> For the complete documentation index, see [llms.txt](https://campus-rover.gitbook.io/lab-notebook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://campus-rover.gitbook.io/lab-notebook/fiiva/customize_tb3.md).

# 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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