Short answer: "That" is used to introduce essential clauses or information, while the pronoun "which" is used to add non-essential or non-defining clauses. Also, these non-essential clauses are set off with commas.
Explanation:
First of all, the words "that" and "which" are both relative pronouns; this means, both introduce clauses that describe a noun previously mentioned. However, the pronoun "that" should be used only to introduce essential or defining clauses (information that cannot be omitted); for example "She is the woman that I love". On the other hand, the word "which" introduces information that is not essential or non-defining clauses; for example "The house, which is located near the sea, is stunning". Moreover, clauses introduced by which are set off in commas to show they are not essential.
Robin's father end up passing away when Robin wasn't there. Robin's mother was know a widow and lived in the forest by herself in her cabin the Robin's father built. Robin wanted his father's job, but the sheriff wouldn't let Robin get his fathers job and wants him and his mother were to leave their house. Robin heard rumbling sounds in the woods like a bunch of horses. As soon as Robin heard this noise he knows what the sound is and as soon as they got closer it was gaurds. They came to take Robin away and Robin was angry. He didn't want to go because he wanted to start and fight, but Frair Tuck told Robin he should go with them. So as Robin went with them Frair Tuck called in some help with Will-O-the-Green. The gaurds were deep in the forset takeing Robin to Nottingham as they were riding he met a friend that was a gaurd whose name was Midge. At last the gaurds were amboshed by Will-O-the-Green's men.Then Robin and a bunch of other people decided to stay in the woods with people who a tired of putting up with Nottingham. Robin's mother is safe in her cabin with the guard that helped Robin which is Midge.
