diff --git a/README.md b/README.md
index 6da5b4c299d0105555acb5d49f20eb71db7d00e8..b0836bb2eb751008a1c9d17dc3e8a4639b4864e3 100644
--- a/README.md
+++ b/README.md
@@ -4,9 +4,9 @@
 
 The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how.
 
-![board](/images/board.png)
+![board](/images/fab-front.jpg)
 
-![schematic](/images/schematic.png)
+![schematic](/images/fab-back.jpg)
 
 ## Why
 
diff --git a/circuit/README.md b/circuit/README.md
index 50b99f53f78e521bb639c52b1ec05efe8607e72b..4e69a717b9d44dd11d0fbe80ee61a5cae0e88410 100644
--- a/circuit/README.md
+++ b/circuit/README.md
@@ -1,8 +1,8 @@
 # Machine Kit BLDC Driver: Circuit Development
 
-![schematic](https://gitlab.cba.mit.edu/jakeread/mkstepper/raw/master/images/schematic.png)
+![schematic](/images/schematic.png)
 
-![routing](https://gitlab.cba.mit.edu/jakeread/mkstepper/raw/master/images/routed.png)
+![routing](/images/routed.png)
 
 The circuit uses a DRV8302 to drive CSD88584 (or CSD88599) half-bridges, which are rated to 40V / 50A and 60V / 30A respectively. Normally, I'll run 24V power. It connects to an AS5147 or AS5047D or AEAT6600 absolute encoder over SPI, and reads phase currents from the amplifier built into the DRV8302, as well as phase voltages from simple voltage dividers (which are clamped to 3V3 with a series of diodes). 
 
diff --git a/circuit/atkbldcdriver/eagle.epf b/circuit/atkbldcdriver/eagle.epf
index be957d0498a4ed6287e9379de47610b5abd6f2f6..303d69eea06d95fba104de13fa5345c2fa8565cb 100644
--- a/circuit/atkbldcdriver/eagle.epf
+++ b/circuit/atkbldcdriver/eagle.epf
@@ -39,17 +39,17 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlab
 UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-DiscreteSemi.lbr"
 
 [Win_1]
-Type="Schematic Editor"
-Number=2
-File="atkbldcdriver.sch"
-View="170.224 83.7282 413.377 194.09"
-WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
+Type="Board Editor"
+Number=1
+File="atkbldcdriver.brd"
+View="38.026 5.39031 118.602 72.4968"
+WireWidths=" 0.0762 0.127 0.15 0.508 0.6096 0.8128 2.54 1.016 1.27 0.3048 0.254 0.2 0.4064 0.1016 0.2032 0.1524"
 PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
-PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
+PadDrills=" 0.2 0.25 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.3"
 ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
-ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
-HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
-TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
+ViaDrills=" 0.2 0.4 0.45 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.5 0.25 0.35 0.3"
+HoleDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
+TextSizes=" 0.254 0.3048 0.4064 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778 0.6096"
 PolygonSpacings=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.27"
 PolygonIsolates=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
 MiterRadiuss=" 0.254 0.3175 0.635 1.27 2.54 1 2 2.5 5 7.5 10 0"
@@ -58,17 +58,17 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
 DimensionExtLengths=" 1.27 2.54 1 2 3 0"
 DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
 SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
-WireBend=0
-WireBendSet=31
+WireBend=3
+WireBendSet=0
 WireCap=1
 MiterStyle=0
 PadShape=0
 ViaShape=1
 PolygonPour=0
-PolygonRank=0
+PolygonRank=3
 PolygonThermals=1
 PolygonOrphans=0
-TextRatio=8
+TextRatio=10
 DimensionUnit=1
 DimensionPrecision=2
 DimensionShowUnit=0
@@ -80,22 +80,20 @@ SwapLevel=0
 ArcDirection=0
 AddLevel=2
 PadsSameType=0
-Layer=91
-Views=" 1: 170.224 83.7282 413.377 194.09"
-Sheet="1"
+Layer=47
 
 [Win_2]
-Type="Board Editor"
-Number=1
-File="atkbldcdriver.brd"
-View="40.4207 5.232 120.997 72.3385"
-WireWidths=" 0.0762 0.127 0.15 0.508 0.6096 0.8128 2.54 1.016 1.27 0.3048 0.254 0.2 0.4064 0.1016 0.2032 0.1524"
+Type="Schematic Editor"
+Number=2
+File="atkbldcdriver.sch"
+View="-500.418 -241.803 754.198 327.64"
+WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
 PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
-PadDrills=" 0.2 0.25 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.3"
+PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
 ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
-ViaDrills=" 0.2 0.4 0.45 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.5 0.25 0.35 0.3"
-HoleDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
-TextSizes=" 0.254 0.3048 0.4064 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778 0.6096"
+ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
+HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
+TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
 PolygonSpacings=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.27"
 PolygonIsolates=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
 MiterRadiuss=" 0.254 0.3175 0.635 1.27 2.54 1 2 2.5 5 7.5 10 0"
@@ -104,17 +102,17 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
 DimensionExtLengths=" 1.27 2.54 1 2 3 0"
 DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
 SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
-WireBend=3
-WireBendSet=0
+WireBend=0
+WireBendSet=31
 WireCap=1
 MiterStyle=0
 PadShape=0
 ViaShape=1
 PolygonPour=0
-PolygonRank=3
+PolygonRank=0
 PolygonThermals=1
 PolygonOrphans=0
-TextRatio=10
+TextRatio=8
 DimensionUnit=1
 DimensionPrecision=2
 DimensionShowUnit=0
@@ -126,7 +124,9 @@ SwapLevel=0
 ArcDirection=0
 AddLevel=2
 PadsSameType=0
-Layer=47
+Layer=91
+Views=" 1: -500.418 -241.803 754.198 327.64"
+Sheet="1"
 
 [Win_3]
 Type="Control Panel"
diff --git a/images/board.png b/images/board.png
deleted file mode 100644
index 5068bed306e248b5e47a284d8e79d79554d64f31..0000000000000000000000000000000000000000
Binary files a/images/board.png and /dev/null differ
diff --git a/images/routed.png b/images/routed.png
new file mode 100644
index 0000000000000000000000000000000000000000..8371a60ee95447827175fa01ac2f8d3995f35389
Binary files /dev/null and b/images/routed.png differ
diff --git a/images/schematic.png b/images/schematic.png
index db424eb16675bc3f1a8dc161e716dd4080f3f0a8..43e971db03a5dca1388188ab680f01b4044b28ac 100644
Binary files a/images/schematic.png and b/images/schematic.png differ