diff --git a/.cargo/config.toml b/.cargo/config.toml
index 61e6a86..19590b7 100644
--- a/.cargo/config.toml
+++ b/.cargo/config.toml
@@ -27,4 +27,4 @@ rustflags = [
 target = "thumbv6m-none-eabi"
 
 [env]
-DEFMT_LOG = "info"
+DEFMT_LOG = "embedded_sdmmc=info,debug"
diff --git a/Cargo.toml b/Cargo.toml
index 9f44087..073cd5a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -8,6 +8,7 @@ license = "MIT OR Apache-2.0"
 name = "rp2040-rust-robot"
 test = false
 bench = false
+doctest = false
 
 [dependencies]
 cortex-m = "0.7"
@@ -26,7 +27,7 @@ mpu6050 = { git = "https://github.com/michaelkamprath/mpu6050.git", branch = "em
     "defmt",
 ] }
 embedded-alloc = "0.6"
-i2c-character-display = { version = "0.2", features = ["defmt"] }
+i2c-character-display = { version = "0.4", features = ["defmt"] }
 ini_core = "0.2"
 
 # We're using a Pico by default on this template
diff --git a/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pcb b/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pcb
index c188e2c..f12f4a7 100644
--- a/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pcb
+++ b/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pcb
@@ -76,7 +76,7 @@
 			(mirror no)
 			(drillshape 0)
 			(scaleselection 1)
-			(outputdirectory "gerbers_v1.2a")
+			(outputdirectory "gerbers_v1.3")
 		)
 	)
 	(net 0 "")
@@ -113,14 +113,14 @@
 	(net 31 "ADC1")
 	(net 32 "ADC2")
 	(net 33 "Net-(Q1-G)")
-	(net 34 "Net-(Q1-S)")
+	(net 34 "VSYS")
 	(net 35 "RESET")
 	(net 36 "SWDIO")
 	(net 37 "SWCLK")
 	(net 38 "unconnected-(U2-3V3_EN-Pad37)")
 	(net 39 "Net-(J29-Pin_1)")
 	(net 40 "Net-(J29-Pin_3)")
-	(net 41 "unconnected-(U2-3V3_EN-Pad37)_0")
+	(net 41 "unconnected-(U2-3V3_EN-Pad37)_1")
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "001cbdec-11e4-4a21-8b53-47344f1576c2")
@@ -159,6 +159,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -171,6 +172,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -183,6 +185,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -435,6 +438,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -447,6 +451,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -459,6 +464,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -548,6 +554,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -560,6 +567,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -572,6 +580,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -841,6 +850,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -853,6 +863,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -865,6 +876,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1052,6 +1064,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1064,6 +1077,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1076,6 +1090,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1251,7 +1266,7 @@
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 3 "+5V")
+			(net 34 "VSYS")
 			(pinfunction "Pin_1")
 			(pintype "passive")
 			(uuid "2b704c9b-38c8-4550-b613-653db40c76bc")
@@ -1262,7 +1277,7 @@
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 3 "+5V")
+			(net 34 "VSYS")
 			(pinfunction "Pin_2")
 			(pintype "passive")
 			(uuid "9e1d58c2-e57d-40d4-9e47-cd1116ce1f0a")
@@ -1273,7 +1288,7 @@
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 3 "+5V")
+			(net 34 "VSYS")
 			(pinfunction "Pin_3")
 			(pintype "passive")
 			(uuid "5de0688e-775c-40f2-94fa-dc70853f0f25")
@@ -1284,7 +1299,7 @@
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 3 "+5V")
+			(net 34 "VSYS")
 			(pinfunction "Pin_4")
 			(pintype "passive")
 			(uuid "195c1a0b-051d-48be-bdcc-2791d8e50d24")
@@ -1339,6 +1354,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1351,6 +1367,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1363,6 +1380,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1626,6 +1644,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1638,6 +1657,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1650,6 +1670,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1913,6 +1934,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1925,6 +1947,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -1937,6 +1960,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2235,7 +2259,7 @@
 	(footprint "Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder"
 		(layer "F.Cu")
 		(uuid "4c5f7dfd-6914-4936-a579-74009751e295")
-		(at 113.411 65.278 -90)
+		(at 114.794 69.3928 -90)
 		(descr "Capacitor SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
 		(tags "capacitor handsolder")
 		(property "Reference" "C2"
@@ -2269,6 +2293,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2281,6 +2306,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2293,6 +2319,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2479,6 +2506,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2491,6 +2519,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2503,6 +2532,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2706,6 +2736,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2718,6 +2749,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2730,6 +2762,7 @@
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
@@ -2955,17 +2988,17 @@
 			)
 		)
 	)
-	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
+	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Horizontal"
 		(layer "F.Cu")
-		(uuid "636e4f94-7e4e-4a45-a9bf-21b47ce4cb93")
-		(at 101.33 59.92 -90)
-		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
-		(tags "Through hole pin header THT 1x04 2.54mm single row")
-		(property "Reference" "J16"
-			(at 0 -2.33 90)
+		(uuid "5a078009-c5f2-4687-99fa-9585ac02fed9")
+		(at 105.6132 60.128 90)
+		(descr "Through hole angled pin header, 1x03, 2.54mm pitch, 6mm pin length, single row")
+		(tags "Through hole angled pin header THT 1x03 2.54mm single row")
+		(property "Reference" "J31"
+			(at 4.385 -2.27 90)
 			(layer "F.SilkS")
 			(hide yes)
-			(uuid "1828c7e4-eac1-471a-b1f0-f04b5a18cd55")
+			(uuid "2bd3a406-a7a8-465d-9d07-65cd75f45225")
 			(effects
 				(font
 					(size 1 1)
@@ -2973,10 +3006,10 @@
 				)
 			)
 		)
-		(property "Value" "Conn_01x04"
-			(at 0 9.95 90)
+		(property "Value" "Conn_01x03"
+			(at 4.385 7.35 90)
 			(layer "F.Fab")
-			(uuid "728e3929-8a96-4162-b250-6374d4fd2b6d")
+			(uuid "a7961c79-0104-425b-9ba0-012068d1ac29")
 			(effects
 				(font
 					(size 1 1)
@@ -2984,488 +3017,614 @@
 				)
 			)
 		)
