Donkeycar raspberry pi tutorial. Throttle mode - Option to set the throttle as constant.
Donkeycar raspberry pi tutorial This Raspberry Pi add-on is perfect for any motion project as it can drive up to 4 DC or 2 Stepper motors with full PWM speed control. The Donkeycar documentation describes how to install the software on a RaspberryPi OS, but the specifics of how to install the RaspberryPi OS using Raspberry Pi Imager and how to configure the Raspberry Pi using raspi-config is left to the Raspberry Pi documentation The sub-controller adopts the Raspberry Pi RP2040 microcontroller, and the host controller adopts JETSON-NANO-DEV- KIT-A AI controller. It can use a camera to automatically track lines. Intelligent and Educational Toy Robotic Kit for Rasperry Pi Learner Pogram language: Python, C language. Create a computer vision Application You can create a computer vision application similarly to the how we create a deep learning application; we just tell it to use the cv_control template instead of the default template. Raspberry Pi tutorials. It uses a Raspberry Pi 4B with a 720P HD camera The following instructions are intended for use with the Raspberry Pi 3 or 4 running Raspberry Pi OS Buster. Freenove Ultimate Starter Kit for Raspberry Pi 5 4 B 3 B+ 400 Zero 2 W, 962-Page Detailed Tutorial, Python C Java Scratch Processing Code, 223 Items, 128 Projects (Raspberry Pi NOT Included) 4. 04 LTS by default, and it can be installed on a virtual machine. 33 or PCA9685. Nov 18, 2021 · In this video we are going to build a Lane Detection Car using Raspberry Pi and OpenCV. Oct 27, 2019 · ** Visit my brand new portal at https://tiziano-school. ROS, obviously. Ubiquity Robotics has your back there with their Ubuntu Pi + ROS images, batteries already included. From now on, you can ssh into the car without being prompted for the password again. The RC car was totally controlled by the 2. But to answer your question, a differential drive robot (you've chosen the DC_TWO_WHEEL_L298N drive train, so I am assuming you have two motors connected to the L298N) does not need to have it's steering calibrated. The Donkeycar documentation describes how to install the software on a RaspberryPi OS, but the specifics of how to install the RaspberryPi OS using Raspberry Pi Imager and how to configure the Raspberry Pi using raspi-config is left to the Raspberry Pi documentation Jun 21, 2019 · About 20 or 30 times a second, the Raspberry Pi will take a picture and then it will remember what the inputs were from the Xbox controller – like what the throttle was and what the steering was. DonkeyCar utilizes deep learning neural network framework keras/ TensorFlow, together with computer vision library OpenCV, to achieve self driving. When donkey car detects an object, it will automatically move to that object. Raspberry Pi: sudo apt-get install -y i2c-tools sudo i2cdetect -y 1 This should show you a grid of addresses like: Jan 5, 2019 · Technically speaking there is no mention of any autopilot in my tutorial. This would show you the IP address of the raspberry pi. ip. pi's. Reload to refresh your session. Bluetoothctl is a program to manage connection and pairing devices. py. Note: DonkeyCar is already installed by default if you use our configured image, no need to install it again, just skip this tutorial. The Donkey Car I build uses a Raspberry Pi and Raspberry Pi camera. I chose the Raspberry Pi OS 32 bit, the SD card, and “wrote” it. Once that is done, attaching the Raspberry Pi and Servo is as simple as running screws through the board into the screw bosses on the top plate. Additionally, a Google Edge TPU is attached through USB to run the lane segmentation model. The module integrates the OLED, servo motor drive circuit, battery protection circuit, an audio output circuit, etc. I will be using the RPi 4 because tensorflow doesn’t seem to work in my RPi 3. The 64-bit system comes with a reasonably recent version of python 3 preinstalled (3. We use optional cookies, as detailed in our cookie policy, to remember your settings and understand how you use our website. Peel the rubber stopper off its backing and stick it on top of the HDMI port on the Raspberry Pi. The overall layout is streamlined and can be inserted directly with