Initial commit

.gitignore

@@ -0,0 +1,162 @@
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
+.classpath
+.project
+.settings/
+bin/
+
+# Simulation GUI and other tools window save file
+*-window.json

.vscode/launch.json

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+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+
+    {
+      "type": "wpilib",
+      "name": "WPILib Desktop Debug",
+      "request": "launch",
+      "desktop": true,
+    },
+    {
+      "type": "wpilib",
+      "name": "WPILib roboRIO Debug",
+      "request": "launch",
+      "desktop": false,
+    }
+  ]
+}

.vscode/settings.json

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+{
+  "java.configuration.updateBuildConfiguration": "disabled",
+  "java.import.gradle.enabled": false,
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "C_Cpp.default.configurationProvider": "vscode-wpilib",
+  "files.associations": {
+    "*.inc": "cpp",
+    "ratio": "cpp",
+    "*.tcc": "cpp",
+    "deque": "cpp",
+    "vector": "cpp",
+    "array": "cpp",
+    "atomic": "cpp",
+    "hash_map": "cpp",
+    "hash_set": "cpp",
+    "cctype": "cpp",
+    "chrono": "cpp",
+    "clocale": "cpp",
+    "cmath": "cpp",
+    "codecvt": "cpp",
+    "complex": "cpp",
+    "condition_variable": "cpp",
+    "cstdarg": "cpp",
+    "cstddef": "cpp",
+    "cstdint": "cpp",
+    "cstdio": "cpp",
+    "cstdlib": "cpp",
+    "cstring": "cpp",
+    "ctime": "cpp",
+    "cwchar": "cpp",
+    "cwctype": "cpp",
+    "list": "cpp",
+    "unordered_map": "cpp",
+    "unordered_set": "cpp",
+    "exception": "cpp",
+    "algorithm": "cpp",
+    "filesystem": "cpp",
+    "functional": "cpp",
+    "iterator": "cpp",
+    "map": "cpp",
+    "memory": "cpp",
+    "memory_resource": "cpp",
+    "numeric": "cpp",
+    "optional": "cpp",
+    "random": "cpp",
+    "set": "cpp",
+    "string": "cpp",
+    "string_view": "cpp",
+    "system_error": "cpp",
+    "tuple": "cpp",
+    "type_traits": "cpp",
+    "utility": "cpp",
+    "fstream": "cpp",
+    "future": "cpp",
+    "initializer_list": "cpp",
+    "iomanip": "cpp",
+    "iosfwd": "cpp",
+    "iostream": "cpp",
+    "istream": "cpp",
+    "limits": "cpp",
+    "mutex": "cpp",
+    "new": "cpp",
+    "ostream": "cpp",
+    "sstream": "cpp",
+    "stdexcept": "cpp",
+    "streambuf": "cpp",
+    "thread": "cpp",
+    "cinttypes": "cpp",
+    "typeinfo": "cpp"
+  }
+}

.wpilib/wpilib_preferences.json

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+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2022",
+    "teamNumber": 1592
+}

WPILib-License.md

@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

build.gradle

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+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2022.4.1"
+}
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Set to true to run simulation in debug mode
+wpi.cpp.debugSimulation = false
+
+// Default enable simgui
+wpi.sim.addGui().defaultEnabled = true
+// Enable DS but not by default
+wpi.sim.addDriverstation()
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            targetPlatform wpi.platforms.roborio
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                }
+            }
+
+            // Set deploy task to deploy this component
+            deployArtifact.component = it
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            // Enable simulation for this component
+            wpi.sim.enable(it)
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+            wpi.cpp.deps.googleTest(it)
+        }
+    }
+}

gradle/wrapper/gradle-wrapper.properties

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+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists

gradlew

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+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+
+APP_NAME="Gradle"
+APP_BASE_NAME=${0##*/}
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"

gradlew.bat

@@ -0,0 +1,89 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

settings.gradle

@@ -0,0 +1,27 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2022'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}

