diff --git a/src/Debugger.md b/src/Debugger.md
index 507cab6..959cd1b 100644
--- a/src/Debugger.md
+++ b/src/Debugger.md
@@ -227,48 +227,3 @@ _lf_invoke_reaction (env=env@entry=0x200018d0 <envs>, reaction=reaction@entry=0x
 
 At this point, the LED should have gone from off to on (or on to off, depending on its state when you connected gdb).
 
-### Visual Studio Code
-
-Breakpoints can be placed in generated lingua franca project source code within **vscode**. 
-As a part of the code generation process, each lfc generates a ``.vscode`` directory in the program ``src-gen`` folder. 
-This is populated with settings to configure and run ``gdb``, ``openocd`` and ``cmake``.
-
-Run the following after generating code for the desired lf program:
-
-```bash
-$ code src-gen/Blink/
-```
-
-In vscode, navigate to the run and debug tab on the left. A **Pico Debug** option should appear at the top as shown here:
-
-<img src="img/vscode-debug.png" alt="Debugging in VSCode"/>
-
-First, you will need for VS Code to build the project.  Clean up from the previous `lfc` builds as follows:
-
-```bash
-rm -rf src-gen/Blink/build
-```
-
-Then click on the blue `Build` button at the bottom of the VS Code window.
-
-Make sure the *picoprobe* is connected and wired as noted above and click run (the green triangle). The debugger should automatically break
-at the ``main`` method of the application. Breakpoints can be visually inserted and other debugger options are accessible through
-the IDE gui.
-
-**Troubleshooting:** Depending on the platform you are running on and how `gdb` was installed, you may see the following error when try to run the program:
-
-<img src="img/vscode-error.png" alt="VS Code error screen" width="50%"/>
-
-Click on `Open 'launch.json'` and edit this line:
-
-```
-            "gdbPath" : "gdb-multiarch",
-```
-
-This line specifies the `gdb` program to use.  It may be simply:
-
-```
-            "gdbPath" : "gdb",
-```
-
-
diff --git a/src/Non-Nix.md b/src/Non-Nix.md
index 8227cdd..57a4e67 100644
--- a/src/Non-Nix.md
+++ b/src/Non-Nix.md
@@ -21,6 +21,24 @@ $ echo "export PICO_SDK_PATH=$PICO_SDK_PATH" >> ~/.profile
 
 __Caution__: Depending on what operating system and terminal you use, and how it is configured, you may need to find some other way to set this environment variable.
 
+### Robot Board Header
+To support different pin configurations for rp2040 based boards, pico-sdk uses board header files found in `pico-sdk/src/boards/include/boards`.
+When building binaries for boards other than the raspberrypi pico, `-DPICO_BOARD=<board_name>` can be passed to the cmake command 
+where `<board_name>` is the header name.
+
+The board header for the 3pi robot in the repo might not correctly map the uart pins. Modify `pololu_3pi_2040_robot.h` in the board header directory 
+to include the following lines:
+
+``` C
+#ifndef PICO_DEFAULT_UART_TX_PIN
+#define PICO_DEFAULT_UART_TX_PIN 28
+#endif
+
+#ifndef PICO_DEFAULT_UART_RX_PIN
+#define PICO_DEFAULT_UART_RX_PIN 29
+#endif
+```
+
 ## Install `picotool`
 To build and install `picotool` from source, run the following commands:
 
diff --git a/src/Prerequisites.md b/src/Prerequisites.md
index a599554..c0c817b 100644
--- a/src/Prerequisites.md
+++ b/src/Prerequisites.md
@@ -44,15 +44,11 @@ Please ensure that you have the following extensions installed:
  - `ms-vscode.cpptools` — [C/C++ IntelliSense, debugging, and code browsing](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools)
  - `lf-lang.vscode-lingua-franca` — [Lingua Franca for Visual Studio Code](https://marketplace.visualstudio.com/items?itemName=lf-lang.vscode-lingua-franca)
 
-For debugging support in VS Code:
- - `marus25.cortex-debug` — [ARM Cortex-M GDB Debugger support for VSCode](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug)
-
 To install them from the command line, run:
 ```bash
 $ code --install-extension ms-vscode.cmake-tools
 $ code --install-extension ms-vscode.cpptools
 $ code --install-extension lf-lang.vscode-lingua-franca --pre-release
-$ code --install-extension marus25.cortex-debug
 ```
 
 ## Permissions
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