0.1524" layer="91"/>
-<junction x="27.94" y="93.98"/>
+<wire x1="50.8" y1="-71.12" x2="50.8" y2="-73.66" width="0.1524" layer="91"/>
+<junction x="50.8" y="-73.66"/>
 <pinref part="C26" gate="G$1" pin="2"/>
-<wire x1="27.94" y1="93.98" x2="27.94" y2="88.9" width="0.1524" layer="91"/>
+<wire x1="50.8" y1="-73.66" x2="50.8" y2="-78.74" width="0.1524" layer="91"/>
 <pinref part="C-" gate="G$1" pin="+"/>
-<wire x1="7.62" y1="91.44" x2="7.62" y2="93.98" width="0.1524" layer="91"/>
-<junction x="7.62" y="93.98"/>
+<wire x1="30.48" y1="-76.2" x2="30.48" y2="-73.66" width="0.1524" layer="91"/>
+<junction x="30.48" y="-73.66"/>
 <pinref part="C+" gate="G$1" pin="-"/>
-<wire x1="7.62" y1="93.98" x2="7.62" y2="96.52" width="0.1524" layer="91"/>
+<wire x1="30.48" y1="-73.66" x2="30.48" y2="-71.12" width="0.1524" layer="91"/>
 <pinref part="GND" gate="G$1" pin="TP"/>
 <pinref part="PWR_OUT" gate="G$1" pin="2"/>
-<wire x1="43.18" y1="93.98" x2="33.02" y2="93.98" width="0.1524" layer="91"/>
-<junction x="33.02" y="93.98"/>
+<wire x1="66.04" y1="-73.66" x2="55.88" y2="-73.66" width="0.1524" layer="91"/>
+<junction x="55.88" y="-73.66"/>
 </segment>
 <segment>
 <pinref part="SUPPLY5" gate="GND" pin="GND"/>
@@ -1634,19 +1611,9 @@ with the 10k pot for the proportional gain</text>
 <wire x1="139.7" y1="-20.32" x2="139.7" y2="-17.78" width="0.1524" layer="91"/>
 </segment>
 <segment>
-<pinref part="SUPPLY6" gate="G$1" pin="GND1"/>
-<pinref part="I_GAIN" gate="G$1" pin="1"/>
-<wire x1="190.5" y1="0" x2="190.5" y2="2.54" width="0.1524" layer="91"/>
-</segment>
-<segment>
 <pinref part="OUTPUT" gate="." pin="SHIELD1"/>
 <pinref part="SUPPLY13" gate="GND" pin="GND"/>
-<wire x1="477.52" y1="-2.54" x2="477.52" y2="-7.62" width="0.1524" layer="91"/>
-<pinref part="OUTPUT" gate="." pin="SHIELD2"/>
-<wire x1="477.52" y1="-7.62" x2="477.52" y2="-12.7" width="0.1524" layer="91"/>
-<wire x1="474.98" y1="-2.54" x2="474.98" y2="-7.62" width="0.1524" layer="91"/>
-<wire x1="474.98" y1="-7.62" x2="477.52" y2="-7.62" width="0.1524" layer="91"/>
-<junction x="477.52" y="-7.62"/>
+<wire x1="474.98" y1="-2.54" x2="474.98" y2="-5.08" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C19" gate="G$1" pin="1"/>
@@ -1656,46 +1623,48 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="C0" gate="G$1" pin="2"/>
 <pinref part="SUPPLY18" gate="GND" pin="GND"/>
-<wire x1="-27.94" y1="60.96" x2="-30.48" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="-35.56" y1="60.96" x2="-38.1" y2="60.96" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C4" gate="G$1" pin="1"/>
 <pinref part="SUPPLY20" gate="GND" pin="GND"/>
+<wire x1="30.48" y1="33.02" x2="33.02" y2="33.02" width="0.1524" layer="91"/>
+<wire x1="33.02" y1="33.02" x2="33.02" y2="30.48" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C2" gate="G$1" pin="1"/>
 <pinref part="SUPPLY19" gate="GND" pin="GND"/>
-<wire x1="-43.18" y1="35.56" x2="-45.72" y2="35.56" width="0.1524" layer="91"/>
+<wire x1="-50.8" y1="35.56" x2="-53.34" y2="35.56" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C8" gate="G$1" pin="2"/>
 <pinref part="SUPPLY21" gate="GND" pin="GND"/>
-<wire x1="177.8" y1="20.32" x2="180.34" y2="20.32" width="0.1524" layer="91"/>
+<wire x1="177.8" y1="30.48" x2="180.34" y2="30.48" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C7" gate="G$1" pin="2"/>
 <pinref part="SUPPLY22" gate="GND" pin="GND"/>
-<wire x1="177.8" y1="50.8" x2="180.34" y2="50.8" width="0.1524" layer="91"/>
+<wire x1="177.8" y1="60.96" x2="180.34" y2="60.96" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C24" gate="G$1" pin="2"/>
 <pinref part="SUPPLY23" gate="GND" pin="GND"/>
-<wire x1="231.14" y1="43.18" x2="233.68" y2="43.18" width="0.1524" layer="91"/>
+<wire x1="231.14" y1="53.34" x2="233.68" y2="53.34" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C10" gate="G$1" pin="2"/>
 <pinref part="SUPPLY24" gate="GND" pin="GND"/>
-<wire x1="231.14" y1="15.24" x2="233.68" y2="15.24" width="0.1524" layer="91"/>
