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Bradley Bickford
2026-09-21 21:05:29 -04:00
commit 762edeba34
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# 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/
# IntelliJ
*.iml
*.ipr
*.iws
.idea/
out/
# Fleet
.fleet
# Simulation GUI and other tools window save file
networktables.json
simgui.json
*-window.json
# Simulation data log directory
logs/
# Folder that has CTRE Phoenix Sim device config storage
ctre_sim/
# clangd
/.cache
compile_commands.json
# Eclipse generated file for annotation processors
.factorypath

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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 Systemcore Debug",
"request": "launch",
"desktop": false,
}
]
}

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{
"java.configuration.updateBuildConfiguration": "automatic",
"java.server.launchMode": "Standard",
"files.exclude": {
"**/.git": true,
"**/.svn": true,
"**/.hg": true,
"**/CVS": true,
"**/.DS_Store": true,
"bin/": true,
"**/.classpath": true,
"**/.project": true,
"**/.settings": true,
"**/.factorypath": true,
"**/*~": true
},
"java.test.config": [
{
"name": "WPIlibUnitTests",
"workingDirectory": "${workspaceFolder}/build/jni/release",
"vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
"env": {
"LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
"DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
}
},
],
"java.test.defaultConfig": "WPIlibUnitTests",
"java.import.gradle.annotationProcessing.enabled": false,
"java.completion.favoriteStaticMembers": [
"org.junit.Assert.*",
"org.junit.Assume.*",
"org.junit.jupiter.api.Assertions.*",
"org.junit.jupiter.api.Assumptions.*",
"org.junit.jupiter.api.DynamicContainer.*",
"org.junit.jupiter.api.DynamicTest.*",
"org.mockito.Mockito.*",
"org.mockito.ArgumentMatchers.*",
"org.mockito.Answers.*",
"org.wpilib.units.Units.*"
],
"java.completion.filteredTypes": [
"java.awt.*",
"com.sun.*",
"sun.*",
"jdk.*",
"org.graalvm.*",
"io.micrometer.shaded.*",
"java.beans.*",
"java.util.Base64.*",
"java.util.Timer",
"java.sql.*",
"javax.swing.*",
"javax.management.*",
"javax.smartcardio.*",
"org.wpilib.math.proto.*",
"org.wpilib.math.**.proto.*",
"org.wpilib.math.**.struct.*",
],
"java.debug.settings.enableRunDebugCodeLens": false,
"java.dependency.enableDependencyCheckup": false
}

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{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2027_alpha7",
"teamNumber": 9999
}

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WPILib-License.md Normal file
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Copyright (c) 2009-2026 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.

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plugins {
id "java"
id "application"
id "org.wpilib.GradleRIO" version "2027.0.0-alpha-7"
}
java {
sourceCompatibility = JavaVersion.VERSION_25
targetCompatibility = JavaVersion.VERSION_25
}
def ROBOT_MAIN_CLASS = "first.Main"
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
systemcore(getTargetTypeClass('SystemCore')) {
// 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.wpilib.getTeamNumber()
// Use the default systemcore host name. This must be called after setting team
// as happens on the line above
useDefaultSystemcoreHostName()
debug = project.wpilib.getDebugOrDefault(false)
artifacts {
// First part is artifact name, 2nd is artifact type
// getTargetTypeClass is a shortcut to get the class type using a string
wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) {
// Set to true to use debug including JNI, which will drastically impact performance.
debugJni = false
}
// Static files artifact
wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/systemcore/deploy'
deleteOldFiles = false // Change to true to delete files on systemcore that no
// longer exist in deploy directory of this project
}
}
}
}
}
def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava
// Set to true to use debug for simulation including JNI
wpi.java.runSimWithDebugJni = false
// Set this to true to enable desktop support.
def includeDesktopSupport = true
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 5.
dependencies {
annotationProcessor wpi.java.deps.wpilibAnnotations()
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
simulationDebug wpi.sim.enableDebug()
nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
simulationRelease wpi.sim.enableRelease()
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
}
test {
useJUnitPlatform()
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
}
// Simulation configuration (e.g. environment variables).
wpi.sim.addGui().defaultEnabled = true
wpi.sim.addDriverstation()
application.mainClass = ROBOT_MAIN_CLASS
deployArtifact.configureApplication(application)
wpi.java.configureApplication(application)
wpi.java.configureTestTasks(test)
jar {
from('src') { into 'backup/src' }
from('vendordeps') { into 'backup/vendordeps' }
from('build.gradle') { into 'backup' }
}
// Configure string concat to always inline compile
tasks.withType(JavaCompile) {
options.compilerArgs.add '-XDstringConcat=inline'
}

