Added support for Jenkins to generate doxygen.

Change-Id: I2febfe42cc9301446f796376cfe8e1ef6744f19a
2026-06-30 02:31:44 +00:00 · 2014-08-12 15:06:43 -04:00
443 changed files with 6419 additions and 9856 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,82 +1,21 @@
-# WPIlib Specific
-
 wpilibc/build/
 hal/build/
 networktables/cpp/build/
 build/
 networktables/OutlineViewer/nbproject/private
+*~
+target/
 dist/
 bin/
 .project
+.cproject
+.settings/
 .classpath
 **/dependency-reduced-pom.xml

-# Created by the jenkins test script
-test-reports
-
-# Added by the users of vagrant
-jdk-7u45-linux-arm-vfp-sflt.gz
-
-
-
-
-# Created by http://www.gitignore.io
-
-### Linux ###
-*~
-
-# KDE directory preferences
-.directory
-
-
-### Windows ###
-# Windows image file caches
-Thumbs.db
-ehthumbs.db
-
-# Folder config file
-Desktop.ini
-
-# Recycle Bin used on file shares
-$RECYCLE.BIN/
-
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-
-### OSX ###
-.DS_Store
-.AppleDouble
-.LSOverride
-
-# Icon must end with two \r
-Icon
-
-
-# Thumbnails
-._*
-
-# Files that might appear on external disk
-.Spotlight-V100
-.Trashes
-
-# Directories potentially created on remote AFP share
-.AppleDB
-.AppleDesktop
-Network Trash Folder
-Temporary Items
-.apdisk
-
-
-### Java ###
+#Java File extentions
 *.class

-# Mobile Tools for Java (J2ME)
-.mtj.tmp/
-
 # Package Files #
 *.jar
 *.war
@@ -84,90 +23,3 @@ Temporary Items

 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
-
-
-### C++ ###
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Compiled Dynamic libraries
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
-
-### Maven ###
-target/
-pom.xml.tag
-pom.xml.releaseBackup
-pom.xml.versionsBackup
-pom.xml.next
-release.properties
-
-
-### CMake ###
-CMakeCache.txt
-CMakeFiles
-cmake_install.cmake
-install_manifest.txt
-
-
-### Gradle ###
-.gradle
-build/
-
-# Ignore Gradle GUI config
-gradle-app.setting
-
-
-### Vagrant ###
-.vagrant/
-
-
-### Eclipse ###
-*.pydevproject
-.metadata
-.gradle
-bin/
-tmp/
-*.tmp
-*.bak
-*.swp
-*~.nib
-local.properties
-.settings/
-.loadpath
-
-# External tool builders
-.externalToolBuilders/
-
-# Locally stored "Eclipse launch configurations"
-*.launch
-
-# CDT-specific
-.cproject
-
-# PDT-specific
-.buildpath
-
-# sbteclipse plugin 
-.target
-
-# TeXlipse plugin
-.texlipse
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,17 +1,13 @@
 cmake_minimum_required(VERSION 2.8)
 project(All-WPILib)
 set(CMAKE_BUILD_TYPE Debug)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-parameter -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
 SET(CMAKE_SKIP_BUILD_RPATH TRUE)

