customize_tb3.md
Pito Salas / April 2022
Objective
When we customize a TB3 with bigger wheels or a larger wheelbase, it is necesary to update the software in the OpenCr board.
The steps required by OpenCR when changing wheel size or distance between wheels can be summarized as follows
change WHEEL_RADIUS, WHEEL_SEPARATION and TURNING_RADIUS in turtlebot3_burger.h
Change the circumference of the wheel in turtlebot3_core.ino. Here, the circumference can be calculated by 2Pi * WHEEl_RADIUS. The default value of the circumference of burger is 0.207.
Install Arduino IDE on your PC and write the edited file (turtlebot3_core.ino). Please refer to the following e-Manual for this detail. https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup 3.3. At the end of OpenCR Setup, there are instructions for using the Arduino IDE, click to expand and see the details.
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