-		(property "Footprint" ""
-			(at 0 0 -90)
+		(property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Horizontal"
+			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "7f6e899e-a7c8-413e-afd4-6b79e93e0422")
+			(uuid "461961d1-46f4-4ca8-8b88-40488ae58034")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
 		(property "Datasheet" ""
-			(at 0 0 -90)
+			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "4d06deb0-884e-4c0e-bc98-9879e1f524b2")
+			(uuid "9e080f7b-83b7-4b10-b1d3-d883d32fab78")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
-		(property "Description" ""
-			(at 0 0 -90)
+		(property "Description" "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)"
+			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "bc2fb2fc-56f6-4c92-8852-23e34cc273ce")
+			(uuid "74c39695-3046-4593-958c-1a075dee7adc")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
 		(property ki_fp_filters "Connector*:*_1x??_*")
-		(path "/1a37bc33-8286-4932-b3df-88272b9d34af")
+		(path "/f912a5d2-013d-4d6f-bcdf-9576aafd68ad")
 		(sheetname "Root")
 		(sheetfile "rp-pico-sensor-shield.kicad_sch")
 		(attr through_hole)
 		(fp_line
-			(start -1.33 8.95)
-			(end 1.33 8.95)
+			(start 4.1 -1.33)
+			(end 1.44 -1.33)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "67ad5669-2574-4c96-8a99-6e4d85190f4a")
+			(uuid "a132dc54-8104-43bd-9060-a99ca907451f")
 		)
 		(fp_line
-			(start -1.33 1.27)
-			(end -1.33 8.95)
+			(start 1.44 -1.33)
+			(end 1.44 6.41)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "df31bfd6-a56f-4f9e-ab07-36c660c02425")
+			(uuid "1cdec7a0-1fea-4873-a295-d7f3b97e3ae5")
 		)
 		(fp_line
-			(start -1.33 1.27)
-			(end 1.33 1.27)
+			(start -1.27 -1.27)
+			(end 0 -1.27)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "c7facc57-240f-4ecd-b11d-cb15468c290a")
+			(uuid "c4948409-826f-406e-a630-4ee6538174dc")
 		)
 		(fp_line
-			(start 1.33 1.27)
-			(end 1.33 8.95)
+			(start 10.1 -0.38)
+			(end 10.1 0.38)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "84cf29dc-3b80-4cff-8e5e-00aec2f2d1ef")
+			(uuid "09895dd2-fbd2-440e-bc5b-5f7be643bcdc")
 		)
 		(fp_line
-			(start -1.33 0)
-			(end -1.33 -1.33)
+			(start 4.1 -0.38)
+			(end 10.1 -0.38)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "63619ae3-c626-4c82-9b2d-05f1c4d53093")
+			(uuid "697f2cc7-806b-45a5-a63f-e93a25f08554")
 		)
 		(fp_line
-			(start -1.33 -1.33)
-			(end 0 -1.33)
+			(start 1.11 -0.38)
+			(end 1.44 -0.38)
 			(stroke
 				(width 0.12)
 				(type solid)
 			)
 			(layer "F.SilkS")
-			(uuid "db08d38a-d464-461a-b900-73b8a0a0d84e")
+			(uuid "c2fb928c-c52f-4fa1-ae14-f840909b3975")
 		)
 		(fp_line
-			(start -1.8 9.4)
-			(end 1.8 9.4)
+			(start 4.1 -0.32)
+			(end 10.1 -0.32)
 			(stroke
-				(width 0.05)
+				(width 0.12)
 				(type solid)
 			)
-			(layer "F.CrtYd")
-			(uuid "e630d1dd-21a3-4fa3-bbe8-75b3064ad470")
+			(layer "F.SilkS")
+			(uuid "400f8f88-3742-424f-aa02-0fd25a79fa6c")
 		)
 		(fp_line
-			(start 1.8 9.4)
-			(end 1.8 -1.8)
+			(start 4.1 -0.2)
+			(end 10.1 -0.2)
 			(stroke
-				(width 0.05)
+				(width 0.12)
 				(type solid)
 			)
-			(layer "F.CrtYd")
-			(uuid "479251cc-5978-425a-aa86-206f7a7c6456")
+			(layer "F.SilkS")
+			(uuid "30f8333b-7f46-4751-a037-90eda3f44e73")
 		)
 		(fp_line
-			(start -1.8 -1.8)
-			(end -1.8 9.4)
+			(start 4.1 -0.08)
+			(end 10.1 -0.08)
 			(stroke
-				(width 0.05)
+				(width 0.12)
 				(type solid)
 			)
-			(layer "F.CrtYd")
-			(uuid "29b93af0-ce8a-4af1-8a58-880c2a196e43")
+			(layer "F.SilkS")
+			(uuid "6959a0a4-f65e-4cfb-ad2b-7f3d6f1b02a5")
 		)
 		(fp_line
-			(start 1.8 -1.8)
-			(end -1.8 -1.8)
+			(start -1.27 0)
+			(end -1.27 -1.27)
 			(stroke
-				(width 0.05)
+				(width 0.12)
 				(type solid)
 			)
-			(layer "F.CrtYd")
-			(uuid "c139a9f9-139e-476c-b6a4-2933c78b67f1")
+			(layer "F.SilkS")
+			(uuid "7c2dc0c6-5b33-4617-89cd-126b60e67d9a")
 		)
 		(fp_line
-			(start -1.27 8.89)
-			(end -1.27 -0.635)
+			(start 4.1 0.04)
+			(end 10.1 0.04)
 			(stroke
-				(width 0.1)
+				(width 0.12)
 				(type solid)
 			)
-			(layer "F.Fab")
-			(uuid "50815643-d628-47de-99a9-02d908f03d0b")
+			(layer "F.SilkS")
+			(uuid "aafd1b4a-9d31-4781-8c2b-c5fcc8ef6ad4")
 		)
 		(fp_line
-			(start 1.27 8.89)
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 			(stroke
-				(width 0.1)
+				(width 0.12)
 				(type solid)
 			)
-			(layer "F.Fab")
-			(uuid "6b1517d9-5f4b-448f-98c6-be335f091368")
+			(layer "F.SilkS")
+			(uuid "9fe5a5d6-bb9a-430e-803d-04d8ef05ad83")
 		)
 		(fp_line
-			(start -1.27 -0.635)
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+			(start 4.1 0.28)
+			(end 10.1 0.28)
 			(stroke
-				(width 0.1)
+				(width 0.12)
 				(type solid)
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-			(layer "F.Fab")
-			(uuid "6db4eade-85b4-45fc-b003-4d06c642f05a")
+			(layer "F.SilkS")
+			(uuid "677340c6-dfa4-435c-8d56-af9866843bf9")
 		)
 		(fp_line
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 				(font
 					(size 1 1)
@@ -3479,10 +3638,10 @@
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 39 "Net-(J29-Pin_1)")
 			(pinfunction "Pin_1")
 			(pintype "passive")
-			(uuid "6b463641-60bf-40bc-a3a4-13ea0fb77fd9")
+			(uuid "c7f488a7-eb09-4ece-8bd3-701e01f5eab7")
 		)
 		(pad "2" thru_hole oval
 			(at 0 2.54 90)
@@ -3493,7 +3652,7 @@
 			(net 2 "GND")
 			(pinfunction "Pin_2")
 			(pintype "passive")
-			(uuid "8491e031-6844-417e-9755-af4f16a439fa")
+			(uuid "a631a7de-8a8a-4776-b34c-e5c65db08765")
 		)
 		(pad "3" thru_hole oval
 			(at 0 5.08 90)
@@ -3501,23 +3660,12 @@
 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 40 "Net-(J29-Pin_3)")
 			(pinfunction "Pin_3")
 			(pintype "passive")
-			(uuid "571a29c0-2ce1-4906-a9bf-3ab3615712a2")
-		)
-		(pad "4" thru_hole oval
-			(at 0 7.62 90)
-			(size 1.7 1.7)
-			(drill 1)
-			(layers "*.Cu" "*.Mask")
-			(remove_unused_layers no)
-			(net 2 "GND")
-			(pinfunction "Pin_4")
-			(pintype "passive")
-			(uuid "e8feb2b0-b197-445b-be40-d7354df97cb8")
+			(uuid "f3ea90a5-20ce-45ed-9231-1794de5a496c")
 		)
-		(model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x04_P2.54mm_Vertical.wrl"
+		(model "${KICAD8_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x03_P2.54mm_Horizontal.wrl"
 			(offset
 				(xyz 0 0 0)
 			)
@@ -3529,16 +3677,17 @@
 			)
 		)
 	)
-	(footprint "Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder"
