diff --git a/cnc-controller-cache.lib b/cnc-controller-cache.lib
index d2106ed..684bb10 100644
--- a/cnc-controller-cache.lib
+++ b/cnc-controller-cache.lib
@@ -326,27 +326,6 @@ X A 2 100 0 70 L 50 50 1 1 P
 ENDDRAW
 ENDDEF
 #
-# Device_R_Shunt
-#
-DEF Device_R_Shunt R 0 0 N Y 1 F N
-F0 "R" -175 0 50 V V C CNN
-F1 "Device_R_Shunt" -100 0 50 V V C CNN
-F2 "" -70 0 50 V I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- R_*Shunt*
-$ENDFPLIST
-DRAW
-S -40 -100 40 100 0 1 10 N
-P 2 0 1 0 0 -100 50 -100 N
-P 2 0 1 0 50 100 0 100 N
-X 1 1 0 200 100 D 50 50 1 1 P
-X 2 2 150 100 100 L 50 50 1 1 P
-X 3 3 150 -100 100 L 50 50 1 1 P
-X 4 4 0 -200 100 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
 # Device_R_Small
 #
 DEF Device_R_Small R 0 10 N N 1 F N
diff --git a/cnc-controller.sch b/cnc-controller.sch
index 036983b..96b6a73 100644
--- a/cnc-controller.sch
+++ b/cnc-controller.sch
@@ -3032,10 +3032,10 @@ $EndComp
 Text Notes 12550 1200 0    50   ~ 0
 5-60V 9A RMS
 $Comp
-L Device:CP_Small C?
+L Device:CP_Small C128
 U 1 1 62F9925E
 P 14200 7350
-F 0 "C?" H 14210 7420 50  0000 L CNN
+F 0 "C128" H 14210 7420 50  0000 L CNN
 F 1 "47 uF 60V" H 14210 7270 50  0000 L CNN
 F 2 "Capacitor_SMD:CP_Elec_10x10" H 14200 7350 50  0001 C CNN
 F 3 "~" H 14200 7350 50  0001 C CNN
@@ -3046,10 +3046,10 @@ $EndComp
 Wire Wire Line
 	13900 7250 15500 7250
 $Comp
-L Device:D_Zener D?
+L Device:D_Zener D112
 U 1 1 62FFCE3A
 P 14750 900
-F 0 "D?" H 14750 1000 50  0000 C CNN
+F 0 "D112" H 14750 1000 50  0000 C CNN
 F 1 "10V" H 14750 800 50  0000 C CNN
 F 2 "Diode_SMD:D_0603_1608Metric" H 14750 900 50  0001 C CNN
 F 3 "~" H 14750 900 50  0001 C CNN
@@ -3072,10 +3072,10 @@ F 4 "RMCS0805JT10K0CT-ND" H 14050 900 50  0001 C CNN "Digikey"
 	0    1    1    0   
 $EndComp
 $Comp
-L Device:R_Small R?
+L Device:R_Small R128
 U 1 1 63062E3B
 P 13750 900
-F 0 "R?" H 13780 920 50  0000 L CNN
+F 0 "R128" H 13780 920 50  0000 L CNN
 F 1 "10kR 0.125W" H 13780 860 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" H 13750 900 50  0001 C CNN
 F 3 "~" H 13750 900 50  0001 C CNN
diff --git a/cnc-controller.sch-bak b/cnc-controller.sch-bak
index 036983b..96b6a73 100644
--- a/cnc-controller.sch-bak
+++ b/cnc-controller.sch-bak
@@ -3032,10 +3032,10 @@ $EndComp
 Text Notes 12550 1200 0    50   ~ 0
 5-60V 9A RMS
 $Comp
-L Device:CP_Small C?
+L Device:CP_Small C128
 U 1 1 62F9925E
 P 14200 7350
-F 0 "C?" H 14210 7420 50  0000 L CNN
+F 0 "C128" H 14210 7420 50  0000 L CNN
 F 1 "47 uF 60V" H 14210 7270 50  0000 L CNN
 F 2 "Capacitor_SMD:CP_Elec_10x10" H 14200 7350 50  0001 C CNN
 F 3 "~" H 14200 7350 50  0001 C CNN
@@ -3046,10 +3046,10 @@ $EndComp
 Wire Wire Line
 	13900 7250 15500 7250
 $Comp
-L Device:D_Zener D?
+L Device:D_Zener D112
 U 1 1 62FFCE3A
 P 14750 900
-F 0 "D?" H 14750 1000 50  0000 C CNN
+F 0 "D112" H 14750 1000 50  0000 C CNN
 F 1 "10V" H 14750 800 50  0000 C CNN
 F 2 "Diode_SMD:D_0603_1608Metric" H 14750 900 50  0001 C CNN
 F 3 "~" H 14750 900 50  0001 C CNN
@@ -3072,10 +3072,10 @@ F 4 "RMCS0805JT10K0CT-ND" H 14050 900 50  0001 C CNN "Digikey"
 	0    1    1    0   
 $EndComp
 $Comp
-L Device:R_Small R?
