Handling - Duckiebot DB21#

This section describes how to handle your Duckiebot DB21 (DB21M/DB21J).

What you will need

  • An assembled Duckiebot DB21.

  • An initialized Duckiebot DB21 with firmware version 1.2.2 or newer. Check your Duckiebot’s firmware version by following Operation - Use the Dashboard before proceeding.

What you will get

Knowledge on how to handle your Duckiebot DB21.

Attention

For all Handling, Operation and Calibration commands that use your Duckiebot’s name, replace ![DUCKIEBOT_NAME] with your Duckiebot’s hostname, which does not include .local at the end.

Tutorial video#

How to charge the Duckiebattery#

To charge the Duckiebattery:

  1. Plug one end of the charging cable into the OUT CHARGER port on the HUT

  2. Plug the other end of the charging cable into a 5V 2A power source

Note

To minimize mechanical stress on the HUT, do not unplug the charging cable from the HUT.

Note

The Duckiebattery can draw up to 2A but feeding a higher amperage will not be a problem. However, the wrong voltage can send the battery into protection mode.

Note

If your Duckiebot is turned on while charging, a battery charge indicator will appear on the top right of the screen. If your Duckiebot is turned off, the LEDs will turn on. In both cases, a small LED on the HUT near the charging port will turn green, indicating incoming power.

How to turn your Duckiebot on#

To turn your Duckiebot on, press the button on the Duckiebattery once.

What to expect:

  1. The front and back LEDs will turn blue, the LEDs on the on-board computer and HUT will turn on, and the fan will turn on

  2. The Wi-Fi dongle will start blinking

  3. The front and back LEDs will turn white and red, respectively

  4. The top button and screen will turn on, as shown in Tutorial video

How to SSH into your Duckiebot#

To ssh into your Duckiebot, using the SSH (Secure Shell) protocol, run the following command and enter the password (the default password is quackquack):

ssh duckie@![DUCKIEBOT_NAME].local

How to turn your Duckiebot off#

Warning

The proper shutdown protocol for a Duckiebot DB21 requires the Duckiebattery software version 2.0.0 or newer. Check your Duckiebot’s Duckiebattery software version by following Debug - Updating a Duckiebattery before proceeding.

To verify that your Duckiebot has completed the booting process, run the following command and check that Status is set to Ready:

dts fleet discover

To turn your Duckiebot off using the top button (preferred), press the top button (not the button on the Duckiebattery) for 5 seconds.

Attention

If the screen switched to the next page and the top button did not blink, try again and press the top button harder this time.

To turn your Duckiebot off using dts, run:

dts duckiebot shutdown ![DUCKIEBOT_NAME]

To turn your Duckiebot off through the Dashboard:

  1. Run dts duckiebot dashboard ![DUCKIEBOT_NAME]

  2. Click the Power button

  3. Select the Shutdown option

  4. Click the Yes button

To turn your Duckiebot off using ssh (second last resort), run:

ssh duckie@![DUCKIEBOT_NAME].local sudo poweroff

If none of the previous methods worked, after waiting a few seconds, unplug the cable connected to the 5VRASPI port on the HUT (last resort).

How to update the Duckiebattery#

To update the Duckiebattery, follow Debug - Updating a Duckiebattery.

How to update the HUT#

To update the HUT, follow Debug - Re-flash Microcontroller.

Troubleshooting#

Troubleshooting

SYMPTOM

I have pressed the top button down as far as it will go for 5 seconds but it does not turn my Duckiebot off.

RESOLUTION

Run:

dts duckiebot update ![DUCKIEBOT_NAME]

dts duckiebot reboot ![DUCKIEBOT_NAME]

Troubleshooting

SYMPTOM

I have updated and rebooted my Duckiebot but the top button still does not turn it off.

RESOLUTION

Re-flash the HUT.

Troubleshooting

SYMPTOM

My Duckiebot is stuck in a boot cycle and the Duckiebattery has a very low charge.

RESOLUTION

Unplug the cables connected to the 5VRASPI and 5VEXT ports on the HUT, and allow the Duckiebattery to charge for at least 5 hours before plugging them back in.