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distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists

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#!/bin/sh
#
# Copyright © 2015 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.
#
# SPDX-License-Identifier: Apache-2.0
#
##############################################################################
#
# 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/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/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
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
# 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 "$( uname )" in #(
CYGWIN* ) cygwin=true ;; #(
Darwin* ) darwin=true ;; #(
MSYS* | MINGW* ) msys=true ;; #(
NONSTOP* ) nonstop=true ;;
esac
# Determine the Java command to use to start the JVM.
if [ -n "$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: $JAVA_HOME
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
else
JAVACMD=java
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
ulimit -n "$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 "$APP_HOME" )
JAVACMD=$( 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
# 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"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \
-jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
"$@"
# Stop when "xargs" is not available.
if ! command -v xargs >/dev/null 2>&1
then
die "xargs is not available"
fi
# Use "xargs" to parse quoted args.
#
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
#
# In Bash we could simply go:
#
# readarray ARGS < <( xargs -n1 <<<"$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 "$JAVACMD" "$@"

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@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
@rem SPDX-License-Identifier: Apache-2.0
@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=.
@rem This is normally unused
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% equ 0 goto execute
echo. 1>&2
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
:findJavaFromJavaHome
set JAVA_HOME=%JAVA_HOME:"=%
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
echo. 1>&2
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
:execute
@rem Setup the command line
@rem Execute Gradle
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
:end
@rem End local scope for the variables with windows NT shell
if %ERRORLEVEL% equ 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!
set EXIT_CODE=%ERRORLEVEL%
if %EXIT_CODE% equ 0 set EXIT_CODE=1
if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
exit /b %EXIT_CODE%
:mainEnd
if "%OS%"=="Windows_NT" endlocal
:omega

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import org.gradle.internal.os.OperatingSystem
pluginManagement {
repositories {
String wpilibYear = '2027_alpha7'
File wpilibHome
def os = OperatingSystem.current()
if (os.isWindows()) {
String publicFolder = System.getenv('PUBLIC')
if (publicFolder == null) {
publicFolder = "C:\\Users\\Public"
}
def homeRoot = new File(publicFolder, "wpilib")
wpilibHome = new File(homeRoot, wpilibYear)
} else if (os.isLinux()) {
String xdgDataHome = System.getenv('XDG_DATA_HOME')
if (xdgDataHome == null || xdgDataHome.trim().isEmpty() || !new File(xdgDataHome).isAbsolute()) {
xdgDataHome = new File(System.getProperty("user.home"), ".local/share").getPath()
}
def homeRoot = new File(xdgDataHome, "wpilib")
wpilibHome = new File(homeRoot, wpilibYear)
} else {
def userFolder = System.getProperty("user.home")
def homeRoot = new File(userFolder, ".wpilib")
wpilibHome = new File(homeRoot, wpilibYear)
}
def wpilibHomeMaven = new File(wpilibHome, 'maven')
maven {
name = 'wpilibHome'
url = wpilibHomeMaven
}
mavenLocal()
gradlePluginPortal()
}
}
Properties props = System.getProperties();
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

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Files placed in this directory will be deployed to the Systemcore into the
'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
to get a proper path relative to the deploy directory.

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src/main/java/first/Main.java Normal file
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// 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.
package first;
import org.wpilib.framework.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(first.robot.Robot::new);
}
}

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src/main/java/first/robot/Robot.java Normal file
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// 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.
package first.robot;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.button.CommandGamepad;
import org.wpilib.epilogue.Epilogue;
import org.wpilib.epilogue.Logged;
import org.wpilib.framework.OpModeRobot;
import first.robot.constants.OIConstants;
import first.robot.mechanisms.Drivetrain;
import first.robot.mechanisms.Pusher;
import first.robot.mechanisms.Shooter;
@Logged
public class Robot extends OpModeRobot {
public final Drivetrain drive;
public final Pusher pusher;
public final Shooter shooter;
public final CommandGamepad gamepad;
public Robot() {
drive = new Drivetrain(true);
pusher = new Pusher();
shooter = new Shooter();
gamepad = new CommandGamepad(OIConstants.kDriverUSB);
drive.setDefaultCommand(drive.idle());
pusher.setDefaultCommand(pusher.idle());
shooter.setDefaultCommand(shooter.idle());
}
@Override
public void robotPeriodic() {
Scheduler.getDefault().run();
Epilogue.update(this);
}
}