+L Device:R_Small R128
 U 1 1 63062E3B
 P 13750 900
-F 0 "R?" H 13780 920 50  0000 L CNN
+F 0 "R128" H 13780 920 50  0000 L CNN
 F 1 "10kR 0.125W" H 13780 860 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" H 13750 900 50  0001 C CNN
 F 3 "~" H 13750 900 50  0001 C CNN
diff --git a/stepper-driver.sch b/stepper-driver.sch
index dce7366..d703f9c 100644
--- a/stepper-driver.sch
+++ b/stepper-driver.sch
@@ -96,28 +96,10 @@ Wire Wire Line
 	3750 2550 3650 2550
 Wire Wire Line
 	3450 2550 3350 2550
-$Comp
-L Device:R_Shunt R203
-U 1 1 604A1573
-P 5700 6600
-AR Path="/60495576/604A1573" Ref="R203"  Part="1" 
-AR Path="/5FFE73A4/604A1573" Ref="R404"  Part="1" 
-AR Path="/5FFE8631/604A1573" Ref="R304"  Part="1" 
-F 0 "R203" V 5525 6600 50  0000 C CNN
-F 1 "R_Shunt" V 5600 6600 50  0000 C CNN
-F 2 "" V 5630 6600 50  0001 C CNN
-F 3 "~" H 5700 6600 50  0001 C CNN
-	1    5700 6600
-	-1   0    0    1   
-$EndComp
-Wire Wire Line
-	5700 6900 5700 6800
-Text Label 5000 6500 2    50   ~ 0
+Text Label 5000 6450 2    50   ~ 0
 SRB
 Text Label 3650 3650 0    50   ~ 0
 SRBL
-Wire Wire Line
-	5500 6700 5550 6700
 Text Label 4700 5950 0    50   ~ 0
 LB1
 Text Label 6700 5950 2    50   ~ 0
@@ -198,8 +180,9 @@ AR Path="/5FFE73A4/604AAEEC" Ref="C403"  Part="1"
 AR Path="/5FFE8631/604AAEEC" Ref="C303"  Part="1" 
 F 0 "C203" H 1910 6170 50  0000 L CNN
 F 1 "150 uF" H 1910 6020 50  0000 L CNN
-F 2 "" H 1900 6100 50  0001 C CNN
+F 2 "Capacitor_THT:CP_Radial_D10.0mm_P5.00mm" H 1900 6100 50  0001 C CNN
 F 3 "~" H 1900 6100 50  0001 C CNN
+F 4 "PCE5177CT-ND" H 1900 6100 50  0001 C CNN "Digikey"
 	1    1900 6100
 	1    0    0    -1  
 $EndComp
@@ -212,26 +195,12 @@ AR Path="/5FFE73A4/604AB000" Ref="C404"  Part="1"
 AR Path="/5FFE8631/604AB000" Ref="C304"  Part="1" 
 F 0 "C204" H 2260 6170 50  0000 L CNN
 F 1 "150 uF" H 2260 6020 50  0000 L CNN
-F 2 "" H 2250 6100 50  0001 C CNN
+F 2 "Capacitor_THT:CP_Radial_D10.0mm_P5.00mm" H 2250 6100 50  0001 C CNN
 F 3 "~" H 2250 6100 50  0001 C CNN
+F 4 "PCE5177CT-ND" H 2250 6100 50  0001 C CNN "Digikey"
 	1    2250 6100
 	1    0    0    -1  
 $EndComp
-$Comp
-L Device:C_Small C205
-U 1 1 604AB114
-P 2450 2000
-AR Path="/60495576/604AB114" Ref="C205"  Part="1" 
-AR Path="/5FFE73A4/604AB114" Ref="C405"  Part="1" 
-AR Path="/5FFE8631/604AB114" Ref="C305"  Part="1" 
-F 0 "C205" H 2460 2070 50  0000 L CNN
-F 1 "1 uF 16V" H 2460 1920 50  0000 L CNN
-F 2 "Capacitor_SMD:C_0603_1608Metric" H 2450 2000 50  0001 C CNN
-F 3 "~" H 2450 2000 50  0001 C CNN
-F 4 "1276-6524-1-ND" H 2450 2000 50  0001 C CNN "Digikey"
-	1    2450 2000
-	-1   0    0    -1  
-$EndComp
 Wire Wire Line
 	1600 2550 1600 2650
 Connection ~ 1600 2650
@@ -319,7 +288,7 @@ Text Label 3650 4250 0    50   ~ 0
 HB2
 Text Label 3650 3750 0    50   ~ 0
 SRB
-Text Label 5500 6700 2    50   ~ 0
+Text Label 5500 6750 2    50   ~ 0
 SRBL
 $Comp
 L Device:C_Small C206
@@ -345,8 +314,9 @@ AR Path="/5FFE73A4/604BC0A3" Ref="C408"  Part="1"
 AR Path="/5FFE8631/604BC0A3" Ref="C308"  Part="1" 
 F 0 "C208" H 2660 6170 50  0000 L CNN
 F 1 "0.1 uF 50V" H 2660 6020 50  0000 L CNN
-F 2 "" H 2650 6100 50  0001 C CNN
+F 2 "Capacitor_SMD:C_0603_1608Metric" H 2650 6100 50  0001 C CNN
 F 3 "~" H 2650 6100 50  0001 C CNN
+F 4 "1276-6807-1-ND" H 2650 6100 50  0001 C CNN "Digikey"
 	1    2650 6100
 	1    0    0    -1  
 $EndComp
@@ -363,21 +333,20 @@ VM
 $Comp
 L Device:R_Small R201
 U 1 1 604D9337
-P 5250 6500
+P 5250 6450
 AR Path="/60495576/604D9337" Ref="R201"  Part="1" 
 AR Path="/5FFE73A4/604D9337" Ref="R402"  Part="1" 
 AR Path="/5FFE8631/604D9337" Ref="R302"  Part="1" 
-F 0 "R201" H 5280 6520 50  0000 L CNN
-F 1 "10R" H 5280 6460 50  0000 L CNN