+<wire x1="231.14" y1="25.4" x2="233.68" y2="25.4" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C12" gate="G$1" pin="2"/>
 <pinref part="SUPPLY25" gate="GND" pin="GND"/>
-<wire x1="266.7" y1="15.24" x2="269.24" y2="15.24" width="0.1524" layer="91"/>
+<wire x1="266.7" y1="25.4" x2="269.24" y2="25.4" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C11" gate="G$1" pin="2"/>
 <pinref part="SUPPLY26" gate="GND" pin="GND"/>
-<wire x1="266.7" y1="40.64" x2="269.24" y2="40.64" width="0.1524" layer="91"/>
+<wire x1="266.7" y1="50.8" x2="269.24" y2="50.8" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C17" gate="G$1" pin="2"/>
@@ -1729,43 +1698,33 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="C20" gate="G$1" pin="2"/>
 <pinref part="SUPPLY33" gate="GND" pin="GND"/>
-<wire x1="347.98" y1="81.28" x2="350.52" y2="81.28" width="0.1524" layer="91"/>
-<wire x1="350.52" y1="81.28" x2="350.52" y2="78.74" width="0.1524" layer="91"/>
+<wire x1="350.52" y1="83.82" x2="355.6" y2="83.82" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C21" gate="G$1" pin="2"/>
 <pinref part="SUPPLY32" gate="GND" pin="GND"/>
-<wire x1="347.98" y1="60.96" x2="347.98" y2="55.88" width="0.1524" layer="91"/>
+<wire x1="350.52" y1="60.96" x2="355.6" y2="60.96" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C15" gate="G$1" pin="2"/>
 <pinref part="SUPPLY35" gate="GND" pin="GND"/>
-<wire x1="337.82" y1="-2.54" x2="340.36" y2="-2.54" width="0.1524" layer="91"/>
+<wire x1="353.06" y1="5.08" x2="358.14" y2="5.08" width="0.1524" layer="91"/>
+<wire x1="358.14" y1="5.08" x2="358.14" y2="2.54" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="INPUT" gate="." pin="SHIELD1"/>
 <pinref part="SUPPLY16" gate="GND" pin="GND"/>
-<wire x1="-66.04" y1="38.1" x2="-66.04" y2="35.56" width="0.1524" layer="91"/>
-<pinref part="INPUT" gate="." pin="SHIELD2"/>
-<wire x1="-66.04" y1="35.56" x2="-66.04" y2="30.48" width="0.1524" layer="91"/>
-<wire x1="-63.5" y1="38.1" x2="-63.5" y2="35.56" width="0.1524" layer="91"/>
-<wire x1="-63.5" y1="35.56" x2="-66.04" y2="35.56" width="0.1524" layer="91"/>
-<junction x="-66.04" y="35.56"/>
+<wire x1="-71.12" y1="38.1" x2="-71.12" y2="35.56" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="MOD_IN" gate="." pin="SHIELD1"/>
 <pinref part="SUPPLY12" gate="GND" pin="GND"/>
-<wire x1="299.72" y1="68.58" x2="299.72" y2="66.04" width="0.1524" layer="91"/>
-<pinref part="MOD_IN" gate="." pin="SHIELD2"/>
-<wire x1="299.72" y1="66.04" x2="299.72" y2="60.96" width="0.1524" layer="91"/>
 <wire x1="302.26" y1="68.58" x2="302.26" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="302.26" y1="66.04" x2="299.72" y2="66.04" width="0.1524" layer="91"/>
-<junction x="299.72" y="66.04"/>
 </segment>
 <segment>
 <pinref part="R27" gate="G$1" pin="1"/>
 <pinref part="SUPPLY3" gate="GND" pin="GND"/>
-<wire x1="162.56" y1="17.78" x2="162.56" y2="15.24" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="27.94" x2="162.56" y2="25.4" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="R28" gate="G$1" pin="1"/>
@@ -1774,7 +1733,7 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="R29" gate="G$1" pin="1"/>
 <pinref part="SUPPLY8" gate="GND" pin="GND"/>
-<wire x1="251.46" y1="12.7" x2="251.46" y2="10.16" width="0.1524" layer="91"/>
+<wire x1="251.46" y1="22.86" x2="251.46" y2="20.32" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="R32" gate="G$1" pin="1"/>
@@ -1784,7 +1743,7 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="R33" gate="G$1" pin="1"/>
 <pinref part="SUPPLY10" gate="GND" pin="GND"/>
-<wire x1="332.74" y1="58.42" x2="332.74" y2="55.88" width="0.1524" layer="91"/>
+<wire x1="330.2" y1="55.88" x2="330.2" y2="53.34" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="R34" gate="G$1" pin="1"/>
@@ -1794,7 +1753,7 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="R26" gate="G$1" pin="1"/>
 <pinref part="SUPPLY17" gate="GND" pin="GND"/>
-<wire x1="43.18" y1="33.02" x2="43.18" y2="30.48" width="0.1524" layer="91"/>
