diff --git a/library/motor_drivers.dcm b/library/motor_drivers.dcm
index b899f949..c269ba57 100644
--- a/library/motor_drivers.dcm
+++ b/library/motor_drivers.dcm
@@ -1,5 +1,17 @@
 EESchema-DOCLIB  Version 2.0
 #
+$CMP A4950E
+D Full-Bridge, DMOS PWM, Motor Driver, 40V, 3.5A, -40 to +85C
+K full-bridge h-bridge 
+F http://www.allegromicro.com/~/media/Files/Datasheets/A4950-Datasheet.ashx
+$ENDCMP
+#
+$CMP A4950K
+D Full-Bridge, DMOS PWM, Motor Driver, 40V, 3.5A, -40 to +125C
+K full-bridge h-bridge 
+F http://www.allegromicro.com/~/media/Files/Datasheets/A4950-Datasheet.ashx
+$ENDCMP
+#
 $CMP L298(H)N
 D Dual full bridge motor driver, up to 46V, 4A
 K H-bridge motor driver
diff --git a/library/motor_drivers.lib b/library/motor_drivers.lib
index ce92bc83..62fdfcfa 100644
--- a/library/motor_drivers.lib
+++ b/library/motor_drivers.lib
@@ -1,6 +1,31 @@
 EESchema-LIBRARY Version 2.3
 #encoding utf-8
 #
+# A4950E
+#
+DEF A4950E U 0 40 Y Y 1 F N
+F0 "U" -300 350 50 H V L CNN
+F1 "A4950E" 200 350 50 H V L CNN
+F2 "SOIC_Packages:SOIC-8-1EP_3.9x4.9mm_Pitch1.27mm" 0 -550 50 H I C CNN
+F3 "" -300 350 50 H V C CNN
+ALIAS A4950K
+$FPLIST
+ SOIC-*1EP*
+$ENDFPLIST
+DRAW
+S -300 300 300 -300 0 1 10 f
+X GND 1 0 -400 100 U 50 50 1 1 W
+X IN2 2 -400 100 100 R 50 50 1 1 I
+X IN1 3 -400 200 100 R 50 50 1 1 I
+X VREF 4 -400 -100 100 R 50 50 1 1 P
+X VBB 5 0 400 100 D 50 50 1 1 W
+X OUT1 6 400 200 100 L 50 50 1 1 w
+X LSS 7 400 0 100 L 50 50 1 1 W
+X OUT2 8 400 100 100 L 50 50 1 1 w
+X PAD 9 100 -400 100 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
 # L298(H)N
 #
 DEF L298(H)N U 0 40 Y Y 1 F N
@@ -12,6 +37,7 @@ $FPLIST
  Multiwatt_15*
 $ENDFPLIST
 DRAW
+S -500 600 500 -600 0 1 0 N
 X SENSE_A 1 -300 -700 100 U 50 50 1 1 W
 X OUT1 2 600 200 100 L 50 50 1 1 O
 X OUT2 3 600 100 100 L 50 50 1 1 O
@@ -27,7 +53,6 @@ X IN4 12 -600 0 100 R 50 50 1 1 I
 X OUT3 13 600 -100 100 L 50 50 1 1 O
 X OUT4 14 600 -200 100 L 50 50 1 1 O
 X SENSE_B 15 -200 -700 100 U 50 50 1 1 W
-S -500 600 500 -600 0 1 0 N
 ENDDRAW
 ENDDEF
 #
@@ -39,6 +64,7 @@ F1 "L298P" 400 -650 50 H V C CNN
 F2 "" 150 250 50 H V C CNN
 F3 "" 150 250 50 H V C CNN
 DRAW
+S -500 600 500 -600 0 1 0 N
 X GND 1 -100 -700 100 U 50 50 1 1 W
 X SENSE_A 2 -400 -700 100 U 50 50 1 1 W
 X OUT1 4 600 200 100 L 50 50 1 1 O
@@ -57,7 +83,6 @@ X IN4 15 -600 0 100 R 50 50 1 1 I
 X OUT3 16 600 -100 100 L 50 50 1 1 O
 X OUT4 17 600 -200 100 L 50 50 1 1 O
 X SENSE_B 19 -300 -700 100 U 50 50 1 1 W
-S -500 600 500 -600 0 1 0 N
 ENDDRAW
 ENDDEF
 #
@@ -73,6 +98,7 @@ $FPLIST
  PDIP*
 $ENDFPLIST
 DRAW
+S 500 -500 -500 500 0 1 0 N
 X ~RESET~ 1 -600 400 100 R 50 50 1 1 I
 X CLK_IN 2 -600 300 100 R 50 50 1 1 I
 X ~CW~ 3 -600 200 100 R 50 50 1 1 I
@@ -86,7 +112,6 @@ X ~STROBE~ 13 600 -100 100 L 50 50 1 1 O
 X CLK_OUT 14 600 -200 100 L 50 50 1 1 O
 X VECTOR 15 -600 -300 100 R 50 50 1 1 I
 X Vdd 16 0 600 100 D 50 50 1 1 W
-S 500 -500 -500 500 0 1 0 N
 ENDDRAW
 ENDDEF
 #
@@ -102,6 +127,7 @@ $FPLIST
  SLA704XM
 $ENDFPLIST
 DRAW
+S -400 400 400 -400 0 1 0 N
 X OUT 1 500 100 100 L 50 50 1 1 O
 X ~STROBE~ 2 -500 100 100 R 50 50 1 1 I
 X REF 3 -500 -100 100 R 50 50 1 1 I
@@ -120,7 +146,6 @@ X Vdd 15 0 500 100 D 50 50 2 1 W
 X ~CLOCK~ 16 -500 200 100 R 50 50 2 1 I
 X DATA 17 -500 300 100 R 50 50 2 1 I
 X ~OUT~ 18 500 0 100 L 50 50 2 1 O
-S -400 400 400 -400 0 1 0 N
 ENDDRAW
 ENDDEF
 #
@@ -135,6 +160,7 @@ $FPLIST
  STK672-040-E
 $ENDFPLIST
 DRAW
+S -500 700 500 -700 0 1 0 N
 X ~B~ 1 600 100 100 L 50 50 1 1 O
 X B 2 600 200 100 L 50 50 1 1 O
 X PG 3 0 -800 100 U 50 50 1 1 W
@@ -157,7 +183,6 @@ X ~RESET~ 16 -600 -400 100 R 50 50 1 1 I
 X RETURN 17 -600 -200 100 R 50 50 1 1 I
 X ENABLE 18 -600 -300 100 R 50 50 1 1 I
 X MOI 19 600 -100 100 L 50 50 1 1 O
-S -500 700 500 -700 0 1 0 N
 ENDDRAW
 ENDDEF
 #
@@ -172,6 +197,7 @@ $FPLIST
  STK672-080-E
 $ENDFPLIST
 DRAW
+S -400 600 400 -600 0 1 0 N
 X PG 1 0 -700 100 U 50 50 1 1 W
 X BB 2 500 0 100 L 50 50 1 1 O
 X B 3 500 100 100 L 50 50 1 1 O
@@ -187,7 +213,6 @@ X M3 12 -500 300 100 R 50 50 1 1 I
 X ~RESET~ 13 -500 -300 100 R 50 50 1 1 I
 X MOI 14 500 -200 100 L 50 50 1 1 O
 X ENABLE 15 -500 -200 100 R 50 50 1 1 I
-S -400 600 400 -600 0 1 0 N
 ENDDRAW
 ENDDEF
 #