FAQ — Duilio
Quick answers on baseline firmware, drivers and signals, safety logic, encoders and feedback, scaling with multiple boards, and I/O hardware.
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Beginner FAQ (Quick understanding)
What is Duilio'
Duilio is a ready-to-use motion controller that turns RC or USB commands into safe, coordinated motor control without requiring firmware development.
Is Duilio a development board or a finished product'
Duilio is a development board designed to be used as a finished motion controller, with a working baseline firmware already installed.
Do I need to write code to use Duilio'
No. Duilio works out of the box and can be configured using Duilio Tools without writing a single line of code.
Is Duilio only for robots'
No. Duilio can be used in robots, vehicles, mobile platforms, positioning systems and custom machines.
Do I need a PC or a Raspberry Pi'
No. Duilio can work standalone using an RC receiver. PC or Raspberry Pi control is optional.
Can I control Duilio from a PC or Raspberry Pi'
Yes. Duilio can be controlled over USB using the provided Python or Arduino libraries.
Why does Duilio cost so little compared to similar systems'
Duilio is currently in a validation phase. Keeping the price accessible is a deliberate goal to allow anyone to adopt it. Certification and large-scale production will be addressed as volumes grow.
Is Duilio safe to use'
Yes. Safety features such as enable logic, failsafe states and speed limiting are built in.
How long does it take to get something moving'
With the baseline firmware, basic motion can be achieved in minutes.
Is Duilio a new product'
Yes. Duilio is a new project that is actively evolving.
If I buy Duilio now, how do I get updates'
By downloading the latest version of Duilio Tools, the latest stable firmware is automatically installed.
Can I contribute to the project'
Yes. Any contribution is welcome, from feedback to testing and development.
Can I ask for help on my specific project'
Yes. Asking is free. The availability and depth of support depend on the request.
How long does it take to receive a board'
Boards in stock ship within about 2 days. Pre-orders depend on production batches but typically take no more than 4 weeks.
Advanced FAQ (Technical & system-level)
Control & safety
Is Duilio a motor driver?
No. Duilio is a motion controller that works with external motor drivers.
Why should I use Duilio if I already control my driver via RS485 from a PC?
Most RS485 drivers lack a true failsafe. If communication is lost, they often keep running with the last command. Duilio adds an independent safety layer that actively disables motion on command loss.
Can't I implement failsafe logic on the PC?
PC-side software cannot guarantee deterministic behavior in case of crashes, freezes or OS issues. Duilio runs safety logic locally and independently.
What happens if communication is lost?
Duilio detects the loss and forces a safe state, disabling motion.
Which control source has priority?
RC inputs always override USB commands to allow manual takeover.
Can it be controlled by Raspberry Pi / PC over USB?
Yes. Use the provided Python or Arduino libraries to send commands over USB.
Do RC commands override USB?
Yes. RC input has priority and acts as a manual takeover.
Should I use USB or UART with a Raspberry Pi 5?
USB is more robust and recommended. UART over GPIO is more convenient for embedded wiring.
Performance & scaling
How many motors can one Duilio control?
One Duilio controls two motors. It can also drive up to four RC-style servo/ESC outputs in addition to the two drivers.
How do I build a 4WD or multi-axis system?
Use one Duilio per axle or axis. Multiple boards can be connected via RS485.
If I build an octapod (8 motors), what response time can I expect?
Commands are broadcast via RS485 multicast and updated every 10 ms, resulting in synchronized response across all motors.
Are commands sent sequentially?
No. RS485 multicast allows all nodes to receive commands simultaneously.
Is timing deterministic?
Yes. Motion and safety logic run deterministically on each board.
How do I build a 4x4?
Use one Duilio for the rear axle and one for the front axle. Add more nodes over RS485 for steering or positioners.
Modes & motion logic
Does Duilio support closed-loop control?
Closed-loop control is supported for positioning modes. Speed mode uses open-loop control with a speed limiter.
How does the speed limiter work?
It computes the average speed of both wheels to ensure stable and coordinated motion.
Is the speed limiter mandatory?
No. If the RPM input is not connected, the limiter is inactive.
Can I use closed-loop speed control?
No. Speed mode is open-loop with a limiter.
Encoders & feedback
Which encoders are supported?
No encoder (estimated from RPM), incremental AB encoders, and absolute encoders over I2C.
What feedback is available over USB?
Battery voltage, dual sonar readings, and basic status information.
Which encoders are supported in positioning mode?
Three options: none (estimated from RPM), incremental AB, or absolute I2C.
Drivers & signals
Is Duilio tied to a specific driver?
No. The default logic matches ZS-X11-style drivers but is compatible with many common PWM/DIR drivers.