simgui-ds.json

@@ -0,0 +1,113 @@
+{
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "incKey": 82
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 10,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86,
+        -1,
+        -1,
+        -1,
+        -1,
+        57,
+        48
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    },
+    {},
+    {},
+    {},
+    {},
+    {
+      "guid": "0300000051090000a416000011010000",
+      "name": "asddsa"
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,152 @@
+{
+  "HALProvider": {
+    "RoboRIO": {
+      "window": {
+        "visible": true
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/LiveWindow/Ungrouped/Scheduler": "Scheduler",
+      "/LiveWindow/Ungrouped/frc2::SubsystemBase": "Subsystem",
+      "/SmartDashboard/chassis": "Subsystem",
+      "/SmartDashboard/frc2::SubsystemBase": "Subsystem",
+      "/SmartDashboard/potato_cannon": "Subsystem"
+    },
+    "windows": {
+      "/SmartDashboard/chassis": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables": {
+    "FMSInfo": {
+      "open": true
+    },
+    "LiveWindow": {
+      ".status": {
+        "open": true
+      },
+      "Ungrouped": {
+        "Scheduler": {
+          "open": true
+        },
+        "frc2::SubsystemBase": {
+          "open": true
+        },
+        "open": true
+      },
+      "open": true
+    },
+    "SmartDashboard": {
+      "chassis": {
+        "open": true
+      },
+      "frc2::SubsystemBase": {
+        "open": true
+      },
+      "open": true,
+      "potato_cannon": {
+        "open": true
+      }
+    }
+  },
+  "Plot": {
+    "Plot <0>": {
+      "plots": [
+        {
+          "axis": [
+            {
+              "autoFit": true
+            }
+          ],
+          "height": 320,
+          "series": [
+            {
+              "color": [
+                0.2980392277240753,
+                0.44705885648727417,
+                0.6901960968971252,
+                1.0
+              ],
+              "id": "Rio 6V Voltage"
+            },
+            {
+              "color": [
+                0.8666667342185974,
+                0.5176470875740051,
+                0.32156863808631897,
+                1.0
+              ],
+              "id": "Joystick[0] Axis[0]"
+            },
+            {
+              "color": [
+                0.3333333432674408,
+                0.658823549747467,
+                0.4078431725502014,
+                1.0
+              ],
+              "id": "Joystick[0] Axis[1]"
+            },
+            {
+              "color": [
+                0.7686275243759155,
+                0.30588236451148987,
+                0.32156863808631897,
+                1.0
+              ],
+              "id": "NT:/SmartDashboard/lb_pod.angle"
+            },
+            {
+              "color": [
+                0.5058823823928833,
+                0.44705885648727417,
+                0.7019608020782471,
+                1.0
+              ],
+              "id": "NT:/SmartDashboard/lf_pod.angle"
+            },
+            {
+              "color": [
+                0.5764706134796143,
+                0.4705882668495178,
+                0.3764706254005432,
+                1.0
+              ],
+              "id": "NT:/SmartDashboard/rb_pod.angle"
+            },
+            {
+              "color": [
+                0.8549020290374756,
+                0.545098066329956,
+                0.7647059559822083,
+                1.0
+              ],
+              "id": "NT:/SmartDashboard/rf_pod.angle"
+            },
+            {
+              "color": [
+                0.2724913954734802,
+                1.0,
+                0.14705884456634521,
+                1.0
+              ],
+              "id": "NT:/SmartDashboard/lb_pod.mag"
+            }
+          ],
+          "yaxis2": true
+        }
+      ]
+    },
+    "Plot <1>": {
+      "window": {
+        "visible": false
+      }
+    }
+  }
+}

src/main/cpp/Robot.cpp

@@ -0,0 +1,82 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every 20 ms, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() {
+  frc2::CommandScheduler::GetInstance().Run();
+}
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+  m_autonomous_command = m_container.get_autonomous_command();
+
+  if (m_autonomous_command != nullptr) {
+    m_autonomous_command->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomous_command != nullptr) {
+    m_autonomous_command->Cancel();
+    m_autonomous_command = nullptr;
+  }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+/**
+ * This function is called once when the robot is first started up.
+ */
+void Robot::SimulationInit() {}
+
+/**
+ * This function is called periodically whilst in simulation.
+ */
+void Robot::SimulationPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

