diff --git a/monorail.kicad_pcb b/monorail.kicad_pcb
index 815d532..e657b3d 100644
--- a/monorail.kicad_pcb
+++ b/monorail.kicad_pcb
@@ -145,9 +145,9 @@
 	(net 63 "unconnected-(U10-GPIO28_ADC2-Pad40)")
 	(net 64 "Motor-SpreadChop")
 	(net 65 "Net-(Q3-G)")
-	(net 66 "unconnected-(U10-GPIO26_ADC0-Pad38)")
+	(net 66 "TrackMagnetDetect1")
 	(net 67 "Net-(U10-QSPI_SS)")
-	(net 68 "unconnected-(U10-GPIO27_ADC1-Pad39)")
+	(net 68 "TrackMagnetDetect2")
 	(net 69 "Motor-EN")
 	(net 70 "Net-(U10-USB_DM)")
 	(net 71 "Net-(D4-A)")
@@ -9492,6 +9492,219 @@
 			)
 		)
 	)
+	(footprint "Capacitor_SMD:C_0805_2012Metric"
+		(layer "F.Cu")
+		(uuid "303d7389-093b-40ae-9f5b-a6690ec3d9d0")
+		(at 151.33 43.24)
+		(descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (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, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+		(tags "capacitor")
+		(property "Reference" "C47"
+			(at 0 -1.68 0)
+			(layer "F.SilkS")
+			(uuid "7a6cfeb3-a6b8-4a5f-9f56-b58883c3c3b4")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Value" "10n"
+			(at 0 1.68 0)
+			(layer "F.Fab")
+			(uuid "b07de7b7-0416-4476-8f8d-76b168a87baf")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Footprint" "Capacitor_SMD:C_0805_2012Metric"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "f8157ff3-ffd0-48f9-8e72-ad485f066c71")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Datasheet" ""
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "ce3c5f6a-3c1e-49ee-8db7-733f6dd4685a")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Description" "Unpolarized capacitor"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "bd71dce2-bfc2-42ed-a92d-50b1f87d5e51")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property ki_fp_filters "C_*")
+		(path "/91b97863-0b1e-4ac9-8e63-df806d25f246")
+		(sheetname "Stammblatt")
+		(sheetfile "monorail.kicad_sch")
+		(attr smd)
+		(fp_line
+			(start -0.261252 -0.735)
+			(end 0.261252 -0.735)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "3e4f6c8e-b6d0-45bf-b62a-2c056abc3065")
+		)
+		(fp_line
+			(start -0.261252 0.735)
+			(end 0.261252 0.735)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "dbbb4151-27bf-49f1-813f-d5920ad60197")
+		)
+		(fp_line
+			(start -1.7 -0.98)
+			(end 1.7 -0.98)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "f570b8c7-4ea8-4df3-baed-af3254460799")
+		)
+		(fp_line
+			(start -1.7 0.98)
+			(end -1.7 -0.98)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "c28ab413-ad26-48c7-8d8a-435217606212")
+		)
+		(fp_line
+			(start 1.7 -0.98)
+			(end 1.7 0.98)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "2bdc243c-a17c-4b37-970a-6a00c67f5822")
+		)
+		(fp_line
+			(start 1.7 0.98)
+			(end -1.7 0.98)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "3b4e7476-881a-4efe-be09-2fc3bd3f56a1")
+		)
+		(fp_line
+			(start -1 -0.625)
+			(end 1 -0.625)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "f43d7390-e460-4a26-88ca-388e472c6456")
+		)
+		(fp_line
+			(start -1 0.625)
