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.
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.
To begin, clone the repository:
git clone git@github.com:CU-Robotics/firmware.gitThen, install dependencies:
githooks provide branch protection locally. Set the .githook/ directory with:
git config --local core.hooksPath .githooksInstall the required tools
make installNow, navigate to the main directory, and run:
makeThis will build the current firmware. To upload, run:
make uploadThere are a few other nice helper functions within the makefile. This will list them:
make helpmain is the production branch, which is required to be in an always working state.
- Only authorized members can merge to
main. All merges must go through a review and pull request. Direct pushes tomainbranches are strictly forbidden. - To contribute, create a new branch with a descriptive name for your change. Create a pull request when done, and provide a short explanation for the change.
- Pull Requests (PRs) should be as small as possible, dedicated to a specific purpose. A feature does not have to be complete for a pull request to be made, but what is added must be functional and tested. Multiple small PRs is better than one large PR.
- Smaller PRs are significantly faster to review and test, so expect a slower review process for massive PRs.
- All software is required to pass documentation, build, and unit tests, and have all warnings resolved, before being merged into the
mainbranch.
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).