src/main/cpp/RobotContainer.cpp

@@ -0,0 +1,55 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "Constants.h"
+#include "RobotContainer.h"
+
+#include <frc/PowerDistribution.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc/Joystick.h>
+#include <frc2/command/button/JoystickButton.h>
+
+RobotContainer::RobotContainer() :
+    m_autonomous_command(m_chassis, m_driver) {
+  // Initialize all of your commands and subsystems here
+  m_chassis.SetDefaultCommand(DriveWithJoysticks(m_chassis, m_driver));
+
+  frc::SmartDashboard::PutData("chassis", &m_chassis);
+  frc::SmartDashboard::PutData("shooter", &m_shooter);
+
+  // Configure the button bindings
+  map_buttons();
+}
+
+void RobotContainer::map_buttons() {
+  // Configure your button bindings here
+  // frc2::JoystickButton(&m_manip, 4).WhenPressed(
+  //   SetShooterSpeed(&m_potatoCannon, SHOOTER_RPM));
+
+  // Zero gyro
+  frc2::JoystickButton(&m_driver, 10).WhenPressed(
+    frc2::InstantCommand{[this] {
+      m_chassis.zero_gyro(); }, {&m_chassis}});
+
+  // Shooter speeds
+  frc2::JoystickButton(&m_manip, 4).WhenPressed(
+    frc2::InstantCommand{[this] {
+      m_shooter.set(constants::shooter::HIGH); }});
+  frc2::JoystickButton(&m_manip, 3).WhenPressed(
+    frc2::InstantCommand{[this] {
+      m_shooter.set(constants::shooter::MED); }});
+  frc2::JoystickButton(&m_manip, 1).WhenPressed(
+    frc2::InstantCommand{[this] {
+      m_shooter.set(constants::shooter::LOW); }});
+  frc2::JoystickButton(&m_manip, 2).WhenPressed(
+    frc2::InstantCommand{[this] {
+      m_shooter.set(0_rpm); }});
+
+  // Gatherer
+}
+
+frc2::Command* RobotContainer::get_autonomous_command() {
+  // An example command will be run in autonomous
+  return &m_autonomous_command;
+}

src/main/cpp/commands/DriveWithJoysticks.cpp

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "commands/DriveWithJoysticks.h"
+#include "Utils.h"
+
+DriveWithJoysticks::DriveWithJoysticks(Chassis &chassis, frc::Joystick &joystick)
+    : m_chassis{chassis}, m_joystick{joystick} {
+  SetName("DriveWithJoysticks");
+  AddRequirements(&m_chassis);
+}
+
+// Called when the command is initially scheduled.
+void DriveWithJoysticks::Initialize() {}
+
+// Called repeatedly when this Command is scheduled to run
+void DriveWithJoysticks::Execute() {
+    auto x = m_joystick.GetX();
+    auto y = m_joystick.GetY();
+    auto z = m_joystick.GetZ();
+
+    x = utils::joy_expo(x, constants::joysticks::JOY_DRIVE_EXPO);
+    y = utils::joy_expo(y, constants::joysticks::JOY_DRIVE_EXPO);
+    z = utils::joy_expo(z, constants::joysticks::JOY_TURN_EXPO);
+
+    auto forward = -y * 2_fps;
+    auto left = -x * 2_fps;
+    auto theta = z * 1.5_rad_per_s;
+
+    m_chassis.drive_field_relative(forward, left, theta);
+}
+
+// Called once the command ends or is interrupted.
+void DriveWithJoysticks::End(bool interrupted) {}
+
+// Returns true when the command should end.
+bool DriveWithJoysticks::IsFinished() {
+  return false;
+}

src/main/cpp/commands/Eject.cpp

@@ -0,0 +1,30 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "commands/Eject.h"
+
+Eject::Eject(Gatherer &gatherer) :
+    m_gatherer(gatherer) {
+  // Use addRequirements() here to declare subsystem dependencies.
+  SetName("Eject");
+  AddRequirements(&m_gatherer);
+}
+
+// Called when the command is initially scheduled.
+void Eject::Initialize() {
+  m_gatherer.eject();
+}
+
+// Called repeatedly when this Command is scheduled to run
+void Eject::Execute() {}
+
+// Called once the command ends or is interrupted.
+void Eject::End(bool interrupted) {
+  m_gatherer.stop();
+}
+
+// Returns true when the command should end.
+bool Eject::IsFinished() {
+  return false;
+}

src/main/cpp/commands/Gather.cpp

@@ -0,0 +1,30 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "commands/Gather.h"
+
+Gather::Gather(Gatherer &gatherer) :
+    m_gatherer(gatherer) {
+  // Use addRequirements() here to declare subsystem dependencies.
+  SetName("Gather");
+  AddRequirements(&m_gatherer);
+}
+
+// Called when the command is initially scheduled.
+void Gather::Initialize() {
+  m_gatherer.gather();
+}
+
+// Called repeatedly when this Command is scheduled to run
+void Gather::Execute() {}
+
+// Called once the command ends or is interrupted.
+void Gather::End(bool interrupted) {
+  m_gatherer.stop();
+}
+
+// Returns true when the command should end.
+bool Gather::IsFinished() {
+  return false;
+}