-F 2 "" H 5250 6500 50  0001 C CNN
-F 3 "~" H 5250 6500 50  0001 C CNN
-	1    5250 6500
+F 0 "R201" H 5280 6470 50  0000 L CNN
+F 1 "10R" H 5280 6410 50  0000 L CNN
+F 2 "Resistor_SMD:R_0402_1005Metric" H 5250 6450 50  0001 C CNN
+F 3 "~" H 5250 6450 50  0001 C CNN
+F 4 "YAG3340CT-ND" H 5250 6450 50  0001 C CNN "Digikey"
+	1    5250 6450
 	0    -1   -1   0   
 $EndComp
 Wire Wire Line
-	5000 6500 5150 6500
-Wire Wire Line
-	5350 6500 5550 6500
+	5000 6450 5150 6450
 $Comp
 L mosfets:AO4611 Q202
 U 2 1 5FF78E9B
@@ -521,8 +490,6 @@ Text Label 5500 4250 2    50   ~ 0
 SRAL
 Text Label 2650 1800 2    50   ~ 0
 VM
-Wire Wire Line
-	2650 1600 2650 1700
 Wire Wire Line
 	5000 3350 4800 3350
 Wire Wire Line
@@ -594,8 +561,6 @@ Wire Wire Line
 	5250 6250 5700 6250
 Wire Wire Line
 	6200 6250 6200 6150
-Wire Wire Line
-	5700 6250 5700 6400
 Connection ~ 5700 6250
 Wire Wire Line
 	5700 6250 6200 6250
@@ -610,7 +575,7 @@ P 5700 4400
 AR Path="/60495576/60020408" Ref="#PWR0211"  Part="1" 
 AR Path="/5FFE73A4/60020408" Ref="#PWR0411"  Part="1" 
 AR Path="/5FFE8631/60020408" Ref="#PWR0311"  Part="1" 
-F 0 "#PWR0211" H 5700 4150 50  0001 C CNN
+F 0 "#PWR0411" H 5700 4150 50  0001 C CNN
 F 1 "GND1" H 5700 4250 50  0000 C CNN
 F 2 "" H 5700 4400 50  0001 C CNN
 F 3 "" H 5700 4400 50  0001 C CNN
@@ -624,7 +589,7 @@ P 2850 4850
 AR Path="/60495576/600208EA" Ref="#PWR0207"  Part="1" 
 AR Path="/5FFE73A4/600208EA" Ref="#PWR0407"  Part="1" 
 AR Path="/5FFE8631/600208EA" Ref="#PWR0307"  Part="1" 
-F 0 "#PWR0207" H 2850 4600 50  0001 C CNN
+F 0 "#PWR0407" H 2850 4600 50  0001 C CNN
 F 1 "GND1" H 2850 4700 50  0000 C CNN
 F 2 "" H 2850 4850 50  0001 C CNN
 F 3 "" H 2850 4850 50  0001 C CNN
@@ -638,7 +603,7 @@ P 2650 6300
 AR Path="/60495576/60020C60" Ref="#PWR0209"  Part="1" 
 AR Path="/5FFE73A4/60020C60" Ref="#PWR0409"  Part="1" 
 AR Path="/5FFE8631/60020C60" Ref="#PWR0309"  Part="1" 
-F 0 "#PWR0209" H 2650 6050 50  0001 C CNN
+F 0 "#PWR0409" H 2650 6050 50  0001 C CNN
 F 1 "GND1" H 2650 6150 50  0000 C CNN
 F 2 "" H 2650 6300 50  0001 C CNN
 F 3 "" H 2650 6300 50  0001 C CNN
@@ -652,7 +617,7 @@ P 3050 2150
 AR Path="/60495576/600210DB" Ref="#PWR0208"  Part="1" 
 AR Path="/5FFE73A4/600210DB" Ref="#PWR0408"  Part="1" 
 AR Path="/5FFE8631/600210DB" Ref="#PWR0308"  Part="1" 
-F 0 "#PWR0208" H 3050 1900 50  0001 C CNN
+F 0 "#PWR0408" H 3050 1900 50  0001 C CNN
 F 1 "GND1" H 3050 2000 50  0000 C CNN
 F 2 "" H 3050 2150 50  0001 C CNN
 F 3 "" H 3050 2150 50  0001 C CNN
@@ -666,7 +631,7 @@ P 2250 6300
 AR Path="/60495576/60021716" Ref="#PWR0205"  Part="1" 
 AR Path="/5FFE73A4/60021716" Ref="#PWR0405"  Part="1" 
 AR Path="/5FFE8631/60021716" Ref="#PWR0305"  Part="1" 
-F 0 "#PWR0205" H 2250 6050 50  0001 C CNN
+F 0 "#PWR0405" H 2250 6050 50  0001 C CNN
 F 1 "GND1" H 2250 6150 50  0000 C CNN
 F 2 "" H 2250 6300 50  0001 C CNN
 F 3 "" H 2250 6300 50  0001 C CNN
@@ -680,7 +645,7 @@ P 1900 6300
 AR Path="/60495576/60021B44" Ref="#PWR0204"  Part="1" 
 AR Path="/5FFE73A4/60021B44" Ref="#PWR0404"  Part="1" 
 AR Path="/5FFE8631/60021B44" Ref="#PWR0304"  Part="1" 
-F 0 "#PWR0204" H 1900 6050 50  0001 C CNN
+F 0 "#PWR0404" H 1900 6050 50  0001 C CNN
 F 1 "GND1" H 1900 6150 50  0000 C CNN
 F 2 "" H 1900 6300 50  0001 C CNN
 F 3 "" H 1900 6300 50  0001 C CNN
@@ -694,7 +659,7 @@ P 1550 6300
 AR Path="/60495576/60021F4E" Ref="#PWR0201"  Part="1" 
 AR Path="/5FFE73A4/60021F4E" Ref="#PWR0401"  Part="1" 
 AR Path="/5FFE8631/60021F4E" Ref="#PWR0301"  Part="1" 
-F 0 "#PWR0201" H 1550 6050 50  0001 C CNN
+F 0 "#PWR0401" H 1550 6050 50  0001 C CNN
 F 1 "GND1" H 1550 6150 50  0000 C CNN
 F 2 "" H 1550 6300 50  0001 C CNN