+	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
-		(uuid "67d09852-e338-45d3-9a5e-3748107ad713")
-		(at 118.364 65.278 -90)
-		(descr "Capacitor SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal with elongated pad for handsoldering. (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
-		(tags "capacitor handsolder")
-		(property "Reference" "C1"
-			(at 0 -0.011 90)
+		(uuid "636e4f94-7e4e-4a45-a9bf-21b47ce4cb93")
+		(at 101.33 59.92 -90)
+		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
+		(tags "Through hole pin header THT 1x04 2.54mm single row")
+		(property "Reference" "J16"
+			(at 0 -2.33 90)
 			(layer "F.SilkS")
-			(uuid "5a47710a-0fc3-4aed-9043-1a6e8a9e5454")
+			(hide yes)
+			(uuid "1828c7e4-eac1-471a-b1f0-f04b5a18cd55")
 			(effects
 				(font
 					(size 1 1)
@@ -3546,10 +3695,10 @@
 				)
 			)
 		)
-		(property "Value" "10 µF"
-			(at 0 1.85 90)
+		(property "Value" "Conn_01x04"
+			(at 0 9.95 90)
 			(layer "F.Fab")
-			(uuid "a96ae187-baf4-4dfa-9a87-143409b071c0")
+			(uuid "728e3929-8a96-4162-b250-6374d4fd2b6d")
 			(effects
 				(font
 					(size 1 1)
@@ -3562,22 +3711,24 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "0303c007-4c2b-4f6c-b290-5ce36502306b")
+			(uuid "7f6e899e-a7c8-413e-afd4-6b79e93e0422")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
-		(property "Datasheet" "CL31B105KAHNFNE"
+		(property "Datasheet" ""
 			(at 0 0 -90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "8bd634fd-c73c-45e7-a96a-d17e2baa9c55")
+			(uuid "4d06deb0-884e-4c0e-bc98-9879e1f524b2")
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@@ -3586,148 +3737,225 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "9f4614a8-bd3f-46c7-b977-e9975601e6dd")
+			(uuid "bc2fb2fc-56f6-4c92-8852-23e34cc273ce")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
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 		)
-		(property ki_fp_filters "CP_*")
-		(path "/da1e1be3-0c35-4cda-9b21-8ac6c36a6bc5")
+		(property ki_fp_filters "Connector*:*_1x??_*")
+		(path "/1a37bc33-8286-4932-b3df-88272b9d34af")
 		(sheetname "Root")
 		(sheetfile "rp-pico-sensor-shield.kicad_sch")
-		(attr smd)
+		(attr through_hole)
 		(fp_line
-			(start -0.711252 0.91)
-			(end 0.711252 0.91)
+			(start -1.33 8.95)
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+			(start 1.27 -1.27)
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+			(layer "F.Fab")
+			(uuid "3c32f94d-d442-4ddf-a93a-d189c25cddf2")
 		)
 		(fp_text user "${REFERENCE}"
-			(at 0 0 90)
+			(at 0 3.81 0)
 			(layer "F.Fab")
-			(uuid "bd8880c7-f401-448f-8eba-b75dff79576e")
+			(uuid "e7e42ce1-ae84-4067-941e-b63a21827756")
 			(effects
 				(font
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+					(size 1 1)
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 		)
-		(pad "1" smd roundrect
-			(at -1.5625 0 270)
-			(size 1.325 1.8)
-			(layers "F.Cu" "F.Paste" "F.Mask")
-			(roundrect_rratio 0.1886792453)
-			(net 1 "+12V")
+		(pad "1" thru_hole rect
+			(at 0 0 270)
+			(size 1.7 1.7)
+			(drill 1)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(net 22 "GPIO16")
+			(pinfunction "Pin_1")
 			(pintype "passive")
-			(uuid "bc6238cd-9cf8-44af-8b0d-77ff2bd41d36")
+			(uuid "e9c9a3a9-776b-4086-b4bc-dc65429c0be0")
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-		(pad "2" smd roundrect
-			(at 1.5625 0 270)
-			(size 1.325 1.8)
-			(layers "F.Cu" "F.Paste" "F.Mask")
-			(roundrect_rratio 0.1886792453)
-			(net 2 "GND")
+		(pad "2" thru_hole oval
+			(at 0 2.54 270)
+			(size 1.7 1.7)
+			(drill 1)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(net 23 "GPIO17")
+			(pinfunction "Pin_2")
 			(pintype "passive")
-			(uuid "5238a422-8219-4813-b543-7d3cd720c47f")
+			(uuid "2ad5bf57-92e4-4699-8253-ef89954b3ddc")
 		)
-		(model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_1206_3216Metric.wrl"
+		(pad "3" thru_hole oval
+			(at 0 5.08 270)
+			(size 1.7 1.7)
+			(drill 1)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(net 24 "GPIO18")
+			(pinfunction "Pin_3")
+			(pintype "passive")
+			(uuid "6f4c11a1-58f4-484f-8d3c-a74d91ea0911")
+		)
+		(pad "4" thru_hole oval
+			(at 0 7.62 270)
+			(size 1.7 1.7)
+			(drill 1)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(net 25 "GPIO19")
+			(pinfunction "Pin_4")
+			(pintype "passive")
+			(uuid "363149c7-a246-49f9-a580-906133fbbb78")
+		)
+		(model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x04_P2.54mm_Vertical.wrl"
 			(offset
 				(xyz 0 0 0)
 			)
@@ -3739,16 +3967,17 @@
 			)
 		)
 	)
-	(footprint "Package_TO_SOT_SMD:SOT-223-3_TabPin2"
+	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
-		(uuid "6c2dedc7-ec6f-4ab7-a978-88c5cec7cee3")
-		(at 115.951 57.658 90)
-		(descr "module CMS SOT223 4 pins")
-		(tags "CMS SOT")
-		(property "Reference" "U1"
-			(at 0.083 -0.026 90)
+		(uuid "660cd8f8-90e0-43cf-a286-621d3d26bac1")
+		(at 81.25 100 90)
+		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
+		(tags "Through hole pin header THT 1x04 2.54mm single row")
+		(property "Reference" "J5"
+			(at 0 -2.33 90)
 			(layer "F.SilkS")
-			(uuid "b01834e0-d3f1-49d3-b612-4ede09df0391")
+			(hide yes)
+			(uuid "93b9b0ff-ee65-48f2-bc7b-48cb73277144")
 			(effects
 				(font
 					(size 1 1)
@@ -3756,10 +3985,10 @@
 				)
 			)
 		)
-		(property "Value" "NCP1117-5.0_SOT223"
-			(at 0 4.5 90)
+		(property "Value" "Conn_01x04"
+			(at 0 9.95 90)
 			(layer "F.Fab")
-			(uuid "6cc008ec-77f4-446f-b950-4e9f2044e76e")
+			(uuid "b985cac3-630f-46ce-beb9-148f7610d795")
 			(effects
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@@ -3772,22 +4001,24 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "88680de5-129a-47f2-abf9-e1f791aa6ce2")
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 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
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 			)
 		)
-		(property "Datasheet" "http://www.onsemi.com/pub_link/Collateral/NCP1117-D.PDF"
+		(property "Datasheet" ""
 			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "599e1f9b-de1e-45fa-99ff-8e2702e39bfd")
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@@ -3796,196 +4027,225 @@
 			(unlocked yes)
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-			(uuid "48c87ecc-9eb4-495b-8476-60d8c34de286")
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-		(property ki_fp_filters "SOT?223*TabPin2*")