src/main/cpp/commands/Shoot.cpp

@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "commands/Shoot.h"
+
+#include <frc/Timer.h>
+
+Shoot::Shoot(Gatherer &gatherer, Shooter &shooter) :
+    m_gatherer(gatherer), m_shooter(shooter) {
+  // Use addRequirements() here to declare subsystem dependencies.
+  SetName("Shoot");
+  AddRequirements({&m_gatherer, &m_shooter});
+}
+
+// Called when the command is initially scheduled.
+void Shoot::Initialize() {
+  m_start_time = frc::Timer::GetFPGATimestamp();
+}
+
+// Called repeatedly when this Command is scheduled to run
+void Shoot::Execute() {
+  bool full = frc::Timer::GetFPGATimestamp() - m_start_time > 1_s;
+  m_gatherer.shoot(full);
+}
+
+// Called once the command ends or is interrupted.
+void Shoot::End(bool interrupted) {
+  m_gatherer.stop();
+}
+
+// Returns true when the command should end.
+bool Shoot::IsFinished() {
+  return false;
+}

src/main/cpp/subsystems/Chassis.cpp

@@ -0,0 +1,112 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "subsystems/Chassis.h"
+#include "Units.h"
+
+#include <frc/kinematics/SwerveModuleState.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <units/angle.h>
+
+Chassis::Chassis() {
+  // Implementation of subsystem constructor goes here.
+  zero_pod_encoders();
+
+  configure_pod(m_lf_pod);
+  configure_pod(m_rf_pod);
+  configure_pod(m_lb_pod);
+  configure_pod(m_rb_pod);
+}
+
+void Chassis::zero_pod_encoders() {
+  m_lf_pod.turn.SetSelectedSensorPosition(0);
+  m_rf_pod.turn.SetSelectedSensorPosition(0);
+  m_lb_pod.turn.SetSelectedSensorPosition(0);
+  m_rb_pod.turn.SetSelectedSensorPosition(0);
+}
+
+void Chassis::zero_gyro() {
+  // m_gyro.ZeroYaw();
+}
+
+void Chassis::drive(frc::ChassisSpeeds speeds) {
+  auto module_states = m_kinematics.ToSwerveModuleStates(speeds);
+  m_kinematics.DesaturateWheelSpeeds(&module_states, constants::chassis::MAX_SPEED);
+
+  auto lf_optimized = frc::SwerveModuleState::Optimize(
+    module_states[0],
+    get_pod_angle(m_lf_pod));
+  auto rf_optimized = frc::SwerveModuleState::Optimize(
+    module_states[1],
+    get_pod_angle(m_rf_pod));
+  auto lb_optimized = frc::SwerveModuleState::Optimize(
+    module_states[2],
+    get_pod_angle(m_lb_pod));
+  auto rb_optimized = frc::SwerveModuleState::Optimize(
+    module_states[3],
+    get_pod_angle(m_rb_pod));
+
+  set_pod(m_lf_pod, lf_optimized);
+  set_pod(m_rf_pod, rf_optimized);
+  set_pod(m_lb_pod, lb_optimized);
+  set_pod(m_rb_pod, rb_optimized);
+}
+
+void Chassis::drive_field_relative(
+    units::meters_per_second_t forward,
+    units::meters_per_second_t left,
+    units::radians_per_second_t theta) {
+  auto speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+    forward,
+    left,
+    theta,
+    // frc::Rotation2d(units::degree_t(-m_gyro.GetAngle()))
+    frc::Rotation2d(units::degree_t(0))
+  );
+
+  drive(speeds);
+}
+
+void Chassis::configure_pod(Pod &pod) {
+  pod.turn.ConfigSelectedFeedbackSensor(TalonSRXFeedbackDevice::CTRE_MagEncoder_Relative);
+  pod.turn.SetSensorPhase(true);
+  pod.turn.Config_kP(0, constants::chassis::TURN_P);
+  pod.turn.Config_kI(0, constants::chassis::TURN_I);
+  pod.turn.Config_kD(0, constants::chassis::TURN_D);
+
+  pod.drive.ConfigSupplyCurrentLimit({true, 15, 0, 0.01});
+}
+
+void Chassis::set_pod(Pod &pod, frc::SwerveModuleState command) {
+    // TODO: I can't remember if we waited for the angle target to be met before we
+    // start to apply the drive velocity, look into that
+    double drive_percent = command.speed / constants::chassis::MAX_SPEED;
+    units::ctre_count_t counts =
+      command.angle.Degrees() * constants::chassis::ROTATE_RATIO;
+
+    std::string pod_name;
+    if(&pod == &m_lf_pod)
+      pod_name = "lf_pod";
+    if(&pod == &m_rf_pod)
+      pod_name = "rf_pod";
+    if(&pod == &m_lb_pod)
+      pod_name = "lb_pod";
+    if(&pod == &m_rb_pod)
+      pod_name = "rb_pod";
+    frc::SmartDashboard::PutNumber(pod_name + ".angle", command.angle.Degrees().value());
+    frc::SmartDashboard::PutNumber(pod_name + ".mag", drive_percent);
+
+    if(abs(drive_percent) > constants::chassis::MIN_DRIVE_PERCENT)
+      pod.turn.Set(ControlMode::Position, counts.value());
+    pod.drive.Set(ControlMode::PercentOutput, drive_percent);
+    pod.tmp = command.angle.Degrees().value();
+}
+
+frc::Rotation2d Chassis::get_pod_angle(Pod &pod) {
+  units::ctre_count_t counts{pod.turn.GetSelectedSensorPosition()};
+  units::radian_t angle{counts / constants::chassis::ROTATE_RATIO};
+  return frc::Rotation2d{units::degree_t{pod.tmp}};
+
+  //return frc::Rotation2d{angle};
+}

