v1

EG1224.kicad_mod

+(module EG1224 locked (layer F.Cu) (tedit 56AE9309)
+  (fp_text reference SW1 (at -7.7 0.2 90) (layer F.SilkS)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_text value EG1224 (at 0 2.95) (layer F.Fab)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_line (start 0.2 12.25) (end -4.8 12.25) (layer F.SilkS) (width 0.15))
+  (fp_line (start 0.2 12.25) (end 0.2 3.75) (layer F.SilkS) (width 0.15))
+  (fp_line (start -4.8 3.75) (end -4.8 12.25) (layer F.SilkS) (width 0.15))
+  (fp_line (start 6.9 3.25) (end 6.9 -3.25) (layer F.SilkS) (width 0.15))
+  (fp_line (start -6.9 3.25) (end 6.9 3.25) (layer F.SilkS) (width 0.15))
+  (fp_line (start -6.9 -3.25) (end -6.9 3.25) (layer F.SilkS) (width 0.15))
+  (fp_line (start 6.9 -3.25) (end -6.9 -3.25) (layer F.SilkS) (width 0.15))
+  (pad 2 thru_hole circle (at 0 -1.25) (size 1 1) (drill 0.6) (layers *.Cu *.Mask F.SilkS))
+  (pad 1 thru_hole circle (at -4 -1.25) (size 1 1) (drill 0.6) (layers *.Cu *.Mask F.SilkS))
+  (pad 3 thru_hole circle (at 4 -1.25) (size 1 1) (drill 0.6) (layers *.Cu *.Mask F.SilkS))
+  (pad "" thru_hole circle (at 6 -3) (size 1.4 1.4) (drill 1) (layers *.Cu *.Mask F.SilkS))
+  (pad "" thru_hole circle (at -6 -3) (size 1.4 1.4) (drill 1) (layers *.Cu *.Mask F.SilkS))
+  (pad "" thru_hole circle (at -6 3) (size 1.4 1.4) (drill 1) (layers *.Cu *.Mask F.SilkS))
+  (pad "" thru_hole circle (at 6 3) (size 1.4 1.4) (drill 1) (layers *.Cu *.Mask F.SilkS))
+)

design.org

@@ -18,27 +18,12 @@
 
 ** µC
 
-- Requirements
-
-  5x analog range sensors
-  2x PWM motors outputs (4? H-Bridge)
-  2x hal sensor inputs + timer (motor speed)
-
-  1x UART main COM to master control
-    or
-  1x USB device main COM
-
-  1x UART/SPI/TWI to (optional) CHIP board
-  1x DAC for servo
-
-  5 + 4 + 2 + 1 + 1 + 1 = 14 pins minimum
-
 - Application Notes
 
   Getting started with STM32F0x1/x2/x8 hardware development
     http://www.st.com/web/en/resource/technical/document/application_note/DM00051986.pdf
 
-*** STM32F042K4 ~2.5€ -- Cortex-M0, 16K Flash, 48 MHz, USB FS
+*** STM32F042K4 ~2.5€ -- Cortex-M0, 16K Flash, 48 MHz, USB FS <<<<<<<< going with this one
 
     LQPF seems not to be in stock anywhere
 
@@ -114,3 +99,36 @@ http://www.reichelt.at/Klemmleisten/WAGO-233-502/3/index.html?ACTION=3&GROUPID=6
 
 
 drv8833 supplied directly off Vbat (10.8V max)
+* uC Peripherals
+
+- Requirements
+
+  5x analog range sensors
+  4x PWM motors outputs (H-Bridge)
+  4x hal sensor inputs + timer (motor speed)
+
+  1x UART main COM to master control
+    or
+  1x USB device main COM
+
+  1x I2C to extension connector
+  1x DAC for servo
+
+  5 + 4 + 2 + 1 + 1 + 1 = 14 pins minimum
+
+
+** Timers
+
+|       | Type       | Features  | CH | Used               |
+|-------+------------+-----------+----+--------------------|
+| TIM1  | adv u/d 16 |           |  4 | CH1(IN4), CH2(IN3) |
+| TIM2  | u/d 32     | quad-enc. |  4 | CH1, CH2: ME0      |
+| TIM3  | u/d 16     | quad-enc. |  4 | CH1, CH2: ME1      |
+| TIM14 | u 16       |           |  1 |                    |
+| TIM16 | u 16       |           |  1 | CH1(IN1)           |
+| TIM17 | u 16       |           |  1 | CH1(IN2)           |
+|       |            |           |    |                    |
+
+** Comms
+
+One I2C interface: I2C1, used for IMU, GPIO expander and extension connector

