前提声明：在这里只写DB21M型号的配置，因为在做的是这辆车。
Unit 2 Duckiebot 配置文件
1.1 综述
| Model | Computation | Sensing | Actuation | Memory | Power | Notes |
| DB21M | JN2GB | camera, wheel encoders, ToF, IMU | 2x DC motors, 4x RGB LEDs, Screen | 32GB | Duckiebattery | Chassis v1 |
说明:
- “JN”: NVIDIA Jetson Nano
- “ToF”: Time of flight
- “IMU”: Inertial Measurement Unit (Accelerometer, Gyroscope)
1.2 Duckiebot version 2021, or DB21
The Duckiebot DB21 debuted with the “Self-Driving Cars with Duckietown” massive open online course, as version DB21M.
Later revisions, referred to under the broader label DB21, improve the DB21M by:
- expanding the onboard memory from 32GB to 64GB;
- tweaking the chassis design (v1.0 -> v2.0) for reduced complexity and increased stiffness;
- introducing a newer version of the
HUT(v3.15); which is backwards compatible and removes the need for an additional resistor on the top button; - downgrades the IMU version from
MPU-9250toMPU-6050due to global chip shortages (2021-2022 chip crisis).
1.3 Duckiebot版本说明
Duckiebot version 2021 = DB21
Duckiebot MOOC Founder’s edition 2021 = DB21M
Duckiebot version 2019 = DB19
Duckiebot version 2018 = DB18
Duckiebot version 2017 = DB17