Duckiebot MOOC Founder's edition datasheet DB21-M DB21-M-NoJet DB21-M-NoBatt DB21-M-NoJetNoBat
Duckiebot MOOC Founder's edition - DB21-M and variants 1. Use restriction notice This USE RESTRICTION NOTICE ("Notice") is for customers who are considering or currently using the Duckietown hardware products ("Products") set forth in this document. Duckieworks ("DW") may, at any time, modify this Notice which will be available to you in the latest specifications book for the Products. You should abide by the latest version of this Notice.
Duckiebot MOOC Founder's edition - DB21-M and variants Design for Safety DW is making continuous efforts to further improve the quality and reliability of the Products; however, failure of a certain percentage of the Products is inevitable.
Duckiebot MOOC Founder's edition - DB21-M and variants Products as well as to this specifications book. You should review those terms and conditions when you consider purchasing and/or using the Products. 2. General information The Duckiebot MOOC Founder's Edition (DB) is a do-it-yourself (DIY) hardware components kit for assembling a model self-driving car.
Duckiebot MOOC Founder's edition - DB21-M and variants Camera mount 1 Omni-wheel 1 Front wheels 2 Nylon stand-off M3x5+6mm M-F 1 Metal stand-off M2.5x18+6mm M-F 6 Metal hexagon stand-off M3 25mm F-F 2 Spacer M6x12x1.5mm (white) 2 Spacer M2.5x5x1mm (black) 4 Nylon screw M2x8 4 Nylon screw M2.5x10 16 Metal screw M3x8 26 Metal screw M3x30 4 Metal screw M3x12 4 Metal nut M3 24 Nylon nut white M3 2 Nylon nut white M2.
Duckiebot MOOC Founder's edition - DB21-M and variants Cables Packing MicroSD to USB adaptor 1 USB Jetson 1 USB Ext5V 1 USB Charge 1 HUT to BB 1 Motor cable 2 Front ToF 1 HUT to FB (2x), HUT to IMU (1x) 3 HUT to Display 1 HUT to Button (soldering with button) 1 Fan cable 1 Duckiebox 1 Inner packaging 1 Outer shipping box 1 4. Functionality overview The DB is designed to operate in a Duckietown urban environment.
Duckiebot MOOC Founder's edition - DB21-M and variants 5. Subsystems The Duckiebot is composed of the following subsystems: Chassis ○ Differential drive configuration The DB has two wheels which can be controlled independently through DC motors. A third passive omnidirectional wheel provides equilibrium. This configuration is known as differential-drive. The chassis components are covered by a protective plastic film, which should be removed before use.
Duckiebot MOOC Founder's edition - DB21-M and variants Actuators ○ ○ 2 DC motors (DG01D 48:1) 4 Addressable RGB LEDs (mounted on front and back bumpers) The DB wheels are actuated by two DC motors, which receive PWM signals from the Duckietown Hut, a shield connected to the computational board's GPIO pins. The DB is moreover equipped with 4 RGB addressable LEDs, placed on the front and back bumpers.
Duckiebot MOOC Founder's edition - DB21-M and variants Sensors The DB is equipped with a plug-and-play sensor suite. ○ Hall effect sensor wheel encoders (DZ08003134-01) Each DC motor is equipped with an embedded Hall effect sensor wheel encoder with 135 ticks per revolution, providing an angular resolution of roughly 2.7 degrees.
Duckiebot MOOC Founder's edition - DB21-M and variants ○ Inertial Measurement Unit (MPU-9250: Datasheet) The Duckiebot is equipped with an IMU including gyroscope, accelerometer and magnetometer, mounted on a Duckietown custom made PCB. Please refer to the linked datasheet for detailed specifications on the sensor. ○ Front facing time of flight sensor (VL53L0X: Datasheet) The Duckiebot is equipped with a front facing time of flight sensor (ToF). It can measure approximately 50mm to 1.
Duckiebot MOOC Founder's edition - DB21-M and variants ○ Battery diagnostics sensors The Duckietown battery is able to provide diagnostics information to the computation board via USB communication, in JSON format, every second.
