firmware

This repo contains the source code for the CU Boulder Robotics Teams' microcontroller firmware. It runs on a PJRC Teensy 4.1 and interfaces with any device running hive.

Documentation

You can find up-to-date documentation at cu-robotics.github.io/firmware, compiled on merges to main.

You can find our documentation guidelines at docs/README, and how to access your documentation before being merged to main.

Installation

To begin, clone the repository:

git clone git@github.com:CU-Robotics/firmware.git

Then, install dependencies:

githooks provide branch protection locally. Set the .githook/ directory with:

git config --local core.hooksPath .githooks

Install the required tools

./tools/install_arduino.sh
./tools/install_tytools.sh

If the files liblibs.a and libsteensy4.a do not exist in the core directory, follow these steps.

• Run make build_libs

Usage

Now, navigate to the main directory, and run:

make

This will build the current firmware. To upload, run:

make upload

If you only wish to monitor an already uploaded firmware version, run:

make monitor

Contributing

This repo follows the CU Robotics code standard:

• Branches are categorized into three groups: production, feature, and patch.
• Only authorized members can merge to production branches, such as main. All merges must go through a review and merge request. Direct pushes to production branches are strictly forbidden.
• feature branches are named feature-[featurename] and contain major new features that require unit and integration testing.
• patch branches are named patch-[patchname] and contain bugfixes and/or minor adjustments. Unit and integration testing is a soft requirement.
• All software is required to pass formatting and build tests before being merged into a production branch.
• Other branch-based style questions are answered in the style guide.

Licensing

This repository uses the MIT License, which covers the code and tools written for our robot firmware. See separate copyright/licensing information for the external libraries used in the repo (in the libaries/ and teensy4/ directories).