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src/main/java/first/robot/constants/DrivetrainConstants.java Normal file
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package first.robot.constants;
public class DrivetrainConstants {
public static final int kFrontLeftPWM = 0;
public static final int kRearLeftPWM = 1;
public static final int kFrontRightPWM = 2;
public static final int kRearRightPWM = 3;
public static final double kSlowModeMultiplier = .75;
public static final boolean kInvertForwardBackward = true;
public static final boolean kInvertLeftRight = true;
}

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src/main/java/first/robot/constants/OIConstants.java Normal file
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package first.robot.constants;
public class OIConstants {
public static final int kDriverUSB = 0;
}

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src/main/java/first/robot/constants/PusherConstants.java Normal file
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package first.robot.constants;
import org.wpilib.hardware.bus.SerialPort;
public class PusherConstants {
public static final int kBaudRate = 9600;
public static final SerialPort.Port kPort = SerialPort.Port.USB;
public static final String kStopString = "s0~";
public static final String kSpinString = "s-250~";
}

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src/main/java/first/robot/constants/ShooterConstants.java Normal file
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package first.robot.constants;
import org.wpilib.hardware.bus.CANPort;
public class ShooterConstants {
public static final CANPort kShooterCANPort = CANPort.CAN_S0;
public static final int kFrontShooterCAN = 1;
public static final int kRearShooterCAN = 2;
}

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src/main/java/first/robot/mechanisms/Drivetrain.java Normal file
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package first.robot.mechanisms;
import org.wpilib.command3.Command;
import org.wpilib.command3.Mechanism;
import org.wpilib.command3.button.CommandGamepad;
import org.wpilib.drive.DifferentialDrive;
import org.wpilib.drivers.motor.VictorSP;
import first.robot.constants.DrivetrainConstants;
public class Drivetrain implements Mechanism {
private VictorSP frontLeft;
private VictorSP rearLeft;
private VictorSP frontRight;
private VictorSP rearRight;
private DifferentialDrive drive;
private boolean slowMode;
public Drivetrain(boolean slowModeAtStartup) {
frontLeft = new VictorSP(DrivetrainConstants.kFrontLeftPWM);
rearLeft = new VictorSP(DrivetrainConstants.kRearLeftPWM);
frontRight = new VictorSP(DrivetrainConstants.kFrontRightPWM);
rearRight = new VictorSP(DrivetrainConstants.kRearRightPWM);
frontLeft.addFollower(rearLeft);
frontRight.addFollower(rearRight);
frontRight.setInverted(true);
drive = new DifferentialDrive(frontLeft, frontRight);
slowMode = slowModeAtStartup;
}
public boolean isSlowMode() {
return slowMode;
}
public Command toggleSlowMode() {
return run((coroutine) -> {
slowMode = !slowMode;
})
.named("Drivetrain.ToggleSlowMode");
}
public Command tankDrive(CommandGamepad gamepad) {
return runRepeatedly(() -> {
drive.tankDrive(
(DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1),
(DrivetrainConstants.kInvertLeftRight ? -1 : 1) * gamepad.getRightY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1)
);
})
.named("Drivetrain.TankDrive");
}
public Command arcadeDrive(CommandGamepad gamepad) {
return runRepeatedly(() -> {
drive.arcadeDrive(
(DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1),
(DrivetrainConstants.kInvertLeftRight ? -1 : 1) * gamepad.getLeftX() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1)
);
})
.named("Drivetrain.ArcadeDrive");
}
public Command stop() {
return runRepeatedly(() -> {
drive.tankDrive(0, 0);
})
.named("Drivetrain.Stop");
}
}

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src/main/java/first/robot/mechanisms/Pusher.java Normal file
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package first.robot.mechanisms;
import org.wpilib.command3.Command;
import org.wpilib.command3.Mechanism;
import org.wpilib.hardware.bus.SerialPort;
import first.robot.constants.PusherConstants;
public class Pusher implements Mechanism {
private SerialPort pusher;
public Pusher() {
pusher = new SerialPort(
PusherConstants.kBaudRate,
PusherConstants.kPort
);
pusher.writeString(PusherConstants.kStopString);
pusher.flush();
}
public Command spin() {
return run((coroutine) -> {
pusher.writeString(PusherConstants.kSpinString);
pusher.flush();
})
.named("Pusher.Spin");
}
public Command stop() {
return run((coroutine) -> {
pusher.writeString(PusherConstants.kStopString);
pusher.flush();
})
.named("Pusher.Stop");
}
}