Raspberry Pi 4B / 3B +. It can support various modules needed to build smart robot cars, such as ultrasonic modules, motors, servos, sensors, etc. This is my blog: https://custom-build-robots. Ubuntu 16. Username: pi; Password: raspberry; Then try the command below. Check out the full tutorial: https://circuitdigest. Step 1: Flash Operating System; Step 2: Setup the WiFi for First Boot; Step 3: Setup Pi's Hostname; Step 4: Enable SSH on Boot; Step 5: Connecting to the Pi; Step 6: Update and Upgrade; Step 7: Raspi-config; Step 8 Step 5: Attach Raspberry Pi to 3D Printed bottom plate. Apr 21, 2019 · Hi All, I am really excited for Jetson Nano since I was playing with the Donkey Car for some time using the Raspberry Pi. See Raspberry Pi installation Step 9 and Step 11. ) This is the first run of my trained Donkey car I build with a Raspberry Pi and Raspberry Pi camera. Introduction. patre SunFounder Raphael Ultimate Starter Kit for Raspberry Pi 5 4 B 3B B+ 400, Zero 2 W, RoHS Compliant, Python, C Java, Online Tutorials & Video Courses for Beginners (Raspberry PI NOT Included) 4. These are instructions for the Donkey Car Starter Kit purchased from Robocar Store. It is responsible for communicating between itself, the controller, and your devices. 5. Recording - Press record data to start recording images, steering angels and throttle values. Raspberry Pi Robots, AlphaBot, AlphaBot2, PiRacer, Donkeycar High Speed AI Racing Robot Powered by Raspberry Pi 4, Supports DonkeyCar Project, Pro Version. ssh/id_rsa. I have written a tutorial and hope this is going to save you some time. I had my Donkey Car (donkeycar. Jan 7, 2019 · In this mode the Pi was just a portable camera behind a web server transmitting a video image to its web page. Donkey car is an open source DIY self-driving RC car. Using ROS on a Overview PiRacer -AI Autonomous Racing Robot Powered by Raspberry Pi 4, Supports DonkeyCar Project, Deep Learning, Self Driving Description Raspberry Pi 4: More powerful processor, richer multi-media capability, faster networking PiRacer AI Kit also supports DonkeyCar Open Sourse Projetct. Raspberry Pi: If you are on a raspberry pi and using the recommended pi camera ("PICAM"), then no changes are needed to your myconfg. The RC car I use is a standard donkey car, but with Raspberry Pi 4 instead of 3. local If SSH asks you if that host should be added to the list of known hosts, hit <return> and you are done. Installation for Donkeycar <= 4. Raspberry Pi and Jetson Nano have setup docs. I thought I could put my experience at good use for beginners with a video tutorial series. Raspberry Pi Online Course Video Training Tutorials; Video Tutorials for Raspberry; Now, the DonkeyCar Python code needs to be installed Oct 5, 2022 · Raspberry Pi 400 and 500 Raspberry Pi Pico General SDK MicroPython Other RP2040 boards AI Accelerator AI Camera - IMX500 Hailo; Software Raspberry Pi OS Raspberry Pi Connect Raspberry Pi Desktop for PC and Mac Other Android Debian FreeBSD Gentoo Linux Kernel NetBSD openSUSE Plan 9 Puppy Arch Pidora / Fedora RISCOS Ubuntu; Ye Olde Pi Shoppe For ssh-copy-id -i ~/. This installation is using Raspberry Pi OS Buster (32 bit). After install, you will create the Donkeycar application from a template. com==========• Your support helps me post videos more frequently:https://www. , which saves you the trouble of soldering the circuit, supports unloading and charging and Donkeycar software components need to be installed on the robot platform of your choice. com) parked somewhere (too many things to do) and I thought that would Note Although the Realsense T265 can be used with a Nvidia Jetson Nano, it's a bit easier to set up with a Raspberry Pi (we recommend the RPi 4, with at least 4GB memory). Install Miniconda Install Ubuntu 18. May 17, 2021 · ssh -l pi <your pi ip address> Username: pi; Password: raspberry; Hostname: <your pi IP address> Step 6: Update and Upgrade. The robot car uses donkey car source code. Oct 14, 2021 · Assemble XiaoR Geek Donkey Car Raspberry Pi Robot Step 10: Install the CameraXiaoR Geek web site:https://www. 1; Prepare SD card. But it has been known to work on Jetson TX2, Friendly Arm SBC, or almost any Debian based SBC ( single board computer ). You may have heard of the pain of trying to build ROS on a Raspberry Pi. You then need to set up the WiFi for the first boot. You can then drive the donkeycar using the game controller. 