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For turtlebot3 you need to connect to OPENCR 1.0 board: https://emanual.robotis.com/docs/en/parts/controller/opencr10/

There are multiple options with regard power controller that you can use to perform various tasks:

https://www.st.com/resource/en/reference_manual/rm0385-stm32f75xxx-and-stm32f74xxx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf

Hope this helps.