 file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
-list(REMOVE_ITEM NI_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi_2015.so)
-SET(WPI_LD_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi_2015.so)
 get_filename_component(WPILIB_INCLUDES wpilibc/wpilibC++/include REALPATH)
 get_filename_component(HAL_API_INCLUDES hal/include REALPATH)
 get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH)
-file(GLOB_RECURSE COM_SRC_FILES wpilibc/wpilibC++/src/*.cpp)
-
 add_subdirectory(hal)
 add_subdirectory(networktables/cpp)
 add_subdirectory(wpilibc)
--- a/125
+++ b/125
@@ -1,125 +0,0 @@
-# -*- mode: ruby -*-
-# vi: set ft=ruby :
-
-# Vagrantfile API/syntax version. Don't touch unless you know what you're doing!
-VAGRANTFILE_API_VERSION = "2"
-
-Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
-  # All Vagrant configuration is done here. The most common configuration
-  # options are documented and commented below. For a complete reference,
-  # please see the online documentation at vagrantup.com.
-
-  # Every Vagrant virtual environment requires a box to build off of.
-  config.vm.box = "puphpet/ubuntu1404-x64"
-
-  # Run the bootstrap.sh shell script to setup the enviroment
-  config.vm.provision :shell, path: "bootstrap.sh"
-
-  # Disable automatic box update checking. If you disable this, then
-  # boxes will only be checked for updates when the user runs
-  # `vagrant box outdated`. This is not recommended.
-  # config.vm.box_check_update = false
-
-  # Create a forwarded port mapping which allows access to a specific port
-  # within the machine from a port on the host machine. In the example below,
-  # accessing "localhost:8080" will access port 80 on the guest machine.
-  # config.vm.network "forwarded_port", guest: 80, host: 8080
-
-  # Create a private network, which allows host-only access to the machine
-  # using a specific IP.
-  # config.vm.network "private_network", ip: "192.168.33.10"
-
-  # Create a public network, which generally matched to bridged network.
-  # Bridged networks make the machine appear as another physical device on
-  # your network.
-  config.vm.network "public_network", bridge: 'en0'
-
-  # If true, then any SSH connections made will enable agent forwarding.
-  # Default value: false
-  config.ssh.forward_agent = true
-
-  # Share an additional folder to the guest VM. The first argument is
-  # the path on the host to the actual folder. The second argument is
-  # the path on the guest to mount the folder. And the optional third
-  # argument is a set of non-required options.
-  # config.vm.synced_folder "../data", "/vagrant_data"
-
-  # Provider-specific configuration so you can fine-tune various
-  # backing providers for Vagrant. These expose provider-specific options.
-  # Example for VirtualBox:
-  #
-  # config.vm.provider "virtualbox" do |vb|
-  #   # Don't boot with headless mode
-  #   vb.gui = true
-  #
-  #   # Use VBoxManage to customize the VM. For example to change memory:
-  #   vb.customize ["modifyvm", :id, "--memory", "1024"]
-  # end
-  #
-  # View the documentation for the provider you're using for more
-  # information on available options.
-
-  # Enable provisioning with CFEngine. CFEngine Community packages are
-  # automatically installed. For example, configure the host as a
-  # policy server and optionally a policy file to run:
-  #
-  # config.vm.provision "cfengine" do |cf|
-  #   cf.am_policy_hub = true
-  #   # cf.run_file = "motd.cf"
-  # end
-  #
-  # You can also configure and bootstrap a client to an existing
-  # policy server:
-  #
-  # config.vm.provision "cfengine" do |cf|
-  #   cf.policy_server_address = "10.0.2.15"
-  # end
-
-  # Enable provisioning with Puppet stand alone.  Puppet manifests
-  # are contained in a directory path relative to this Vagrantfile.
-  # You will need to create the manifests directory and a manifest in
-  # the file default.pp in the manifests_path directory.
-  #
-  # config.vm.provision "puppet" do |puppet|
-  #   puppet.manifests_path = "manifests"
-  #   puppet.manifest_file  = "site.pp"
-  # end
-
-  # Enable provisioning with chef solo, specifying a cookbooks path, roles
-  # path, and data_bags path (all relative to this Vagrantfile), and adding