src/main/cpp/subsystems/Gatherer.cpp

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "subsystems/Gatherer.h"
+
+Gatherer::Gatherer() {
+    m_gather_low.SetInverted(false);
+    m_gather_high_back.SetInverted(true);
+    m_gather_high_front.SetInverted(false);
+}
+
+// This method will be called once per scheduler run
+void Gatherer::Periodic() {}
+
+void Gatherer::gather() {
+    m_gather_low.Set(ControlMode::PercentOutput, 1.0);
+    m_gather_high_back.Set(ControlMode::PercentOutput, -0.6);
+    m_gather_high_front.Set(ControlMode::PercentOutput, 0.6);
+}
+
+void Gatherer::eject() {
+    m_gather_low.Set(ControlMode::PercentOutput, -1.0);
+    m_gather_high_back.Set(ControlMode::PercentOutput, -0.6);
+    m_gather_high_front.Set(ControlMode::PercentOutput, -0.6);
+}
+
+void Gatherer::shoot(bool full) {
+    if(full)
+        m_gather_low.Set(ControlMode::PercentOutput, 1.0);
+
+    m_gather_high_back.Set(ControlMode::PercentOutput, 0.5);
+    m_gather_high_front.Set(ControlMode::PercentOutput, 1.0);
+}
+
+void Gatherer::stop() {
+    m_gather_low.Set(ControlMode::PercentOutput, 0.0);
+    m_gather_high_back.Set(ControlMode::PercentOutput, 0.0);
+    m_gather_high_front.Set(ControlMode::PercentOutput, 0.0);
+}

src/main/cpp/subsystems/Shear.cpp

@@ -0,0 +1,10 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "subsystems/Shear.h"
+
+Shear::Shear() = default;
+
+// This method will be called once per scheduler run
+void Shear::Periodic() {}

src/main/cpp/subsystems/Shooter.cpp

@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "subsystems/Shooter.h"
+#include "Units.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+
+Shooter::Shooter() {
+    m_shooter.SetInverted(false);
+
+    /*
+    m_shooter.ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0);
+    m_shooter.SetSensorPhase(true);
+    m_shooter.Config_kP(0, constants::shooter::P);
+    m_shooter.Config_kI(0, constants::shooter::I);
+    m_shooter.Config_kD(0, constants::shooter::D);
+    */
+}
+
+void Shooter::set(units::revolutions_per_minute_t rpm) {
+    rpm = rpm * constants::shooter::RATIO;
+    m_shooter.Set(ControlMode::PercentOutput, rpm / constants::shooter::MAX_RPM);
+    frc::SmartDashboard::PutNumber("rpm", rpm / constants::shooter::MAX_RPM);
+}
+
+bool Shooter::at_speed() {
+    units::ctre_count_t counts{m_shooter.GetClosedLoopError()};
+    units::revolutions_per_minute_t error{counts / 1_min / constants::shooter::RATIO};
+    return error < constants::shooter::SHOOTER_TARGET_ERROR;
+}
+
+// This method will be called once per scheduler run
+void Shooter::Periodic() {}

src/main/deploy/example.txt

@@ -0,0 +1,4 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+  'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory'
+  function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy
+  directory.