-		(path "/e7fb06f1-da95-41dd-89b4-9a3a9a58e831")
+		(property ki_fp_filters "Connector*:*_1x??_*")
+		(path "/338afa53-9750-4612-a4bf-ac36c113c3f6")
 		(sheetname "Root")
 		(sheetfile "rp-pico-sensor-shield.kicad_sch")
-		(attr smd)
+		(attr through_hole)
 		(fp_line
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+	(footprint "Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder"
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-		(tags "Through hole pin header THT 1x04 2.54mm single row")
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+		(tags "capacitor handsolder")
+		(property "Reference" "C1"
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-			(net 12 "GPIO6")
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+		(pad "1" smd roundrect
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+			(size 1.325 1.8)
+			(layers "F.Cu" "F.Paste" "F.Mask")
+			(roundrect_rratio 0.1886792453)
+			(net 1 "+12V")
 			(pintype "passive")
-			(uuid "577f9d45-fb6c-40fb-b541-e28eaf4972d7")
+			(uuid "bc6238cd-9cf8-44af-8b0d-77ff2bd41d36")
 		)
-		(pad "4" thru_hole oval
-			(at 0 7.62 90)
-			(size 1.7 1.7)
-			(drill 1)
-			(layers "*.Cu" "*.Mask")
-			(remove_unused_layers no)
-			(net 13 "GPIO7")
-			(pinfunction "Pin_4")
+		(pad "2" smd roundrect
+			(at 1.5625 0 270)
+			(size 1.325 1.8)
+			(layers "F.Cu" "F.Paste" "F.Mask")
+			(roundrect_rratio 0.1886792453)
+			(net 2 "GND")
 			(pintype "passive")
-			(uuid "6da95a49-c071-4929-9f22-286cb1bde2ff")
+			(uuid "5238a422-8219-4813-b543-7d3cd720c47f")
 		)
-		(model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x04_P2.54mm_Vertical.wrl"
+		(model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_1206_3216Metric.wrl"
 			(offset
 				(xyz 0 0 0)
 			)
@@ -4284,27 +4470,27 @@
 			)
 		)
 	)
-	(footprint "Package_TO_SOT_SMD:SOT-23"
+	(footprint "Package_TO_SOT_SMD:SOT-223-3_TabPin2"
 		(layer "F.Cu")
-		(uuid "7540d78f-dc5d-4d90-a5ab-25dfeb46abbe")
-		(at 115.8748 70.1779 90)
-		(descr "SOT, 3 Pin (https://www.jedec.org/system/files/docs/to-236h.pdf variant AB), generated with kicad-footprint-generator ipc_gullwing_generator.py")
-		(tags "SOT TO_SOT_SMD")
-		(property "Reference" "Q1"
-			(at 2.6529 -0.0248 180)
+		(uuid "6c2dedc7-ec6f-4ab7-a978-88c5cec7cee3")
+		(at 117.2464 61.7728 90)
+		(descr "module CMS SOT223 4 pins")
+		(tags "CMS SOT")
+		(property "Reference" "U1"
+			(at 0.083 -0.026 90)
 			(layer "F.SilkS")
-			(uuid "dceefb3e-850b-46ab-ae84-b92eeb5178af")
+			(uuid "b01834e0-d3f1-49d3-b612-4ede09df0391")
 			(effects
 				(font
-					(size 0.8 0.8)
-					(thickness 0.1)
+					(size 1 1)
+					(thickness 0.15)
 				)
 			)
 		)
-		(property "Value" "DMG2305UX"
-			(at 0 2.4 90)
+		(property "Value" "NCP1117-5.0_SOT223"
+			(at 0 4.5 90)
 			(layer "F.Fab")
-			(uuid "e708c350-6017-439b-b071-8d5341435bf5")
+			(uuid "6cc008ec-77f4-446f-b950-4e9f2044e76e")
 			(effects
 				(font
 					(size 1 1)
@@ -4317,22 +4503,24 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "b24c41a4-5441-4c78-887e-3ff0a504ecbc")
+			(uuid "88680de5-129a-47f2-abf9-e1f791aa6ce2")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
-		(property "Datasheet" "https://www.diodes.com/assets/Datasheets/DMG2305UX.pdf"
+		(property "Datasheet" "http://www.onsemi.com/pub_link/Collateral/NCP1117-D.PDF"
 			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "ceda689a-d030-4a3c-b868-b0229e6ec503")
+			(uuid "599e1f9b-de1e-45fa-99ff-8e2702e39bfd")
 			(effects
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+					(thickness 0.15)
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@@ -4341,190 +4529,197 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "a988e625-87e3-43d1-b92a-bd44efd54be9")
+			(uuid "48c87ecc-9eb4-495b-8476-60d8c34de286")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
 				)
 			)
 		)
-		(property ki_fp_filters "SOT?23*")
-		(path "/036b2666-9def-43da-9049-d69dbeaeb346")
+		(property ki_fp_filters "SOT?223*TabPin2*")
+		(path "/e7fb06f1-da95-41dd-89b4-9a3a9a58e831")
 		(sheetname "Root")
 		(sheetfile "rp-pico-sensor-shield.kicad_sch")
 		(attr smd)
 		(fp_line
-			(start 0 -1.56)
-			(end 0.65 -1.56)
+			(start 1.91 -3.41)
+			(end 1.91 -2.15)
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 				(width 0.12)
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 			)
 			(layer "F.SilkS")
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 		)
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 		)
 		(fp_line
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 		)
 		(fp_line
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+			(stroke
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 			(layer "F.Fab")
-			(uuid "2ee13c36-69ed-4258-96d1-51fd2316a636")
+			(uuid "9b038fc5-f27d-47cf-ae87-3da0220e20cb")
 		)
 		(fp_text user "${REFERENCE}"
-			(at 0 0 90)
+			(at 0 0 0)
 			(layer "F.Fab")
-			(uuid "dfe2fc2b-f37a-4f3b-b54e-03a1a632cc7f")
+			(uuid "850b206f-9b71-46cb-896e-5f5cb09384cd")
 			(effects
 				(font
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+					(size 0.8 0.8)
+					(thickness 0.12)
 				)
 			)
 		)
-		(pad "1" smd roundrect
-			(at -0.9375 -0.95 90)
-			(size 1.475 0.6)
+		(pad "1" smd rect
+			(at -3.15 -2.3 90)
+			(size 2 1.5)
 			(layers "F.Cu" "F.Paste" "F.Mask")
-			(roundrect_rratio 0.25)
-			(net 33 "Net-(Q1-G)")
-			(pinfunction "G")
-			(pintype "input")
-			(uuid "36a6d734-5279-44d8-9758-2112ef3da746")
+			(net 2 "GND")
+			(pinfunction "GND")
+			(pintype "power_in")
+			(uuid "946e0d74-0c66-45c9-8c64-2a7b65374f8f")
 		)
-		(pad "2" smd roundrect
-			(at -0.9375 0.95 90)
-			(size 1.475 0.6)
+		(pad "2" smd rect
+			(at -3.15 0 90)
+			(size 2 1.5)
 			(layers "F.Cu" "F.Paste" "F.Mask")
-			(roundrect_rratio 0.25)
-			(net 34 "Net-(Q1-S)")
-			(pinfunction "S")
-			(pintype "passive")
-			(uuid "a473d112-afd6-4294-83c5-ac3f21a8a2db")
+			(net 3 "+5V")
+			(pinfunction "VO")
+			(pintype "power_out")
+			(uuid "e253a7b1-f009-4238-8bc9-3b6e3ca02fb8")
 		)
-		(pad "3" smd roundrect
-			(at 0.9375 0 90)
-			(size 1.475 0.6)
+		(pad "2" smd rect
+			(at 3.15 0 90)
+			(size 2 3.8)
 			(layers "F.Cu" "F.Paste" "F.Mask")
-			(roundrect_rratio 0.25)
 			(net 3 "+5V")
-			(pinfunction "D")
-			(pintype "passive")
-			(uuid "c68e8d43-fd4c-4492-877a-987058e63892")
+			(pinfunction "VO")
+			(pintype "power_out")
+			(uuid "387343ff-a242-4b64-9b01-41a7f30c9e1d")