imu.sch

@@ -46,10 +46,10 @@ Comment3 ""
 Comment4 ""
 $EndDescr
 $Comp
-L GND #PWR026
+L GND #PWR032
 U 1 1 56B17D10
 P 2600 4450
-F 0 "#PWR026" H 2600 4200 50  0001 C CNN
+F 0 "#PWR032" H 2600 4200 50  0001 C CNN
 F 1 "GND" H 2600 4300 50  0000 C CNN
 F 2 "" H 2600 4450 60  0000 C CNN
 F 3 "" H 2600 4450 60  0000 C CNN
@@ -68,10 +68,10 @@ F 3 "" H 2600 4300 60  0000 C CNN
 	-1   0    0    -1  
 $EndComp
 $Comp
-L +3.3V #PWR027
+L +3.3V #PWR033
 U 1 1 56B17D1D
 P 2900 2650
-F 0 "#PWR027" H 2900 2500 50  0001 C CNN
+F 0 "#PWR033" H 2900 2500 50  0001 C CNN
 F 1 "+3.3V" H 2900 2790 50  0000 C CNN
 F 2 "" H 2900 2650 60  0000 C CNN
 F 3 "" H 2900 2650 60  0000 C CNN
@@ -115,10 +115,10 @@ F 3 "" H 3700 4450 60  0000 C CNN
 	-1   0    0    -1  
 $EndComp
 $Comp
-L +3.3V #PWR028
+L +3.3V #PWR034
 U 1 1 56B17D3A
 P 3450 4200
-F 0 "#PWR028" H 3450 4050 50  0001 C CNN
+F 0 "#PWR034" H 3450 4050 50  0001 C CNN
 F 1 "+3.3V" H 3450 4340 50  0000 C CNN
 F 2 "" H 3450 4200 60  0000 C CNN
 F 3 "" H 3450 4200 60  0000 C CNN
@@ -126,10 +126,10 @@ F 3 "" H 3450 4200 60  0000 C CNN
 	-1   0    0    -1  
 $EndComp
 $Comp
-L GND #PWR029
+L GND #PWR035
 U 1 1 56B17D40
 P 3450 4650
-F 0 "#PWR029" H 3450 4400 50  0001 C CNN
+F 0 "#PWR035" H 3450 4400 50  0001 C CNN
 F 1 "GND" H 3450 4500 50  0000 C CNN
 F 2 "" H 3450 4650 60  0000 C CNN
 F 3 "" H 3450 4650 60  0000 C CNN
@@ -147,10 +147,10 @@ Wire Wire Line
 	3700 4300 3200 4300
 Connection ~ 3450 4300
 $Comp
-L GND #PWR030
+L GND #PWR036
 U 1 1 56B17D4C
 P 3500 2950
-F 0 "#PWR030" H 3500 2700 50  0001 C CNN
+F 0 "#PWR036" H 3500 2700 50  0001 C CNN
 F 1 "GND" H 3500 2800 50  0000 C CNN
 F 2 "" H 3500 2950 60  0000 C CNN
 F 3 "" H 3500 2950 60  0000 C CNN
@@ -172,10 +172,10 @@ F 6 "Freescale:FXOS8700CQR1" H 2850 3400 60  0001 C CNN "MfgPart"
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR031
+L GND #PWR037
 U 1 1 56B17D60
 P 2850 4250
-F 0 "#PWR031" H 2850 4000 50  0001 C CNN
+F 0 "#PWR037" H 2850 4000 50  0001 C CNN
 F 1 "GND" H 2850 4100 50  0000 C CNN
 F 2 "" H 2850 4250 60  0000 C CNN
 F 3 "" H 2850 4250 60  0000 C CNN
@@ -216,10 +216,10 @@ IMU_SCL
 Text HLabel 3500 3300 2    60   BiDi ~ 0
 IMU_SDA
 $Comp
-L GND #PWR032
+L GND #PWR038
 U 1 1 56B180CC
 P 3500 3400
-F 0 "#PWR032" H 3500 3150 50  0001 C CNN
+F 0 "#PWR038" H 3500 3150 50  0001 C CNN
 F 1 "GND" V 3500 3200 50  0000 C CNN
 F 2 "" H 3500 3400 50  0000 C CNN
 F 3 "" H 3500 3400 50  0000 C CNN
@@ -227,10 +227,10 @@ F 3 "" H 3500 3400 50  0000 C CNN
 	0    -1   -1   0   
 $EndComp
 $Comp
-L GND #PWR033
+L GND #PWR039
 U 1 1 56B1811D
 P 3500 3500
-F 0 "#PWR033" H 3500 3250 50  0001 C CNN
+F 0 "#PWR039" H 3500 3250 50  0001 C CNN
 F 1 "GND" V 3500 3300 50  0000 C CNN
 F 2 "" H 3500 3500 50  0000 C CNN
 F 3 "" H 3500 3500 50  0000 C CNN