+<wire x1="15.24" y1="30.48" x2="15.24" y2="25.4" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C14" gate="G$1" pin="2"/>
@@ -1804,102 +1763,89 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="R30" gate="G$1" pin="1"/>
 <pinref part="SUPPLY37" gate="GND" pin="GND"/>
-<wire x1="317.5" y1="-27.94" x2="317.5" y2="-30.48" width="0.1524" layer="91"/>
+<wire x1="332.74" y1="-27.94" x2="332.74" y2="-30.48" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="C16" gate="G$1" pin="2"/>
-<wire x1="337.82" y1="-22.86" x2="340.36" y2="-22.86" width="0.1524" layer="91"/>
+<wire x1="353.06" y1="-25.4" x2="358.14" y2="-25.4" width="0.1524" layer="91"/>
 <pinref part="SUPPLY38" gate="GND" pin="GND"/>
-<wire x1="340.36" y1="-22.86" x2="340.36" y2="-27.94" width="0.1524" layer="91"/>
+<wire x1="358.14" y1="-25.4" x2="358.14" y2="-30.48" width="0.1524" layer="91"/>
 </segment>
 <segment>
 <pinref part="SUPPLY36" gate="GND" pin="GND"/>
 <pinref part="R31" gate="G$1" pin="1"/>
 <wire x1="269.24" y1="-35.56" x2="269.24" y2="-30.48" width="0.1524" layer="91"/>
 </segment>
+<segment>
+<pinref part="PI_OUT" gate="." pin="SHIELD1"/>
+<pinref part="SUPPLY39" gate="GND" pin="GND"/>
+<wire x1="317.5" y1="-50.8" x2="317.5" y2="-53.34" width="0.1524" layer="91"/>
+</segment>
 </net>
 <net name="N$2" class="0">
 <segment>
 <pinref part="R7" gate="G$1" pin="2"/>
-<wire x1="175.26" y1="78.74" x2="190.5" y2="78.74" width="0.1524" layer="91"/>
-<wire x1="190.5" y1="78.74" x2="190.5" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="180.34" y1="88.9" x2="190.5" y2="88.9" width="0.1524" layer="91"/>
+<wire x1="190.5" y1="88.9" x2="190.5" y2="78.74" width="0.1524" layer="91"/>
 <pinref part="INT" gate="G$1" pin="OUT"/>
-<wire x1="190.5" y1="68.58" x2="190.5" y2="58.42" width="0.1524" layer="91"/>
-<wire x1="190.5" y1="58.42" x2="190.5" y2="30.48" width="0.1524" layer="91"/>
-<wire x1="190.5" y1="30.48" x2="185.42" y2="30.48" width="0.1524" layer="91"/>
+<wire x1="190.5" y1="78.74" x2="190.5" y2="40.64" width="0.1524" layer="91"/>
+<wire x1="190.5" y1="40.64" x2="185.42" y2="40.64" width="0.1524" layer="91"/>
 <pinref part="C5" gate="G$1" pin="2"/>
-<wire x1="185.42" y1="30.48" x2="180.34" y2="30.48" width="0.1524" layer="91"/>
-<wire x1="172.72" y1="68.58" x2="190.5" y2="68.58" width="0.1524" layer="91"/>
-<junction x="190.5" y="68.58"/>
-<pinref part="C6" gate="G$1" pin="2"/>
-<wire x1="172.72" y1="58.42" x2="190.5" y2="58.42" width="0.1524" layer="91"/>
-<junction x="190.5" y="58.42"/>
+<wire x1="185.42" y1="40.64" x2="180.34" y2="40.64" width="0.1524" layer="91"/>
+<wire x1="177.8" y1="78.74" x2="190.5" y2="78.74" width="0.1524" layer="91"/>
+<junction x="190.5" y="78.74"/>
 <pinref part="I_GAIN" gate="G$1" pin="3"/>
-<wire x1="190.5" y1="30.48" x2="190.5" y2="12.7" width="0.1524" layer="91"/>
-<junction x="190.5" y="30.48"/>
+<wire x1="190.5" y1="40.64" x2="190.5" y2="15.24" width="0.1524" layer="91"/>
+<junction x="190.5" y="40.64"/>
 <pinref part="R8" gate="G$1" pin="1"/>
-<wire x1="190.5" y1="30.48" x2="195.58" y2="30.48" width="0.1524" layer="91"/>
+<wire x1="190.5" y1="40.64" x2="195.58" y2="40.64" width="0.1524" layer="91"/>
 <pinref part="V_INT" gate="G$1" pin="TP"/>
-<junction x="185.42" y="30.48"/>
+<junction x="185.42" y="40.64"/>
 </segment>
 </net>
 <net name="R8" class="0">
 <segment>
 <pinref part="R8" gate="G$1" pin="2"/>
 <pinref part="BOOSTER" gate="G$1" pin="-IN"/>
-<wire x1="205.74" y1="30.48" x2="215.9" y2="30.48" width="0.1524" layer="91"/>
-<wire x1="215.9" y1="30.48" x2="218.44" y2="30.48" width="0.1524" layer="91"/>
-<wire x1="215.9" y1="30.48" x2="215.9" y2="50.8" width="0.1524" layer="91"/>
-<junction x="215.9" y="30.48"/>
+<wire x1="205.74" y1="40.64" x2="215.9" y2="40.64" width="0.1524" layer="91"/>
+<wire x1="215.9" y1="40.64" x2="218.44" y2="40.64" width="0.1524" layer="91"/>
+<wire x1="215.9" y1="40.64" x2="215.9" y2="60.96" width="0.1524" layer="91"/>
+<junction x="215.9" y="40.64"/>