 		)
-		(model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23.wrl"
+		(pad "3" smd rect
+			(at -3.15 2.3 90)
+			(size 2 1.5)
+			(layers "F.Cu" "F.Paste" "F.Mask")
+			(net 1 "+12V")
+			(pinfunction "VI")
+			(pintype "power_in")
+			(uuid "d3612866-785b-4740-808a-d606973ae61b")
+		)
+		(model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-223.wrl"
 			(offset
 				(xyz 0 0 0)
 			)
@@ -4536,17 +4731,17 @@
 			)
 		)
 	)
-	(footprint "MountingHole:MountingHole_3.2mm_M3_ISO7380_Pad"
+	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
 		(layer "F.Cu")
-		(uuid "760539c8-5789-4a22-bbd9-02e100887075")
-		(at 132 55)
-		(descr "Mounting Hole 3.2mm, M3, ISO7380")
-		(tags "mounting hole 3.2mm m3 iso7380")
-		(property "Reference" "H2"
-			(at 0 -3.85 0)
+		(uuid "7445b85c-943a-40ea-912b-86660b4dce0e")
+		(at 81.25 105.08 90)
+		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
+		(tags "Through hole pin header THT 1x04 2.54mm single row")
+		(property "Reference" "J7"
+			(at 0 -2.33 90)
 			(layer "F.SilkS")
 			(hide yes)
-			(uuid "c461ebd7-32c1-4209-9d2b-d989b355ae48")
+			(uuid "b3b64365-5e7d-4d0d-9aeb-5fad7d5179ce")
 			(effects
 				(font
 					(size 1 1)
@@ -4554,10 +4749,10 @@
 				)
 			)
 		)
-		(property "Value" "MountingHole"
-			(at 0 3.85 0)
+		(property "Value" "Conn_01x04"
+			(at 0 9.95 90)
 			(layer "F.Fab")
-			(uuid "9fadbc01-4128-4f19-94fe-fae5e71f26ef")
+			(uuid "8babb8b0-a59b-474d-bbca-25369131b513")
 			(effects
 				(font
 					(size 1 1)
@@ -4565,100 +4760,938 @@
 				)
 			)
 		)
-		(property "Footprint" "MountingHole:MountingHole_3.2mm_M3_ISO7380_Pad"
-			(at 0 0 0)
+		(property "Footprint" ""
+			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "520f5ccd-93a6-477f-a2dd-71cb8dc4c359")
+			(uuid "667bfad9-b5d7-4385-acc1-a411142a6d75")
 			(effects
 				(font
 					(size 1.27 1.27)
+					(thickness 0.15)
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 		)
 		(property "Datasheet" ""
-			(at 0 0 0)
+			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "2bf00dc3-f913-4b0d-9acd-a242edc63a4d")
+			(uuid "e70508e8-e89c-4389-9588-ee879f11815a")
 			(effects
 				(font
 					(size 1.27 1.27)
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 		)
-		(property "Description" "Mounting Hole without connection"
-			(at 0 0 0)
+		(property "Description" ""
+			(at 0 0 90)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
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 				(font
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 		)
-		(property ki_fp_filters "MountingHole*")
-		(path "/07b1ae31-67a8-46f5-a1e7-adcfb4342f52")
+		(property ki_fp_filters "Connector*:*_1x??_*")
+		(path "/126c617f-201b-4874-a06a-a1e3df83da0a")
 		(sheetname "Root")
 		(sheetfile "rp-pico-sensor-shield.kicad_sch")
-		(attr exclude_from_pos_files)
-		(fp_circle
-			(center 0 0)
-			(end 2.85 0)
+		(attr through_hole)
+		(fp_line
+			(start -1.33 -1.33)
+			(end 0 -1.33)
 			(stroke
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+				(width 0.12)
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+			(pintype "passive")
+			(uuid "549f36d8-cc0c-4fcd-b145-e50576c8526f")
+		)
+		(pad "2" thru_hole oval
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+			(drill 1)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(net 2 "GND")
+			(pinfunction "Pin_3")
+			(pintype "passive")
+			(uuid "4eec8534-4d91-4a81-a353-8f3d093d1076")
 		)
-		(pad "1" thru_hole circle
-			(at 0 0)
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+		(pad "4" thru_hole oval
+			(at 0 7.62 270)
+			(size 1.7 1.7)
+			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(uuid "94ff4848-f155-4eae-8435-3b1fa7500f12")
+			(net 2 "GND")
+			(pinfunction "Pin_4")
+			(pintype "passive")
+			(uuid "40146eb3-e31b-4cc2-9759-d0cd26aab935")
+		)
+		(model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x04_P2.54mm_Vertical.wrl"
+			(offset
+				(xyz 0 0 0)
+			)
+			(scale
+				(xyz 1 1 1)
+			)
+			(rotate
+				(xyz 0 0 0)
+			)
 		)
 	)
-	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical"
+	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical"
 		(layer "F.Cu")
-		(uuid "79bc4d79-22b4-426f-8d7e-2b7aed3d885a")
-		(at 101.33 65 -90)
-		(descr "Through hole straight pin header, 1x04, 2.54mm pitch, single row")
-		(tags "Through hole pin header THT 1x04 2.54mm single row")
-		(property "Reference" "J14"
-			(at 0 -2.33 90)
+		(uuid "7dd97b24-95f6-43f0-a272-a2353e4cd2fa")
+		(at 81.7432 81.96155 180)
+		(descr "Through hole straight pin header, 1x03, 2.54mm pitch, single row")
+		(tags "Through hole pin header THT 1x03 2.54mm single row")
+		(property "Reference" "J30"
+			(at 0 -2.33 180)
 			(layer "F.SilkS")
 			(hide yes)
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 			(effects
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@@ -4666,10 +5699,10 @@
 				)
 			)
 		)
-		(property "Value" "Conn_01x04"
-			(at 0 9.95 90)
+		(property "Value" "Conn_01x03"
+			(at 0 7.41 180)
 			(layer "F.Fab")
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@@ -4677,66 +5710,69 @@
 				)
 			)
 		)
-		(property "Footprint" ""
-			(at 0 0 -90)
+		(property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical"
+			(at 0 0 180)
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
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-		(property "Description" ""
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+		(property "Description" "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)"
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 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
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 		(property ki_fp_filters "Connector*:*_1x??_*")
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+		(path "/89b2656b-9113-40b2-a671-8cdae09d97f1")
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 		(sheetfile "rp-pico-sensor-shield.kicad_sch")
 		(attr through_hole)
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 		(fp_text user "${REFERENCE}"
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@@ -4880,18 +5916,18 @@
 			)
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+			(at 0 0 180)
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 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 37 "SWCLK")
 			(pinfunction "Pin_1")
 			(pintype "passive")
