Contains two directories :

• turtlebot3_core : The modified OpenCR board code to use a color sensor on a Turtlebot3 Burger. The sensor must be connected to the SCL and SDA ports of the board.

• Library Adafruit_BusIO : The updated code of the librairy Adafruit_BusIO to make it work on openCR boards

• /colorSensorValue ([std_msgs/Int16MultiArray])

Array of the values (R,G,B) measured by the color sensor.

Clone the OpenCr board code:

git clone https://github.com/ROBOTIS-GIT/OpenCR.git

Replace the folder turtlebot3_core by this one in the openCR code:

arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_burger/

Replace the existing file by this one on your computer in your Arduino file:

Arduino/librairies/Adafruit_BusIO