io.sch

@@ -57,10 +57,10 @@ F 3 "" H 5200 5350 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L +3.3V #PWR046
+L +3.3V #PWR052
 U 1 1 56B1299D
 P 5250 2700
-F 0 "#PWR046" H 5250 2550 50  0001 C CNN
+F 0 "#PWR052" H 5250 2550 50  0001 C CNN
 F 1 "+3.3V" H 5250 2840 50  0000 C CNN
 F 2 "" H 5250 2700 50  0000 C CNN
 F 3 "" H 5250 2700 50  0000 C CNN
@@ -68,10 +68,10 @@ F 3 "" H 5250 2700 50  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR047
+L GND #PWR053
 U 1 1 56B12BC7
 P 5250 4200
-F 0 "#PWR047" H 5250 3950 50  0001 C CNN
+F 0 "#PWR053" H 5250 3950 50  0001 C CNN
 F 1 "GND" H 5250 4050 50  0000 C CNN
 F 2 "" H 5250 4200 50  0000 C CNN
 F 3 "" H 5250 4200 50  0000 C CNN
@@ -83,10 +83,10 @@ IO_SCL
 Text HLabel 4700 3100 0    60   BiDi ~ 0
 IO_SDA
 $Comp
-L GND #PWR048
+L GND #PWR054
 U 1 1 56B153EB
 P 4700 3400
-F 0 "#PWR048" H 4700 3150 50  0001 C CNN
+F 0 "#PWR054" H 4700 3150 50  0001 C CNN
 F 1 "GND" V 4700 3200 50  0000 C CNN
 F 2 "" H 4700 3400 50  0000 C CNN
 F 3 "" H 4700 3400 50  0000 C CNN
@@ -94,10 +94,10 @@ F 3 "" H 4700 3400 50  0000 C CNN
 	0    1    1    0   
 $EndComp
 $Comp
-L GND #PWR049
+L GND #PWR055
 U 1 1 56B1541A
 P 4700 3300
-F 0 "#PWR049" H 4700 3050 50  0001 C CNN
+F 0 "#PWR055" H 4700 3050 50  0001 C CNN
 F 1 "GND" V 4700 3100 50  0000 C CNN
 F 2 "" H 4700 3300 50  0000 C CNN
 F 3 "" H 4700 3300 50  0000 C CNN
@@ -105,10 +105,10 @@ F 3 "" H 4700 3300 50  0000 C CNN
 	0    1    1    0   
 $EndComp
 $Comp
-L GND #PWR050
+L GND #PWR056
 U 1 1 56B15425
 P 4700 3500
-F 0 "#PWR050" H 4700 3250 50  0001 C CNN
+F 0 "#PWR056" H 4700 3250 50  0001 C CNN
 F 1 "GND" V 4700 3300 50  0000 C CNN
 F 2 "" H 4700 3500 50  0000 C CNN
 F 3 "" H 4700 3500 50  0000 C CNN
@@ -132,10 +132,10 @@ IMU_INT2
 Text HLabel 5800 3500 2    60   Input ~ 0
 MC_~SFA
 $Comp
-L GND #PWR051
+L GND #PWR057
 U 1 1 56B15B34
 P 4700 3900
-F 0 "#PWR051" H 4700 3650 50  0001 C CNN
+F 0 "#PWR057" H 4700 3650 50  0001 C CNN
 F 1 "GND" V 4700 3700 50  0000 C CNN
 F 2 "" H 4700 3900 50  0000 C CNN
 F 3 "" H 4700 3900 50  0000 C CNN
@@ -143,4 +143,37 @@ F 3 "" H 4700 3900 50  0000 C CNN
 	0    1    1    0   
 $EndComp
 NoConn ~ 5800 3200
+$Comp
+L C C501
+U 1 1 56B3EBC9
+P 7550 3350
+F 0 "C501" H 7575 3450 50  0000 L CNN
+F 1 "100n" H 7575 3250 50  0000 L CNN
+F 2 "Capacitors_SMD:C_0603" H 7588 3200 50  0001 C CNN
+F 3 "" H 7550 3350 50  0000 C CNN
+	1    7550 3350
+	1    0    0    -1  
+$EndComp
+$Comp
+L +3.3V #PWR058
+U 1 1 56B3ECA1
+P 7550 3200
+F 0 "#PWR058" H 7550 3050 50  0001 C CNN
+F 1 "+3.3V" H 7550 3340 50  0000 C CNN
+F 2 "" H 7550 3200 50  0000 C CNN
+F 3 "" H 7550 3200 50  0000 C CNN
+	1    7550 3200
+	1    0    0    -1  
+$EndComp
+$Comp
+L GND #PWR059
+U 1 1 56B3ECB9
+P 7550 3500
+F 0 "#PWR059" H 7550 3250 50  0001 C CNN
+F 1 "GND" H 7550 3350 50  0000 C CNN
+F 2 "" H 7550 3500 50  0000 C CNN
+F 3 "" H 7550 3500 50  0000 C CNN
+	1    7550 3500
+	1    0    0    -1  
+$EndComp
 $EndSCHEMATC