 F 3 "" H 1550 6300 50  0001 C CNN
@@ -708,7 +673,7 @@ P 1800 2850
 AR Path="/60495576/60028947" Ref="#PWR0203"  Part="1" 
 AR Path="/5FFE73A4/60028947" Ref="#PWR0403"  Part="1" 
 AR Path="/5FFE8631/60028947" Ref="#PWR0303"  Part="1" 
-F 0 "#PWR0203" H 1800 2600 50  0001 C CNN
+F 0 "#PWR0403" H 1800 2600 50  0001 C CNN
 F 1 "GND1" H 1800 2700 50  0000 C CNN
 F 2 "" H 1800 2850 50  0001 C CNN
 F 3 "" H 1800 2850 50  0001 C CNN
@@ -722,7 +687,7 @@ P 1600 2250
 AR Path="/60495576/60028FBF" Ref="#PWR0202"  Part="1" 
 AR Path="/5FFE73A4/60028FBF" Ref="#PWR0402"  Part="1" 
 AR Path="/5FFE8631/60028FBF" Ref="#PWR0302"  Part="1" 
-F 0 "#PWR0202" H 1600 2000 50  0001 C CNN
+F 0 "#PWR0402" H 1600 2000 50  0001 C CNN
 F 1 "GND1" H 1600 2100 50  0000 C CNN
 F 2 "" H 1600 2250 50  0001 C CNN
 F 3 "" H 1600 2250 50  0001 C CNN
@@ -736,7 +701,7 @@ P 3750 2550
 AR Path="/60495576/60029455" Ref="#PWR0210"  Part="1" 
 AR Path="/5FFE73A4/60029455" Ref="#PWR0410"  Part="1" 
 AR Path="/5FFE8631/60029455" Ref="#PWR0310"  Part="1" 
-F 0 "#PWR0210" H 3750 2300 50  0001 C CNN
+F 0 "#PWR0410" H 3750 2300 50  0001 C CNN
 F 1 "GND1" H 3750 2400 50  0000 C CNN
 F 2 "" H 3750 2550 50  0001 C CNN
 F 3 "" H 3750 2550 50  0001 C CNN
@@ -750,7 +715,7 @@ P 5700 6900
 AR Path="/60495576/60020667" Ref="#PWR0212"  Part="1" 
 AR Path="/5FFE73A4/60020667" Ref="#PWR0412"  Part="1" 
 AR Path="/5FFE8631/60020667" Ref="#PWR0312"  Part="1" 
-F 0 "#PWR0212" H 5700 6650 50  0001 C CNN
+F 0 "#PWR0412" H 5700 6650 50  0001 C CNN
 F 1 "GND1" H 5700 6750 50  0000 C CNN
 F 2 "" H 5700 6900 50  0001 C CNN
 F 3 "" H 5700 6900 50  0001 C CNN
@@ -760,25 +725,21 @@ $EndComp
 Wire Wire Line
 	2250 5900 2650 5900
 Wire Wire Line
-	2450 2100 2450 2150
+	2450 1950 2450 2150
 Wire Wire Line
 	2450 2150 2550 2150
 Wire Wire Line
 	2550 2150 2550 2250
-Wire Wire Line
-	2450 1900 2450 1700
-Wire Wire Line
-	2450 1700 2650 1700
-Connection ~ 2650 1700
-Wire Wire Line
-	2650 1700 2650 2150
 Text Notes 6650 4200 0    50   ~ 0
 0.075 milliohms gives target current range
 $Comp
-L Device:R_Small R?
+L Device:R_Small R203
 U 1 1 63212AA7
 P 5700 4100
-F 0 "R?" H 5730 4120 50  0000 L CNN
+AR Path="/60495576/63212AA7" Ref="R203"  Part="1" 
+AR Path="/5FFE8631/63212AA7" Ref="R303"  Part="1" 
+AR Path="/5FFE73A4/63212AA7" Ref="R403"  Part="1" 
+F 0 "R203" H 5730 4120 50  0000 L CNN
 F 1 "75 mR 1W" H 5730 4060 50  0000 L CNN
 F 2 "Resistor_SMD:R_2512_6332Metric_Pad1.40x3.35mm_HandSolder" H 5700 4100 50  0001 C CNN
 F 3 "~" H 5700 4100 50  0001 C CNN
@@ -800,4 +761,73 @@ Wire Wire Line
 Connection ~ 5700 4250
 Wire Wire Line
 	5700 4250 5700 4400
+$Comp
+L Device:R_Small R204
+U 1 1 63258477
+P 5700 6600
+AR Path="/60495576/63258477" Ref="R204"  Part="1" 
+AR Path="/5FFE8631/63258477" Ref="R304"  Part="1" 
+AR Path="/5FFE73A4/63258477" Ref="R404"  Part="1" 
+F 0 "R204" H 5730 6620 50  0000 L CNN
+F 1 "75 mR 1W" H 5730 6560 50  0000 L CNN
+F 2 "Resistor_SMD:R_2512_6332Metric_Pad1.40x3.35mm_HandSolder" H 5700 6600 50  0001 C CNN
+F 3 "~" H 5700 6600 50  0001 C CNN
+F 4 "CSRN2512FK75L0CT-ND" H 5700 6600 50  0001 C CNN "Digikey"
+	1    5700 6600
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	5700 6450 5700 6500
+Wire Wire Line
+	5350 6450 5700 6450
+Wire Wire Line
+	5700 6700 5700 6750
+Wire Wire Line
+	5500 6750 5700 6750
+Connection ~ 5700 6750
+Wire Wire Line
+	5700 6750 5700 6900
+Wire Wire Line
+	5700 6250 5700 6450
+Connection ~ 5700 6450
+$Comp
+L power:PWR_FLAG #FLG0102
+U 1 1 6326ACB6
+P 2450 2150
+AR Path="/60495576/6326ACB6" Ref="#FLG0102"  Part="1" 
+AR Path="/5FFE8631/6326ACB6" Ref="#FLG0103"  Part="1" 
+AR Path="/5FFE73A4/6326ACB6" Ref="#FLG0104"  Part="1" 