1:40. address; The default password is: raspberry; Step 6: Update and Upgrade Apr 4, 2013 · Buy PiRacer AI DonkeyCar Kit Add-ons Accessories for Raspberry Pi to Pi 5 4 B 3 B+ 400, 558-Page Detailed Tutorial, Python C Java Scratch Code, 223 Items, 104 XiaoR GEEK XR-F1 4wd Wireless control AI deep learning Donkey Car with Raspberry Pi 4B for programming Smart Robot Car Kit V4 with Raspberry Pi 4B4G, Deep learning，automatic driving etc. PiRacer — AI Autonomous Racing Robot Powered by Raspberry Pi 4, Supports DonkeyCar Project, Deep Learning, Self Driving. Prerequisite : Configuration of the Raspberry Pi in I2C Jan 27, 2015 · Let your robotic dreams come true with the new DC+Stepper Motor HAT from Adafruit. Username: pi; Password: raspberry; Hostname: <your pi IP address> Step 6: Update and Upgrade sudo apt-get update sudo apt-get upgrade Step 7: Raspi-config sudo raspi-config change default password for pi; change hostname; enable Interfacing Options - I2C; enable Interfacing Options - Camera Donkey Car 使用的硬體包括 Raspberry Pi、RC Car(不限)、馬達控制板和最重要的魚眼相機等。 使用的軟體包括 Raspbian 系統加上 Keras/Tensorflow 神經網路，搭配 Tornado 做的 web control。 Aug 9, 2022 · Tutorials Menu Toggle. You will learn: how sensors/actuators work, how to connect sensors/actuators to Raspberry Pi, how to program Raspberry Pi step by step. com/microcontroller install it by ssh but you should configure manually internet, ssh and install ansible on your raspberry pi. Once connected to the Raspberry, we need to do the update and upgrade. The following instructions are intended for use with the Raspberry Pi 3 or 4 running Raspberry Pi OS Buster. thinkific. The Donkeycar documentation describes how to install the software on a RaspberryPi OS, but the specifics of how to install the RaspberryPi OS using Raspberry Pi Imager and how to configure the Raspberry Pi using raspi-config is left to the Raspberry Pi documentation If you are having troubles locating your Pi on the network, you will want to plug in an HDMI monitor and USB keyboard into the Pi. This part is dedicated for beginners to learn Raspberry Pi. The Donkeycar documentation describes how to install the software on a RaspberryPi OS, but the specifics of how to install the RaspberryPi OS using Raspberry Pi Imager and how to configure the Raspberry Pi using raspi-config is left to the Raspberry Pi documentation Actuators. . Actuators. Step 1: Install Dependencies By default, your jetson nano has the image installed and started. A GPU-enabled EC2 instance will train the neural network on the image and send telemetry data much faster than the Raspberry Pi. Dec 2, 2020 · Learn how to use Arducam IMX477 camera on Raspberry Pi in 1 minute. Features. DonkeyCar 用 ラズパイ boot SD の作り方 You signed in with another tab or window. All things Raspberry Pi We are going to run the DonkeyCar software stack on the Raspberry Pi, which will then connect up to a DonkeyCar Simulator / Server that is running what ultimately looks like a video game world. We will see in this tutorial how to drive several servomotors with a Raspberry Pi and a PCA9685 module. com/Or Note: The donkey car compatible with Raspberry Pi 4B/3B+. To assemble the Raspberry pi to the chassis this assembly picture should clarify how it fits together. Jun 16, 2021 · Assemble XiaoR Geek Donkey Car Raspberry Pi self driving robot Step 1: Install the Steering ServoXiaoR Geek web site:https://www. follow this tutorial The Raspberry Pi¶ The Raspberry Pi 4 Model B is mounted to the top of the car, and it acts as the brain of the car. Note: the Raspberry Pi 4 is optional. Once the initial boot is done, you will be prompted to enter the login credentials. sudo apt-get update sudo apt-get upgrade Step 7: Raspi-config sudo raspi-config. Prepare Raspberry Pi. However, our virtual DonkeyCar can be trained and tested just like a "regular" DonkeyCar, and can ultimately attempt to drive itself around the virtual Mar 28, 2023 · The PiCar-X is a self-driving robot car designed specifically for the Raspberry Pi platform. This is my blog: https://custom-build-r Sep 6, 2020 · About Press Copyright Contact us Creators Advertise Developers Terms Privacy Policy & Safety How YouTube works Test new features NFL Sunday Ticket Press Copyright Aug 13, 2019 · Meet the XiaoR Geek Donkey Car: an open source Raspberry Pi based robot car that is ready for Python programming. This is my Donkey Car on a very difficult course. Find your raspberry pi’s IP from connected devices in mobile hotspot setting. You switched accounts on another tab or window. Raspberry Pi: sudo apt-get install -y i2c-tools sudo i2cdetect -y 1 This should show you a grid of addresses like: [Raspberry Pi 4] More Powerful Processor. 