 <pinref part="C9" gate="G$1" pin="1"/>
-<wire x1="215.9" y1="50.8" x2="220.98" y2="50.8" width="0.1524" layer="91"/>
-<wire x1="215.9" y1="50.8" x2="215.9" y2="63.5" width="0.1524" layer="91"/>
-<junction x="215.9" y="50.8"/>
+<wire x1="215.9" y1="60.96" x2="220.98" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="215.9" y1="60.96" x2="215.9" y2="73.66" width="0.1524" layer="91"/>
+<junction x="215.9" y="60.96"/>
 <pinref part="BOOSTER_TOGGLE" gate="G$1" pin="3"/>
 </segment>
 </net>
 <net name="N$13" class="0">
 <segment>
 <pinref part="C9" gate="G$1" pin="2"/>
-<wire x1="226.06" y1="50.8" x2="238.76" y2="50.8" width="0.1524" layer="91"/>
-<wire x1="238.76" y1="50.8" x2="238.76" y2="27.94" width="0.1524" layer="91"/>
+<wire x1="226.06" y1="60.96" x2="238.76" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="238.76" y1="60.96" x2="238.76" y2="38.1" width="0.1524" layer="91"/>
 <pinref part="BOOSTER" gate="G$1" pin="OUT"/>
-<wire x1="238.76" y1="27.94" x2="236.22" y2="27.94" width="0.1524" layer="91"/>
-<wire x1="236.22" y1="27.94" x2="233.68" y2="27.94" width="0.1524" layer="91"/>
-<junction x="238.76" y="50.8"/>
+<wire x1="238.76" y1="38.1" x2="236.22" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="236.22" y1="38.1" x2="233.68" y2="38.1" width="0.1524" layer="91"/>
+<junction x="238.76" y="60.96"/>
 <pinref part="R10" gate="G$1" pin="1"/>
-<wire x1="241.3" y1="27.94" x2="238.76" y2="27.94" width="0.1524" layer="91"/>
-<junction x="238.76" y="27.94"/>
+<wire x1="241.3" y1="38.1" x2="238.76" y2="38.1" width="0.1524" layer="91"/>
+<junction x="238.76" y="38.1"/>
 <pinref part="V_INT2" gate="G$1" pin="TP"/>
-<junction x="236.22" y="27.94"/>
+<junction x="236.22" y="38.1"/>
 <pinref part="BOOSTER_TOGGLE" gate="G$1" pin="2"/>
-<wire x1="226.06" y1="66.04" x2="238.76" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="238.76" y1="66.04" x2="238.76" y2="50.8" width="0.1524" layer="91"/>
+<wire x1="226.06" y1="76.2" x2="238.76" y2="76.2" width="0.1524" layer="91"/>
+<wire x1="238.76" y1="76.2" x2="238.76" y2="60.96" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$15" class="0">
 <segment>
 <pinref part="INVERT1" gate="G$1" pin="-IN"/>
 <pinref part="R10" gate="G$1" pin="2"/>
-<wire x1="254" y1="27.94" x2="251.46" y2="27.94" width="0.1524" layer="91"/>
-<wire x1="254" y1="27.94" x2="254" y2="45.72" width="0.1524" layer="91"/>
-<junction x="254" y="27.94"/>
+<wire x1="254" y1="38.1" x2="251.46" y2="38.1" width="0.1524" layer="91"/>
+<wire x1="254" y1="38.1" x2="254" y2="60.96" width="0.1524" layer="91"/>
+<junction x="254" y="38.1"/>
 <pinref part="R11" gate="G$1" pin="1"/>
-<wire x1="254" y1="45.72" x2="256.54" y2="45.72" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$16" class="0">
-<segment>
-<pinref part="R11" gate="G$1" pin="2"/>
-<wire x1="266.7" y1="45.72" x2="276.86" y2="45.72" width="0.1524" layer="91"/>
-<wire x1="276.86" y1="45.72" x2="276.86" y2="25.4" width="0.1524" layer="91"/>
-<pinref part="INVERT1" gate="G$1" pin="OUT"/>
-<wire x1="276.86" y1="25.4" x2="274.32" y2="25.4" width="0.1524" layer="91"/>
-<pinref part="R12" gate="G$1" pin="2"/>
-<junction x="276.86" y="25.4"/>
-<pinref part="V_INV2" gate="G$1" pin="TP"/>
-<wire x1="274.32" y1="25.4" x2="269.24" y2="25.4" width="0.1524" layer="91"/>
-<junction x="274.32" y="25.4"/>
+<wire x1="254" y1="60.96" x2="259.08" y2="60.96" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$14" class="0">
@@ -1924,20 +1870,21 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="I_GAIN" gate="G$1" pin="2"/>
 <pinref part="R9" gate="G$1" pin="2"/>
-<wire x1="195.58" y1="7.62" x2="200.66" y2="7.62" width="0.1524" layer="91"/>
+<wire x1="195.58" y1="10.16" x2="200.66" y2="10.16" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$19" class="0">
 <segment>
 <pinref part="R9" gate="G$1" pin="1"/>
 <pinref part="PID_ADDER" gate="G$1" pin="-IN"/>
-<wire x1="210.82" y1="7.62" x2="218.44" y2="7.62" width="0.1524" layer="91"/>