Is Duilio compatible with 0–10 V drivers?
No. Duilio uses 5 V logic signals. External signal conversion is required.
What is the minimum wiring per motor?
PWM and DIR are sufficient to move a motor.
Do the solder jumpers on the analog/PWM outputs need to be closed?
No, not necessarily.
They are intended to improve analog signal stability, but in all performed tests no significant differences were observed.
For 20 kHz PWM operation, these solder jumpers must remain open.
Why is the ENABLE pin recommended?
ENABLE allows Duilio to fully disable motion during faults or failsafe conditions, increasing safety.
Can Duilio control stepper drivers?
Yes, if they support analog or 0–5 V control. STEP/DIR has not been fully tested yet.
Is ZS-X11 required?
No. The default ENABLE and BRAKE logic is compatible with ZS-X11 and many common drivers that use PWM/DIR plus an enable line.
Can I use a closed-loop driver?
Yes, for example a BLD300. For 4WD we recommend open-loop on the front axle, while Duilio handles the limiter and torque split logic.
Can I use closed-loop motor drivers?
Yes. Closed-loop drivers such as BLD300 can be used.
Should I use closed-loop drivers on all wheels?
In 4WD systems, open-loop control is recommended on the front axle, while Duilio manages speed limiting and torque distribution.
Power & hardware configuration
Why is the Raspberry Pi power solder jumper left open by default?
Because powering the Raspberry Pi is optional and depends on the system architecture. Leaving the solder jumper open avoids accidental back-powering and unsafe power paths.
When should the Raspberry Pi power solder jumper be closed?
It should be closed only if you want Duilio to power the Raspberry Pi from its supply rail.
Can I power Duilio from the Raspberry Pi?
Yes. Closing the solder jumper allows the Raspberry Pi to power Duilio.
Is it recommended to power both boards from each other?
No. It is strongly recommended to avoid powering both boards simultaneously from each other. Choose a single power direction to prevent conflicts and unintended current paths.
Why does Duilio not force a default power direction?
Because different installations require different power topologies, and forcing one would limit flexibility and safety.
What are BAT pins for?
Optional 3 V backup battery to preserve position memory and avoid re-homing.
RS485 bus configuration
What are the RS485 solder jumpers used for?
They configure the RS485 bus behavior and termination.
How many RS485 solder jumpers are present?
There are three solder jumpers.
What is the termination jumper for?
It enables the bus termination resistor. This jumper must be closed only on the last board connected to the RS485 bus.
What are pull-up and pull-down jumpers for?
They enable pull-up and pull-down resistors on the RS485 bus lines.
When should pull-up and pull-down resistors be disabled?
For small networks (up to three boards), the default configuration is acceptable. From the fourth board onward, pull-up and pull-down resistors should be opened on the additional boards to avoid loading the bus.
Why are RS485 pull-up and pull-down resistors configurable?
Because bus topology, cable length and number of nodes vary between installations.
Can I control Duilio directly via RS485 from a PC?
Yes, by configuring Duilio as an RS485 slave. The master interface is USB or UART.
RC outputs & I/O
Can I connect small RC servos directly?
Yes. Small RC servos can be connected directly.
What is the maximum current on RC outputs?
The current is automatically limited to approximately 2 A.
Why is current limited?
To protect the board and connected devices from overloads and short circuits.
Can I power RC servos from RC outputs?
Yes, within the current limit and power budget.
Can I connect an ESC BEC to RC outputs?
Yes. Protection diodes are present to prevent reverse current and unsafe back-feeding.
Why are protection diodes used?
They prevent damage when multiple power sources are present, such as ESC BECs or external regulators.
Can multiple BECs be connected?
It is recommended to use a single regulated source whenever possible to avoid conflicts.
What can I connect to NPN outputs?
Relays, buzzers, and small loads. LED lighting up to about 20 W is supported.
Can I move the status LED outside the enclosure?
Yes. The board ships without the LED installed; you can solder a LED or use 2.54 mm headers.
Miscellaneous
Why does Duilio use solder jumpers instead of switches?
Solder jumpers provide reliability, compactness and resistance to vibration, which is important in mobile systems.
Are solder jumpers meant to be changed frequently?
No. They are intended for configuration during installation, not for daily operation.
Does Duilio protect against wiring mistakes?
Yes. Current limiting, protection diodes and safe defaults reduce the risk of damage, but correct wiring is always required.
Is Duilio certified for industrial use?
Not yet. Certification is expensive and would impact price. The hardware is designed with industrial use in mind, and certification is planned as volumes increase.
Can I program Duilio like an Arduino or with PlatformIO?
Yes. The hardware can be used like an STM32 Nucleo or Blackpill. Official libraries will be provided.