+			(end -1 -0.625)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "25d22a86-7196-4294-a8f7-a0cc77983432")
+		)
+		(fp_line
+			(start 1 -0.625)
+			(end 1 0.625)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "d5f625f9-cc16-4f16-bfcc-b8a81c7bd330")
+		)
+		(fp_line
+			(start 1 0.625)
+			(end -1 0.625)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "2c0e2906-b51e-460b-90b3-3b3ae2cfb9c6")
+		)
+		(fp_text user "${REFERENCE}"
+			(at 0 0 0)
+			(layer "F.Fab")
+			(uuid "dcddc1b6-13de-45e9-b035-a46854580c7d")
+			(effects
+				(font
+					(size 0.5 0.5)
+					(thickness 0.08)
+				)
+			)
+		)
+		(pad "1" smd roundrect
+			(at -0.95 0)
+			(size 1 1.45)
+			(layers "F.Cu" "F.Paste" "F.Mask")
+			(roundrect_rratio 0.25)
+			(net 8 "+3.3V")
+			(pintype "passive")
+			(uuid "1a2f81b1-8f60-4b68-9440-b821488799bd")
+		)
+		(pad "2" smd roundrect
+			(at 0.95 0)
+			(size 1 1.45)
+			(layers "F.Cu" "F.Paste" "F.Mask")
+			(roundrect_rratio 0.25)
+			(net 2 "-BATT")
+			(pintype "passive")
+			(uuid "564851b4-5f13-4136-a21e-59409d202ea0")
+		)
+		(model "${KICAD8_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl"
+			(offset
+				(xyz 0 0 0)
+			)
+			(scale
+				(xyz 1 1 1)
+			)
+			(rotate
+				(xyz 0 0 0)
+			)
+		)
+	)
 	(footprint "Package_TO_SOT_THT:TO-220-5_P3.4x3.7mm_StaggerOdd_Lead3.8mm_Vertical"
 		(layer "F.Cu")
 		(uuid "3299ccdc-b9d9-49fc-ab8d-61d7d88f37ed")
@@ -11417,6 +11630,246 @@
 			)
 		)
 	)
+	(footprint "Package_TO_SOT_THT:TO-92_HandSolder"
+		(layer "F.Cu")
+		(uuid "405f7fb2-a26b-4d11-8afd-c0618ac5471c")
+		(at 68.44 44.2)
+		(descr "TO-92 leads molded, narrow, drill 0.75mm, handsoldering variant with enlarged pads (see NXP sot054_po.pdf)")
+		(tags "to-92 sc-43 sc-43a sot54 PA33 transistor")
+		(property "Reference" "U20"
+			(at 1.27 -4.4 0)
+			(layer "F.SilkS")
+			(uuid "9a1ccd7a-7fbb-4ba0-be6b-0fdd9b0de8ad")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Value" "DRV5055A1xLPGxQ1"
+			(at 1.27 2.79 0)
+			(layer "F.Fab")
+			(uuid "ac7f5c99-ef99-4204-a8a7-edefe67a02bb")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Footprint" "Package_TO_SOT_THT:TO-92_HandSolder"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "a53af443-9ed2-4eec-b111-8cbf40e016ed")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Datasheet" "https://www.ti.com/lit/ds/symlink/drv5055-q1.pdf"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "33dd9176-f130-4323-a805-f7b05e7cd282")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Description" "100 mV/mT,±21-mT, 20-kHz, 3.3/5V, TO-92"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "269e4aea-17ca-41fc-9cd7-372e92113b85")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property ki_fp_filters "TO?92*")
+		(path "/21920533-c62b-43c5-b8a7-a6e346e097be")
+		(sheetname "Stammblatt")
+		(sheetfile "monorail.kicad_sch")
+		(attr through_hole)
+		(fp_line
+			(start -0.53 1.85)
+			(end 3.07 1.85)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "164b8c1e-ad2c-417c-9b50-2e4a4607cbce")
+		)
+		(fp_arc
+			(start -0.541875 1.841741)