-			(uuid "549f36d8-cc0c-4fcd-b145-e50576c8526f")
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@@ -4899,31 +5935,20 @@
 			(net 2 "GND")
 			(pinfunction "Pin_2")
 			(pintype "passive")
-			(uuid "ee83a6e3-74ab-4771-9e91-ea239159eea1")
+			(uuid "8d6d185a-1789-49c6-9074-83e45afefb39")
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 			(drill 1)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 36 "SWDIO")
 			(pinfunction "Pin_3")
 			(pintype "passive")
-			(uuid "4eec8534-4d91-4a81-a353-8f3d093d1076")
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-			(layers "*.Cu" "*.Mask")
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-			(net 2 "GND")
-			(pinfunction "Pin_4")
-			(pintype "passive")
-			(uuid "40146eb3-e31b-4cc2-9759-d0cd26aab935")
+			(uuid "dbbf235e-8dc0-462d-a5c2-f8850f9fabe7")
 		)
-		(model "${KICAD6_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x04_P2.54mm_Vertical.wrl"
+		(model "${KICAD8_3DMODEL_DIR}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x03_P2.54mm_Vertical.wrl"
 			(offset
 				(xyz 0 0 0)
 			)
@@ -4973,6 +5998,7 @@
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@@ -4985,6 +6011,7 @@
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@@ -4997,6 +6024,7 @@
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@@ -5249,6 +6277,7 @@
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@@ -5536,6 +6567,7 @@
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diff --git a/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pro b/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pro
index f9558f4..29e56b5 100644
--- a/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pro
+++ b/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_pro
@@ -6,14 +6,14 @@
         "apply_defaults_to_fp_fields": false,
         "apply_defaults_to_fp_shapes": false,
         "apply_defaults_to_fp_text": false,
-        "board_outline_line_width": 0.09999999999999999,
-        "copper_line_width": 0.19999999999999998,
+        "board_outline_line_width": 0.1,
+        "copper_line_width": 0.2,
         "copper_text_italic": false,
         "copper_text_size_h": 1.5,
         "copper_text_size_v": 1.5,
         "copper_text_thickness": 0.3,
         "copper_text_upright": false,
-        "courtyard_line_width": 0.049999999999999996,
+        "courtyard_line_width": 0.05,
         "dimension_precision": 4,
         "dimension_units": 3,
         "dimensions": {
@@ -24,7 +24,7 @@
           "text_position": 0,
           "units_format": 1
         },
-        "fab_line_width": 0.09999999999999999,
+        "fab_line_width": 0.1,
         "fab_text_italic": false,
         "fab_text_size_h": 1.0,
         "fab_text_size_v": 1.0,
@@ -79,6 +79,7 @@
         "footprint_type_mismatch": "ignore",
         "hole_clearance": "error",
         "hole_near_hole": "error",
+        "holes_co_located": "warning",
         "invalid_outline": "error",
         "isolated_copper": "warning",
         "item_on_disabled_layer": "error",
@@ -120,15 +121,15 @@
         "min_copper_edge_clearance": 0.0,
         "min_hole_clearance": 0.25,
         "min_hole_to_hole": 0.25,
-        "min_microvia_diameter": 0.19999999999999998,
-        "min_microvia_drill": 0.09999999999999999,
+        "min_microvia_diameter": 0.2,
+        "min_microvia_drill": 0.1,
         "min_resolved_spokes": 2,
         "min_silk_clearance": 0.0,
-        "min_text_height": 0.7999999999999999,
+        "min_text_height": 0.8,
         "min_text_thickness": 0.08,
         "min_through_hole_diameter": 0.3,
         "min_track_width": 0.0,
-        "min_via_annular_width": 0.09999999999999999,
+        "min_via_annular_width": 0.1,
         "min_via_diameter": 0.5,
         "solder_mask_clearance": 0.0,
         "solder_mask_min_width": 0.0,
@@ -483,7 +484,7 @@
       "gencad": "",
       "idf": "",
       "netlist": "",
-      "plot": "",
+      "plot": "gerbers_v1.3",
       "pos_files": "",
       "specctra_dsn": "",
       "step": "",
diff --git a/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_sch b/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_sch
index c9d36e6..2852ff9 100644
--- a/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_sch
+++ b/hardware/rp-pico-sensor-shield/rp-pico-sensor-shield.kicad_sch
@@ -4053,6 +4053,12 @@
 			)
 		)
 	)
+	(junction
+		(at 241.3 78.359)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "020fbc56-7a65-4fcb-9b52-61416d3b0ff1")
+	)
 	(junction
 		(at 123.698 45.974)
 		(diameter 0)
@@ -4179,6 +4185,12 @@
 		(color 0 0 0 0)
 		(uuid "53518383-e77a-4146-8720-b05bc0e37f92")
 	)
+	(junction
+		(at 243.84 80.899)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "56ce3177-b489-4043-900c-5fa67d78677f")
+	)
 	(junction
 		(at 65.278 116.459)
 		(diameter 0)
@@ -4281,6 +4293,12 @@
 		(color 0 0 0 0)
 		(uuid "9f70e039-a93f-4341-8f9d-98998af9be67")
 	)
+	(junction
+		(at 246.38 83.439)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "9fb626de-dda8-4a2a-8081-f7018ec2f86b")
+	)
 	(junction
 		(at 36.957 116.459)
 		(diameter 0)
@@ -4717,7 +4735,7 @@
 	)
 	(polyline
 		(pts
-			(xy 265.049 31.877) (xy 265.049 13.97)
+			(xy 264.922 35.56) (xy 264.922 13.97)
 		)
 		(stroke
 			(width 0)
@@ -4777,7 +4795,7 @@
 	)
 	(polyline
 		(pts
-			(xy 206.502 13.97) (xy 265.049 13.97)
+			(xy 206.502 13.97) (xy 264.922 13.97)
 		)
 		(stroke
 			(width 0)
@@ -4805,16 +4823,6 @@
 		)
 		(uuid "34a4c66f-97ed-4bd0-a411-fc7f41328bf6")
 	)
-	(wire
-		(pts
-			(xy 224.79 19.05) (xy 229.87 19.05)
-		)
-		(stroke
-			(width 0)
-			(type default)
-		)
-		(uuid "3576ee96-46e3-41a4-8789-71f695c92dea")
-	)
 	(wire
 		(pts
 			(xy 232.918 80.899) (xy 232.918 85.471)
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 					(size 1.27 1.27)
@@ -12092,48 +12225,51 @@
 				(hide yes)
 			)
 		)
+		(pin "3"
+			(uuid "5968fb15-b580-49c2-be60-aa77c69328e5")
+		)
+		(pin "2"
+			(uuid "43b479cb-26af-4e13-a0b9-73701e856716")
+		)
 		(pin "1"
-			(uuid "9acbfd3f-2dcb-450d-9ffa-4d9111527270")
+			(uuid "bf891feb-c63a-416a-a654-21cb0d55302c")
 		)
 		(instances
 			(project "rp-pico-sensor-shield"
 				(path "/01191561-9ded-4746-bfa0-1bc8653df791"
-					(reference "#PWR011")
+					(reference "J29")
 					(unit 1)
 				)
 			)
 		)
 	)
 	(symbol
-		(lib_id "Connector_Generic:Conn_01x03")
-		(at 241.3 80.899 0)
+		(lib_id "Device:R")
+		(at 223.139 78.359 90)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