motor.sch

@@ -69,10 +69,10 @@ F 3 "" H 1450 1250 60  0000 C CNN
 	1    0    0    1   
 $EndComp
 $Comp
-L GND #PWR034
+L GND #PWR040
 U 1 1 56AA7AC6
 P 1600 4400
-F 0 "#PWR034" H 1600 4150 50  0001 C CNN
+F 0 "#PWR040" H 1600 4150 50  0001 C CNN
 F 1 "GND" H 1600 4250 50  0000 C CNN
 F 2 "" H 1600 4400 60  0000 C CNN
 F 3 "" H 1600 4400 60  0000 C CNN
@@ -124,10 +124,10 @@ $EndComp
 Text HLabel 4200 3550 2    60   Input ~ 0
 FBA
 $Comp
-L GND #PWR035
+L GND #PWR041
 U 1 1 56AAA1F3
 P 3950 3850
-F 0 "#PWR035" H 3950 3600 50  0001 C CNN
+F 0 "#PWR041" H 3950 3600 50  0001 C CNN
 F 1 "GND" H 3950 3700 50  0000 C CNN
 F 2 "" H 3950 3850 60  0000 C CNN
 F 3 "" H 3950 3850 60  0000 C CNN
@@ -159,10 +159,10 @@ $EndComp
 Text HLabel 4200 3000 2    60   Input ~ 0
 FBB
 $Comp
-L GND #PWR036
+L GND #PWR042
 U 1 1 56AAA7F8
 P 3950 3300
-F 0 "#PWR036" H 3950 3050 50  0001 C CNN
+F 0 "#PWR042" H 3950 3050 50  0001 C CNN
 F 1 "GND" H 3950 3150 50  0000 C CNN
 F 2 "" H 3950 3300 60  0000 C CNN
 F 3 "" H 3950 3300 60  0000 C CNN
@@ -194,10 +194,10 @@ $EndComp
 Text HLabel 4750 3950 2    60   Input ~ 0
 ~SFA
 $Comp
-L +3.3V #PWR037
+L +3.3V #PWR043
 U 1 1 56AAB00B
 P 4750 3650
-F 0 "#PWR037" H 4750 3500 50  0001 C CNN
+F 0 "#PWR043" H 4750 3500 50  0001 C CNN
 F 1 "+3.3V" H 4750 3790 50  0000 C CNN
 F 2 "" H 4750 3650 60  0000 C CNN
 F 3 "" H 4750 3650 60  0000 C CNN
@@ -218,10 +218,10 @@ $EndComp
 Text HLabel 4750 3350 2    60   Input ~ 0
 ~SFB
 $Comp
-L +3.3V #PWR038
+L +3.3V #PWR044
 U 1 1 56AAB0C7
 P 4750 3050
-F 0 "#PWR038" H 4750 2900 50  0001 C CNN
+F 0 "#PWR044" H 4750 2900 50  0001 C CNN
 F 1 "+3.3V" H 4750 3190 50  0000 C CNN
 F 2 "" H 4750 3050 60  0000 C CNN
 F 3 "" H 4750 3050 60  0000 C CNN
@@ -233,10 +233,10 @@ EN
 Text HLabel 2550 3600 2    60   Input ~ 0
 EN
 $Comp
-L +BATT #PWR039
+L +BATT #PWR045
 U 1 1 56A976EF
 P 1650 900
-F 0 "#PWR039" H 1650 750 50  0001 C CNN
+F 0 "#PWR045" H 1650 750 50  0001 C CNN
 F 1 "+BATT" H 1650 1040 50  0000 C CNN
 F 2 "" H 1650 900 60  0000 C CNN
 F 3 "" H 1650 900 60  0000 C CNN
@@ -266,10 +266,10 @@ F 3 "" H 6200 1650 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR040
+L GND #PWR046
 U 1 1 56AA0ACC
 P 4300 2350
-F 0 "#PWR040" H 4300 2100 50  0001 C CNN
+F 0 "#PWR046" H 4300 2100 50  0001 C CNN
 F 1 "GND" H 4300 2200 50  0000 C CNN