1 Connect your bluetooth controller to the raspberry pi. ssh-copy-id -i ~/. ; Get the zip image file RPi 3B and 3B+ from Donkey Car official. Richer Multi-Media Capability. Oct 22, 2017 · Hi all, Donkey Car – http://www. But, as ROS (Robot Operating System) becomes more and more popular, I kinda felt like it was time to create a Tutorial for beginner that was actually fun to do (and watch, I hope). So I decided to go for a real example. 7. Follow this tutorial; generate your raspian image with donkeycar installed using packer. Very easy to use, it is lightweight and has a higher memory and computing capacity than the Arduino. There is a catch. The login-free setup is required for the screen to work. com/courses/school-of-ros-zero-to-rosROS Tutorial for Beginners. You signed out in another tab or window. No matter how your programming skill is An example of such a receiver is the FS-i6B, which has 6 output channels for PWM signals, but can output 10 channels of data at 115,200 bps as serial data, which you can read with an external micro-controller, or perhaps even with the Raspberry Pi (requires re-configuration of the Pi boot loader, and custom modifications to the donkey software. Step 5: Connecting to the Pi. com – is a DIY 1/16th scale RC robot car platform equipped with a Raspberry Pi 3 and a monocular camera. I decided to go for a real example. Start the Bluetooth bash tool on your raspberry pi. local Log into your car using: ssh pi@donkeypi. This works with all Raspberry Pi cameras, including the original Raspberry Pi Camera Module based on the 5 megapixel OV5647 chipset and the Raspberry Pi Camera Module v2 based on the Sony IMX219 chip. No matter who you are. Path Follow Autopilot (using GPS, wheel encoders, etc) The path follow template is an alternative to the deep learning template. The DS4 gamepad will be connected via bluetooth without installing any additional software. Tamaya TT-01 (Advanced Build) The TT-01 is a new build that is a higher end version of the Donkey. Step 1: Flash Operating System; Oct 10, 2023 · Raspberry Pi: Obtain a Raspberry Pi board (preferably the Raspberry Pi 3 or 4) for controlling and processing data. XiaoR GEEK Donkey car is an open source DIY self driving RC car. The Pi 4 over Pi 3 is important due to two reasons: you can power it with through USB-C. Create Donkeycar from Template. Nov 4, 2020 · Raspberry Pi 3 featuring 4 x Cortex-A53 cores – runs the AI that drives the car; Avnet / Xilinx Ultra96 Board – used for video acquisition and processing. This project use raspberry pi 3B+ to make a donkey car, combined with opencv classifier to detect object. Aug 12, 2022 · If you run the 64-bit Raspberry Pi OS you can install Tensorflow in the standard way – pip3 install tensorflow. 00 ₹ 7,150 . Install Raspian Legacy. 2. It opens lots of possibilities and I have spent some time to make Donkey car work on Jetson Nano. For most people using an entry-level ESC it will not, at least not yet. com/Original XiaoR Geek assembly video To assemble the Raspberry pi to the chassis this assembly picture should clarify how it fits together. It is the software that flashes the OS. It’s a versatile robot car that comes with a 2-axis camera module, ultrasonic module, and line tracking modules, providing a wide range of functions such as color/face/traffic-signs detection, automatic obstacle avoidance, and automatic line tracking. Environment. 