deletions | additions       diff --git a/Signal Hub.tex b/Signal Hub.tex  index 10a8b9a..b748a37 100644  --- a/Signal Hub.tex  +++ b/Signal Hub.tex 
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\subsubsection{Signal Hub}  The signal hub consists of a circuit board with a dock to insert the bus cable from the PIC and signal wires soldered to the correct pins. The signal hub is merely an extension of the signal hub on the devbugger board. Figure # illustrates the purpose of each wire connected to the signal hub. Blank denotes unused.\subsubsection{Servo Motors Driver Circuit} Driving servo motors is a simple operation. The 3 servos are operated at the same time, and in the same direction, so the voltage supplies, the grounds and the signals from the PIC are lumped together. The servos are powered with 5V at high current, #A, which is their maximum draw for maximum mechanical power. The signal wire for the 3 servos is connected to the signal hub to receive PWM from the PIC. A ground reference from the PIC is connected to the ground for the servos \cite{Electronics-Blog.comblog:2008}. The servo driver circuit can be seen in figure #. (!!!!!!!)   \subsubsection{Stepper Motors Driver Circuit} Each of the two stepper motors has a ULC2003A IC transistor array to amplify the sequence signal from the PIC and provide the stepper coils with current \cite{TexasInstruments:2013}. The input for the two ICs is joined because like the servo motors, both steppers operate at the same time, in the same direction, and therefore receive the same signal from the PIC simultaneously. The four inputs connect to the signal hub for communication with the PIC. A ground reference for the PIC is connected to the stepper driver board. The stepper driver board is powered by 5V at 2A. The four outputs from each IC connect to one unipolar stepper motor. Each unipolar stepper motor has two power leads connected to the same 5V that powers the driver board \cite{GETechwiki:2008}. The stepper driver circuit can be seen in figure #. (!!!!!!)