diff --git a/.gitignore b/.gitignore
index a4c6832e65114c975a167f1cb8f5863269a84c3b..15dc732046d777c87c85e967a7d8d4e7b7279960 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,4 +13,5 @@ jake/
 **.l#*
 **.atsuo
 
-**/ASF/
\ No newline at end of file
+**/ASF/
+cam/
\ No newline at end of file
diff --git a/2020-08_psu-breakout/2020-08_psu-breakout.brd b/2020-08_psu-breakout/2020-08_psu-breakout.brd
index 88126911710842b85c8dc1282e4de8bba95c72e5..431f2ca78e99aae59e30f2244159925e29e6f4e7 100644
--- a/2020-08_psu-breakout/2020-08_psu-breakout.brd
+++ b/2020-08_psu-breakout/2020-08_psu-breakout.brd
@@ -238,6 +238,14 @@ ON</text>
 <text x="59" y="21.5" size="1.016" layer="21" font="vector" rot="R180" align="center-left">10uF</text>
 <text x="60" y="21.5" size="1.016" layer="21" font="vector" align="center-left">1uF</text>
 <text x="70.5" y="43.5" size="1.016" layer="21" font="vector" align="center-left">1uF</text>
+<dimension x1="25.5" y1="59.5" x2="0" y2="59.5" x3="12.75" y3="62" textsize="1.778" layer="47"/>
+<dimension x1="0" y1="59.5" x2="83.5" y2="59.5" x3="41.75" y3="66" textsize="1.778" layer="47"/>
+<dimension x1="-4" y1="51" x2="-4" y2="59.5" x3="-9" y3="55.25" textsize="1.778" layer="47"/>
+<dimension x1="-4" y1="59.5" x2="-4" y2="108.5" x3="-9" y3="84" textsize="1.778" layer="47"/>
+<dimension x1="0" y1="113" x2="87" y2="113" x3="43.5" y3="119.000003125" textsize="1.778" layer="47"/>
+<dimension x1="-4" y1="108.5" x2="-4" y2="112" x3="-9" y3="110.25" textsize="1.778" layer="47"/>
+<dimension x1="110" y1="67.5" x2="98.5" y2="67.5" x3="104.25" y3="72" textsize="1.778" layer="47"/>
+<dimension x1="89.5" y1="61" x2="107.5" y2="61" x3="98.5" y3="80.5" textsize="1.778" layer="47"/>
 </plain>
 <libraries>
 <library name="SparkFun-Connectors">
diff --git a/2020-08_psu-breakout/eagle.epf b/2020-08_psu-breakout/eagle.epf
index ee21d1d406821b06891d3689a1873f43e762fb45..5737d717898a69f34c92ab610ba3f0593f24dd0f 100644
--- a/2020-08_psu-breakout/eagle.epf
+++ b/2020-08_psu-breakout/eagle.epf
@@ -16,17 +16,17 @@ UsedLibrary="C:/Dropbox/CBA/circuits/eagle/parts/supply1.lbr"
 UsedLibrary="C:/Dropbox/CBA/circuits/eagle/parts/SparkFun-Eagle-Libraries/SparkFun-Connectors.lbr"
 
 [Win_1]
-Type="Library Editor"
-Number=3
-File="C:/Dropbox/CBA/circuits/eagle/parts/SparkFun-Eagle-Libraries/SparkFun-Connectors.lbr"
-View="-0.769738 17.9907 3.53008 34.7475"
-WireWidths=" 0.0762 0.1016 0.15 0.2 0.2032 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524 0.254 0.127"
+Type="Board Editor"
+Number=2
+File="2020-08_psu-breakout.brd"
+View="-9.01046 -23.0528 180.434 135.543"
+WireWidths=" 0.1016 0.15 0.2 2.54 0 0.508 0.2032 0.254 0.3048 0.4064 0.1524 1.016 1.27 0.127 0.6096 0.8128"
 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 0.3 0.35 0.4 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.45"
 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 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778 1.27"
+ViaDrills=" 0.2 0.25 0.4 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.3 0.35 0.45"
+HoleDrills=" 0.2 0.25 0.3 0.4 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.45"
+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"
@@ -35,14 +35,14 @@ 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=2
+WireBend=1
 WireBendSet=0
 WireCap=1
 MiterStyle=1
 PadShape=0
 ViaShape=1
 PolygonPour=0
-PolygonRank=0
+PolygonRank=2
 PolygonThermals=1
 PolygonOrphans=0
 TextRatio=8
@@ -57,8 +57,7 @@ SwapLevel=0
 ArcDirection=0
 AddLevel=2
 PadsSameType=0
-Layer=21
-Package="2X15-SHROUDED_LATCH"
+Layer=47
 
 [Win_2]
 Type="Schematic Editor"
@@ -107,50 +106,6 @@ Views=" 1: 131.141 143.727 421.366 230.496"
 Sheet="1"
 
 [Win_3]
-Type="Board Editor"
-Number=2
-File="2020-08_psu-breakout.brd"
-View="-19.5989 -19.0603 111.96 91.0757"
-WireWidths=" 0.1016 0.15 0.2 2.54 0 0.508 0.2032 0.254 0.3048 0.4064 0.1524 1.016 1.27 0.127 0.6096 0.8128"
-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 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.45"
-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 0.4 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.3 0.35 0.45"
-HoleDrills=" 0.2 0.25 0.3 0.4 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.45"
-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"
-DimensionWidths=" 0 0.127 0.254 0.1 0.26 0.13"
-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=1
-WireBendSet=0
-WireCap=1
-MiterStyle=1
-PadShape=0
-ViaShape=1
-PolygonPour=0
-PolygonRank=2
-PolygonThermals=1
-PolygonOrphans=0
-TextRatio=8
-DimensionUnit=1
-DimensionPrecision=2
-DimensionShowUnit=0
-PinDirection=3
-PinFunction=0
-PinLength=2
-PinVisible=3
-SwapLevel=0
-ArcDirection=0
-AddLevel=2
-PadsSameType=0
-Layer=1
-
-[Win_4]
 Type="Control Panel"
 Number=0
 
@@ -159,4 +114,3 @@ Screen="3171 2520"
 Window="Win_1"
 Window="Win_2"
 Window="Win_3"
-Window="Win_4"
diff --git a/firmware/motion-head/src/config.h b/firmware/motion-head/src/config.h
index ada37881815e134cca478b7298230261ca8a2967..eaea7b2a139dc1f53dfae1f1ffa212515ecd4ac5 100644
--- a/firmware/motion-head/src/config.h
+++ b/firmware/motion-head/src/config.h
@@ -7,6 +7,6 @@
 // if you're using the 'module board' https://gitlab.cba.mit.edu/jakeread/ucbus-module
 // the first (og) revision has an SMT header, and some of the RS485 pins are varied, 
 // set this flag. otherwise, if you have thru-hole JTAG header, comment it out 
-#define IS_OG_MODULE 
+//#define IS_OG_MODULE 
 
 #endif 
\ No newline at end of file
diff --git a/firmware/motion-head/src/osape-d51 b/firmware/motion-head/src/osape-d51
index eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be..82214472bdab35fa776d99c5c8e36e57f51d18e0 160000
--- a/firmware/motion-head/src/osape-d51
+++ b/firmware/motion-head/src/osape-d51
@@ -1 +1 @@
-Subproject commit eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be
+Subproject commit 82214472bdab35fa776d99c5c8e36e57f51d18e0