-<wire x1="218.44" y1="7.62" x2="218.44" y2="-7.62" width="0.1524" layer="91"/>
-<wire x1="218.44" y1="-7.62" x2="276.86" y2="-7.62" width="0.1524" layer="91"/>
+<wire x1="210.82" y1="10.16" x2="218.44" y2="10.16" width="0.1524" layer="91"/>
+<wire x1="218.44" y1="10.16" x2="218.44" y2="2.54" width="0.1524" layer="91"/>
+<wire x1="218.44" y1="2.54" x2="276.86" y2="2.54" width="0.1524" layer="91"/>
 <pinref part="R12" gate="G$1" pin="1"/>
+<wire x1="276.86" y1="2.54" x2="276.86" y2="-7.62" width="0.1524" layer="91"/>
 <wire x1="276.86" y1="-7.62" x2="281.94" y2="-7.62" width="0.1524" layer="91"/>
-<wire x1="276.86" y1="15.24" x2="276.86" y2="-7.62" width="0.1524" layer="91"/>
-<junction x="276.86" y="-7.62"/>
+<wire x1="276.86" y1="10.16" x2="276.86" y2="2.54" width="0.1524" layer="91"/>
+<junction x="276.86" y="2.54"/>
 <wire x1="281.94" y1="-7.62" x2="281.94" y2="10.16" width="0.1524" layer="91"/>
 <junction x="281.94" y="-7.62"/>
 <pinref part="R13" gate="G$1" pin="1"/>
@@ -1953,39 +1900,42 @@ with the 10k pot for the proportional gain</text>
 <wire x1="304.8" y1="-10.16" x2="302.26" y2="-10.16" width="0.1524" layer="91"/>
 <pinref part="R14" gate="G$1" pin="1"/>
 <wire x1="302.26" y1="-10.16" x2="297.18" y2="-10.16" width="0.1524" layer="91"/>
-<wire x1="304.8" y1="-10.16" x2="309.88" y2="-10.16" width="0.1524" layer="91"/>
 <junction x="304.8" y="-10.16"/>
 <pinref part="PI" gate="G$1" pin="TP"/>
 <junction x="302.26" y="-10.16"/>
+<wire x1="304.8" y1="-10.16" x2="309.88" y2="-10.16" width="0.1524" layer="91"/>
+<pinref part="R35" gate="G$1" pin="2"/>
+<wire x1="309.88" y1="-10.16" x2="325.12" y2="-10.16" width="0.1524" layer="91"/>
+<wire x1="309.88" y1="-27.94" x2="309.88" y2="-10.16" width="0.1524" layer="91"/>
+<junction x="309.88" y="-10.16"/>
 </segment>
 </net>
 <net name="COMMON_GAIN" class="0">
 <segment>
 <pinref part="R14" gate="G$1" pin="2"/>
 <pinref part="COMMON_AMP" gate="G$1" pin="-IN"/>
-<wire x1="320.04" y1="-10.16" x2="322.58" y2="-10.16" width="0.1524" layer="91"/>
-<wire x1="322.58" y1="-10.16" x2="325.12" y2="-10.16" width="0.1524" layer="91"/>
-<wire x1="322.58" y1="-10.16" x2="322.58" y2="12.7" width="0.1524" layer="91"/>
-<junction x="322.58" y="-10.16"/>
+<wire x1="335.28" y1="-10.16" x2="337.82" y2="-10.16" width="0.1524" layer="91"/>
+<wire x1="337.82" y1="-10.16" x2="340.36" y2="-10.16" width="0.1524" layer="91"/>
+<wire x1="337.82" y1="-10.16" x2="337.82" y2="25.4" width="0.1524" layer="91"/>
+<junction x="337.82" y="-10.16"/>
 <pinref part="COMMON_GAIN" gate="G$1" pin="1"/>
-<wire x1="327.66" y1="15.24" x2="327.66" y2="12.7" width="0.1524" layer="91"/>
-<wire x1="327.66" y1="12.7" x2="322.58" y2="12.7" width="0.1524" layer="91"/>
+<wire x1="342.9" y1="25.4" x2="337.82" y2="25.4" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$21" class="0">
 <segment>
 <pinref part="COMMON_GAIN" gate="G$1" pin="2"/>
-<wire x1="332.74" y1="15.24" x2="332.74" y2="10.16" width="0.1524" layer="91"/>
-<wire x1="332.74" y1="10.16" x2="342.9" y2="10.16" width="0.1524" layer="91"/>
+<wire x1="347.98" y1="25.4" x2="347.98" y2="20.32" width="0.1524" layer="91"/>
+<wire x1="347.98" y1="20.32" x2="365.76" y2="20.32" width="0.1524" layer="91"/>
 <pinref part="COMMON_AMP" gate="G$1" pin="OUT"/>
-<wire x1="342.9" y1="10.16" x2="342.9" y2="-12.7" width="0.1524" layer="91"/>
-<wire x1="342.9" y1="-12.7" x2="340.36" y2="-12.7" width="0.1524" layer="91"/>
-<wire x1="342.9" y1="-12.7" x2="347.98" y2="-12.7" width="0.1524" layer="91"/>
-<junction x="342.9" y="-12.7"/>
+<wire x1="365.76" y1="20.32" x2="365.76" y2="-12.7" width="0.1524" layer="91"/>
+<wire x1="365.76" y1="-12.7" x2="355.6" y2="-12.7" width="0.1524" layer="91"/>
+<wire x1="365.76" y1="-12.7" x2="373.38" y2="-12.7" width="0.1524" layer="91"/>
+<junction x="365.76" y="-12.7"/>
 <pinref part="V_COM" gate="G$1" pin="TP"/>
 <pinref part="R17" gate="G$1" pin="1"/>
-<wire x1="347.98" y1="-12.7" x2="368.3" y2="-12.7" width="0.1524" layer="91"/>
