commit 615b12a5287c848f6b02a9709c35dfe1ff55f66f
Author: Thad House <thadhouse1@gmail.com>
Date:   Fri Sep 27 11:31:25 2019 -0700

    Initial Commit

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..a332fb2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,160 @@
+# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+### 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
+.classpath
+.project
+.settings/
+bin/
+
+
+# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..cfccbf4
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "files.exclude": {
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true
+  },
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
+}
\ No newline at end of file
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..0c8975e
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+  "enableCppIntellisense": true,
+  "currentLanguage": "cpp",
+  "projectYear": "2019",
+  "teamNumber": 0
+}
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..e69de29
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..c3f4841
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,97 @@
+
+plugins {
+  id 'cpp'
+  id 'java'
+  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.1'
+  id 'edu.wpi.first.NativeUtils' version '2020.1.0'
+  id 'edu.wpi.first.GradleJni' version '0.9.1'
+  id 'edu.wpi.first.GradleVsCode' version '0.9.4'
+}
+
+repositories {
+  mavenCentral()
+}
+if (project.hasProperty('releaseMode')) {
+  wpilibRepositories.addAllReleaseRepositories(project)
+} else {
+  wpilibRepositories.addAllDevelopmentRepositories(project)
+}
+
+// Apply C++ configuration
+apply from: 'config.gradle'
+
+// Apply Java configuration
+dependencies {
+    compile 'edu.wpi.first.cscore:cscore-java:2019.+'
+    compile 'edu.wpi.first.cameraserver:cameraserver-java:2019.+'
+    compile 'edu.wpi.first.ntcore:ntcore-java:2019.+'
+    compile 'edu.wpi.first.wpilibj:wpilibj-java:2019.+'
+    compile 'edu.wpi.first.wpiutil:wpiutil-java:2019.+'
+    compile 'edu.wpi.first.hal:hal-java:2019.+'
+    compile 'edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-1'
+}
+
+// Set up exports properly
+nativeUtils {
+  exportsConfigs {
+    // Main library is just default empty. This will export everything
+    Vendor {
+    }
+  }
+  privateExportsConfigs {
+    // Only export explicit symbols from driver library
+    VendorDriver {
+      exportsFile = project.file("src/main/driver/symbols.txt")
+    }
+  }
+}
+
+model {
+  components {
+    Vendor(NativeLibrarySpec) {
+      sources {
+        cpp {
+          source {
+            srcDirs 'src/main/native/cpp'
+            include '**/*.cpp'
+          }
+          exportedHeaders {
+            srcDirs 'src/main/native/include'
+          }
+        }
+      }
+      binaries.all {
+        lib library: 'VendorDriver', linkage: 'shared'
+      }
+      nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
+    }
+
+    VendorDriver(JniNativeLibrarySpec) {
+      enableCheckTask true
+      javaCompileTasks << compileJava
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+      // Leave these for future proofing
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
+      sources {
+        cpp {
+          source {
+            srcDirs 'src/main/driver/cpp'
+            include '**/*.cpp'
+          }
+          exportedHeaders {
+            srcDirs 'src/main/driver/include'
+          }
+        }
+      }
+
+       nativeUtils.useRequiredLibrary(it, "driver_shared")
+    }
+  }
+}
+
+apply from: 'publish.gradle'
+
+wrapper {
+  gradleVersion '5.4.1'
+}
diff --git a/config.gradle b/config.gradle
new file mode 100644
index 0000000..672cb8f
--- /dev/null
+++ b/config.gradle
@@ -0,0 +1,175 @@
+import org.gradle.internal.os.OperatingSystem
+
+nativeUtils.addWpiNativeUtils()
+nativeUtils.withRoboRIO()
+
+nativeUtils {
+  wpi {
+    configureDependencies {
+      wpiVersion = "2019.+"
+      niLibVersion = "2019.12.2"
+      opencvVersion = "3.4.7-1"
+      googleTestVersion = "1.9.0-3-437e100"
+    }
+  }
+}
+
+nativeUtils.wpi.addWarnings()
+nativeUtils.wpi.addWarningsAsErrors()
+
+nativeUtils.setSinglePrintPerPlatform()
+
+model {
+    components {
+        all {
+            targetPlatform nativeUtils.wpi.platforms.roborio
+        }
+    }
+    // Uncomment this, and remove above lines to enable builds for all platforms
+    // components {
+    //     all {
+    //         nativeUtils.useAllPlatforms(it)
+    //     }
+    // }
+    binaries {
+        withType(NativeBinarySpec).all {
+            nativeUtils.usePlatformArguments(it)
+        }
+    }
+}
+
+ext.appendDebugPathToBinaries = { binaries->
+    binaries.withType(StaticLibraryBinarySpec) {
+        if (it.buildType.name.contains('debug')) {
+            def staticFileDir = it.staticLibraryFile.parentFile
+            def staticFileName = it.staticLibraryFile.name
+            def staticFileExtension = staticFileName.substring(staticFileName.lastIndexOf('.'))
