Finished the schematic for the top board of the PCB. To make the best use of space, I’m splitting the board into two 80x80mm boards, stacked vertically. The top board houses all the sensor/sensor mounts, and the bottom will be purely for servo and PCAs. In an attempt to make my schematic readable, I’ve subdivided it into subareas. Because I only have time for one shot at the board, I’ve exposed pads for each extra GPIO pin on the ESP, as well as adding solder pads for the address select on the sensors. This will allow me to change the IIC address of each sensor if needed. I’ve also included 10 extra GND, 3V3, and simply “blank” header pins for future expansion. The Lidar will be handled by a chassis-mounted Raspberry Pi Zero W, which will also handle real-time IK, cycloidial calculations, and step planning (using the equations I’ve derived earlier).