# Corrected ESC routing take: voiceover handoff

Use the replacement video `docs/videos/astra-routing-esc-g431.mp4` and the current stats attached to kicad-bridge issue 94. The previous published take stopped with 13 real missing connections and failed the requested goal. It has been superseded by this corrected take.

Suggested narration:

"Astra begins with Fable's shared component placement and the two inner planes, with zero tracks and zero vias. The route geometry was planned before this replay. Astra corrected its earlier incomplete attempt by joining existing copper components, freeing individual blocked paths, and rerouting the connections those changes displaced. Each visible addition is a native KiCad undo step through kicad_route_net. Signal tracks use the front and back layers. Power tracks are half a millimeter wide, increased to one millimeter where clearance permits. Ground and 3.3-volt surface-mount pads connect to their inner planes through individual stubs and vias. This take contains 67 successful commits over 388.74 seconds. KiCad's refilled-snapshot validation reports 0 new DRC errors and 0 unconnected items. The 13 inherited footprint errors remain. 59 of 59 routable nets are connected."

Keep the opening eight-second zero-track hold. This is a continuous silent monitor capture at normal speed, with no cuts. Planning time and all failed attempts are separate from replay duration and are included in the task accounting. Zero AI sub-agents were used. One Python worker updates the elapsed-time caption. A temporary display-awake lease prevents the test box's 60-second display timeout during the final take; its power settings are unchanged.

The final take fills the live planes before validation, so the editor's unrouted counter also reaches the native connectivity result. Use kicad_routing_validate after snapshot refill as the authoritative result. Do not confuse the inherited 13 footprint errors with the previous take's 13 missing connections.

This is a connectivity demonstration under the supplied fixture rules. It does not qualify motor current, thermal behavior, or manufacturing. The placed shunt and INA reference the ground plane; do not describe them as a separately routed Kelvin pair.

For chart data, use astra-stats.json with its token-accounting cutoff and stated API-equivalent price. Costs include the incomplete published take, all corrective planning, dry runs, and recording work through that cutoff. Do not treat API-equivalent dollars as actual subscription billing.

## Actions in the corrected recording

Offsets below are from bridge wall-clock logs relative to the recorder-start request. Confirm final edit boundaries against the visible frames.