-<junction x="347.98" y="-12.7"/>
+<wire x1="373.38" y1="-12.7" x2="378.46" y2="-12.7" width="0.1524" layer="91"/>
+<junction x="373.38" y="-12.7"/>
 </segment>
 </net>
 <net name="N$22" class="0">
@@ -2012,10 +1962,8 @@ with the 10k pot for the proportional gain</text>
 <pinref part="V_INV" gate="G$1" pin="TP"/>
 <wire x1="132.08" y1="43.18" x2="139.7" y2="43.18" width="0.1524" layer="91"/>
 <junction x="132.08" y="43.18"/>
-<wire x1="139.7" y1="43.18" x2="147.32" y2="43.18" width="0.1524" layer="91"/>
-<wire x1="147.32" y1="43.18" x2="147.32" y2="33.02" width="0.1524" layer="91"/>
+<wire x1="139.7" y1="43.18" x2="149.86" y2="43.18" width="0.1524" layer="91"/>
 <pinref part="R4" gate="G$1" pin="1"/>
-<wire x1="147.32" y1="33.02" x2="149.86" y2="33.02" width="0.1524" layer="91"/>
 <pinref part="P_GAIN" gate="G$1" pin="3"/>
 <wire x1="139.7" y1="-7.62" x2="139.7" y2="43.18" width="0.1524" layer="91"/>
 <junction x="139.7" y="43.18"/>
@@ -2026,7 +1974,7 @@ with the 10k pot for the proportional gain</text>
 <pinref part="INVERT2" gate="G$1" pin="+IN"/>
 <wire x1="101.6" y1="40.64" x2="99.06" y2="40.64" width="0.1524" layer="91"/>
 <wire x1="99.06" y1="40.64" x2="99.06" y2="35.56" width="0.1524" layer="91"/>
-<pinref part="INVERSION" gate="G$1" pin="2"/>
+<pinref part="INV_SW" gate="G$1" pin="2"/>
 <wire x1="99.06" y1="35.56" x2="93.98" y2="35.56" width="0.1524" layer="91"/>
 </segment>
 </net>
@@ -2045,17 +1993,17 @@ with the 10k pot for the proportional gain</text>
 <net name="C_MOD+" class="0">
 <segment>
 <pinref part="MOD_GAIN" gate="G$1" pin="2"/>
-<wire x1="342.9" y1="99.06" x2="342.9" y2="86.36" width="0.1524" layer="91"/>
-<wire x1="342.9" y1="86.36" x2="355.6" y2="86.36" width="0.1524" layer="91"/>
-<wire x1="355.6" y1="86.36" x2="355.6" y2="71.12" width="0.1524" layer="91"/>
+<wire x1="342.9" y1="99.06" x2="342.9" y2="91.44" width="0.1524" layer="91"/>
+<wire x1="342.9" y1="91.44" x2="363.22" y2="91.44" width="0.1524" layer="91"/>
+<wire x1="363.22" y1="91.44" x2="363.22" y2="71.12" width="0.1524" layer="91"/>
 <pinref part="MOD_A" gate="G$1" pin="OUT"/>
-<wire x1="355.6" y1="71.12" x2="350.52" y2="71.12" width="0.1524" layer="91"/>
+<wire x1="363.22" y1="71.12" x2="350.52" y2="71.12" width="0.1524" layer="91"/>
 <pinref part="R18" gate="G$1" pin="1"/>
-<wire x1="355.6" y1="71.12" x2="360.68" y2="71.12" width="0.1524" layer="91"/>
-<junction x="355.6" y="71.12"/>
+<wire x1="363.22" y1="71.12" x2="368.3" y2="71.12" width="0.1524" layer="91"/>
+<junction x="363.22" y="71.12"/>
 <pinref part="V_MODG" gate="G$1" pin="TP"/>
-<wire x1="360.68" y1="71.12" x2="378.46" y2="71.12" width="0.1524" layer="91"/>
-<junction x="360.68" y="71.12"/>
+<wire x1="368.3" y1="71.12" x2="378.46" y2="71.12" width="0.1524" layer="91"/>
+<junction x="368.3" y="71.12"/>
 </segment>
 </net>
 <net name="OUTPUT_ROFF" class="0">
@@ -2107,18 +2055,19 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="BUFFER" gate="G$1" pin="+IN"/>
 <pinref part="IN" gate="G$1" pin="TP"/>
-<wire x1="-50.8" y1="43.18" x2="-43.18" y2="43.18" width="0.1524" layer="91"/>
-<wire x1="-50.8" y1="45.72" x2="-50.8" y2="43.18" width="0.1524" layer="91"/>
-<pinref part="INPUT" gate="." pin="CONDUCTOR"/>
 <wire x1="-58.42" y1="43.18" x2="-50.8" y2="43.18" width="0.1524" layer="91"/>
-<junction x="-50.8" y="43.18"/>
+<wire x1="-58.42" y1="45.72" x2="-58.42" y2="43.18" width="0.1524" layer="91"/>
+<pinref part="INPUT" gate="." pin="CONDUCTOR"/>
+<wire x1="-66.04" y1="43.18" x2="-58.42" y2="43.18" width="0.1524" layer="91"/>
+<junction x="-58.42" y="43.18"/>
 </segment>
 </net>
 <net name="N$4" class="0">
 <segment>
 <pinref part="R5" gate="G$1" pin="2"/>
-<pinref part="MONITOR" gate="." pin="CONDUCTOR"/>
-<wire x1="73.66" y1="66.04" x2="73.66" y2="76.2" width="0.1524" layer="91"/>
+<pinref part="ERROR" gate="." pin="CONDUCTOR"/>
+<wire x1="48.26" y1="66.04" x2="48.26" y2="73.66" width="0.1524" layer="91"/>
+<wire x1="48.26" y1="73.66" x2="60.96" y2="73.66" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$6" class="0">