-  # some recipes and/or roles.
-  #
-  # config.vm.provision "chef_solo" do |chef|
-  #   chef.cookbooks_path = "../my-recipes/cookbooks"
-  #   chef.roles_path = "../my-recipes/roles"
-  #   chef.data_bags_path = "../my-recipes/data_bags"
-  #   chef.add_recipe "mysql"
-  #   chef.add_role "web"
-  #
-  #   # You may also specify custom JSON attributes:
-  #   chef.json = { mysql_password: "foo" }
-  # end
-
-  # Enable provisioning with chef server, specifying the chef server URL,
-  # and the path to the validation key (relative to this Vagrantfile).
-  #
-  # The Opscode Platform uses HTTPS. Substitute your organization for
-  # ORGNAME in the URL and validation key.
-  #
-  # If you have your own Chef Server, use the appropriate URL, which may be
-  # HTTP instead of HTTPS depending on your configuration. Also change the
-  # validation key to validation.pem.
-  #
-  # config.vm.provision "chef_client" do |chef|
-  #   chef.chef_server_url = "https://api.opscode.com/organizations/ORGNAME"
-  #   chef.validation_key_path = "ORGNAME-validator.pem"
-  # end
-  #
-  # If you're using the Opscode platform, your validator client is
-  # ORGNAME-validator, replacing ORGNAME with your organization name.
-  #
-  # If you have your own Chef Server, the default validation client name is
-  # chef-validator, unless you changed the configuration.
-  #
-  #   chef.validation_client_name = "ORGNAME-validator"
-end
--- a/arm-toolchain.cmake
+++ b/arm-toolchain.cmake
@@ -1,9 +1,10 @@
 cmake_minimum_required(VERSION 2.8)
 INCLUDE(CMakeForceCompiler)
-set(ARM_PREFIX arm-frc-linux-gnueabi)
+set(ARM_PREFIX arm-none-linux-gnueabi)
 set(CMAKE_SYSTEM_NAME Linux)
 CMAKE_FORCE_CXX_COMPILER(${ARM_PREFIX}-g++ GNU)
 CMAKE_FORCE_C_COMPILER(${ARM_PREFIX}-gcc GNU)
-set(CMAKE_CXX_FLAGS "-std=c++1y -Wformat=2 -Wall -Wextra -Werror -pedantic -Wno-psabi" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "-march=armv7-a -mcpu=cortex-a9 -mfloat-abi=softfp -Wall -Wno-psabi" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g" CACHE STRING "" FORCE) # still want debugging for release?
+SET(CMAKE_FIND_ROOT_PATH $ENV{USER_HOME}/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/arm-none-linux-gnueabi/libc)
--- a/bootstrap.sh
+++ b/bootstrap.sh
@@ -1,28 +0,0 @@
-#!/usr/bin/env bash
-
-# Update the apt-get repository list
-apt --yes --force-yes install software-properties-common
-apt-add-repository --yes ppa:byteit101/frc-toolchain
-apt-get update
-
-
-# Download and install Java
-apt-get --yes --force-yes install default-jre default-jdk maven python-pip python-setuptools g++-arm-frc-linux-gnueabi sshpass libc6-i386
-
-easy_install pip
-yes | pip install git-review
-
-
-# Install the jdk-linux-arm-vfp-sflt
-# Create the target directory for the jdk
-mkdir -p /home/vagrant/jdk-linux-arm-vfp-sflt/
-# Unzip the jdk into this new directory
-tar -xzf /vagrant/jdk-7u45-linux-arm-vfp-sflt.gz -C /home/vagrant/jdk-linux-arm-vfp-sflt/
-
-
-# Keep this at the end of this file
-printf "\n\n"
-printf "Your virtual enviroment is now nearly set-up.\n"
-printf "You can access your enviroment using 'vagrant ssh'.\n"
-printf "Please run 'cd /vagrant' to navigate to the repository.\n"
-printf "Once you have navigated there please run 'git review -s' to complete the setup of git review.\n"
--- a/cmake/run-cpp-tests.sh
+++ b/cmake/run-cpp-tests.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+
+# Temporary method to deploy C++ integration tests to the RoboRIO
+
+if [ $(which sshpass) ]
+then
+	# Send stderr to /dev/null - the only thing printed to it is the login prompt
+	sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram java 2> /dev/null
+	sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin 2> /dev/null
+	sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $* 2> /dev/null
+else
+	ssh admin@10.1.90.2 killall FRCUserProgram
+	scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
+	ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $*
+fi
+
+
+
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/feature.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/feature.xml
@@ -6,12 +6,12 @@
      provider-name="Worcester Polytechnic Institute">

