diff --git a/fab.dcm b/fab.dcm
index 2297feac6bf730552a62a43b67740c196bc29137..99bd61b61ced4bf9ee8c67bdbc75ad15028fc09f 100644
--- a/fab.dcm
+++ b/fab.dcm
@@ -80,29 +80,23 @@ F https://media.digikey.com/pdf/Data%20Sheets/Knowles%20Acoustics%20PDFs/SPH0645
 $ENDCMP
 #
 $CMP Micro_SD_Socket
-D Generic resistor
-K R RES resistor
-F https://media.digikey.com/pdf/Data%20Sheets/Amphenol%20PDFs/114-00841-68.pdf
-$ENDCMP
-#
-$CMP OPA188xxDBV
 D Zero-Drift, Precision, Low-Noise, Rail-to-Rail Output, 36-V Operational Amplifier, TSOT-23-5
 K single opamp zero-drift
 F http://www.ti.com/lit/ds/symlink/opa188.pdf
 $ENDCMP
 #
-$CMP OPAMP_AD8615
-D General Purpose Amplifier 1 Circuit Rail-to-Rail TSOT-23-5
-K single opamp TSOT-23-5
-F https://www.analog.com/media/en/technical-documentation/data-sheets/AD8615_8616_8618.pdf
-$ENDCMP
-#
 $CMP OPAMP_AD8605
 D General Purpose Amplifier 1 Circuit Rail-to-Rail SOT-23-5
 K single opamp SOT-23-5
 F https://www.analog.com/media/en/technical-documentation/data-sheets/AD8605_8606_8608.pdf
 $ENDCMP
 #
+$CMP OPAMP_AD8615
+D General Purpose Amplifier 1 Circuit Rail-to-Rail TSOT-23-5
+K single opamp TSOT-23-5
+F https://www.analog.com/media/en/technical-documentation/data-sheets/AD8615_8616_8618.pdf
+$ENDCMP
+#
 $CMP R
 D Resistor
 K R res resistor
@@ -115,6 +109,12 @@ K resistor variable trimmer
 F https://www.ttelectronics.com/TTElectronics/media/ProductFiles/Trimmers/Datasheets/23.pdf
 $ENDCMP
 #
+$CMP STEPPER_DRIVER_A4982
+D Bipolar Motor Driver DMOS Logic 24-TSSOP-EP Allegro MicroSystems A4982SLPTR-T
+K bipolar half bridge h-bridge motor driver allegro microsystems
+F https://www.allegromicro.com/~/media/Files/Datasheets/A4982-Datasheet.ashx
+$ENDCMP
+#
 $CMP Speaker
 D Generic Speaker
 K speaker sound loudspeaker buzzer
diff --git a/fab.lib b/fab.lib
index da5126ef64e7f894607a4ec858c934a150d43b6d..13f0b108ec33c48ce3b0a70cbf9052a2d24e4a92 100644
--- a/fab.lib
+++ b/fab.lib
@@ -1618,15 +1618,15 @@ X VCC 8 600 200 200 L 40 40 1 1 B
 ENDDRAW
 ENDDEF
 #
-# OPAMP_AD8615
+# OPAMP_AD8605
 #
-DEF OPAMP_AD8615 U 0 5 Y Y 1 F N
+DEF OPAMP_AD8605 U 0 5 Y Y 1 F N
 F0 "U" 0 200 50 H V L CNN
-F1 "OPAMP_AD8615" 0 -200 50 H V L CNN
-F2 "fab:TSOT-23-5" 0 0 50 H I C CNN
+F1 "OPAMP_AD8605" 0 -200 50 H V L CNN
+F2 "fab:SOT-23-5" 0 0 50 H I C CNN
 F3 "" 0 200 50 H I C CNN
 $FPLIST
- TSOT*23*
+ SOT*23*
 $ENDFPLIST
 DRAW
 P 4 0 1 10 -200 200 200 0 -200 -200 -200 200 f
@@ -1638,15 +1638,15 @@ X -IN 4 -300 -100 100 R 50 50 1 1 I
 ENDDRAW
 ENDDEF
 #
-# OPAMP_AD8605
+# OPAMP_AD8615
 #
-DEF OPAMP_AD8605 U 0 5 Y Y 1 F N
+DEF OPAMP_AD8615 U 0 5 Y Y 1 F N
 F0 "U" 0 200 50 H V L CNN
-F1 "OPAMP_AD8605" 0 -200 50 H V L CNN
-F2 "fab:SOT-23-5" 0 0 50 H I C CNN
+F1 "OPAMP_AD8615" 0 -200 50 H V L CNN
+F2 "fab:TSOT-23-5" 0 0 50 H I C CNN