+F 0 "#FLG0104" H 2450 2225 50  0001 C CNN
+F 1 "PWR_FLAG" H 2450 2300 50  0000 C CNN
+F 2 "" H 2450 2150 50  0001 C CNN
+F 3 "~" H 2450 2150 50  0001 C CNN
+	1    2450 2150
+	0    -1   -1   0   
+$EndComp
+Connection ~ 2450 2150
+$Comp
+L Device:C_Small C205
+U 1 1 604AB114
+P 2450 1850
+AR Path="/60495576/604AB114" Ref="C205"  Part="1" 
+AR Path="/5FFE73A4/604AB114" Ref="C405"  Part="1" 
+AR Path="/5FFE8631/604AB114" Ref="C305"  Part="1" 
+F 0 "C205" H 2460 1920 50  0000 L CNN
+F 1 "1 uF 16V" H 2460 1770 50  0000 L CNN
+F 2 "Capacitor_SMD:C_0603_1608Metric" H 2450 1850 50  0001 C CNN
+F 3 "~" H 2450 1850 50  0001 C CNN
+F 4 "1276-6524-1-ND" H 2450 1850 50  0001 C CNN "Digikey"
+	1    2450 1850
+	-1   0    0    -1  
+$EndComp
+Wire Wire Line
+	2650 1600 2650 1700
+Wire Wire Line
+	2650 1700 2450 1700
+Wire Wire Line
+	2450 1700 2450 1750
+Connection ~ 2650 1700
+Wire Wire Line
+	2650 1700 2650 2150
+NoConn ~ 1900 4150
 $EndSCHEMATC
diff --git a/stepper-driver.sch-bak b/stepper-driver.sch-bak
index 6d94828..d703f9c 100644
--- a/stepper-driver.sch-bak
+++ b/stepper-driver.sch-bak
@@ -96,28 +96,10 @@ Wire Wire Line
 	3750 2550 3650 2550
 Wire Wire Line
 	3450 2550 3350 2550
-$Comp
-L Device:R_Shunt R203
-U 1 1 604A1573
-P 5700 6600
-AR Path="/60495576/604A1573" Ref="R203"  Part="1" 
-AR Path="/5FFE73A4/604A1573" Ref="R404"  Part="1" 
-AR Path="/5FFE8631/604A1573" Ref="R304"  Part="1" 
-F 0 "R203" V 5525 6600 50  0000 C CNN
-F 1 "R_Shunt" V 5600 6600 50  0000 C CNN
-F 2 "" V 5630 6600 50  0001 C CNN
-F 3 "~" H 5700 6600 50  0001 C CNN
-	1    5700 6600
-	-1   0    0    1   
-$EndComp
-Wire Wire Line
-	5700 6900 5700 6800
-Text Label 5000 6500 2    50   ~ 0
+Text Label 5000 6450 2    50   ~ 0
 SRB
 Text Label 3650 3650 0    50   ~ 0
 SRBL
-Wire Wire Line
-	5500 6700 5550 6700
 Text Label 4700 5950 0    50   ~ 0
 LB1
 Text Label 6700 5950 2    50   ~ 0
@@ -198,8 +180,9 @@ AR Path="/5FFE73A4/604AAEEC" Ref="C403"  Part="1"
 AR Path="/5FFE8631/604AAEEC" Ref="C303"  Part="1" 
 F 0 "C203" H 1910 6170 50  0000 L CNN
 F 1 "150 uF" H 1910 6020 50  0000 L CNN
-F 2 "" H 1900 6100 50  0001 C CNN
+F 2 "Capacitor_THT:CP_Radial_D10.0mm_P5.00mm" H 1900 6100 50  0001 C CNN
 F 3 "~" H 1900 6100 50  0001 C CNN
+F 4 "PCE5177CT-ND" H 1900 6100 50  0001 C CNN "Digikey"
 	1    1900 6100
 	1    0    0    -1  
 $EndComp
@@ -212,26 +195,12 @@ AR Path="/5FFE73A4/604AB000" Ref="C404"  Part="1"
 AR Path="/5FFE8631/604AB000" Ref="C304"  Part="1" 
 F 0 "C204" H 2260 6170 50  0000 L CNN
 F 1 "150 uF" H 2260 6020 50  0000 L CNN
-F 2 "" H 2250 6100 50  0001 C CNN
+F 2 "Capacitor_THT:CP_Radial_D10.0mm_P5.00mm" H 2250 6100 50  0001 C CNN
 F 3 "~" H 2250 6100 50  0001 C CNN
+F 4 "PCE5177CT-ND" H 2250 6100 50  0001 C CNN "Digikey"
 	1    2250 6100
 	1    0    0    -1  
 $EndComp
-$Comp
-L Device:C_Small C205
-U 1 1 604AB114
-P 2450 2000
-AR Path="/60495576/604AB114" Ref="C205"  Part="1" 
-AR Path="/5FFE73A4/604AB114" Ref="C405"  Part="1" 
-AR Path="/5FFE8631/604AB114" Ref="C305"  Part="1" 
-F 0 "C205" H 2460 2070 50  0000 L CNN
-F 1 "1 uF 16V" H 2460 1920 50  0000 L CNN
-F 2 "Capacitor_SMD:C_0603_1608Metric" H 2450 2000 50  0001 C CNN
-F 3 "~" H 2450 2000 50  0001 C CNN
-F 4 "1276-6524-1-ND" H 2450 2000 50  0001 C CNN "Digikey"
-	1    2450 2000
-	-1   0    0    -1  
-$EndComp
 Wire Wire Line
 	1600 2550 1600 2650
 Connection ~ 1600 2650
@@ -319,7 +288,7 @@ Text Label 3650 4250 0    50   ~ 0
 HB2
 Text Label 3650 3750 0    50   ~ 0
 SRB
-Text Label 5500 6700 2    50   ~ 0
+Text Label 5500 6750 2    50   ~ 0
 SRBL
 $Comp
 L Device:C_Small C206
@@ -345,8 +314,9 @@ AR Path="/5FFE73A4/604BC0A3" Ref="C408"  Part="1"