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src/main/java/first/robot/mechanisms/Shooter.java Normal file
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package first.robot.mechanisms;
import java.util.function.DoubleSupplier;
import org.wpilib.command3.Command;
import org.wpilib.command3.Mechanism;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import first.robot.constants.ShooterConstants;
public class Shooter implements Mechanism {
private SparkMax frontShooter;
private SparkMax rearShooter;
public Shooter() {
frontShooter = new SparkMax(
ShooterConstants.kShooterCANPort,
ShooterConstants.kFrontShooterCAN,
MotorType.kBrushless
);
rearShooter = new SparkMax(
ShooterConstants.kShooterCANPort,
ShooterConstants.kRearShooterCAN,
MotorType.kBrushless
);
}
public Command setSpeed(DoubleSupplier speed) {
return runRepeatedly(() -> {
frontShooter.setThrottle(speed.getAsDouble());
rearShooter.setThrottle(speed.getAsDouble());
})
.named("Shooter.SetSpeed");
}
public Command stop() {
return runRepeatedly(() -> {
frontShooter.setThrottle(0);
rearShooter.setThrottle(0);
})
.named("Shooter.Stop");
}
}

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src/main/java/first/robot/opmodes/auto/DoNothingAuto.java Normal file
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package first.robot.opmodes.auto;
import org.wpilib.opmode.Autonomous;
import org.wpilib.opmode.OpMode;
@Autonomous
public class DoNothingAuto implements OpMode{
public DoNothingAuto() {
}
}

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src/main/java/first/robot/opmodes/teleop/DefaultTeleop.java Normal file
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package first.robot.opmodes.teleop;
import org.wpilib.opmode.OpMode;
import org.wpilib.opmode.Teleop;
import first.robot.Robot;
@Teleop
public class DefaultTeleop implements OpMode {
public DefaultTeleop(Robot robot) {
robot.drive.setDefaultCommand(
robot.drive.arcadeDrive(robot.gamepad)
);
robot.gamepad.start().onTrue(
robot.drive.toggleSlowMode()
);
robot.shooter.setDefaultCommand(
robot.shooter.setSpeed(robot.gamepad::getRightTrigger)
);
robot.gamepad.faceDown().onTrue(robot.pusher.spin());
robot.gamepad.faceDown().onFalse(robot.pusher.stop());
}
}

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src/main/java/first/robot/opmodes/teleop/OneHandedTeleop.java Normal file
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package first.robot.opmodes.teleop;
import org.wpilib.opmode.OpMode;
import org.wpilib.opmode.Teleop;
import first.robot.Robot;
@Teleop
public class OneHandedTeleop implements OpMode {
public OneHandedTeleop(Robot robot) {
robot.drive.setDefaultCommand(
robot.drive.arcadeDrive(robot.gamepad)
);
robot.gamepad.start().onTrue(
robot.drive.toggleSlowMode()
);
robot.shooter.setDefaultCommand(
robot.shooter.setSpeed(robot.gamepad::getLeftTrigger)
);
robot.gamepad.leftBumper().onTrue(robot.pusher.spin());
robot.gamepad.leftBumper().onFalse(robot.pusher.stop());
}
}

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vendordeps/CommandsV3.json Normal file
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{
"fileName": "CommandsV3.json",
"name": "Commands v3",
"version": "1.0.0",
"uuid": "4decdc05-a056-46cf-9561-39449bbb0130",
"wpilibYear": "2027_alpha7",
"mavenUrls": [],
"jsonUrl": "",
"conflictsWith": [
{
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
"errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.",
"offlineFileName": "CommandsV2.json"
}
],
"javaDependencies": [
{
"groupId": "org.wpilib",
"artifactId": "commandsv3-java",
"version": "wpilib"
}
],
"jniDependencies": [],
"cppDependencies": []
}

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vendordeps/REVLib.json Normal file
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{
"fileName": "REVLib.json",
"name": "REVLib",
"version": "2027.0.0-alpha-7",
"wpilibYear": "2027_alpha7",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"https://maven.revrobotics.com/"
],
"jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
"version": "2027.0.0-alpha-7"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2027.0.0-alpha-7",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxsystemcore",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2027.0.0-alpha-7",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxsystemcore",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2027.0.0-alpha-7",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxsystemcore",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
"version": "2027.0.0-alpha-7",
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxsystemcore",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2027.0.0-alpha-7",
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxsystemcore",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2027.0.0-alpha-7",
"libName": "BackendDriver",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxsystemcore",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2027.0.0-alpha-7",
"libName": "REVLibWpi",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxsystemcore",
"osxuniversal"
]
}
]
}