   <copyright>
-      * Copyright (c) 2015 FIRST and WPI
+      * Copyright (c) 2013 FIRST and WPI
 * All rights reserved.
   </copyright>

   <license>
-      * Copyright (c) 2015 FIRST and WPI
+      * Copyright (c) 2013 FIRST and WPI
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/META-INF/MANIFEST.MF
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/META-INF/MANIFEST.MF
@@ -22,8 +22,7 @@ Require-Bundle: org.eclipse.ui,
 org.eclipse.ui.navigator.resources;bundle-version="3.4.400",
 org.eclipse.ui.intro,
 org.eclipse.ui.intro.universal,
- org.eclipse.core.expressions;bundle-version="3.4.400",
- org.eclipse.core.variables
+ org.eclipse.core.expressions;bundle-version="3.4.400"
 Bundle-ActivationPolicy: lazy
 Bundle-RequiredExecutionEnvironment: JavaSE-1.7
 Export-Package: edu.wpi.first.wpilib.plugins.core,
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/plugin.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/plugin.xml
@@ -83,14 +83,5 @@
            content="WPILib Intro/sample.xml">
      </configExtension>
   </extension>
-   <extension
-         point="org.eclipse.core.variables.valueVariables">
-          <variable
-    name="WPILIB"
-    initialValue="${HOME}/wpilib"
-    description="WPILib Path"
-    >
-   </variable>
-   </extension>