 F3 "" 0 200 50 H I C CNN
 $FPLIST
- SOT*23*
+ TSOT*23*
 $ENDFPLIST
 DRAW
 P 4 0 1 10 -200 200 200 0 -200 -200 -200 200 f
@@ -2676,6 +2676,45 @@ X 3 3 0 -200 100 L 40 40 1 1 P I
 ENDDRAW
 ENDDEF
 #
+# STEPPER_DRIVER_A4982
+#
+DEF STEPPER_DRIVER_A4982 U 0 40 Y Y 1 F N
+F0 "U" -450 700 50 H V L CNN
+F1 "STEPPER_DRIVER_A4982" -450 -700 50 H V L CNN
+F2 "fab:24-TSSOP-EP" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ *SOIC-8*
+$ENDFPLIST
+DRAW
+S -450 650 450 -650 0 1 0 f
+X CP1 1 -550 550 100 R 50 50 1 1 B
+X VDD 10 -550 -350 100 R 50 50 1 1 W
+X STEP 11 -550 -450 100 R 50 50 1 1 I
+X REF 12 -550 -550 100 R 50 50 1 1 I
+X GND 13 550 -550 100 L 50 50 1 1 W
+X DIR 14 550 -450 100 L 50 50 1 1 I
+X OUT1B 15 550 -350 100 L 50 50 1 1 O
+X VBB1 16 550 -250 100 L 50 50 1 1 W
+X SENSE1 17 550 -150 100 L 50 50 1 1 I
+X OUT1A 18 550 -50 100 L 50 50 1 1 O
+X OUT2A 19 550 50 100 L 50 50 1 1 O
+X CP2 2 -550 450 100 R 50 50 1 1 B
+X SENSE2 20 550 150 100 L 50 50 1 1 I
+X VBB2 21 550 250 100 L 50 50 1 1 W
+X OUT2B 22 550 350 100 L 50 50 1 1 O
+X ~ENABLE 23 550 450 100 L 50 50 1 1 I
+X GND 24 550 550 100 L 50 50 1 1 W
+X VCP 3 -550 350 100 R 50 50 1 1 B
+X VREG 4 -550 250 100 R 50 50 1 1 I
+X MS1 5 -550 150 100 R 50 50 1 1 I
+X MS2 6 -550 50 100 R 50 50 1 1 I
+X ~RESET 7 -550 -50 100 R 50 50 1 1 I
+X ROSC 8 -550 -150 100 R 50 50 1 1 I
+X ~SLEEP 9 -550 -250 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
 # SWD10pin127pitch
 #
 DEF SWD10pin127pitch J 0 10 Y N 1 F N
diff --git a/fab.pretty/24-TSSOP-EP.kicad_mod b/fab.pretty/24-TSSOP-EP.kicad_mod
new file mode 100644
index 0000000000000000000000000000000000000000..a106dbb600ba95fb1b0cfd144ef8ce05f3822092
--- /dev/null
+++ b/fab.pretty/24-TSSOP-EP.kicad_mod
@@ -0,0 +1,58 @@
+(module 24-TSSOP-EP (layer F.Cu) (tedit 5EC23A76)
+  (descr "TSSOP24: plastic thin shrink small outline package; 24 leads; body width 4.4 mm; (see NXP SSOP-TSSOP-VSO-REFLOW.pdf and sot355-1_po.pdf)")
+  (tags "SSOP 0.65")
+  (attr smd)
+  (fp_text reference REF** (at 0 -4.95) (layer F.SilkS)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_text value 24-TSSOP-EP (at 0 4.95) (layer F.Fab)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_text user %R (at 0 0) (layer F.Fab)
+    (effects (font (size 0.8 0.8) (thickness 0.15)))
+  )
+  (fp_line (start -2.325 4.025) (end 2.325 4.025) (layer F.SilkS) (width 0.15))
+  (fp_line (start -3.4 -4.075) (end 2.325 -4.075) (layer F.SilkS) (width 0.15))
+  (fp_line (start -2.325 4.025) (end -2.325 4) (layer F.SilkS) (width 0.15))
+  (fp_line (start 2.325 4.025) (end 2.325 4) (layer F.SilkS) (width 0.15))
+  (fp_line (start 2.325 -4.025) (end 2.325 -4) (layer F.SilkS) (width 0.15))
+  (fp_line (start -3.65 4.2) (end 3.65 4.2) (layer F.CrtYd) (width 0.05))