 F 2 "" H 4300 2350 60  0000 C CNN
 F 3 "" H 4300 2350 60  0000 C CNN
@@ -277,10 +277,10 @@ F 3 "" H 4300 2350 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR041
+L GND #PWR047
 U 1 1 56AA0AD2
 P 6200 2350
-F 0 "#PWR041" H 6200 2100 50  0001 C CNN
+F 0 "#PWR047" H 6200 2100 50  0001 C CNN
 F 1 "GND" H 6200 2200 50  0000 C CNN
 F 2 "" H 6200 2350 60  0000 C CNN
 F 3 "" H 6200 2350 60  0000 C CNN
@@ -288,10 +288,10 @@ F 3 "" H 6200 2350 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L +BATT #PWR042
+L +BATT #PWR048
 U 1 1 56AA0ADE
 P 6200 750
-F 0 "#PWR042" H 6200 600 50  0001 C CNN
+F 0 "#PWR048" H 6200 600 50  0001 C CNN
 F 1 "+BATT" H 6200 890 50  0000 C CNN
 F 2 "" H 6200 750 60  0000 C CNN
 F 3 "" H 6200 750 60  0000 C CNN
@@ -299,10 +299,10 @@ F 3 "" H 6200 750 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L +BATT #PWR043
+L +BATT #PWR049
 U 1 1 56AA0AF0
 P 4300 750
-F 0 "#PWR043" H 4300 600 50  0001 C CNN
+F 0 "#PWR049" H 4300 600 50  0001 C CNN
 F 1 "+BATT" H 4300 890 50  0000 C CNN
 F 2 "" H 4300 750 60  0000 C CNN
 F 3 "" H 4300 750 60  0000 C CNN
@@ -447,10 +447,10 @@ F 3 "" H 5800 3200 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L +BATT #PWR044
+L +BATT #PWR050
 U 1 1 56AA77EC
 P 6050 2900
-F 0 "#PWR044" H 6050 2750 50  0001 C CNN
+F 0 "#PWR050" H 6050 2750 50  0001 C CNN
 F 1 "+BATT" H 6050 3040 50  0000 C CNN
 F 2 "" H 6050 2900 60  0000 C CNN
 F 3 "" H 6050 2900 60  0000 C CNN
@@ -458,10 +458,10 @@ F 3 "" H 6050 2900 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR045
+L GND #PWR051
 U 1 1 56AA7824
 P 6050 3550
-F 0 "#PWR045" H 6050 3300 50  0001 C CNN
+F 0 "#PWR051" H 6050 3300 50  0001 C CNN
 F 1 "GND" H 6050 3400 50  0000 C CNN
 F 2 "" H 6050 3550 60  0000 C CNN
 F 3 "" H 6050 3550 60  0000 C CNN
@@ -564,7 +564,7 @@ U 1 1 56B2D7DC
 P 6300 3200
 F 0 "C410" H 6325 3300 50  0000 L CNN
 F 1 "470u" H 6325 3100 50  0000 L CNN
-F 2 "" H 6338 3050 50  0000 C CNN
+F 2 "" H 6338 3050 50  0001 C CNN
 F 3 "" H 6300 3200 50  0000 C CNN
 	1    6300 3200
 	1    0    0    -1  
@@ -575,7 +575,7 @@ U 1 1 56B2D84A
 P 6550 3200
 F 0 "C411" H 6575 3300 50  0000 L CNN
 F 1 "470u" H 6575 3100 50  0000 L CNN
-F 2 "" H 6588 3050 50  0000 C CNN
+F 2 "" H 6588 3050 50  0001 C CNN
 F 3 "" H 6550 3200 50  0000 C CNN
 	1    6550 3200
 	1    0    0    -1  