 		(dnp no)
-		(fields_autoplaced yes)
-		(uuid "f32ccd66-3719-484d-83d3-a8194f81ece9")
-		(property "Reference" "J29"
-			(at 243.332 79.6869 0)
+		(uuid "f76e948f-f6a5-4731-af6e-0dbb8897442b")
+		(property "Reference" "R2"
+			(at 223.1644 76.3016 90)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(justify left)
 			)
 		)
-		(property "Value" "Conn_01x03"
-			(at 243.332 82.1111 0)
+		(property "Value" "100"
+			(at 223.1644 78.3844 90)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(justify left)
 			)
 		)
-		(property "Footprint" "Connector_JST:JST_SH_BM03B-SRSS-TB_1x03-1MP_P1.00mm_Vertical"
-			(at 241.3 80.899 0)
+		(property "Footprint" "Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder"
+			(at 223.139 80.137 90)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -12142,7 +12278,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 241.3 80.899 0)
+			(at 223.139 78.359 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -12151,7 +12287,7 @@
 			)
 		)
 		(property "Description" ""
-			(at 241.3 80.899 0)
+			(at 223.139 78.359 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -12159,51 +12295,51 @@
 				(hide yes)
 			)
 		)
-		(pin "3"
-			(uuid "5968fb15-b580-49c2-be60-aa77c69328e5")
+		(pin "1"
+			(uuid "3cd27827-d7e2-43e5-ad61-43fe7d13fd63")
 		)
 		(pin "2"
-			(uuid "43b479cb-26af-4e13-a0b9-73701e856716")
-		)
-		(pin "1"
-			(uuid "bf891feb-c63a-416a-a654-21cb0d55302c")
+			(uuid "6d7a1d9c-d05f-4c4f-acdd-96403d27c4f9")
 		)
 		(instances
 			(project "rp-pico-sensor-shield"
 				(path "/01191561-9ded-4746-bfa0-1bc8653df791"
-					(reference "J29")
+					(reference "R2")
 					(unit 1)
 				)
 			)
 		)
 	)
 	(symbol
-		(lib_id "Device:R")
-		(at 223.139 78.359 90)
+		(lib_id "Connector_Generic:Conn_01x03")
+		(at 243.84 93.98 90)
+		(mirror x)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
 		(dnp no)
-		(uuid "f76e948f-f6a5-4731-af6e-0dbb8897442b")
-		(property "Reference" "R2"
-			(at 223.1644 76.3016 90)
+		(uuid "f912a5d2-013d-4d6f-bcdf-9576aafd68ad")
+		(property "Reference" "J31"
+			(at 251.968 92.71 90)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
+				(justify left)
 			)
 		)
-		(property "Value" "100"
-			(at 223.1644 78.3844 90)
+		(property "Value" "Conn_01x03"
+			(at 260.096 94.742 90)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
+				(justify left)
 			)
 		)
-		(property "Footprint" "Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder"
-			(at 223.139 80.137 90)
+		(property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Horizontal"
+			(at 243.84 93.98 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -12212,7 +12348,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 223.139 78.359 0)
+			(at 243.84 93.98 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -12220,8 +12356,8 @@
 				(hide yes)
 			)
 		)
-		(property "Description" ""
-			(at 223.139 78.359 0)
+		(property "Description" "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)"
+			(at 243.84 93.98 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -12230,15 +12366,18 @@
 			)
 		)
 		(pin "1"
-			(uuid "3cd27827-d7e2-43e5-ad61-43fe7d13fd63")
+			(uuid "13ad207e-7094-4341-9300-f7865989cbc2")
+		)
+		(pin "3"
+			(uuid "c5759bc6-359f-4d38-a976-4cd1108f4910")
 		)
 		(pin "2"
-			(uuid "6d7a1d9c-d05f-4c4f-acdd-96403d27c4f9")
+			(uuid "a825f8ca-8643-43af-8cd1-4b4a5a6829db")
 		)
 		(instances
 			(project "rp-pico-sensor-shield"
 				(path "/01191561-9ded-4746-bfa0-1bc8653df791"
-					(reference "R2")
+					(reference "J31")
 					(unit 1)
 				)
 			)
@@ -12530,4 +12669,4 @@
 			(page "1")
 		)
 	)
-)
\ No newline at end of file
+)
diff --git a/src/driver.rs b/src/driver.rs
index c9f7022..a8db4ca 100644
--- a/src/driver.rs
+++ b/src/driver.rs
@@ -31,12 +31,13 @@ pub struct Driver<
     ENB: SetDutyCycle,
     BUTT1: InputPin,
     BUTT2: InputPin,
-    TWI: I2c,
+    TWI0: I2c,
+    TWI1: I2c,
     SPI_DEV: SpiDevice<u8>,
     DELAY: DelayNs + Clone,
     LED1: OutputPin,
 > {
-    robot: Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY>,
+    robot: Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI0, TWI1, SPI_DEV, DELAY>,
     delay: DELAY,
     led1: LED1,
     selected_path: Option<String>,
@@ -52,14 +53,29 @@ impl<
         ENB: SetDutyCycle,
         BUTT1: InputPin,
         BUTT2: InputPin,
-        TWI: I2c,
+        TWI0: I2c,
+        TWI1: I2c,
         SPI_DEV: SpiDevice<u8>,
         DELAY: DelayNs + Clone,
         LED1: OutputPin,
-    > Driver<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY, LED1>
+    > Driver<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI0, TWI1, SPI_DEV, DELAY, LED1>
 {
     pub fn new(
-        robot: Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY>,
+        robot: Robot<
+            'a,
+            INA1,
+            INA2,
+            INB1,
+            INB2,
+            ENA,
+            ENB,
+            BUTT1,
+            BUTT2,
+            TWI0,
+            TWI1,
+            SPI_DEV,
+            DELAY,
+        >,
         delay: DELAY,
         led1_pin: LED1,
     ) -> Self {
diff --git a/src/main.rs b/src/main.rs
index 139f259..554cb33 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -89,20 +89,32 @@ fn main() -> ! {
     channel_b.output_to(pins.gpio9);
 
     // Configure two pins as being I²C, not GPIO
-    let sda_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio4.reconfigure();
-    let scl_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio5.reconfigure();
-
+    let sda0_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio4.reconfigure();
+    let scl0_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio5.reconfigure();
+    let sda1_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio6.reconfigure();
+    let scl1_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio7.reconfigure();
     // set up I2C
-    let i2c = bsp::hal::I2C::new_controller(
+    let i2c0 = bsp::hal::I2C::new_controller(
         pac.I2C0,
-        sda_pin,
-        scl_pin,
+        sda0_pin,
+        scl0_pin,
+        HertzU32::from_raw(400_000),
+        &mut pac.RESETS,
+        clocks.system_clock.freq(),
+    );
+    let i2c0_ref_cell = RefCell::new(i2c0);
+    let i2c0_mutex = critical_section::Mutex::new(i2c0_ref_cell);
+
+    let i2c1 = bsp::hal::I2C::new_controller(
+        pac.I2C1,
+        sda1_pin,