Duckiebot MOOC Founder's edition - DB21-M and variants Computation ○ NVIDIA Jetson Nano 2GB developer kit The DB is equipped with an NVIDIA Jetson Nano 2GB developer kit. GPU 128-core NVIDIA Maxwell™ CPU Quad-core ARM® A57 @ 1.43 GHz Memory 2 GB 64-bit LPDDR4 25.6 GB/s Storage microSD (Card not included) Video 4Kp30 | 4x 1080p30 | 9x 720p30 (H.264/H.
Duckiebot MOOC Founder's edition - DB21-M and variants Video 4Kp60 | 2x 4Kp30 | 8x 1080p30 | 18x 720p30 (H.264/H.265) Decoder Connectivity Gigabit Ethernet Camera 1x MIPI CSI-2 connector Display HDMI USB 1x USB 3.0 Type A, 2x USB 2.0 Type A, 1x USB 2.0 Micro-B Others 40-pin header (GPIO, I2C, I2S, SPI, UART) 12-pin header (Power and related signals, UART) 4-pin fan header* Mechanical 100 mm x 80 mm x 29 mm Further information can be obtained from the NVIDIA website at: https://www.nvidia.
Duckiebot MOOC Founder's edition - DB21-M and variants Memory ○ 32 GB micro sd card, class 10, U3 30/12/2020 v2
Duckiebot MOOC Founder's edition - DB21-M and variants The onboard memory is provided by a 32GB micro-sd card, class 10, U1, with average read / write speeds (Seq Q32T1) of 22.49 MB/s and 18.72 MB/s. Power The DB is equipped with a custom made power bank: the "Duckiebattery", with specifications: ● ● ● ● ● Capacity: 10 000mAh at 3.7V Charging: Micro USB 5V at up to 2A Output: 2 x USB type A 5V at up to 4.
Duckiebot MOOC Founder's edition - DB21-M and variants ● ● In case of fire use a CO2 extinguisher Storage preferably in a cool, dry and ventilated area, which is subject to little temperature change. Storage at high temperatures should be avoided. Don'ts ● ● ● ● ● ● Do not connect a charge voltage greater than 5V Do not connect an external voltage source to the USB output ports The battery should not be opened, destroyed or incinerated.
Duckiebot MOOC Founder's edition - DB21-M and variants 6. Operation Hardware assembly instructions The detailed and up to date assembly instructions can be found at the following link: https://docs.duckietown.org/daffy/opmanual_duckiebot/out/building_duckiebot_c0.
Duckiebot MOOC Founder's edition - DB21-M and variants 30/12/2020 v2
Duckiebot MOOC Founder's edition - DB21-M and variants 30/12/2020 v2
Duckiebot MOOC Founder's edition - DB21-M and variants Initialization Users can choose their preferred way to initialize and operate the DB. A compatible initialization procedure is detailed at his link: https://docs.duckietown.org/daffy/opmanual_duckiebot/out/setup_duckiebot.html To execute this procedure, the user's laptop should be correctly configured, as detailed in: https://docs.duckietown.org/daffy/opmanual_duckiebot/out/laptop_setup.
Duckiebot MOOC Founder's edition - DB21-M and variants 8. Maintenance A number of steps are recommended to ensure correct functionality of the Duckiebot: ● Visual inspection and determination of suitability Verify visually that all components are solidly attached and in good shape, as defined by the assembly instructions. ● Cleaning from dust and dirt Periodically remove dust and dirt naturally accumulating on the device.
Duckiebot MOOC Founder's edition - DB21-M and variants Especially when managing the Duckiebot (packing, unpacking, moving), it might be beneficial to re-calibrate the camera, odometry and other sensors, how specified in the calibration instructions. 9.
Caution: This device complies with Part 15 of the FCC rules and Industry Canada license‐exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. The manufacturer is not responsible for any radio or TV interference caused by unauthorized modifications or change to this equipment.
