Add instructions on releasing new firmware

Author: hello-binit

README.md

@@ -11,6 +11,27 @@ The repository includes the firmware for the three Stretch PCBA types:
 * 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](https://docs.hello-robot.com/0.3/software/updating_software/#firmware) to install the new release.
+
+ 1. 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 <Minor> version as well, for example, Pimu.v0.0.5p0 --> Pimu.v0.1.0p1
+ 2. Clone the firmware locally
+    ```
+    gh repo clone hello-robot/stretch_firmware
+    ```
+ 3. Tag with the full version name that matches Common.h , eg
+    ```
+    git tag -a Pimu.v0.0.5p0 -m "Pimu bugfix of foo"
+    ```
+ 4. Push the tag to Github
+    ```
+    git push origin --tags
+    ```
+ 5. 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)](https://www.gnu.org/licenses/gpl-3.0.html) except where other third-party licenses must apply.