+  (fp_line (start -3.65 -4.2) (end 3.65 -4.2) (layer F.CrtYd) (width 0.05))
+  (fp_line (start 3.65 -4.2) (end 3.65 4.2) (layer F.CrtYd) (width 0.05))
+  (fp_line (start -3.65 -4.2) (end -3.65 4.2) (layer F.CrtYd) (width 0.05))
+  (fp_line (start -2.2 -2.9) (end -1.2 -3.9) (layer F.Fab) (width 0.15))
+  (fp_line (start -2.2 3.9) (end -2.2 -2.9) (layer F.Fab) (width 0.15))
+  (fp_line (start 2.2 3.9) (end -2.2 3.9) (layer F.Fab) (width 0.15))
+  (fp_line (start 2.2 -3.9) (end 2.2 3.9) (layer F.Fab) (width 0.15))
+  (fp_line (start -1.2 -3.9) (end 2.2 -3.9) (layer F.Fab) (width 0.15))
+  (pad 24 smd rect (at 2.85 -3.575) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 23 smd rect (at 2.85 -2.925) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 22 smd rect (at 2.85 -2.275) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 21 smd rect (at 2.85 -1.625) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 20 smd rect (at 2.85 -0.975) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 19 smd rect (at 2.85 -0.325) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 18 smd rect (at 2.85 0.325) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 17 smd rect (at 2.85 0.975) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 16 smd rect (at 2.85 1.625) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 15 smd rect (at 2.85 2.275) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 14 smd rect (at 2.85 2.925) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 13 smd rect (at 2.85 3.575) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 12 smd rect (at -2.85 3.575) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 11 smd rect (at -2.85 2.925) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 10 smd rect (at -2.85 2.275) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 9 smd rect (at -2.85 1.625) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 8 smd rect (at -2.85 0.975) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 7 smd rect (at -2.85 0.325) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 6 smd rect (at -2.85 -0.325) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 5 smd rect (at -2.85 -0.975) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 4 smd rect (at -2.85 -1.625) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 3 smd rect (at -2.85 -2.275) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 2 smd rect (at -2.85 -2.925) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 1 smd rect (at -2.85 -3.575) (size 1.65 0.34) (layers F.Cu F.Paste F.Mask))
+  (pad 24 smd rect (at 0 0) (size 3 4.32) (layers F.Cu F.Paste F.Mask))
+  (model ${KISYS3DMOD}/Housings_SSOP.3dshapes/TSSOP-24_4.4x7.8mm_Pitch0.65mm.wrl
+    (at (xyz 0 0 0))
+    (scale (xyz 1 1 1))
+    (rotate (xyz 0 0 0))
+  )
+)