Overview

The Stretch Firmware repository provides the Arduino based firmware for the Stretch robot.

Minor version updates to Stretch Body may occasionally require the robot's firmware to also be updated.

The repository includes the firmware for the three Stretch PCBA types:

hello_stepper: firmware for stepper motor controller based on the Mechaduino project
hello_wacc: firmware for wrist accelerometer board (Wacc) in the wrist
hello_pimu: firmware for power and imu board (Pimu) in the base

Releasing New Firmware

If you're a maintainer for this repo, follow these steps to release new firmware. Stretch users will be able to use the REx_firmware_updater.py CLI to install the new release.

Review and merge a pull request into the main branch. In the PR, ensure that you increment the version/protocol of the firmwares (hello_stepper, hello_wacc, hello_pimu) that received changes. You can do this by changing #define FIRMWARE_VERSION "Pimu.v0.0.5p0" in the firmware's Common.h file. When updating the protocol version increment the version as well, for example, Pimu.v0.0.5p0 --> Pimu.v0.1.0p1

Clone the firmware locally

gh repo clone hello-robot/stretch_firmware

Tag with the full version name that matches Common.h , eg
```
git tag -a Pimu.v0.0.5p0 -m "Pimu bugfix of foo"
```
Push the tag to Github
```
git push origin --tags
```
Ensure the new firmware is detected by the updater CLI
```
REx_firmware_updater.py --recommended
```

License

For details, see the LICENSE.md file in the root directory. All materials within this repository are licensed with the GNU General Public License v3.0 (GNU GPLv3) except where other third-party licenses must apply.

We thank people who have contributed to this work via open-source code and open hardware. We especially thank the Mechaduino project and Tropical Labs. The motor controller firmware and hardware are derived from the excellent firmware and hardware created for the Mechaduino project by Tropical Labs.