out/multi-cb/robo-Dwgs.User.gbr

+G04 #@! TF.FileFunction,Drawing*
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 4.0.1+dfsg1-stable) date Tue 09 Feb 2016 10:23:46 CET*
+%MOMM*%
+G01*
+G04 APERTURE LIST*
+%ADD10C,0.100000*%
+%ADD11C,0.150000*%
+%ADD12C,0.300000*%
+G04 APERTURE END LIST*
+D10*
+D11*
+X18000000Y-15000000D02*
+X18000000Y-50000000D01*
+X98000000Y-15000000D02*
+X18000000Y-15000000D01*
+X98000000Y-50000000D02*
+X98000000Y-15000000D01*
+X18000000Y-50000000D02*
+X98000000Y-50000000D01*
+D12*
+X52071430Y-54621429D02*
+X51928572Y-54550000D01*
+X51857144Y-54478571D01*
+X51785715Y-54335714D01*
+X51785715Y-54264286D01*
+X51857144Y-54121429D01*
+X51928572Y-54050000D01*
+X52071430Y-53978571D01*
+X52357144Y-53978571D01*
+X52500001Y-54050000D01*
+X52571430Y-54121429D01*
+X52642858Y-54264286D01*
+X52642858Y-54335714D01*
+X52571430Y-54478571D01*
+X52500001Y-54550000D01*
+X52357144Y-54621429D01*
+X52071430Y-54621429D01*
+X51928572Y-54692857D01*
+X51857144Y-54764286D01*
+X51785715Y-54907143D01*
+X51785715Y-55192857D01*
+X51857144Y-55335714D01*
+X51928572Y-55407143D01*
+X52071430Y-55478571D01*
+X52357144Y-55478571D01*
+X52500001Y-55407143D01*
+X52571430Y-55335714D01*
+X52642858Y-55192857D01*
+X52642858Y-54907143D01*
+X52571430Y-54764286D01*
+X52500001Y-54692857D01*
+X52357144Y-54621429D01*
+X53571429Y-53978571D02*
+X53714286Y-53978571D01*
+X53857143Y-54050000D01*
+X53928572Y-54121429D01*
+X54000001Y-54264286D01*
+X54071429Y-54550000D01*
+X54071429Y-54907143D01*
+X54000001Y-55192857D01*
+X53928572Y-55335714D01*
+X53857143Y-55407143D01*
+X53714286Y-55478571D01*
+X53571429Y-55478571D01*
+X53428572Y-55407143D01*
+X53357143Y-55335714D01*
+X53285715Y-55192857D01*
+X53214286Y-54907143D01*
+X53214286Y-54550000D01*
+X53285715Y-54264286D01*
+X53357143Y-54121429D01*
+X53428572Y-54050000D01*
+X53571429Y-53978571D01*
+X54714286Y-55335714D02*
+X54785714Y-55407143D01*
+X54714286Y-55478571D01*
+X54642857Y-55407143D01*
+X54714286Y-55335714D01*
+X54714286Y-55478571D01*
+X55714286Y-53978571D02*
+X55857143Y-53978571D01*
+X56000000Y-54050000D01*
+X56071429Y-54121429D01*
+X56142858Y-54264286D01*
+X56214286Y-54550000D01*
+X56214286Y-54907143D01*
+X56142858Y-55192857D01*
+X56071429Y-55335714D01*
+X56000000Y-55407143D01*
+X55857143Y-55478571D01*
+X55714286Y-55478571D01*
+X55571429Y-55407143D01*
+X55500000Y-55335714D01*