@@ -2126,10 +2075,10 @@ with the 10k pot for the proportional gain</text>
 <pinref part="MOD_IN" gate="." pin="CONDUCTOR"/>
 <pinref part="R23" gate="G$1" pin="1"/>
 <wire x1="307.34" y1="73.66" x2="312.42" y2="73.66" width="0.1524" layer="91"/>
-<pinref part="V_MOD" gate="G$1" pin="TP"/>
 <wire x1="312.42" y1="73.66" x2="314.96" y2="73.66" width="0.1524" layer="91"/>
-<wire x1="312.42" y1="76.2" x2="312.42" y2="73.66" width="0.1524" layer="91"/>
 <junction x="312.42" y="73.66"/>
+<pinref part="V_MODIN" gate="G$1" pin="TP"/>
+<wire x1="312.42" y1="78.74" x2="312.42" y2="73.66" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$12" class="0">
@@ -2150,47 +2099,48 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="R25" gate="G$1" pin="2"/>
 <pinref part="V_SET" gate="G$1" pin="1"/>
-<wire x1="-2.54" y1="-17.78" x2="-2.54" y2="-12.7" width="0.1524" layer="91"/>
+<wire x1="-30.48" y1="-17.78" x2="-30.48" y2="-12.7" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$7" class="0">
 <segment>
 <pinref part="R24" gate="G$1" pin="1"/>
 <pinref part="V_SET" gate="G$1" pin="3"/>
-<wire x1="-2.54" y1="2.54" x2="-2.54" y2="-2.54" width="0.1524" layer="91"/>
+<wire x1="-30.48" y1="2.54" x2="-30.48" y2="-2.54" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$1" class="0">
 <segment>
 <pinref part="V_ERROR" gate="G$1" pin="+IN"/>
 <pinref part="R26" gate="G$1" pin="2"/>
-<wire x1="45.72" y1="43.18" x2="43.18" y2="43.18" width="0.1524" layer="91"/>
+<wire x1="17.78" y1="43.18" x2="15.24" y2="43.18" width="0.1524" layer="91"/>
+<wire x1="15.24" y1="43.18" x2="15.24" y2="40.64" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$11" class="0">
 <segment>
 <pinref part="R27" gate="G$1" pin="2"/>
 <pinref part="INT" gate="G$1" pin="+IN"/>
-<wire x1="162.56" y1="27.94" x2="165.1" y2="27.94" width="0.1524" layer="91"/>
+<wire x1="162.56" y1="38.1" x2="165.1" y2="38.1" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$25" class="0">
 <segment>
 <pinref part="BOOSTER" gate="G$1" pin="+IN"/>
 <pinref part="R28" gate="G$1" pin="2"/>
-<wire x1="218.44" y1="25.4" x2="210.82" y2="25.4" width="0.1524" layer="91"/>
+<wire x1="218.44" y1="35.56" x2="210.82" y2="35.56" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$26" class="0">
 <segment>
 <pinref part="INVERT1" gate="G$1" pin="+IN"/>
 <pinref part="R29" gate="G$1" pin="2"/>
-<wire x1="254" y1="22.86" x2="251.46" y2="22.86" width="0.1524" layer="91"/>
+<wire x1="254" y1="33.02" x2="251.46" y2="33.02" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$28" class="0">
 <segment>
-<pinref part="INVERSION" gate="G$1" pin="3"/>
+<pinref part="INV_SW" gate="G$1" pin="3"/>
 <pinref part="R32" gate="G$1" pin="2"/>
 <wire x1="83.82" y1="33.02" x2="83.82" y2="27.94" width="0.1524" layer="91"/>
 </segment>
@@ -2199,7 +2149,8 @@ with the 10k pot for the proportional gain</text>
 <segment>
 <pinref part="R33" gate="G$1" pin="2"/>
 <pinref part="MOD_A" gate="G$1" pin="+IN"/>
-<wire x1="332.74" y1="68.58" x2="335.28" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="330.2" y1="66.04" x2="330.2" y2="68.58" width="0.1524" layer="91"/>
+<wire x1="330.2" y1="68.58" x2="335.28" y2="68.58" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$30" class="0">
@@ -2209,43 +2160,18 @@ with the 10k pot for the proportional gain</text>
 <wire x1="426.72" y1="-5.08" x2="426.72" y2="-7.62" width="0.1524" layer="91"/>
 </segment>
 </net>
-<net name="N$32" class="0">
-<segment>
-<pinref part="R15" gate="G$1" pin="1"/>
-<wire x1="83.82" y1="45.72" x2="86.36" y2="45.72" width="0.1524" layer="91"/>
-<pinref part="INVERSION" gate="G$1" pin="1"/>
-<wire x1="83.82" y1="38.1" x2="83.82" y2="45.72" width="0.1524" layer="91"/>
-<junction x="83.82" y="45.72"/>
-<pinref part="R3" gate="G$1" pin="2"/>
-<wire x1="58.42" y1="66.04" x2="68.58" y2="66.04" width="0.1524" layer="91"/>
-<wire x1="68.58" y1="66.04" x2="68.58" y2="53.34" width="0.1524" layer="91"/>
