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Decide which directory will get the libraries (such as a directory called libraries)
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Execute the following command (replacing libraries at the end with the desired directory from step 1):
git submodule add https://github.com/imciner2/KiCad-Libraries libraries
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Interact with the libaries as if it is its own Git repository (aka. pull, commit, push, etc.).
When you first clone a KiCad repository with a submodule of the library, it will not clone the libraries. In order to clone the libraries you must:
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Initialize the submodules
git submodule init
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Clone the submodules
git submodule update
This may not always put you on a branch in the server's repository (it may leave you on a floating head branch). To get back to a branch you can make changes to and push to the master, run this inside the submodule:
git checkout master