 AR Path="/5FFE8631/604BC0A3" Ref="C308"  Part="1" 
 F 0 "C208" H 2660 6170 50  0000 L CNN
 F 1 "0.1 uF 50V" H 2660 6020 50  0000 L CNN
-F 2 "" H 2650 6100 50  0001 C CNN
+F 2 "Capacitor_SMD:C_0603_1608Metric" H 2650 6100 50  0001 C CNN
 F 3 "~" H 2650 6100 50  0001 C CNN
+F 4 "1276-6807-1-ND" H 2650 6100 50  0001 C CNN "Digikey"
 	1    2650 6100
 	1    0    0    -1  
 $EndComp
@@ -363,21 +333,20 @@ VM
 $Comp
 L Device:R_Small R201
 U 1 1 604D9337
-P 5250 6500
+P 5250 6450
 AR Path="/60495576/604D9337" Ref="R201"  Part="1" 
 AR Path="/5FFE73A4/604D9337" Ref="R402"  Part="1" 
 AR Path="/5FFE8631/604D9337" Ref="R302"  Part="1" 
-F 0 "R201" H 5280 6520 50  0000 L CNN
-F 1 "10R" H 5280 6460 50  0000 L CNN
-F 2 "" H 5250 6500 50  0001 C CNN
-F 3 "~" H 5250 6500 50  0001 C CNN
-	1    5250 6500
+F 0 "R201" H 5280 6470 50  0000 L CNN
+F 1 "10R" H 5280 6410 50  0000 L CNN
+F 2 "Resistor_SMD:R_0402_1005Metric" H 5250 6450 50  0001 C CNN
+F 3 "~" H 5250 6450 50  0001 C CNN
+F 4 "YAG3340CT-ND" H 5250 6450 50  0001 C CNN "Digikey"
+	1    5250 6450
 	0    -1   -1   0   
 $EndComp
 Wire Wire Line
-	5000 6500 5150 6500
-Wire Wire Line
-	5350 6500 5550 6500
+	5000 6450 5150 6450
 $Comp
 L mosfets:AO4611 Q202
 U 2 1 5FF78E9B
@@ -499,50 +468,28 @@ F 4 "785-1203-1-ND" H 6300 5450 50  0001 C CNN "Digikey"
 	-1   0    0    1   
 $EndComp
 Wire Wire Line
-	5000 4000 5150 4000
-Wire Wire Line
-	5350 4000 5550 4000
+	5000 3950 5150 3950
 $Comp
 L Device:R_Small R202
 U 1 1 604D6316
-P 5250 4000
+P 5250 3950
 AR Path="/60495576/604D6316" Ref="R202"  Part="1" 
 AR Path="/5FFE73A4/604D6316" Ref="R401"  Part="1" 
 AR Path="/5FFE8631/604D6316" Ref="R301"  Part="1" 
-F 0 "R202" H 5280 4020 50  0000 L CNN
-F 1 "10R" H 5280 3960 50  0000 L CNN
-F 2 "Resistor_SMD:R_0402_1005Metric" H 5250 4000 50  0001 C CNN
-F 3 "~" H 5250 4000 50  0001 C CNN
-F 4 "YAG3340CT-ND" H 5250 4000 50  0001 C CNN "Digikey"
-	1    5250 4000
+F 0 "R202" H 5280 3970 50  0000 L CNN
+F 1 "10R" H 5280 3910 50  0000 L CNN
+F 2 "Resistor_SMD:R_0402_1005Metric" H 5250 3950 50  0001 C CNN
+F 3 "~" H 5250 3950 50  0001 C CNN
+F 4 "YAG3340CT-ND" H 5250 3950 50  0001 C CNN "Digikey"
+	1    5250 3950
 	0    -1   -1   0   
 $EndComp
-Text Label 5000 4000 2    50   ~ 0
+Text Label 5000 3950 2    50   ~ 0
 SRA
-Wire Wire Line
-	5500 4200 5550 4200
-Text Label 5500 4200 2    50   ~ 0
+Text Label 5500 4250 2    50   ~ 0
 SRAL
-Wire Wire Line
-	5700 4300 5700 4400
-$Comp
-L Device:R_Shunt R204
-U 1 1 604A07B0
-P 5700 4100
-AR Path="/60495576/604A07B0" Ref="R204"  Part="1" 
-AR Path="/5FFE73A4/604A07B0" Ref="R403"  Part="1" 
-AR Path="/5FFE8631/604A07B0" Ref="R303"  Part="1" 
-F 0 "R204" V 5525 4100 50  0000 C CNN
-F 1 "R_Shunt" V 5600 4100 50  0000 C CNN
-F 2 "" V 5630 4100 50  0001 C CNN
-F 3 "~" H 5700 4100 50  0001 C CNN
-	1    5700 4100
-	-1   0    0    -1  
-$EndComp
 Text Label 2650 1800 2    50   ~ 0
 VM
-Wire Wire Line
-	2650 1600 2650 1700
 Wire Wire Line
 	5000 3350 4800 3350
 Wire Wire Line
@@ -571,8 +518,6 @@ Wire Wire Line
 	5300 3650 5700 3650
 Wire Wire Line
 	6250 3650 6250 3550
-Wire Wire Line
-	5700 3650 5700 3900
 Connection ~ 5700 3650
 Wire Wire Line
 	5700 3650 6250 3650
@@ -616,8 +561,6 @@ Wire Wire Line
 	5250 6250 5700 6250
 Wire Wire Line
 	6200 6250 6200 6150
-Wire Wire Line
-	5700 6250 5700 6400
 Connection ~ 5700 6250
 Wire Wire Line
 	5700 6250 6200 6250
@@ -632,7 +575,7 @@ P 5700 4400
 AR Path="/60495576/60020408" Ref="#PWR0211"  Part="1" 
 AR Path="/5FFE73A4/60020408" Ref="#PWR0411"  Part="1" 
 AR Path="/5FFE8631/60020408" Ref="#PWR0311"  Part="1" 
-F 0 "#PWR0211" H 5700 4150 50  0001 C CNN
+F 0 "#PWR0411" H 5700 4150 50  0001 C CNN