| Offset s | Net | Width mm | Items | DRC errors | Unconnected |
|---:|---|---:|---:|---:|---:|
| 9.1 | /SW | 0.25 | 1 | 13 | 257 |
| 14.2 | /E_STOP | 0.25 | 3 | 13 | 256 |
| 19.5 | /DRV_GLC | 0.25 | 3 | 13 | 255 |
| 24.7 | /DRV_GLA | 0.25 | 3 | 13 | 254 |
| 30.2 | /DRV_GLB | 0.25 | 3 | 13 | 253 |
| 35.5 | /DRV_GHC | 0.25 | 5 | 13 | 252 |
| 40.9 | Net-(LED3-A) | 0.25 | 4 | 13 | 251 |
| 46.3 | /RPM | 0.25 | 4 | 13 | 250 |
| 51.7 | /DRV_GHA | 0.25 | 18 | 13 | 248 |
| 57.7 | /MCU_LED | 0.25 | 9 | 13 | 247 |
| 63.2 | /DRV_BSTA | 0.25 | 11 | 13 | 246 |
| 68.6 | /5V_VCC | 0.25 | 4 | 13 | 245 |
| 74.1 | /DRV_BSTC | 0.25 | 18 | 13 | 244 |
| 79.8 | /DRV_GHB | 0.25 | 89 | 13 | 243 |
| 85.3 | /BOOT0 | 0.25 | 12 | 13 | 241 |
| 90.8 | /GHB | 0.25 | 14 | 13 | 239 |
| 96.6 | /DRV_BSTB | 0.25 | 19 | 13 | 238 |
| 102.1 | /VDDA | 0.25 | 49 | 13 | 233 |
| 107.8 | Net-(LED1-A) | 0.25 | 23 | 13 | 232 |
| 113.3 | /5V_EN | 0.25 | 31 | 13 | 230 |
| 119.0 | /GLB | 0.25 | 19 | 13 | 228 |
| 124.5 | /NEUTRAL | 0.25 | 52 | 13 | 223 |
| 130.2 | /TIM1_CH1N_INLC | 0.25 | 82 | 13 | 222 |
| 135.8 | /TIM1_CH2N_INLB | 0.25 | 14 | 13 | 221 |
| 141.4 | /TIM1_CH3N_INLA | 0.25 | 116 | 13 | 220 |
| 147.1 | /TIM1_CH1_INHC | 0.25 | 15 | 13 | 219 |
| 152.7 | /TIM1_CH2_INHB | 0.25 | 91 | 13 | 218 |
| 158.4 | /TIM1_CH3_INHA | 0.25 | 22 | 13 | 216 |
| 164.1 | /PB7 | 0.25 | 25 | 13 | 215 |
| 169.7 | +12V | 0.25 | 65 | 13 | 209 |
| 175.4 | /VBAT_SENSE | 0.25 | 75 | 13 | 206 |
| 182.1 | +5V | 0.25 | 66 | 13 | 198 |
| 188.0 | /USART1_TX | 0.25 | 20 | 13 | 195 |
| 193.9 | /PB6 | 0.25 | 24 | 13 | 194 |
| 199.7 | /GLA | 0.25 | 22 | 13 | 192 |
| 205.5 | /USART1_RX | 0.25 | 35 | 13 | 189 |
| 211.2 | Net-(LED2-A) | 0.25 | 39 | 13 | 188 |
| 217.0 | /DRV_SHB | 0.5 | 83 | 13 | 184 |
| 222.9 | /DRV_SHB | 1.0 | 3 | 13 | 181 |
| 228.7 | /GHA | 0.25 | 18 | 13 | 179 |
| 234.4 | /HSE_IN | 0.25 | 60 | 13 | 177 |
| 240.3 | /GLC | 0.25 | 55 | 13 | 175 |
| 246.2 | /HSE_OUT | 0.25 | 56 | 13 | 173 |
| 252.1 | /TIM15_CH1_DSHOT | 0.25 | 41 | 13 | 171 |
| 257.9 | /nRST | 0.25 | 58 | 13 | 166 |
| 263.8 | /GHC | 0.25 | 20 | 13 | 164 |
| 269.7 | /5V_EXT | 0.25 | 25 | 13 | 163 |
| 275.6 | /PB12 | 0.25 | 136 | 13 | 160 |
| 281.5 | /DRV_SHA | 0.5 | 122 | 13 | 157 |
| 287.3 | /DRV_SHA | 1.0 | 7 | 13 | 153 |
| 293.3 | /SWCLK | 0.25 | 59 | 13 | 150 |
| 300.2 | /IBAT_SENSE | 0.25 | 42 | 13 | 149 |
| 306.2 | /DRV_SHC | 0.5 | 119 | 13 | 146 |
| 312.2 | /DRV_SHC | 0.5 | 58 | 13 | 147 |
| 318.1 | /DRV_SHC | 1.0 | 6 | 13 | 142 |
| 324.1 | /SWDIO | 0.25 | 53 | 13 | 139 |
| 330.1 | /COMP2_INM_IO1_BEMF_A | 0.25 | 65 | 13 | 134 |
| 336.2 | /COMP1_INM_IO1_BEMF_B | 0.25 | 65 | 13 | 130 |
| 342.2 | +VBAT | 0.5 | 128 | 13 | 122 |
| 348.3 | +VBAT | 0.5 | 123 | 13 | 118 |
| 354.5 | +VBAT | 0.5 | 15 | 13 | 117 |
| 360.6 | +VBAT | 1.0 | 14 | 13 | 103 |
| 367.0 | /COMP1_INM_IO2_BEMF_C | 0.25 | 161 | 13 | 98 |
| 373.4 | GND_OUT | 0.5 | 85 | 13 | 99 |
| 379.8 | GND_OUT | 1.0 | 4 | 13 | 96 |
| 386.1 | +3V3 | 0.25 | 52 | 13 | 76 |
| 392.4 | GND | 0.25 | 175 | 13 | 0 |