-<wire x1="68.58" y1="53.34" x2="68.58" y2="45.72" width="0.1524" layer="91"/>
-<junction x="68.58" y="45.72"/>
-<pinref part="R5" gate="G$1" pin="1"/>
-<wire x1="73.66" y1="55.88" x2="71.12" y2="53.34" width="0.1524" layer="91"/>
-<wire x1="71.12" y1="53.34" x2="68.58" y2="53.34" width="0.1524" layer="91"/>
-<junction x="68.58" y="53.34"/>
-<pinref part="V_ERROR" gate="G$1" pin="OUT"/>
-<wire x1="60.96" y1="45.72" x2="66.04" y2="45.72" width="0.1524" layer="91"/>
-<pinref part="V_ERR" gate="G$1" pin="TP"/>
-<wire x1="66.04" y1="45.72" x2="68.58" y2="45.72" width="0.1524" layer="91"/>
-<wire x1="66.04" y1="43.18" x2="66.04" y2="45.72" width="0.1524" layer="91"/>
-<junction x="66.04" y="45.72"/>
-<wire x1="83.82" y1="45.72" x2="68.58" y2="45.72" width="0.1524" layer="91"/>
-</segment>
-</net>
 <net name="N$35" class="0">
 <segment>
 <pinref part="COMMON_AMP" gate="G$1" pin="+IN"/>
-<wire x1="325.12" y1="-15.24" x2="317.5" y2="-15.24" width="0.1524" layer="91"/>
+<wire x1="340.36" y1="-15.24" x2="332.74" y2="-15.24" width="0.1524" layer="91"/>
 <pinref part="R30" gate="G$1" pin="2"/>
-<wire x1="317.5" y1="-15.24" x2="317.5" y2="-17.78" width="0.1524" layer="91"/>
+<wire x1="332.74" y1="-15.24" x2="332.74" y2="-17.78" width="0.1524" layer="91"/>
 </segment>
 </net>
 <net name="N$10" class="0">
 <segment>
 <pinref part="FEEDBACK" gate="G$1" pin="3"/>
-<wire x1="378.46" y1="-12.7" x2="401.32" y2="-12.7" width="0.1524" layer="91"/>
+<wire x1="388.62" y1="-12.7" x2="401.32" y2="-12.7" width="0.1524" layer="91"/>
 <pinref part="R17" gate="G$1" pin="2"/>
 </segment>
 </net>
@@ -2257,6 +2183,51 @@ with the 10k pot for the proportional gain</text>
 <wire x1="401.32" y1="71.12" x2="401.32" y2="-7.62" width="0.1524" layer="91"/>
 </segment>
 </net>
+<net name="N$34" class="0">
+<segment>
+<pinref part="R11" gate="G$1" pin="2"/>
+<wire x1="269.24" y1="60.96" x2="276.86" y2="60.96" width="0.1524" layer="91"/>
+<wire x1="276.86" y1="60.96" x2="276.86" y2="35.56" width="0.1524" layer="91"/>
+<pinref part="R12" gate="G$1" pin="2"/>
+<wire x1="276.86" y1="35.56" x2="276.86" y2="20.32" width="0.1524" layer="91"/>
+<junction x="276.86" y="35.56"/>
+<pinref part="V_INV2" gate="G$1" pin="TP"/>
+<wire x1="284.48" y1="35.56" x2="276.86" y2="35.56" width="0.1524" layer="91"/>
+<wire x1="284.48" y1="40.64" x2="284.48" y2="35.56" width="0.1524" layer="91"/>
+<pinref part="INVERT1" gate="G$1" pin="OUT"/>
+<wire x1="269.24" y1="35.56" x2="276.86" y2="35.56" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="N$16" class="0">
+<segment>
+<pinref part="PI_OUT" gate="." pin="CONDUCTOR"/>
+<wire x1="312.42" y1="-45.72" x2="309.88" y2="-45.72" width="0.1524" layer="91"/>
+<pinref part="R35" gate="G$1" pin="1"/>
+<wire x1="309.88" y1="-38.1" x2="309.88" y2="-45.72" width="0.1524" layer="91"/>
+</segment>
+</net>
+<net name="N$36" class="0">
+<segment>
+<pinref part="R5" gate="G$1" pin="1"/>
+<pinref part="R15" gate="G$1" pin="1"/>
+<wire x1="83.82" y1="45.72" x2="86.36" y2="45.72" width="0.1524" layer="91"/>
+<pinref part="INV_SW" gate="G$1" pin="1"/>
+<wire x1="83.82" y1="38.1" x2="83.82" y2="45.72" width="0.1524" layer="91"/>
+<junction x="83.82" y="45.72"/>
+<pinref part="R3" gate="G$1" pin="2"/>
+<wire x1="30.48" y1="66.04" x2="40.64" y2="66.04" width="0.1524" layer="91"/>
+<wire x1="40.64" y1="66.04" x2="40.64" y2="45.72" width="0.1524" layer="91"/>
+<junction x="40.64" y="45.72"/>
+<pinref part="V_ERROR" gate="G$1" pin="OUT"/>
+<wire x1="33.02" y1="45.72" x2="40.64" y2="45.72" width="0.1524" layer="91"/>
+<wire x1="83.82" y1="45.72" x2="48.26" y2="45.72" width="0.1524" layer="91"/>
+<pinref part="V_ERR" gate="G$1" pin="TP"/>
+<wire x1="48.26" y1="45.72" x2="40.64" y2="45.72" width="0.1524" layer="91"/>
+<wire x1="48.26" y1="43.18" x2="48.26" y2="45.72" width="0.1524" layer="91"/>
+<junction x="48.26" y="45.72"/>
+<wire x1="48.26" y1="55.88" x2="48.26" y2="45.72" width="0.1524" layer="91"/>
+</segment>
+</net>
 </nets>
 </sheet>
 </sheets>