I just finished the schematic for the msPROBOT.
Added the the design is the lithium battery charger and protection circuit, the motor encoders, and a 3.3V to 5V bidirectional voltage level shifter. The level shifter will make it easier for users to add extra components and sensors to the robot. The 3.3V and 5V I/O lines are broke out to headers on the board.
