diff --git a/fab.dcm b/fab.dcm
index 7c230754bfbc378cddbfadbbbc2989e1a204433a..5dd637493748b1b203764678deb82ebba2136b2f 100644
--- a/fab.dcm
+++ b/fab.dcm
@@ -1,5 +1,11 @@
 EESchema-DOCLIB  Version 2.0
 #
+$CMP A4953_MOTOR_DRIVER
+D Motor Driver, 40V, 2A, Full-Bridge, DMOS PWM, SOIC-8, Exposed Pad
+K Full-bridge h-bridge half bridge motor driver
+F https://www.allegromicro.com/~/media/Files/Datasheets/A4952-3-Datasheet.ashx
+$ENDCMP
+#
 $CMP C
 D Unpolarized capacitor
 K cap capacitor
@@ -31,33 +37,33 @@ D Inductor
 K inductor choke coil reactor magnetic ferrite bead
 $ENDCMP
 #
-$CMP R
-D Generic resistor
-K R RES resistor
-$ENDCMP
-#
-$CMP R_POT_10K_Trimmer
-D Trimmer Potentiometer 10K TT Electronics 23BR10KLFTR
-K resistor variable trimmer
-F https://www.ttelectronics.com/TTElectronics/media/ProductFiles/Trimmers/Datasheets/23.pdf
-$ENDCMP
-#
 $CMP MOSFET_N-CH_30V_1.7A
-D N-Channel mosfet ON Semiconductor NDS355AN in SOT-23 package
+D N-Channel mosfet NDS355AN in SOT-23 package
 K field effect transistor
 F https://www.onsemi.com/pub/Collateral/NDS355AN-D.PDF
 $ENDCMP
 #
+$CMP MOSFET_N-CH_50V_16A
+D N-Channel mosfet RFD16N05LSM9A in TO-252 package
+K field effect transistor
+F https://www.onsemi.com/pub/Collateral/RFD16N05LSM-D.PDF
+$ENDCMP
+#
 $CMP MOSFET_P-CH_30V_1.1A
-D P-Channel mosfet ON Semiconductor NDS356AP in SOT-23 package
-K field effect transistor 
+D P-Channel mosfet NDS356AP in SOT-23 package
+K field effect transistor
 F https://www.onsemi.com/pub/Collateral/NDS356AP-D.PDF
 $ENDCMP
 #
-$CMP MOSFET_N-CH_50V_16A
-D N-Channel mosfet ON Semiconductor RFD16N05LSM9A in TO-252 package 
-K field effect transistor 
-F https://www.onsemi.com/pub/Collateral/RFD16N05LSM-D.PDF
+$CMP R
+D Generic resistor
+K R RES resistor
+$ENDCMP
+#
+$CMP R_POT_10K_Trimmer
+D Trimmer Potentiometer 10K TT Electronics 23BR10KLFTR
+K resistor variable trimmer
+F https://www.ttelectronics.com/TTElectronics/media/ProductFiles/Trimmers/Datasheets/23.pdf
 $ENDCMP
 #
 #End Doc Library
diff --git a/fab.lib b/fab.lib
index 30f915c6eab1a80acd00e3552d3cab7e99822355..bf23200500a730ce969a2b74a73f545ca720c464 100644
--- a/fab.lib
+++ b/fab.lib
@@ -95,29 +95,27 @@ X S1 4 100 200 100 D 40 40 1 1 P
 ENDDRAW
 ENDDEF
 #
-# A4953-H-BRIDGE-MOTOR-DRIVER
+# A4953 Motor Driver
 #
-DEF A4953-H-BRIDGE-MOTOR-DRIVER M 0 40 Y Y 1 L N
-F0 "M" 0 0 45 H I C CNN
-F1 "A4953-H-BRIDGE-MOTOR-DRIVER" 0 0 45 H I C CNN
-F2 "fab:fab-SOIC-8_3.9x4.9mm_P1.27mm" 30 150 20 H I C CNN
+DEF A4953_MOTOR_DRIVER U 0 40 Y Y 1 F N
+F0 "U" -300 350 50 H V L CNN
+F1 "A4953_MOTOR_DRIVER" 0 350 50 H V L CNN
+F2 "fab:SOIC-8_3.9x4.9mm_P1.27mm_EP2.41x3.3mm" 0 0 50 H I C CNN
 F3 "" 0 0 50 H I C CNN
 $FPLIST
- *SOIC8*
+ *SOIC-8*
 $ENDFPLIST
 DRAW
-P 2 1 0 0 -1100 -300 -100 -300 N
-P 2 1 0 0 -1100 700 -1100 -300 N
-P 2 1 0 0 -100 -300 -100 700 N
-P 2 1 0 0 -100 700 -1100 700 N
-X GND 1 -1300 500 200 R 40 40 1 1 B
-X IN2 2 -1300 300 200 R 40 40 1 1 B
-X IN1 3 -1300 100 200 R 40 40 1 1 B
-X VREF 4 -1300 -100 200 R 40 40 1 1 B
-X VBB 5 100 -100 200 L 40 40 1 1 B
-X OUT1 6 100 100 200 L 40 40 1 1 B
-X LSS 7 100 300 200 L 40 40 1 1 B
-X OUT2 8 100 500 200 L 40 40 1 1 B
+S -300 300 300 -300 0 1 10 f
+X GND 1 -400 225 100 R 50 50 1 1 W
+X IN2 2 -400 75 100 R 50 50 1 1 I
+X IN1 3 -400 -75 100 R 50 50 1 1 I
+X VREF 4 -400 -225 100 R 50 50 1 1 P
+X VBB 5 400 -225 100 L 50 50 1 1 W
+X OUT1 6 400 -75 100 L 50 50 1 1 w
+X LSS 7 400 75 100 L 50 50 1 1 W
+X OUT2 8 400 225 100 L 50 50 1 1 w