 F 1 "GND1" H 5700 4250 50  0000 C CNN
 F 2 "" H 5700 4400 50  0001 C CNN
 F 3 "" H 5700 4400 50  0001 C CNN
@@ -646,7 +589,7 @@ P 2850 4850
 AR Path="/60495576/600208EA" Ref="#PWR0207"  Part="1" 
 AR Path="/5FFE73A4/600208EA" Ref="#PWR0407"  Part="1" 
 AR Path="/5FFE8631/600208EA" Ref="#PWR0307"  Part="1" 
-F 0 "#PWR0207" H 2850 4600 50  0001 C CNN
+F 0 "#PWR0407" H 2850 4600 50  0001 C CNN
 F 1 "GND1" H 2850 4700 50  0000 C CNN
 F 2 "" H 2850 4850 50  0001 C CNN
 F 3 "" H 2850 4850 50  0001 C CNN
@@ -660,7 +603,7 @@ P 2650 6300
 AR Path="/60495576/60020C60" Ref="#PWR0209"  Part="1" 
 AR Path="/5FFE73A4/60020C60" Ref="#PWR0409"  Part="1" 
 AR Path="/5FFE8631/60020C60" Ref="#PWR0309"  Part="1" 
-F 0 "#PWR0209" H 2650 6050 50  0001 C CNN
+F 0 "#PWR0409" H 2650 6050 50  0001 C CNN
 F 1 "GND1" H 2650 6150 50  0000 C CNN
 F 2 "" H 2650 6300 50  0001 C CNN
 F 3 "" H 2650 6300 50  0001 C CNN
@@ -674,7 +617,7 @@ P 3050 2150
 AR Path="/60495576/600210DB" Ref="#PWR0208"  Part="1" 
 AR Path="/5FFE73A4/600210DB" Ref="#PWR0408"  Part="1" 
 AR Path="/5FFE8631/600210DB" Ref="#PWR0308"  Part="1" 
-F 0 "#PWR0208" H 3050 1900 50  0001 C CNN
+F 0 "#PWR0408" H 3050 1900 50  0001 C CNN
 F 1 "GND1" H 3050 2000 50  0000 C CNN
 F 2 "" H 3050 2150 50  0001 C CNN
 F 3 "" H 3050 2150 50  0001 C CNN
@@ -688,7 +631,7 @@ P 2250 6300
 AR Path="/60495576/60021716" Ref="#PWR0205"  Part="1" 
 AR Path="/5FFE73A4/60021716" Ref="#PWR0405"  Part="1" 
 AR Path="/5FFE8631/60021716" Ref="#PWR0305"  Part="1" 
-F 0 "#PWR0205" H 2250 6050 50  0001 C CNN
+F 0 "#PWR0405" H 2250 6050 50  0001 C CNN
 F 1 "GND1" H 2250 6150 50  0000 C CNN
 F 2 "" H 2250 6300 50  0001 C CNN
 F 3 "" H 2250 6300 50  0001 C CNN
@@ -702,7 +645,7 @@ P 1900 6300
 AR Path="/60495576/60021B44" Ref="#PWR0204"  Part="1" 
 AR Path="/5FFE73A4/60021B44" Ref="#PWR0404"  Part="1" 
 AR Path="/5FFE8631/60021B44" Ref="#PWR0304"  Part="1" 
-F 0 "#PWR0204" H 1900 6050 50  0001 C CNN
+F 0 "#PWR0404" H 1900 6050 50  0001 C CNN
 F 1 "GND1" H 1900 6150 50  0000 C CNN
 F 2 "" H 1900 6300 50  0001 C CNN
 F 3 "" H 1900 6300 50  0001 C CNN
@@ -716,7 +659,7 @@ P 1550 6300
 AR Path="/60495576/60021F4E" Ref="#PWR0201"  Part="1" 
 AR Path="/5FFE73A4/60021F4E" Ref="#PWR0401"  Part="1" 
 AR Path="/5FFE8631/60021F4E" Ref="#PWR0301"  Part="1" 
-F 0 "#PWR0201" H 1550 6050 50  0001 C CNN
+F 0 "#PWR0401" H 1550 6050 50  0001 C CNN
 F 1 "GND1" H 1550 6150 50  0000 C CNN
 F 2 "" H 1550 6300 50  0001 C CNN
 F 3 "" H 1550 6300 50  0001 C CNN
@@ -730,7 +673,7 @@ P 1800 2850
 AR Path="/60495576/60028947" Ref="#PWR0203"  Part="1" 
 AR Path="/5FFE73A4/60028947" Ref="#PWR0403"  Part="1" 
 AR Path="/5FFE8631/60028947" Ref="#PWR0303"  Part="1" 
-F 0 "#PWR0203" H 1800 2600 50  0001 C CNN
+F 0 "#PWR0403" H 1800 2600 50  0001 C CNN
 F 1 "GND1" H 1800 2700 50  0000 C CNN
 F 2 "" H 1800 2850 50  0001 C CNN
 F 3 "" H 1800 2850 50  0001 C CNN
@@ -744,7 +687,7 @@ P 1600 2250
 AR Path="/60495576/60028FBF" Ref="#PWR0202"  Part="1" 
 AR Path="/5FFE73A4/60028FBF" Ref="#PWR0402"  Part="1" 
 AR Path="/5FFE8631/60028FBF" Ref="#PWR0302"  Part="1" 
-F 0 "#PWR0202" H 1600 2000 50  0001 C CNN
+F 0 "#PWR0402" H 1600 2000 50  0001 C CNN
 F 1 "GND1" H 1600 2100 50  0000 C CNN
 F 2 "" H 1600 2250 50  0001 C CNN
 F 3 "" H 1600 2250 50  0001 C CNN
@@ -758,7 +701,7 @@ P 3750 2550
 AR Path="/60495576/60029455" Ref="#PWR0210"  Part="1" 
 AR Path="/5FFE73A4/60029455" Ref="#PWR0410"  Part="1" 
 AR Path="/5FFE8631/60029455" Ref="#PWR0310"  Part="1" 
-F 0 "#PWR0210" H 3750 2300 50  0001 C CNN
+F 0 "#PWR0410" H 3750 2300 50  0001 C CNN
 F 1 "GND1" H 3750 2400 50  0000 C CNN
 F 2 "" H 3750 2550 50  0001 C CNN