src/main/include/Constants.h

@@ -0,0 +1,89 @@
+#pragma once
+
+#include "Units.h"
+
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/velocity.h>
+
+namespace constants {
+  namespace can_ids {
+    const int LF_DRIVE = 1;
+    const int LF_TURN = 2;
+    const int RF_DRIVE = 3;
+    const int RF_TURN = 4;
+    const int LB_DRIVE = 5;
+    const int LB_TURN = 6;
+    const int RB_DRIVE = 7;
+    const int RB_TURN = 8;
+
+    const int SHOOTER = 10;
+
+    const int GATHER_LOW = 20;
+    const int GATHER_HIGH_BACK = 21;
+    const int GATHER_HIGH_FRONT = 22;
+
+    const int SHEAR_LEFT = 30;
+    const int SHEAR_RIGHT = 31;
+  }  // End namespace can_ids
+
+  namespace dio {
+    const int LF_POD_ZERO = 0;
+    const int RF_POD_ZERO = 1;
+    const int LB_POD_ZERO = 2;
+    const int RB_POD_ZERO = 3;
+    const int GATHER_LOW = 4;
+    const int GATHER_HIGH = 5;
+  }  // End namespace dio
+
+  namespace chassis {
+    // drive full speed meters
+    const auto MAX_SPEED = 30_fps;
+    // double MAX_SPEED = 1.0;
+    
+    // % of max speed that the turn motors will start to move
+    // Prevents abrupt angle changes when basically zero velocity is being commanded
+    const double MIN_DRIVE_PERCENT = 0.05;
+
+    // Gear ratio 72:44
+    const auto ROTATE_RATIO = 72_tr / 44_tr;
+    
+    const double TURN_P = 1.0;
+    const double TURN_I = 0.0;
+    const double TURN_D = 0.0;
+
+    const auto SWERVE_X_FROM_CENTER = 11_in;
+    const auto SWERVE_Y_FROM_CENTER = 12.5_in;
+  }  // End namespace chassis
+
+  namespace shear {
+    const double SHEAR_P = 1.0;
+    const double SHEAR_I = 0.0;
+    const double SHEAR_D = 0.0;
+
+    // Gearbox ratio 100:1
+    const auto RATIO = 100_tr / 1_tr;
+
+    const auto SHEAR_TOLERANCE = 0.1_deg;
+  }  // End namespace shear
+
+  namespace joysticks {
+    const double JOY_DRIVE_EXPO = 5.0;
+    const double JOY_TURN_EXPO = 5.0;
+  }  // End namespace joysticks
+
+  namespace shooter {
+    const auto RATIO = 1_tr / 1_tr;
+
+    const auto MAX_RPM = 1.0_rpm;
+    const auto SHOOTER_TARGET_ERROR = 0.1_rpm;
+
+    const double P = 1.0;
+    const double I = 0.0;
+    const double D = 0.0;
+
+    const auto LOW = 0.4_rpm;
+    const auto MED = 2_rpm / 3;
+    const auto HIGH = 1.0_rpm;
+  }  // End namespace shooter
+}  // End namespace Constants

src/main/include/Robot.h

@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+  void SimulationInit() override;
+  void SimulationPeriodic() override;
+
+ private:
+  // Have it null by default so that if testing teleop it
+  // doesn't have undefined behavior and potentially crash.
+  frc2::Command* m_autonomous_command = nullptr;
+
+  RobotContainer m_container;
+};

src/main/include/RobotContainer.h

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc/PowerDistribution.h>
+#include <frc/Joystick.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+
+#include "commands/DriveWithJoysticks.h"
+#include "subsystems/Chassis.h"
+#include "subsystems/Shooter.h"
+#include "subsystems/Gatherer.h"
+#include "subsystems/Shear.h"
+
+/**
+ * This class is where the bulk of the robot should be declared.  Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls).  Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+  RobotContainer();
+
+  frc2::Command* get_autonomous_command();
+
+ private:
+  // The robot's subsystems and commands are defined here...
+  frc::PowerDistribution m_pdp{};
+
+  frc::Joystick m_driver{0};
+  frc::Joystick m_manip{1};
+
+  Chassis m_chassis;
+  Shooter m_shooter;
+  Gatherer m_gatherer;
+  Shear m_shear;
+
+  DriveWithJoysticks m_autonomous_command;
+
+  void map_buttons();
+};

src/main/include/Units.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include <units/angle.h>
+
+namespace units {
+
+UNIT_ADD(encoder_counts, ctre_count, ctre_counts, ctre_cnt, units::unit<std::ratio<1, 4096>, units::turn>)
+
+using namespace encoder_counts;
+}  // End namespace units