 </plugin>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/pom.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
-         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <modelVersion>4.0.0</modelVersion>
  <artifactId>edu.wpi.first.wpilib.plugins.core</artifactId>
  <packaging>eclipse-plugin</packaging>
@@ -11,188 +11,4 @@
    <version>0.1.0.qualifier</version>
    <relativePath>..</relativePath>
  </parent>
-  
-  <properties>
-	<build-number>DEVELOPMENT</build-number>
-	<tools-zip>${project.build.directory}/tools-zip</tools-zip>
-  </properties>
-
-  <repositories>
-    <repository>
-      <id>WPILib Maven Repository</id>
-      <url>http://first.wpi.edu/FRC/roborio/maven/</url>
-    </repository>
-  </repositories>
-
-  <build>
-	<resources>
-	  <resource>
-		<directory>.</directory>
-        <includes>
-          <include>resources/configuration.properties</include>
-        </includes>
-		<filtering>true</filtering>
-      </resource>
-	</resources>
-	<plugins>
-	  <plugin>
-        <artifactId>maven-resources-plugin</artifactId>
-        <version>2.6</version>
-        <executions>
-          <execution>
-            <id>copy-ant-resources-to-tools-zip</id>
-            <phase>generate-sources</phase>
-            <goals>
-              <goal>copy-resources</goal>
-            </goals>
-            <configuration>
-              <outputDirectory>${tools-zip}</outputDirectory>
-              <resources>          
-                <resource>
-                  <directory>src/main/resources/tools-zip</directory>
-                </resource>
-              </resources>              
-            </configuration>            
-          </execution>
-        </executions>
-      </plugin>
-	  <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-dependency-plugin</artifactId>
-        <version>2.8</version>
-        <executions>
-		  
-		  <!-- Fetch the dependencies needed to build the jar.zip file. -->
-          <execution>
-            <id>fetch-jar-zip-dependencies</id>
-            <phase>compile</phase>
-            <goals>
-              <goal>copy</goal>
-            </goals>
-            <configuration>
-              <artifactItems>
-	            <artifactItem>
-	              <groupId>edu.wpi.first.wpilib</groupId>
-	              <artifactId>RobotBuilder</artifactId>
-	              <version>2.0.0-SNAPSHOT</version>
-				  <outputDirectory>${tools-zip}</outputDirectory>
-				  <destFileName>RobotBuilder.jar</destFileName>
-	            </artifactItem>
-	            <artifactItem>
-	              <groupId>edu.wpi.first.wpilib</groupId>
-	              <artifactId>SmartDashboard</artifactId>
-	              <version>1.0.0-SNAPSHOT</version>
-				  <outputDirectory>${tools-zip}</outputDirectory>
-				  <destFileName>SmartDashboard.jar</destFileName>
-	            </artifactItem>
-              </artifactItems>
-                
-              <overWriteReleases>false</overWriteReleases>
-              <overWriteSnapshots>true</overWriteSnapshots>
-            </configuration>
-          </execution>
-        </executions>
-      </plugin>
-	  <plugin>
-	    <groupId>org.apache.maven.plugins</groupId>
-	    <artifactId>maven-antrun-plugin</artifactId>
-	    <version>1.7</version>
-	    <executions>
-		  
-		  <!-- Set time stamp and version properties. -->
-		  <execution>
-		    <id>set-version-info</id>
-		    <goals>
-			  <goal>run</goal>
-		    </goals>
-		    <phase>process-sources</phase>
-		    <configuration>
-			  <target>
-			    <tstamp>
-				  <format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
-			    </tstamp>
-			    <tstamp>
-				  <format property="version-info" pattern="yyyy.MM.dd.HH.mm.ss"/>
-			    </tstamp>
-			    <property name="version" value="${version-info}.${build-number}"/>
-			  </target>
-			  <exportAntProperties>true</exportAntProperties>
-		    </configuration>
-		  </execution>
-
-		  <!-- Generate zip file to unzip for the user. -->
-		  <execution>
-		    <id>generate-jar-zip</id>
-            <phase>compile</phase>
-            <goals>
-              <goal>run</goal>
-            </goals>
-		    <configuration>
-			  <target>
-			    <zip destfile="${project.build.directory}/classes/resources/tools.zip"
-				     basedir="${tools-zip}"
-				     update="true" />
-			  </target>
-		    </configuration>
-		  </execution>
-	    </executions>
-	  </plugin>
-    </plugins>
-    <pluginManagement>
-	  <plugins>
-	    <!--This plugin's configuration is used to store Eclipse m2e settings only. It has no influence on the Maven build itself.-->
-	    <plugin>
-		  <groupId>org.eclipse.m2e</groupId>
-		  <artifactId>lifecycle-mapping</artifactId>
-		  <version>1.0.0</version>
-		  <configuration>
-		    <lifecycleMappingMetadata>
-			  <pluginExecutions>
-			    <pluginExecution>
-				  <pluginExecutionFilter>
-				    <groupId>
-					  org.apache.maven.plugins
-				    </groupId>
-				    <artifactId>
-					  maven-dependency-plugin
-				    </artifactId>
-				    <versionRange>[2.8,)</versionRange>
-				    <goals>
-					  <goal>copy</goal>
-				    </goals>
-				  </pluginExecutionFilter>
-				  <action>
-				    <ignore/>
-				  </action>
-			    </pluginExecution>
-			  </pluginExecutions>
-		    </lifecycleMappingMetadata>
-		  </configuration>
-	    </plugin>
-	  </plugins>
-    </pluginManagement>
-  </build>
-
-  <dependencies>
-    <!-- Add fake dependencies to inform Maven of the correct
-         order it should build projects in during a multi-module build.
-         
-         This list should match the list in the invocation of
-         maven-dependency-plugin:copy above.
-         
-         It may be possible to avoid this duplication by using the 
-         maven-assembly-plugin instead.-->
-    
-    <!-- Library sources for debugging WPILib on the Athena -->
-    <dependency>
-	  <groupId>edu.wpi.first.wpilib</groupId>
-	  <artifactId>RobotBuilder</artifactId>
-	  <version>2.0.0-SNAPSHOT</version>
-    </dependency>
-    <dependency>
-	  <groupId>edu.wpi.first.wpilib</groupId>
-	  <artifactId>SmartDashboard</artifactId>
-	  <version>1.0.0-SNAPSHOT</version>
-    </dependency>
-  </dependencies>
 </project>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/resources/configuration.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/resources/configuration.properties
@@ -1,2 +0,0 @@
-timestamp=${timestamp}
-version=${version}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/resources/tools.zip
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/resources/tools.zip
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java
@@ -105,7 +105,6 @@ public class WPILibCore extends AbstractUIPlugin {