+        scl1_pin,
         HertzU32::from_raw(400_000),
         &mut pac.RESETS,
         clocks.system_clock.freq(),
     );
-    let i2c_ref_cell = RefCell::new(i2c);
-    let i2c_mutex = critical_section::Mutex::new(i2c_ref_cell);
+    let i2c1_ref_cell = RefCell::new(i2c1);
+    let i2c1_mutex = critical_section::Mutex::new(i2c1_ref_cell);
 
     // set up SPI
     #[allow(clippy::type_complexity)]
@@ -152,7 +164,8 @@ fn main() -> ! {
         channel_b,
         pins.gpio14.into_pull_up_input(),
         pins.gpio15.into_pull_up_input(),
-        &i2c_mutex,
+        &i2c0_mutex,
+        &i2c1_mutex,
         pins.gpio21.into_pull_up_input(),
         pins.gpio20.into_pull_up_input(),
         sd,
diff --git a/src/model/heading.rs b/src/model/heading.rs
index f9f916a..38a83f8 100644
--- a/src/model/heading.rs
+++ b/src/model/heading.rs
@@ -13,7 +13,7 @@ use mpu6050::Mpu6050;
 //      [-2241,-2240] --> [-1,15]	    [1803,1804] --> [-10,6]	    [1573,1574] --> [16371,16394]	[98,99] --> [-2,1]	    [44,45] --> [0,5]	    [19,20] --> [0,4]
 //      [-2239,-2238] --> [-3,16]	    [1804,1804] --> [0,5]	    [1575,1576] --> [16378,16395]	[98,99] --> [-1,2]	    [43,44] --> [-2,1]	    [19,20] --> [-1,2]
 
-const HEADING_UPDATE_INTERVAL_MS_TENTHS: u64 = 2;
+const HEADING_UPDATE_INTERVAL_MS_TENTHS: u64 = 20;
 
 pub struct HeadingCalculator<TWI> {
     heading: f64,
diff --git a/src/robot.rs b/src/robot.rs
index 11cf792..b3ade60 100644
--- a/src/robot.rs
+++ b/src/robot.rs
@@ -99,19 +99,21 @@ pub struct Robot<
     ENB: SetDutyCycle,
     BUTT1: InputPin,
     BUTT2: InputPin,
-    TWI,
+    TWI0,
+    TWI1,
     SPI_DEV: embedded_hal::spi::SpiDevice<u8>,
     DELAY,
 > where
-    TWI: embedded_hal::i2c::I2c,
+    TWI0: embedded_hal::i2c::I2c,
+    TWI1: embedded_hal::i2c::I2c,
     DELAY: DelayNs,
 {
     motors: MotorController<INA1, INA2, INB1, INB2, ENA, ENB>,
     button1: DebouncedButton<BUTT1, false, BUTTON_DEBOUNCE_TIME_MS>,
     button2: DebouncedButton<BUTT2, false, BUTTON_DEBOUNCE_TIME_MS>,
     pub heading_calculator:
-        HeadingCalculator<embedded_hal_bus::i2c::CriticalSectionDevice<'a, TWI>>,
-    lcd: AdafruitLCDBackpack<CriticalSectionDevice<'a, TWI>, Timer>,
+        HeadingCalculator<embedded_hal_bus::i2c::CriticalSectionDevice<'a, TWI0>>,
+    lcd: AdafruitLCDBackpack<CriticalSectionDevice<'a, TWI1>, Timer>,
     pub sd_card: FileStorage<SPI_DEV, DELAY>,
     reset_display_start_millis: u64,
     log_index: u32,
@@ -132,12 +134,14 @@ impl<
         ENB: SetDutyCycle,
         BUTT1: InputPin,
         BUTT2: InputPin,
-        TWI,
+        TWI0,
+        TWI1,
         SPI_DEV: embedded_hal::spi::SpiDevice<u8>,
         DELAY,
-    > Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY>
+    > Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI0, TWI1, SPI_DEV, DELAY>
 where
-    TWI: embedded_hal::i2c::I2c,
+    TWI0: embedded_hal::i2c::I2c,
+    TWI1: embedded_hal::i2c::I2c,
     DELAY: DelayNs + Clone,
 {
     #[allow(clippy::too_many_arguments)]
@@ -150,7 +154,8 @@ where
         duty_b: ENB,
         button1_pin: BUTT1,
         button2_pin: BUTT2,
-        i2c_refcell: &'a critical_section::Mutex<RefCell<TWI>>,
+        i2c0_refcell: &'a critical_section::Mutex<RefCell<TWI0>>,
+        i2c1_refcell: &'a critical_section::Mutex<RefCell<TWI1>>,
         left_counter_pin: LeftWheelCounterPin,
         right_counter_pin: RightWheelCounterPin,
         mut sd_card: FileStorage<SPI_DEV, DELAY>,
@@ -174,9 +179,8 @@ where
             pac::NVIC::unmask(pac::Interrupt::IO_IRQ_BANK0);
         }
 
-        // let i2c_device = embedded_hal_bus::i2c::RefCellDevice::new(i2c_refcell);
-        let i2c_device = embedded_hal_bus::i2c::CriticalSectionDevice::new(i2c_refcell);
-        let mut lcd = AdafruitLCDBackpack::new(i2c_device, LcdDisplayType::Lcd16x2, *timer);
+        let i2c1_device = embedded_hal_bus::i2c::CriticalSectionDevice::new(i2c1_refcell);
+        let mut lcd = AdafruitLCDBackpack::new(i2c1_device, LcdDisplayType::Lcd16x2, *timer);
         match lcd.init() {
             Ok(_) => {
                 info!("LCD initialized");
@@ -214,7 +218,7 @@ where
         debug!("LCD characters created");
 
         let mut heading_calculator = HeadingCalculator::new(
-            embedded_hal_bus::i2c::CriticalSectionDevice::new(i2c_refcell),
+            embedded_hal_bus::i2c::CriticalSectionDevice::new(i2c0_refcell),
             timer,
         );
         heading_calculator.reset();
@@ -229,7 +233,7 @@ where
                     "SD: {} GB",
                     sd_card.volume_size().unwrap_or(0) / 1_073_741_824
                 )
-                .map_err(i2c_character_display::Error::FormattingError)
+                .map_err(i2c_character_display::CharacterDisplayError::FormattingError)
             })
         {
             error!("Error writing to LCD");
@@ -693,7 +697,8 @@ where
     //--------------------------------------------------------------------------
     pub fn display_heading(
         &mut self,
-    ) -> Result<(), i2c_character_display::Error<CriticalSectionDevice<'a, TWI>>> {
+    ) -> Result<(), i2c_character_display::CharacterDisplayError<CriticalSectionDevice<'a, TWI1>>>
+    {
         write!(self.lcd.clear()?.set_cursor(0, 0)?, "Heading:").ok();
         self.heading_calculator.reset();
         let mut continue_loop = true;
@@ -748,12 +753,15 @@ impl<
         ENB: SetDutyCycle,
         BUTT1: InputPin,
         BUTT2: InputPin,
-        TWI,
+        TWI0,
+        TWI1,
         SPI_DEV: SpiDevice<u8>,
         DELAY,
-    > Format for Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY>
+    > Format
+    for Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI0, TWI1, SPI_DEV, DELAY>
 where
-    TWI: I2c,
+    TWI0: I2c,
+    TWI1: I2c,
     DELAY: DelayNs + Clone,
 {
     fn format(&self, f: defmt::Formatter) {
@@ -777,13 +785,15 @@ impl<
         ENB: SetDutyCycle,
         BUTT1: InputPin,
         BUTT2: InputPin,
-        TWI,
+        TWI0,
+        TWI1,
         SPI_DEV: SpiDevice<u8>,
         DELAY,
     > core::fmt::Write
-    for Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY>
+    for Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI0, TWI1, SPI_DEV, DELAY>
 where
-    TWI: I2c,
+    TWI0: I2c,
+    TWI1: I2c,
     DELAY: DelayNs + Clone,
 {
     fn write_str(&mut self, s: &str) -> core::fmt::Result {