Update Teensy documentation (backport #1275) (#1276)

* Update Teensy documentation (#1275)

Signed-off-by: acuadros95 <[email protected]>
(cherry picked from commit 3734b09)

# Conflicts:
#	README.md

* Fix conflicts

Signed-off-by: acuadros95 <[email protected]>

---------

Signed-off-by: acuadros95 <[email protected]>
Co-authored-by: Antonio Cuadros <[email protected]>
Co-authored-by: acuadros95 <[email protected]>

Author: mergify[bot]

README.md

@@ -29,11 +29,11 @@ Supported boards are:
 | [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7)                 | v1.8.5      | Supported  | Official Arduino support                                                                            | `colcon.meta`            |
 | [Arduino Nano RP2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect) | v1.8.5      | Supported  | Official Arduino support                                                                            | `colcon_verylowmem.meta` |
 | [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/)            | v1.4.16     | Supported  | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide) | `colcon.meta`            |
-| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)                              | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon.meta`            |
-| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                              | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon.meta`            |
-| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)                          | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta`     |
-| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                              | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta`     |
-| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)                              | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta`     |
+| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)                              | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon.meta`            |
+| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                              | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon.meta`            |
+| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)                          | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon_lowmem.meta`     |
+| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                              | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon_lowmem.meta`     |
+| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)                              | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon_lowmem.meta`     |
 | [ESP32 Dev Module](https://docs.espressif.com/projects/arduino-esp32/en/latest/boards/ESP32-DevKitC-1.html) | v1.8.5  | Supported  | [Arduino core for the ESP32 (v2.0.2)](https://github.com/espressif/arduino-esp32/releases/tag/2.0.2) | `colcon.meta`   |
 
 Community contributed boards are:
@@ -95,9 +95,10 @@ You can [configure many parameters](https://micro.ros.org/docs/tutorials/advance
 Go inside your Arduino + Teensyduino installation and replace `platform.txt`:
 
 ```bash
-export ARDUINO_PATH=[Your Arduino + Teensiduino path]
-cd $ARDUINO_PATH/hardware/teensy/avr/
-curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/foxy/extras/patching_boards/platform_teensy.txt > platform.txt
+export TEENSYDUINO_VERSION=[Your Teensyduino library version, e.g: 1.57.2]
+export ARDUINO_PATH=[Your Arduino + Teensyduino path]
+cd $ARDUINO_PATH/hardware/avr/$TEENSYDUINO_VERSION/
+curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/main/extras/patching_boards/platform_teensy.txt > platform.txt
 ```
 
 ### Patch SAM