+X55428572Y-55192857D01*
+X55357143Y-54907143D01*
+X55357143Y-54550000D01*
+X55428572Y-54264286D01*
+X55500000Y-54121429D01*
+X55571429Y-54050000D01*
+X55714286Y-53978571D01*
+X57142857Y-53978571D02*
+X57285714Y-53978571D01*
+X57428571Y-54050000D01*
+X57500000Y-54121429D01*
+X57571429Y-54264286D01*
+X57642857Y-54550000D01*
+X57642857Y-54907143D01*
+X57571429Y-55192857D01*
+X57500000Y-55335714D01*
+X57428571Y-55407143D01*
+X57285714Y-55478571D01*
+X57142857Y-55478571D01*
+X57000000Y-55407143D01*
+X56928571Y-55335714D01*
+X56857143Y-55192857D01*
+X56785714Y-54907143D01*
+X56785714Y-54550000D01*
+X56857143Y-54264286D01*
+X56928571Y-54121429D01*
+X57000000Y-54050000D01*
+X57142857Y-53978571D01*
+X58571428Y-53978571D02*
+X58714285Y-53978571D01*
+X58857142Y-54050000D01*
+X58928571Y-54121429D01*
+X59000000Y-54264286D01*
+X59071428Y-54550000D01*
+X59071428Y-54907143D01*
+X59000000Y-55192857D01*
+X58928571Y-55335714D01*
+X58857142Y-55407143D01*
+X58714285Y-55478571D01*
+X58571428Y-55478571D01*
+X58428571Y-55407143D01*
+X58357142Y-55335714D01*
+X58285714Y-55192857D01*
+X58214285Y-54907143D01*
+X58214285Y-54550000D01*
+X58285714Y-54264286D01*
+X58357142Y-54121429D01*
+X58428571Y-54050000D01*
+X58571428Y-53978571D01*
+X60857142Y-55478571D02*
+X60857142Y-54478571D01*
+X60857142Y-54621429D02*
+X60928570Y-54550000D01*
+X61071428Y-54478571D01*
+X61285713Y-54478571D01*
+X61428570Y-54550000D01*
+X61499999Y-54692857D01*
+X61499999Y-55478571D01*
+X61499999Y-54692857D02*
+X61571428Y-54550000D01*
+X61714285Y-54478571D01*
+X61928570Y-54478571D01*
+X62071428Y-54550000D01*
+X62142856Y-54692857D01*
+X62142856Y-55478571D01*
+X62857142Y-55478571D02*
+X62857142Y-54478571D01*
+X62857142Y-54621429D02*
+X62928570Y-54550000D01*
+X63071428Y-54478571D01*
+X63285713Y-54478571D01*
+X63428570Y-54550000D01*
+X63499999Y-54692857D01*
+X63499999Y-55478571D01*
+X63499999Y-54692857D02*
+X63571428Y-54550000D01*
+X63714285Y-54478571D01*
+X63928570Y-54478571D01*
+X64071428Y-54550000D01*
+X64142856Y-54692857D01*
+X64142856Y-55478571D01*
+X18000000Y-53450000D02*
+X98000000Y-53450000D01*
+X18000000Y-50000000D02*
+X18000000Y-56150000D01*
+X98000000Y-50000000D02*
+X98000000Y-56150000D01*
+X98000000Y-53450000D02*
+X96873496Y-54036421D01*
+X98000000Y-53450000D02*
+X96873496Y-52863579D01*
+X18000000Y-53450000D02*
+X19126504Y-54036421D01*