+            staticFileName = staticFileName.substring(0, staticFileName.lastIndexOf('.'))
+            staticFileName = staticFileName + 'd' + staticFileExtension
+            def newStaticFile = new File(staticFileDir, staticFileName)
+            it.staticLibraryFile = newStaticFile
+        }
+    }
+    binaries.withType(SharedLibraryBinarySpec) {
+        if (it.buildType.name.contains('debug')) {
+            def sharedFileDir = it.sharedLibraryFile.parentFile
+            def sharedFileName = it.sharedLibraryFile.name
+            def sharedFileExtension = sharedFileName.substring(sharedFileName.lastIndexOf('.'))
+            sharedFileName = sharedFileName.substring(0, sharedFileName.lastIndexOf('.'))
+            sharedFileName = sharedFileName + 'd' + sharedFileExtension
+            def newSharedFile = new File(sharedFileDir, sharedFileName)
+
+            def sharedLinkFileDir = it.sharedLibraryLinkFile.parentFile
+            def sharedLinkFileName = it.sharedLibraryLinkFile.name
+            def sharedLinkFileExtension = sharedLinkFileName.substring(sharedLinkFileName.lastIndexOf('.'))
+            sharedLinkFileName = sharedLinkFileName.substring(0, sharedLinkFileName.lastIndexOf('.'))
+            sharedLinkFileName = sharedLinkFileName + 'd' + sharedLinkFileExtension
+            def newLinkFile = new File(sharedLinkFileDir, sharedLinkFileName)
+
+            it.sharedLibraryLinkFile = newLinkFile
+            it.sharedLibraryFile = newSharedFile
+        }
+    }
+}
+
+ext.createComponentZipTasks = { components, names, base, type, project, func ->
+    def stringNames = names.collect {it.toString()}
+    def configMap = [:]
+    components.each {
+        if (it in NativeLibrarySpec && stringNames.contains(it.name)) {
+            it.binaries.each {
+                if (!it.buildable) return
+                def target = nativeUtils.getPublishClassifier(it)
+                if (configMap.containsKey(target)) {
+                    configMap.get(target).add(it)
+                } else {
+                    configMap.put(target, [])
+                    configMap.get(target).add(it)
+                }
+            }
+        }
+    }
+    def taskList = []
+    def outputsFolder = file("$project.buildDir/outputs")
+    configMap.each { key, value ->
+        def task = project.tasks.create(base + "-${key}", type) {
+            description = 'Creates component archive for platform ' + key
+            destinationDir = outputsFolder
+            classifier = key
+            baseName = '_M_' + base
+            duplicatesStrategy = 'exclude'
+
+            from(licenseFile) {
+                into '/'
+            }
+
+            func(it, value)
+        }
+        taskList.add(task)
+
+        project.build.dependsOn task
+
+        project.artifacts {
+            task
+        }
+        addTaskToCopyAllOutputs(task)
+    }
+    return taskList
+}
+
+ext.createAllCombined = { list, name, base, type, project ->
+    def outputsFolder = file("$project.buildDir/outputs")
+
+    def task = project.tasks.create(base + "-all", type) {
+        description = "Creates component archive for all classifiers"
+        destinationDir = outputsFolder
+        classifier = "all"
+        baseName = base
+        duplicatesStrategy = 'exclude'
+
+        list.each {
+            if (it.name.endsWith('debug')) return
+            from project.zipTree(it.archivePath)
+            dependsOn it
+        }
+    }
+
+    project.build.dependsOn task
+
+    project.artifacts {
+        task
+    }
+
+    return task
+
+}
+
+ext.includeStandardZipFormat = { task, value ->
+    value.each { binary ->
+        if (binary.buildable) {
+            if (binary instanceof SharedLibraryBinarySpec) {
+                task.dependsOn binary.tasks.link
+                task.from(new File(binary.sharedLibraryFile.absolutePath + ".debug")) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+                def sharedPath = binary.sharedLibraryFile.absolutePath
+                sharedPath = sharedPath.substring(0, sharedPath.length() - 4)
+
+                task.from(new File(sharedPath + '.pdb')) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+                task.from(binary.sharedLibraryFile) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+                task.from(binary.sharedLibraryLinkFile) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+            } else  if (binary instanceof StaticLibraryBinarySpec) {
+                task.dependsOn binary.tasks.createStaticLib
+                task.from(binary.staticLibraryFile) {
+                    into nativeUtils.getPlatformPath(binary) + '/static'
+                }
+            }
+        }
+    }
+}
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..5c2d1cf
Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..f4d7b2b
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.4.1-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100644
index 0000000..b0d6d0a
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,188 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or 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
+#
+#      http://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 UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$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" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..15e1ee3
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,100 @@
+@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      http://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 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 init
+
+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 init
+
+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
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+: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 %CMD_LINE_ARGS%
+
+: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
diff --git a/publish.gradle b/publish.gradle
new file mode 100644
index 0000000..2792553
--- /dev/null
+++ b/publish.gradle
@@ -0,0 +1,203 @@
+apply plugin: 'maven-publish'
+
+ext.licenseFile = files("$rootDir/LICENSE.txt")
+
+def pubVersion = '0.0.1'
+
+def outputsFolder = file("$buildDir/allOutputs")
+
+def versionFile = file("$outputsFolder/version.txt")
+
+task outputVersions() {
+    description = 'Prints the versions of wpilib to a file for use by the downstream packaging project'
+    group = 'Build'
+    outputs.files(versionFile)
+
+    doFirst {
+        buildDir.mkdir()
+        outputsFolder.mkdir()
+    }
+
+    doLast {
+        versionFile.write pubVersion
+    }
+}
+
+task libraryBuild() {}
+
+build.dependsOn outputVersions
+
+task copyAllOutputs(type: Copy) {
+    destinationDir outputsFolder
+}
+
+build.dependsOn copyAllOutputs
+copyAllOutputs.dependsOn outputVersions
+
+ext.addTaskToCopyAllOutputs = { task ->
+    copyAllOutputs.dependsOn task
+    copyAllOutputs.inputs.file task.archivePath
+    copyAllOutputs.from task.archivePath
+}
+
+def artifactGroupId = 'com.vendor.frc'
+def baseArtifactId = 'Vendor'
+def driverZipBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-driver_CLS"
+def zipBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-cpp_CLS"
+def javaBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-java_CLS"
+
+task cppHeadersZip(type: Zip) {
+    destinationDir = outputsFolder
+    baseName = zipBaseName
+    classifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/include') {
+        into '/'
+    }
+}
+
+task cppSourceZip(type: Zip) {
+    destinationDir = outputsFolder
+    baseName = zipBaseName
+    classifier = "source"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/cpp') {
+        into '/'
+    }
+}
+
+task cppDriverHeadersZip(type: Zip) {
+    destinationDir = outputsFolder
+    baseName = driverZipBaseName
+    classifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/driver/include') {
+        into '/'
+    }
+}
+
+build.dependsOn cppHeadersZip
+addTaskToCopyAllOutputs(cppHeadersZip)
+build.dependsOn cppSourceZip
+addTaskToCopyAllOutputs(cppSourceZip)
+build.dependsOn cppDriverHeadersZip
+addTaskToCopyAllOutputs(cppDriverHeadersZip)
+
+task sourcesJar(type: Jar, dependsOn: classes) {
+    classifier = 'sources'
+    from sourceSets.main.allSource
+}
+
+task javadocJar(type: Jar, dependsOn: javadoc) {
+    classifier = 'javadoc'
+    from javadoc.destinationDir
+}
+
+task outputJar(type: Jar, dependsOn: classes) {
+    baseName javaBaseName
+    destinationDir outputsFolder
+    from sourceSets.main.output
+}
+
+task outputSourcesJar(type: Jar, dependsOn: classes) {
+    baseName javaBaseName
+    destinationDir outputsFolder
+    classifier = 'sources'
+    from sourceSets.main.allSource
+}
+
+task outputJavadocJar(type: Jar, dependsOn: javadoc) {
+    baseName javaBaseName
+    destinationDir outputsFolder
+    classifier = 'javadoc'
+    from javadoc.destinationDir
+}
+
+artifacts {
+    archives sourcesJar
+    archives javadocJar
+    archives outputJar
+    archives outputSourcesJar
+    archives outputJavadocJar
+}
+
+addTaskToCopyAllOutputs(outputSourcesJar)
+addTaskToCopyAllOutputs(outputJavadocJar)
+addTaskToCopyAllOutputs(outputJar)
+
+build.dependsOn outputSourcesJar
+build.dependsOn outputJavadocJar
+build.dependsOn outputJar
+
+libraryBuild.dependsOn build
+
+def releasesRepoUrl = "$buildDir/repos/releases"
+
+publishing {
+    repositories {
+        maven {
+
+            url = releasesRepoUrl
+        }
+    }
+}
+
+task cleanReleaseRepo(type: Delete) {