 	public void saveGlobalProperties(Properties props) {
 		try {
-			props.setProperty("version", "current");
 			props.store(new FileOutputStream(new File(WPILibCore.getDefault()
 					.getWPILibBaseDir() + "/wpilib.properties")),
 					"Don't add new properties, they will be deleted by the eclipse plugin.");
@@ -134,17 +133,7 @@ public class WPILibCore extends AbstractUIPlugin {
 	}

 	public String getDefaultVersion() {
-		try {
-			Properties props = new AntPropertiesParser(WPILibCore.class.getResourceAsStream("/resources/configuration.properties")).getProperties();
-			if (props.getProperty("version").startsWith("$")) {
-				return "DEVELOPMENT";
-			} else {
-				return props.getProperty("version");
-			}
-		} catch (CoreException e) {
-            WPILibCore.logError("Error getting properties.", e);
-			return "DEVELOPMENT";
-		}
+		return "2013-test-0.4";
 	}

 	public String getCurrentVersion() {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunOutlineViewerAction.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunOutlineViewerAction.java
@@ -1,7 +1,6 @@
 package edu.wpi.first.wpilib.plugins.core.actions;

 import java.io.File;
-import java.io.FilenameFilter;

 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.debug.core.DebugPlugin;
@@ -34,18 +33,13 @@ public class RunOutlineViewerAction implements IWorkbenchWindowActionDelegate {
 	 * @see IWorkbenchWindowActionDelegate#run
 	 */
 	public void run(IAction action) {
-		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools");
-		File[] files = dir.listFiles(new FilenameFilter() {
-			@Override public boolean accept(File dir, String name) {
-				return name.startsWith("OutlineViewer") && name.endsWith(".jar");
-			}
-		});
-		if (files == null || files.length < 1) return;
-		String[] cmd = {"java", "-jar", files[0].getAbsolutePath()};
+		String jarFile = WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools"+File.separator
+				+WPILibCore.getDefault().getCurrentVersion()+File.separator+"OutlineViewer-with-dependencies.jar";
+		String[] cmd = {"java", "-jar", jarFile};
 		try {
 			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
 		} catch (CoreException e) {
-            WPILibCore.logError("Error running OutlineViewer.", e);
+            WPILibCore.logError("Error running outline viewer.", e);
 		}
 	}

--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunRobotBuilderAction.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunRobotBuilderAction.java
@@ -34,13 +34,14 @@ public class RunRobotBuilderAction implements IWorkbenchWindowActionDelegate {
 	 * @see IWorkbenchWindowActionDelegate#run
 	 */
 	public void run(IAction action) {
-		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools");
+		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools"+File.separator
+				+WPILibCore.getDefault().getCurrentVersion());
 		File[] files = dir.listFiles(new FilenameFilter() {
 			@Override public boolean accept(File dir, String name) {
 				return name.startsWith("RobotBuilder") && name.endsWith(".jar");
 			}
 		});
-		if (files == null || files.length < 1) return;
+		if (files.length < 1) return;
 		String[] cmd = {"java", "-jar", files[0].getAbsolutePath()};
 		try {
 			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunSFXDashboardAction.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunSFXDashboardAction.java
@@ -1,7 +1,6 @@
 package edu.wpi.first.wpilib.plugins.core.actions;

 import java.io.File;
-import java.io.FilenameFilter;