 F 3 "" H 3750 2550 50  0001 C CNN
@@ -772,7 +715,7 @@ P 5700 6900
 AR Path="/60495576/60020667" Ref="#PWR0212"  Part="1" 
 AR Path="/5FFE73A4/60020667" Ref="#PWR0412"  Part="1" 
 AR Path="/5FFE8631/60020667" Ref="#PWR0312"  Part="1" 
-F 0 "#PWR0212" H 5700 6650 50  0001 C CNN
+F 0 "#PWR0412" H 5700 6650 50  0001 C CNN
 F 1 "GND1" H 5700 6750 50  0000 C CNN
 F 2 "" H 5700 6900 50  0001 C CNN
 F 3 "" H 5700 6900 50  0001 C CNN
@@ -782,18 +725,109 @@ $EndComp
 Wire Wire Line
 	2250 5900 2650 5900
 Wire Wire Line
-	2450 2100 2450 2150
+	2450 1950 2450 2150
 Wire Wire Line
 	2450 2150 2550 2150
 Wire Wire Line
 	2550 2150 2550 2250
+Text Notes 6650 4200 0    50   ~ 0
+0.075 milliohms gives target current range
+$Comp
+L Device:R_Small R203
+U 1 1 63212AA7
+P 5700 4100
+AR Path="/60495576/63212AA7" Ref="R203"  Part="1" 
+AR Path="/5FFE8631/63212AA7" Ref="R303"  Part="1" 
+AR Path="/5FFE73A4/63212AA7" Ref="R403"  Part="1" 
+F 0 "R203" H 5730 4120 50  0000 L CNN
+F 1 "75 mR 1W" H 5730 4060 50  0000 L CNN
+F 2 "Resistor_SMD:R_2512_6332Metric_Pad1.40x3.35mm_HandSolder" H 5700 4100 50  0001 C CNN
+F 3 "~" H 5700 4100 50  0001 C CNN
+F 4 "CSRN2512FK75L0CT-ND" H 5700 4100 50  0001 C CNN "Digikey"
+	1    5700 4100
+	1    0    0    -1  
+$EndComp
 Wire Wire Line
-	2450 1900 2450 1700
+	5700 3950 5700 4000
 Wire Wire Line
-	2450 1700 2650 1700
+	5350 3950 5700 3950
+Wire Wire Line
+	5700 3650 5700 3950
+Connection ~ 5700 3950
+Wire Wire Line
+	5700 4200 5700 4250
+Wire Wire Line
+	5500 4250 5700 4250
+Connection ~ 5700 4250
+Wire Wire Line
+	5700 4250 5700 4400
+$Comp
+L Device:R_Small R204
+U 1 1 63258477
+P 5700 6600
+AR Path="/60495576/63258477" Ref="R204"  Part="1" 
+AR Path="/5FFE8631/63258477" Ref="R304"  Part="1" 
+AR Path="/5FFE73A4/63258477" Ref="R404"  Part="1" 
+F 0 "R204" H 5730 6620 50  0000 L CNN
+F 1 "75 mR 1W" H 5730 6560 50  0000 L CNN
+F 2 "Resistor_SMD:R_2512_6332Metric_Pad1.40x3.35mm_HandSolder" H 5700 6600 50  0001 C CNN
+F 3 "~" H 5700 6600 50  0001 C CNN
+F 4 "CSRN2512FK75L0CT-ND" H 5700 6600 50  0001 C CNN "Digikey"
+	1    5700 6600
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	5700 6450 5700 6500
+Wire Wire Line
+	5350 6450 5700 6450
+Wire Wire Line
+	5700 6700 5700 6750
+Wire Wire Line
+	5500 6750 5700 6750
+Connection ~ 5700 6750
+Wire Wire Line
+	5700 6750 5700 6900
+Wire Wire Line
+	5700 6250 5700 6450
+Connection ~ 5700 6450
+$Comp
+L power:PWR_FLAG #FLG0102
+U 1 1 6326ACB6
+P 2450 2150
+AR Path="/60495576/6326ACB6" Ref="#FLG0102"  Part="1" 
+AR Path="/5FFE8631/6326ACB6" Ref="#FLG0103"  Part="1" 
+AR Path="/5FFE73A4/6326ACB6" Ref="#FLG0104"  Part="1" 
+F 0 "#FLG0104" H 2450 2225 50  0001 C CNN
+F 1 "PWR_FLAG" H 2450 2300 50  0000 C CNN
+F 2 "" H 2450 2150 50  0001 C CNN
+F 3 "~" H 2450 2150 50  0001 C CNN
+	1    2450 2150
+	0    -1   -1   0   
+$EndComp
+Connection ~ 2450 2150
+$Comp
+L Device:C_Small C205
+U 1 1 604AB114
+P 2450 1850
+AR Path="/60495576/604AB114" Ref="C205"  Part="1" 
+AR Path="/5FFE73A4/604AB114" Ref="C405"  Part="1" 
+AR Path="/5FFE8631/604AB114" Ref="C305"  Part="1" 
+F 0 "C205" H 2460 1920 50  0000 L CNN
+F 1 "1 uF 16V" H 2460 1770 50  0000 L CNN
+F 2 "Capacitor_SMD:C_0603_1608Metric" H 2450 1850 50  0001 C CNN
+F 3 "~" H 2450 1850 50  0001 C CNN
+F 4 "1276-6524-1-ND" H 2450 1850 50  0001 C CNN "Digikey"
+	1    2450 1850
+	-1   0    0    -1  
+$EndComp
+Wire Wire Line
+	2650 1600 2650 1700
+Wire Wire Line
+	2650 1700 2450 1700
+Wire Wire Line
+	2450 1700 2450 1750
 Connection ~ 2650 1700
 Wire Wire Line
 	2650 1700 2650 2150
-Text Notes 6650 4200 0    50   ~ 0
-0.075 milliohms gives target current range
+NoConn ~ 1900 4150
 $EndSCHEMATC