I watched the duckiebot assembly instructions and noticed that in TD17 instruction (https://docs.duckietown.org/DT17/opmanual_duckiebot/out/soldering_boards_c0.html) is using Adafruit DC/Stepper Motor HAT, and in DT18 (https://docs.duckietown.org/DT18/opmanual_duckiebot/out/assembling_duckiebot_db18.html) is using self made board. But in source code of wheels driver is using Adafruit_MotorHAT (https://github.com/duckietown/Software/blob/master18/catkin_ws/src/05-teleop/dagu_car/include/dagu_car/dagu_wheels_driver.py)
So I’m lost. I have 2 assumptions:
In github repo there is no code for this driver yet (but it’s strange – branch is master18)
Duckiebot hut has the same I2C interface and actually impersonating the Adafuit board, but I can’t check it.
Can someone help me figure it out?
Also, is there a gerber file for this board (I mean Duckiebot hut)?
the DB17 configurations use the Adafruit stepper motor board. When we developed the Duckiebot hut for DB18 we wanted to maintain backwards compatibility, so the hut’s micro-controller emulates at software level the functionality of the Adafruit micro-controller. You can find the code that runs on the hut’s micro-controller here: https://github.com/duckietown/Software/tree/master18/hardware/software.