Git & GitHub

❌ mecanum_robot_final.ino
❌ mecanum_robot_final_v2.ino
❌ mecanum_robot_final_v2_ACTUALLY_FINAL.ino
❌ mecanum_robot_final_v2_FIXED_BUG.ino (which version works?!)

✓ mecanum_robot/
  ├─ src/main.cpp
  └─ .git/ (complete history of all changes)

git log --oneline
abc123 Fix encoder interrupt bug
def456 Add PID motor control
789abc Implement IMU integration

# Set your name
git config --global user.name "Your Name"

# Set your email (use RMIT email)
git config --global user.email "s1234567@student.rmit.edu.au"

# Set default branch name to 'main'
git config --global init.defaultBranch main

# Verify configuration
git config --list

# 1. Check current status
git status

# 2. Add changes to staging area
git add src/main.cpp              # Add specific file
git add src/                      # Add entire directory
git add .                         # Add all changes

# 3. Commit staged changes
git commit -m "Add PID motor control"

# 4. Push to GitHub
git push

# 5. Pull latest changes from GitHub
git pull

# 6. View commit history
git log --oneline --graph --all

# View current branch
git branch

# Create new branch
git branch feature/encoder-reading

# Switch to new branch
git checkout feature/encoder-reading

# Create and switch in one command
git checkout -b feature/imu-integration

# View all branches
git branch -a

main
  ├─ feature/motor-control (Student 1)
  ├─ feature/imu-sensor (Student 2)
  └─ feature/pid-tuning (Student 3)

Workflow:
1. Each student creates feature branch from main
2. Work on feature independently
3. Test feature thoroughly
4. Merge back to main via Pull Request
5. Delete feature branch after merge

# Switch to main branch
git checkout main

# Merge feature branch into main
git merge feature/encoder-reading

# Push merged changes to GitHub
git push

# Delete merged branch (local)
git branch -d feature/encoder-reading

# Delete merged branch (remote)
git push origin --delete feature/encoder-reading

# Keep changes, undo commit
git reset --soft HEAD~1

# Discard changes AND undo commit
git reset --hard HEAD~1

# Discard changes in specific file
git checkout -- src/main.cpp

# Discard all changes
git reset --hard HEAD

# See what changed
git diff

# See what's staged for commit
git diff --staged

# Save changes without committing
git stash

# Do other work (switch branches, pull, etc.)
git checkout main
git pull

# Restore stashed changes
git stash pop

# Add upstream remote (original repo)
git remote add upstream git@github.com:original-owner/repo.git

# Fetch upstream changes
git fetch upstream

# Merge into your main branch
git checkout main
git merge upstream/main

# Push to your fork
git push origin main

## Bug: Motors rotate in wrong direction

**Expected:** Forward command rotates wheels forward
**Actual:** Forward command rotates wheels backward

**Steps to reproduce:**
1. Upload firmware
2. Send "vx=0.5" command
3. Observe wheels rotating backward

**Proposed fix:** Invert motor direction pins in motor_driver.cpp

To Do          In Progress      Done
├─ Add IMU     ├─ Motor PID     ├─ Environment setup
├─ LiDAR       └─ Encoder ISR   ├─ URDF model
└─ Nav2 setup                   └─ Teleoperation

# Create tag
git tag -a v1.0.0 -m "WP3 submission - ESP32 motor control"
git push origin v1.0.0

# Setup
git config --global user.name "Name"
git config --global user.email "email"

# Create repository
git init                          # Initialize local repo
git clone <url>                   # Clone from GitHub

# Basic workflow
git status                        # Check status
git add <file>                    # Stage file
git add .                         # Stage all changes
git commit -m "message"           # Commit staged changes
git push                          # Push to remote
git pull                          # Pull from remote

# Branching
git branch                        # List branches
git branch <name>                 # Create branch
git checkout <name>               # Switch branch
git checkout -b <name>            # Create and switch
git merge <branch>                # Merge branch into current
git branch -d <name>              # Delete branch

# History
git log                           # View commits
git log --oneline --graph         # Compact graph view
git diff                          # View changes
git show <commit>                 # Show commit details

# Undo changes
git checkout -- <file>            # Discard file changes
git reset HEAD <file>             # Unstage file
git reset --soft HEAD~1           # Undo last commit (keep changes)
git reset --hard HEAD~1           # Undo last commit (discard changes)

# Remotes
git remote -v                     # List remotes
git remote add origin <url>       # Add remote
git fetch                         # Download remote changes
git push -u origin main           # Push and set upstream