+			(mid -1.247231 -0.581764)
+			(end 0.45 -2.45)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "8ce7d32c-debc-44c1-bc55-d1d20feb2990")
+		)
+		(fp_arc
+			(start 2.05 -2.45)
+			(mid 3.769931 -0.601036)
+			(end 3.078445 1.827684)
+			(stroke
+				(width 0.12)
+				(type solid)
+			)
+			(layer "F.SilkS")
+			(uuid "260b851d-b95d-46d7-abcd-7ed850eb0a8c")
+		)
+		(fp_line
+			(start -1.46 -3.05)
+			(end -1.46 2.01)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "c64e4c9a-ba00-46cf-8fd4-305c481d4f7d")
+		)
+		(fp_line
+			(start -1.46 -3.05)
+			(end 4 -3.05)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "e64856de-8d8e-44e5-819e-66ee6a5119e2")
+		)
+		(fp_line
+			(start 4 2.01)
+			(end -1.46 2.01)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "4e87db8e-175c-47fd-8cff-63210fff7ba1")
+		)
+		(fp_line
+			(start 4 2.01)
+			(end 4 -3.05)
+			(stroke
+				(width 0.05)
+				(type solid)
+			)
+			(layer "F.CrtYd")
+			(uuid "268270c6-a8e9-428a-86b8-00784126229a")
+		)
+		(fp_line
+			(start -0.5 1.75)
+			(end 3 1.75)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "8d7ff82f-4538-4bde-9a39-4ada9cb6f46f")
+		)
+		(fp_arc
+			(start -0.483625 1.753625)
+			(mid -1.021221 -0.949055)
+			(end 1.27 -2.48)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "f757e481-840a-4ef8-bff1-60406a29399b")
+		)
+		(fp_arc
+			(start 1.27 -2.48)
+			(mid 3.561221 -0.949055)
+			(end 3.023625 1.753625)
+			(stroke
+				(width 0.1)
+				(type solid)
+			)
+			(layer "F.Fab")
+			(uuid "204b5078-bfca-4a48-9fef-5c2910c68842")
+		)
+		(fp_text user "${REFERENCE}"
+			(at 1.27 0 0)
+			(layer "F.Fab")
+			(uuid "3d9c422d-ea3b-4b42-94de-0aea77bf17a4")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
+				)
+			)
+		)
+		(pad "1" thru_hole rect
+			(at 0 0)
+			(size 1.1 1.8)
+			(drill 0.75
+				(offset 0 0.4)
+			)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(net 8 "+3.3V")
+			(pinfunction "VCC")
+			(pintype "power_in")
+			(uuid "6435eadb-8d65-49b8-9d02-dbee3520ddd6")
+		)
+		(pad "2" thru_hole roundrect
+			(at 1.27 -1.27)
+			(size 1.1 1.8)
+			(drill 0.75
+				(offset 0 -0.4)
+			)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(roundrect_rratio 0.25)
+			(net 2 "-BATT")
+			(pinfunction "GND")
+			(pintype "power_in")
+			(uuid "05efab3f-08ae-42f1-a094-a47ad33e3dad")
+		)
+		(pad "3" thru_hole roundrect
+			(at 2.54 0)
+			(size 1.1 1.8)
+			(drill 0.75
+				(offset 0 0.4)
+			)
+			(layers "*.Cu" "*.Mask")
+			(remove_unused_layers no)
+			(roundrect_rratio 0.25)
+			(net 68 "TrackMagnetDetect2")
+			(pinfunction "OUT")
+			(pintype "output")
+			(uuid "3c1e33f4-e87a-4480-abb5-fa7258a3c9f9")
+		)
+		(model "${KICAD8_3DMODEL_DIR}/Package_TO_SOT_THT.3dshapes/TO-92.wrl"
+			(offset
+				(xyz 0 0 0)
+			)
+			(scale
+				(xyz 1 1 1)
+			)
+			(rotate
+				(xyz 0 0 0)
+			)
+		)
+	)
 	(footprint "Capacitor_SMD:C_0805_2012Metric"
 		(layer "F.Cu")
 		(uuid "406939e6-a7de-4aad-acd0-4adb85256cc7")
@@ -16142,7 +16595,7 @@
 			(size 0.875 0.2)
 			(layers "F.Cu" "F.Paste" "F.Mask")