+X PAD 9 0 -400 100 U 50 50 1 1 W
 ENDDRAW
 ENDDEF
 #
@@ -1431,15 +1429,15 @@ X OUT 4 600 0 200 L 40 40 1 1 O
 ENDDRAW
 ENDDEF
 #
-# MOSFET_N-CH_50V_16A
+# MOSFET_N-CH_30V_1.7A
 #
-DEF MOSFET_N-CH_50V_16A T 0 40 N N 1 L N
+DEF MOSFET_N-CH_30V_1.7A Q 0 40 N N 1 L N
 F0 "Q" 100 100 45 H V L BNN
-F1 "MOSFET_N-CH_50V_16A" 100 0 45 H V L BNN
-F2 "fab:fab-TO252" 30 150 20 H I C CNN
+F1 "MOSFET_N-CH_30V_1.7A" 100 0 45 H V L BNN
+F2 "fab:fab-SOT-23" 30 150 20 H I C CNN
 F3 "" 0 0 50 H I C CNN
 $FPLIST
- *TO252*
+ *SOT-23*
 $ENDFPLIST
 DRAW
 T 0 -44 173 39 0 1 0 D Normal 0 C C
@@ -1467,15 +1465,15 @@ X D 3 0 200 100 D 40 40 1 1 P
 ENDDRAW
 ENDDEF
 #
-# MOSFET_N-CH_30V_1.7A
+# MOSFET_N-CH_50V_16A
 #
-DEF MOSFET_N-CH_30V_1.7A T 0 40 N N 1 L N
+DEF MOSFET_N-CH_50V_16A Q 0 40 N N 1 L N
 F0 "Q" 100 100 45 H V L BNN
-F1 "MOSFET_N-CH_30V_1.7A" 100 0 45 H V L BNN
-F2 "fab:fab-SOT-23" 30 150 20 H I C CNN
+F1 "MOSFET_N-CH_50V_16A" 100 0 45 H V L BNN
+F2 "fab:fab-TO252" 30 150 20 H I C CNN
 F3 "" 0 0 50 H I C CNN
 $FPLIST
- *SOT-23*
+ *TO252*
 $ENDFPLIST
 DRAW
 T 0 -44 173 39 0 1 0 D Normal 0 C C
@@ -1505,7 +1503,7 @@ ENDDEF
 #
 # MOSFET_P-CH_30V_1.1A
 #
-DEF MOSFET_P-CH_30V_1.1A T 0 40 N N 1 L N
+DEF MOSFET_P-CH_30V_1.1A Q 0 40 N N 1 L N
 F0 "Q" 100 100 45 H V L BNN
 F1 "MOSFET_P-CH_30V_1.1A" 100 0 45 H V L BNN
 F2 "fab:fab-SOT-23" 30 150 20 H I C CNN
diff --git a/fab.pretty/SOIC-8_3.9x4.9mm_P1.27mm_EP2.41x3.3mm.kicad_mod b/fab.pretty/SOIC-8_3.9x4.9mm_P1.27mm_EP2.41x3.3mm.kicad_mod
new file mode 100644
index 0000000000000000000000000000000000000000..579f061e838d871d45d89f4886bad41a6c4299a0
--- /dev/null
+++ b/fab.pretty/SOIC-8_3.9x4.9mm_P1.27mm_EP2.41x3.3mm.kicad_mod
@@ -0,0 +1,32 @@
+(module SOIC-8_3.9x4.9mm_P1.27mm_EP2.41x3.3mm (layer F.Cu) (tedit 5EB85AA0)
+  (descr "8-Lead Thermally Enhanced Plastic Small Outline (SE) - Narrow, 3.90 mm Body [SOIC] (see Microchip Packaging Specification 00000049BS.pdf)")
+  (tags "SOIC 1.27")
+  (attr smd)
+  (fp_text reference REF** (at 0 -3.5) (layer F.SilkS)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_text value SOIC-8_3.9x4.9mm_P1.27mm_EP2.41x3.3mm (at 0 0) (layer F.Fab)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_line (start -2.075 2.575) (end 2.075 2.575) (layer F.SilkS) (width 0.15))
+  (fp_line (start -2.075 -2.575) (end 2.075 -2.575) (layer F.SilkS) (width 0.15))
+  (fp_text user %R (at 0 0) (layer F.Fab)
+    (effects (font (size 0.9 0.9) (thickness 0.135)))
+  )
+  (fp_circle (center -2.87 -3.23) (end -2.67 -3.23) (layer F.SilkS) (width 0.12))
+  (pad 9 smd rect (at 0 0) (size 2.41 3.3) (layers F.Cu F.Paste F.Mask)
+    (solder_paste_margin_ratio -0.2))
+  (pad 8 smd rect (at 2.8 -1.905) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (pad 7 smd rect (at 2.8 -0.635) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (pad 6 smd rect (at 2.8 0.635) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (pad 5 smd rect (at 2.8 1.905) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (pad 4 smd rect (at -2.8 1.905) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (pad 3 smd rect (at -2.8 0.635) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (pad 2 smd rect (at -2.8 -0.635) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (pad 1 smd rect (at -2.8 -1.905) (size 1.8 0.7) (layers F.Cu F.Paste F.Mask))
+  (model ${KISYS3DMOD}/Housings_SOIC.3dshapes/SOIC-8-1EP_3.9x4.9mm_Pitch1.27mm.wrl
+    (at (xyz 0 0 0))
+    (scale (xyz 1 1 1))
+    (rotate (xyz 0 0 0))
+  )
+)