5 out of 5 stars 349 We use some essential cookies to make our website work. Installation for Donkeycar <= 4. Jun 19, 2021 · Assemble XiaoR Geek Donkey Car Raspberry Pi self driving robot Step 2: Assemble and Install the Steering ArmsXiaoR Geek web site:https://www. Jul 9, 2018 · This is my memo to build a Donkey Car. The expansion board integrates OLED, servo motor drive circuit, battery protection circuit, and so on, which does not need to solder the circuit, supports unloading charging, and does not need to repeatedly disassemble the battery. Apr 11, 2020 · • Full feature PCB design, manufacturing, and assembly: https://www. It is helpful to have setup and used a Raspberry Pi, but it is not necessary. Then I ran the startup. Plug in your raspberry pi device to a monitor using HDMI cable and also connect a keyboard to the raspberry pi. 3. sudo bluetoothctl power on scan on. The high speed MIPI CSI-2 input of two OV5647 cameras are captured using 2 video pipelines implemented in the programmable logic (FPGA) part of the Xilinx Zynq UltraScale+ MPSoC. arducam. Faster Networking [DonkeyCar OPen Source Project] PiRacer AI Kit also supports DonkeyCar open source project. Bluetoothd is a system service that runs as a daemon automatically on boot. To run the RPi Cam Web Interface software I just open a terminal on the Pi and downloaded the code from the github site. Ever since the thought and discussion and hype about self-driving ssh pi@<your pi ip address> or via Putty. 00 Aside: The Donkeycar approach to deep learning driving was inspired by an Nvidia research paper entitled End to End Learning for Self-Driving Cars. Boot it. A car needs a way to to move forward and backward and to turn left and right. I2Cキット､リモコンカー､Raspberry PIの間を配線する。 I2CキットとRaspberry PI間の配線は、凹同士のケーブル4本でピンを接続する。 I2Cキットとリモコンカーはリモコンカー側のケーブルを使う。 Raspbian SDｶｰﾄﾞ. Get Etcher to burn the image file. It’s easy and Push Raspberry Pi's to their limit to see what is possible and minimize the changes from the original donkeycar design. 5 using Raspberry Pi OS Buster. change default password for pi; change hostname; enable Interfacing Jan 5, 2019 · Technically speaking there is no mention of any autopilot in my tutorial. This tutorial video is suitable for all below IMX477 series cameras:https://www. Raspberry Pi 4 B 4GB RAM, SBC, Raspberry Pi4 B 4GB, BCM2711, Arm Cortex-A72, 4GB RAM, MicroSD, Linux, WiFi, 2X Micro HDMI, All New Raspberry Pi Desktop Computer (RPI4-MODBP-4GB) ₹7,150. Before you start, now is a good time to insert the already flashed SD card and bench test the electronics. Aside: The Donkeycar approach to deep learning driving was inspired by an Nvidia research paper entitled End to End Learning for Self-Driving Cars. Also, the Intel Realsense D4XX series can also be used with Donkeycar as a regular camera (with the use of its depth sensing data coming soon), and we'll add instructions for This is an expansion board suitable for a series of cars as the Raspberry Pi 4B / 3B + as the main board. Run donkey calibrate and provide it with arguments to specify which pin will produce the PWM When calibrating a drivetrain that uses pin specifiers, like PWM_STEERING_THROTTLE , then use --pwm-pin argument to specify the target pin, like RPI_GPIO. The original donkeycar does remarkably well with its simple convolutional NN on a raspberry pi, but can raspberry pi's do real-time RL? Use the same code to run on the enhanced Donkey Car simulator. com) parked somewhere (too many things to do) and I thought that would have been a perfect robot to start with. It also sends driving signals to the PWM board, which we will explore next. schoolofros. This is a high-performance AI racing kit designed for Raspberry Pi. This video covers (it’s long, but I wrote down the time marks in Jun 29, 2019 · In this tutorial, we will learn how to build a Self-Driving RC Car using Raspberry Pi and Machine Learning using Google Colab. 