 			(roundrect_rratio 0.25)
-			(net 66 "unconnected-(U10-GPIO26_ADC0-Pad38)")
+			(net 66 "TrackMagnetDetect1")
 			(pinfunction "GPIO26_ADC0")
 			(pintype "bidirectional")
 			(uuid "3a60426b-b58c-4033-8c77-5cae17f4cb6d")
@@ -16152,7 +16605,7 @@
 			(size 0.875 0.2)
 			(layers "F.Cu" "F.Paste" "F.Mask")
 			(roundrect_rratio 0.25)
-			(net 68 "unconnected-(U10-GPIO27_ADC1-Pad39)")
+			(net 68 "TrackMagnetDetect2")
 			(pinfunction "GPIO27_ADC1")
 			(pintype "bidirectional")
 			(uuid "3c1da49a-9831-4724-acb2-34accfc630a0")
@@ -18086,18 +18539,18 @@
 		)
 		(model "${KICAD8_3DMODEL_DIR}/Connector_PinSocket_2.54mm.3dshapes/PinSocket_2x20_P2.54mm_Vertical.step"
 			(offset
-				(xyz 24.1 1.2 -1.8)
+				(xyz 24.2 -1.3 0.1)
 			)
 			(scale
 				(xyz 1 1 1)
 			)
 			(rotate
-				(xyz 0 180 90)
+				(xyz 0 0 90)
 			)
 		)
 		(model "${KIPRJMOD}/Libraries/Raspberry-Pi-4-library-for-kicad-master/Raspberry Pi 4 Model B.STEP"
 			(offset
-				(xyz 10 -24.5 -19.35)
+				(xyz 10 -24.5 9.5)
 			)
 			(scale
 				(xyz 1 1 1)
@@ -23041,6 +23494,246 @@
 			)
 		)
 	)
+	(footprint "Package_TO_SOT_THT:TO-92_HandSolder"
+		(layer "F.Cu")
+		(uuid "910a87e0-ea48-4846-988b-6eb405dfb692")
+		(at 155.14 46.69)
+		(descr "TO-92 leads molded, narrow, drill 0.75mm, handsoldering variant with enlarged pads (see NXP sot054_po.pdf)")
+		(tags "to-92 sc-43 sc-43a sot54 PA33 transistor")
+		(property "Reference" "U19"
+			(at 1.27 -4.4 0)
+			(layer "F.SilkS")
+			(uuid "5185a98a-658d-46dc-8efb-aff58e454846")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Value" "DRV5055A1xLPGxQ1"
+			(at 1.27 2.79 0)
+			(layer "F.Fab")
+			(uuid "05e0149e-57f8-42c7-89dc-0d415176a8c0")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Footprint" "Package_TO_SOT_THT:TO-92_HandSolder"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "699eaf95-c3d5-4f6f-831b-43a2b174afa2")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Datasheet" "https://www.ti.com/lit/ds/symlink/drv5055-q1.pdf"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "371c85c6-0d90-421a-bfe0-eb900f542d8b")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Description" "100 mV/mT,±21-mT, 20-kHz, 3.3/5V, TO-92"
+			(at 0 0 0)
+			(unlocked yes)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "7ece2f93-b253-4ff9-bfb6-fe1b10fc6cca")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property ki_fp_filters "TO?92*")
+		(path "/cd423fcb-58e2-482e-9d2f-1ab46f1ceb1c")
+		(sheetname "Stammblatt")
+		(sheetfile "monorail.kicad_sch")
+		(attr through_hole)
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+			(roundrect_rratio 0.25)
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 	(footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder"
 		(layer "F.Cu")
 		(uuid "920be39f-cf3b-4232-b143-96f2d2b9112b")
@@ -35769,6 +36462,219 @@
 			)
 		)
 	)
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 	(footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder"
 		(layer "F.Cu")
 		(uuid "cd4cbc83-041e-4e24-806a-bd83b505a4d2")