src/main/include/Utils.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <math.h>
+
+namespace utils {
+
+    double joy_expo(double in, double exp) {
+        double out;
+
+        out = std::exp(std::abs(in) * exp) - 1;
+        out = out / (std::exp(exp) - 1);
+        out = std::copysign(out, in);
+
+        return out;
+    }
+
+}  // End namespace utils

src/main/include/commands/DriveWithJoysticks.h

@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc/Joystick.h>
+
+#include "subsystems/Chassis.h"
+
+/**
+ * An example command that uses an example subsystem.
+ *
+ * <p>Note that this extends CommandHelper, rather extending CommandBase
+ * directly; this is crucially important, or else the decorator functions in
+ * Command will *not* work!
+ */
+class DriveWithJoysticks
+    : public frc2::CommandHelper<frc2::CommandBase, DriveWithJoysticks> {
+ public:
+  DriveWithJoysticks(Chassis &chassis, frc::Joystick &joystick);
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+ private:
+  Chassis& m_chassis;
+  frc::Joystick& m_joystick;
+};

src/main/include/commands/Eject.h

@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/Gatherer.h"
+
+/**
+ * An example command.
+ *
+ * <p>Note that this extends CommandHelper, rather extending CommandBase
+ * directly; this is crucially important, or else the decorator functions in
+ * Command will *not* work!
+ */
+class Eject
+    : public frc2::CommandHelper<frc2::CommandBase, Eject> {
+ public:
+  Eject(Gatherer &gatherer);
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+ private:
+  Gatherer &m_gatherer;
+};

src/main/include/commands/Gather.h

@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/Gatherer.h"
+
+/**
+ * An example command.
+ *
+ * <p>Note that this extends CommandHelper, rather extending CommandBase
+ * directly; this is crucially important, or else the decorator functions in
+ * Command will *not* work!
+ */
+class Gather
+    : public frc2::CommandHelper<frc2::CommandBase, Gather> {
+ public:
+  Gather(Gatherer &gatherer);
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+ private:
+  Gatherer &m_gatherer;
+};

src/main/include/commands/Shoot.h

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+#include <units/time.h>
+
+#include "subsystems/Gatherer.h"
+#include "subsystems/Shooter.h"
+
+/**
+ * An example command.
+ *
+ * <p>Note that this extends CommandHelper, rather extending CommandBase
+ * directly; this is crucially important, or else the decorator functions in
+ * Command will *not* work!
+ */
+class Shoot
+    : public frc2::CommandHelper<frc2::CommandBase, Shoot> {
+ public:
+  Shoot(Gatherer &gatherer, Shooter &shooter);
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+ private:
+  Gatherer &m_gatherer;
+  Shooter &m_shooter;
+
+  units::second_t m_start_time;
+};

src/main/include/subsystems/Chassis.h

@@ -0,0 +1,73 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "Constants.h"
+
+#include "AHRS.h"
+#include <ctre/Phoenix.h>
+#include <frc/geometry/Rotation2d.h>
+#include <frc/geometry/Translation2d.h>
+#include <frc/kinematics/SwerveDriveKinematics.h>
+#include <frc/kinematics/SwerveModuleState.h>
+#include <frc2/command/SubsystemBase.h>
+
+
+class Chassis : public frc2::SubsystemBase {
+  struct Pod {
+    TalonSRX turn;
+    TalonFX drive;
+    double tmp;
+  };
+
+ public:
+  Chassis();
+
+  void zero_pod_encoders();
+  void zero_gyro();
+
+  void drive(frc::ChassisSpeeds speeds);
+  void drive_field_relative(
+    units::meters_per_second_t forward,
+    units::meters_per_second_t left,
+    units::radians_per_second_t theta);
+
+ private:
+  void configure_pod(Pod &pod);
+  void set_pod(Pod &pod, frc::SwerveModuleState command);
+  frc::Rotation2d get_pod_angle(Pod &pod);
+  
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+
+  Pod m_lf_pod{{constants::can_ids::LF_TURN}, {constants::can_ids::LF_DRIVE}};
+  Pod m_rf_pod{{constants::can_ids::RF_TURN}, {constants::can_ids::RF_DRIVE}};
+  Pod m_lb_pod{{constants::can_ids::LB_TURN}, {constants::can_ids::LB_DRIVE}};
+  Pod m_rb_pod{{constants::can_ids::RB_TURN}, {constants::can_ids::RB_DRIVE}};
+
+  // AHRS m_gyro{frc::SPI::Port::kMXP};
+
+  const frc::Translation2d LF_POD_LOCATION{ 
+    constants::chassis::SWERVE_X_FROM_CENTER,
+    constants::chassis::SWERVE_Y_FROM_CENTER};
+  const frc::Translation2d RF_POD_LOCATION{
+    constants::chassis::SWERVE_X_FROM_CENTER,
+    -constants::chassis::SWERVE_Y_FROM_CENTER};
+  const frc::Translation2d LB_POD_LOCATION{
+    -constants::chassis::SWERVE_X_FROM_CENTER,
+    constants::chassis::SWERVE_Y_FROM_CENTER};
+  const frc::Translation2d RB_POD_LOCATION{
+    -constants::chassis::SWERVE_X_FROM_CENTER,
+    -constants::chassis::SWERVE_Y_FROM_CENTER};
+
+  frc::SwerveDriveKinematics<4> m_kinematics{
+    LF_POD_LOCATION,
+    RF_POD_LOCATION,
+    LB_POD_LOCATION,
+    RB_POD_LOCATION
+  };
+};