+    delete releasesRepoUrl
+}
+
+tasks.matching {it != cleanReleaseRepo}.all {it.dependsOn cleanReleaseRepo}
+
+model {
+    publishing {
+        def taskList = createComponentZipTasks($.components, ['Vendor'], zipBaseName, Zip, project, includeStandardZipFormat)
+
+        def driverTaskList = createComponentZipTasks($.components, ['Vendor'], driverZipBaseName, Zip, project, includeStandardZipFormat)
+
+        publications {
+            cpp(MavenPublication) {
+                taskList.each {
+                    artifact it
+                }
+                artifact cppHeadersZip
+                artifact cppSourceZip
+
+                artifactId = "${baseArtifactId}-cpp"
+                groupId artifactGroupId
+                version pubVersion
+            }
+            driver(MavenPublication) {
+                driverTaskList.each {
+                    artifact it
+                }
+                artifact cppDriverHeadersZip
+
+                artifactId = "${baseArtifactId}-driver"
+                groupId artifactGroupId
+                version pubVersion
+            }
+
+            java(MavenPublication) {
+                artifact jar
+                artifact sourcesJar
+                artifact javadocJar
+
+                artifactId = "${baseArtifactId}-java"
+                groupId artifactGroupId
+                version pubVersion
+            }
+        }
+    }
+}
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..588dcaf
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,6 @@
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+    }
+}
\ No newline at end of file
diff --git a/src/main/driver/cpp/VendorJNI.cpp b/src/main/driver/cpp/VendorJNI.cpp
new file mode 100644
index 0000000..0a3ce66
--- /dev/null
+++ b/src/main/driver/cpp/VendorJNI.cpp
@@ -0,0 +1,22 @@
+#include "jni.h"
+#include "com_vendor_jni_VendorJNI.h"
+
+JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
+    // Check to ensure the JNI version is valid
+
+    JNIEnv* env;
+    if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+        return JNI_ERR;
+
+    // In here is also where you store things like class references
+    // if they are ever needed
+
+    return JNI_VERSION_1_6;
+}
+
+JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {}
+
+JNIEXPORT jint JNICALL Java_com_vendor_jni_VendorJNI_initialize
+  (JNIEnv *, jclass) {
+  return 0;
+}
diff --git a/src/main/driver/cpp/driversource.cpp b/src/main/driver/cpp/driversource.cpp
new file mode 100644
index 0000000..15716a4
--- /dev/null
+++ b/src/main/driver/cpp/driversource.cpp
@@ -0,0 +1,7 @@
+#include "driverheader.h"
+
+extern "C" {
+void c_doThing() {
+
+}
+}
diff --git a/src/main/driver/include/driverheader.h b/src/main/driver/include/driverheader.h
new file mode 100644
index 0000000..4fc60e1
--- /dev/null
+++ b/src/main/driver/include/driverheader.h
@@ -0,0 +1,5 @@
+#pragma once
+
+extern "C" {
+void c_doThing();
+}
diff --git a/src/main/driver/symbols.txt b/src/main/driver/symbols.txt
new file mode 100644
index 0000000..2f9b641
--- /dev/null
+++ b/src/main/driver/symbols.txt
@@ -0,0 +1,4 @@
+JNI_OnLoad
+JNI_OnUnload
+Java_com_vendor_jni_VendorJNI_initialize
+c_doThing
diff --git a/src/main/java/com/vendor/jni/VendorJNI.java b/src/main/java/com/vendor/jni/VendorJNI.java
new file mode 100644
index 0000000..88d3d5d
--- /dev/null
+++ b/src/main/java/com/vendor/jni/VendorJNI.java
@@ -0,0 +1,51 @@
+package com.vendor.jni;
+
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import edu.wpi.first.wpiutil.RuntimeLoader;
+
+public class VendorJNI {
+  static boolean libraryLoaded = false;
+  static RuntimeLoader<VendorJNI> loader = null;
+
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+  }
+
+  static {
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        loader = new RuntimeLoader<>("Vendor", RuntimeLoader.getDefaultExtractionRoot(), VendorJNI.class);
+        loader.loadLibrary();
+      } catch (IOException ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Force load the library.
+   * @throws java.io.IOException thrown if the native library cannot be found
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    loader = new RuntimeLoader<>("VendorJNI", RuntimeLoader.getDefaultExtractionRoot(), VendorJNI.class);
+    loader.loadLibrary();
+    libraryLoaded = true;
+  }
+
+  public static native int initialize();
+}
diff --git a/src/main/native/cpp/source.cpp b/src/main/native/cpp/source.cpp
new file mode 100644
index 0000000..3990d40
--- /dev/null
+++ b/src/main/native/cpp/source.cpp
@@ -0,0 +1,6 @@
+#include "header.h"
+#include "driverheader.h"
+
+void func() {
+  c_doThing();
+}
diff --git a/src/main/native/include/header.h b/src/main/native/include/header.h
new file mode 100644
index 0000000..e69de29