8 maybe? – I can’t remember exactly), so you can just create a virtual environment and go. Train a deep learning autopilot. com. Detailed tutorial of how to assemble the robot car from scratch and all the necessary programs and codes are included. The smart robot car is just one of the donkey cars. The stopper isn't quite high enough on its own, so also cut off part of the thin rubber from the backing and stick it on top to increase the thickness: Fit the pair of 12-way pin sockets onto the Raspberry Pi header. Power up donkeycar; Wait about 10s until Raspberry Pi is booted; Switch on Bluetooth controller for Nintendo Wii controller; the four blue LEDs flash a few times; the left most LED solid shows that controller is connected with Raspberry Pi; Once controller is connected proceed as described in instructions Guide of DonkeyCar. We commonly call devices that produce a physical movement in the robot 'actuators'. For instructions of the vanilla Donkey Car, please visit https://docs. sh Sep 28, 2017 · The primary use of this instance will be to perform the training data that was collected by the Donkey vehicle. The detail instruction, video tutorial, line-by-line code explanation are provided to help you quickly get started with Raspberry Pi. Throttle mode - Option to set the throttle as constant. BOARD. Jan 3, 2019 · 🤓 Check out my Course for beginners Zero to ROS: https://courses. c DonkeyCar for JetRacer ROS Tutorial I: Install Jetson Nano; DonkeyCar for JetRacer ROS Tutorial II: Setup Linux PC; DonkeyCar for JetRacer ROS Tutorial III: Web Control; DonkeyCar for JetRacer ROS Tutorial IV: Joystick Control; DonkeyCar for JetRacer ROS Tutorial V: Collect Data; DonkeyCar for JetRacer ROS Tutorial VI: Training Data; DonkeyCar Sep 27, 2020 · The Raspberry Pi is a microcontroller with integrated Bluetooth and Wifi modules. com) parked somewhere (too many things to do) and I thought that would Jan 9, 2019 · I am new to ROS myself and in the beginning I struggled. All the best and have fun! This project is for learning raspberry pi and opencv. com Create Donkeycar from Template. 4 Ghz controller that came with the car. use Raspberry Pi 4 Model B 2GB Raspbian BULLSEYE (DEBIAN 11) ARMV71 package name "2022-04-04-raspios-bullseye-armhf-full" i try Install Donkeycar Python Code from official website when I 142K subscribers in the RASPBERRY_PI_PROJECTS community. pcbway. Now your SD card is ready. 1. Then run this code in terminal : ssh pi@your. com/ where you can find this ROS series as a FREE course **ROS and OpenCV can work together This question is probably best asked in the robotics stackexchange or the donkeycar discord. donkeycar. xiaorgeek. 04; Raspberry Pi 3B+ DonkeyCar 2. $193. So it gets three pieces of data 20 or 30 times a second and a picture of what it sees and then what the human said that the throttle and steering See Connect Servo Shield to Raspberry Pi for a description. Eject it from your computer, put it in the Pi and plug in the Pi. Step 6: Connecting to the Pi. 13 . This is used in races if you have a pilot that will steer but doesn't control throttle. com/Original XiaoR The above will work as expected for some. Whether you're doing some smart home improvements or just want to inject a bit of fun into your life, we've got something that you can build easily and affordably. Setup Raspberry Pi; Setup Linux PC; WEB Control; Calibrate DonkeyCar; Teleoperation; Data Collection; Train Data; Auto-Driving; WiKi of PiRacer Step 5: Attach Raspberry Pi to 3D Printed bottom plate. Turn on your controller in scan mode and look for your controllers name in the bluetoothctl scan results. There are four main repositories that cover all the various options for building this project: DonkeyCar – Physical Build – Raspberry Pi; DonkeyCar – Physical Build – UpBoard; DonkeyCar – Virtual Build, Raspberry Pi; DonkeyCar Simulator – Intel NUC / x86 First, we will be flashing an OS on the Raspberry Pi. pub pi@donkeypi. Login with: Username: pi; Password: raspberry; Then try the command: ifconfig wlan0 or just all Ip addresses assigned to the pi (wifi or cable): ip -br a Step 4: Connect Servo Shield to Raspberry Pi; Step 5: Attach Raspberry Pi to 3D Printed bottom plate; Step 6: Attach Camera; Step 7: Put it all together; Software; Overview. The Raspberry Pi has limited compute power. It uses a Raspberry Pi 4B with a 720P Hd camera to control an RC car to drive thru tracks au Mar 24, 2022 · Tutorial Software required. Note that this setup has only been tested on ROS Kinetic and Melodic. 5 out of 5 stars 4,065 See Raspberry Pi installation Step 9 and Step 11. To prevent drivers from accidentally reversing during a race, many ESCs require the user to "double tap" the throttle controller into reverse. In order to actually flash the SD card, you'll need to install a Raspberry Pi Imager. ceenswpalsyqfiqiukbdvdhbyzxhspvaxkpkunihtclcdtvi