src/main/include/subsystems/Gatherer.h

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "Constants.h"
+
+#include <frc/DigitalInput.h>
+#include <frc2/command/SubsystemBase.h>
+#include <ctre/Phoenix.h>
+
+class Gatherer : public frc2::SubsystemBase {
+ public:
+  Gatherer();
+
+  void gather();
+  void eject();
+  void shoot(bool full);
+  void stop();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+  TalonSRX m_gather_low{constants::can_ids::GATHER_LOW};
+  TalonSRX m_gather_high_back{constants::can_ids::GATHER_HIGH_BACK};
+  TalonSRX m_gather_high_front{constants::can_ids::GATHER_HIGH_FRONT};
+
+  /*
+  frc::DigitalInput m_low_sensor{constants::dio::GATHER_LOW};
+  frc::DigitalInput m_high_sensor{constants::dio::GATHER_HIGH};
+  */
+};

src/main/include/subsystems/Shear.h

@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/SubsystemBase.h>
+
+class Shear : public frc2::SubsystemBase {
+ public:
+  Shear();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+};

src/main/include/subsystems/Shooter.h

@@ -0,0 +1,30 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "Constants.h"
+
+#include <ctre/Phoenix.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/angular_velocity.h>
+
+class Shooter : public frc2::SubsystemBase {
+ public:
+  Shooter();
+
+  void set(units::revolutions_per_minute_t rpm);
+
+  bool at_speed();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+  TalonSRX m_shooter{constants::can_ids::SHOOTER};
+};

src/test/cpp/main.cpp

@@ -0,0 +1,10 @@
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  return ret;
+}

vendordeps/Phoenix.json

@@ -0,0 +1,257 @@
+{
+    "fileName": "Phoenix.json",
+    "name": "CTRE-Phoenix",
+    "version": "5.21.2",
+    "frcYear": 2022,
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.21.2"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.21.2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonSRX",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonFX",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simVictorSPX",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simCANCoder",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.21.2",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.21.2",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.21.2",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.21.2",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.21.2",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.21.2",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonSRX",
+            "version": "5.21.2",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonFX",
+            "version": "5.21.2",
+            "libName": "CTRE_SimTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simVictorSPX",
+            "version": "5.21.2",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "5.21.2",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simCANCoder",
+            "version": "5.21.2",
+            "libName": "CTRE_SimCANCoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ]
+}

vendordeps/WPILibNewCommands.json

@@ -0,0 +1,37 @@
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "version": "1.0.0",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+      {
+          "groupId": "edu.wpi.first.wpilibNewCommands",
+          "artifactId": "wpilibNewCommands-java",
+          "version": "wpilib"
+      }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+      {
+          "groupId": "edu.wpi.first.wpilibNewCommands",
+          "artifactId": "wpilibNewCommands-cpp",
+          "version": "wpilib",
+          "libName": "wpilibNewCommands",
+          "headerClassifier": "headers",
+          "sourcesClassifier": "sources",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "linuxathena",
+              "linuxraspbian",
+              "linuxaarch64bionic",
+              "windowsx86-64",
+              "windowsx86",
+              "linuxx86-64",
+              "osxx86-64"
+          ]
+      }
+  ]
+}

vendordeps/navx_frc.json

@@ -0,0 +1,35 @@
+{
+    "fileName": "navx_frc.json",
+    "name": "KauaiLabs_navX_FRC",
+    "version": "4.0.442",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://repo1.maven.org/maven2/"
+    ],
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2022/navx_frc.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-java",
+            "version": "4.0.442"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-cpp",
+            "version": "4.0.442",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}