 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.debug.core.DebugPlugin;
@@ -34,18 +33,13 @@ public class RunSFXDashboardAction implements IWorkbenchWindowActionDelegate {
 	 * @see IWorkbenchWindowActionDelegate#run
 	 */
 	public void run(IAction action) {
-		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools");
-		File[] files = dir.listFiles(new FilenameFilter() {
-			@Override public boolean accept(File dir, String name) {
-				return name.startsWith("sfx") && name.endsWith(".jar");
-			}
-		});
-		if (files == null || files.length < 1) return;
-		String[] cmd = {"java", "-jar", files[0].getAbsolutePath()};
+		String jarFile = WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools"+File.separator
+				+WPILibCore.getDefault().getCurrentVersion()+File.separator+"sfx.jar";
+		String[] cmd = {"java", "-jar", jarFile};
 		try {
 			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
 		} catch (CoreException e) {
-            WPILibCore.logError("Error running SFX Dashboard.", e);
+            WPILibCore.logError("Error running SFXDashboard.", e);
 		}
 	}

--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunSmartDashboardAction.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/actions/RunSmartDashboardAction.java
@@ -1,7 +1,6 @@
 package edu.wpi.first.wpilib.plugins.core.actions;

 import java.io.File;
-import java.io.FilenameFilter;

 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.debug.core.DebugPlugin;
@@ -34,14 +33,9 @@ public class RunSmartDashboardAction implements IWorkbenchWindowActionDelegate {
 	 * @see IWorkbenchWindowActionDelegate#run
 	 */
 	public void run(IAction action) {
-		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools");
-		File[] files = dir.listFiles(new FilenameFilter() {
-			@Override public boolean accept(File dir, String name) {
-				return name.startsWith("SmartDashboard") && name.endsWith(".jar");
-			}
-		});
-		if (files == null || files.length < 1) return;
-		String[] cmd = {"java", "-jar", files[0].getAbsolutePath()};
+		String jarFile = WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools"+File.separator
+				+WPILibCore.getDefault().getCurrentVersion()+File.separator+"SmartDashboard.jar";
+		String[] cmd = {"java", "-jar", jarFile};
 		try {
 			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
 		} catch (CoreException e) {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/installer/AbstractInstaller.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/installer/AbstractInstaller.java
@@ -22,12 +22,12 @@ import edu.wpi.first.wpilib.plugins.core.WPILibCore;

 public abstract class AbstractInstaller {
 	protected File installLocation;
-	protected String version, installedVersion;
+	protected String version;

-	public AbstractInstaller(String version, String installedVersion, String path) {
-		this.installLocation = new File(path);
+	public AbstractInstaller(String version) {
+		this.installLocation = new File(WPILibCore.getDefault().getWPILibBaseDir()
+				+ File.separator + getFeatureName() + File.separator + version);
 		this.version = version;
-		this.installedVersion = installedVersion;
 	}

 	/**
@@ -55,7 +55,7 @@ public abstract class AbstractInstaller {
 				WPILibCore.logInfo("Installing "+getFeatureName()+" if necessary");

 				if (!isInstalled()) {
-					WPILibCore.logInfo("Install necessary for " + getFeatureName());
+					WPILibCore.logInfo("Install necessary");
 					try {
 						install();
 					} catch (InstallException e) {
@@ -64,9 +64,9 @@ public abstract class AbstractInstaller {
 								getErrorMessage(e));
 					}
 				}
-				
+
 				updateInstalledVersion(version);
-				WPILibCore.logInfo("Installed" + getFeatureName());
+				WPILibCore.logInfo("Installed");

 				return Status.OK_STATUS;
 			}
@@ -105,7 +105,7 @@ public abstract class AbstractInstaller {
 	 * @return True for is there and newer, false otherwise.
 	 */
 	protected boolean isInstalled() {
-		return installLocation.exists() && !version.contains("DEVELOPMENT") && version.equals(installedVersion);
+		return installLocation.exists(); 
 	}

 	/**
@@ -138,7 +138,7 @@ public abstract class AbstractInstaller {
 					}

 					// Call 'unzip'
-					final String[] cmd = {"unzip" , "-o", tmpFile.getAbsolutePath(), "-d", installLocation.getAbsolutePath()};
+					final String[] cmd = {"unzip", tmpFile.getAbsolutePath(), "-d", installLocation.getAbsolutePath()};
 					WPILibCore.logInfo("unzip "+tmpFile.getAbsolutePath()+" -d "+installLocation.getAbsolutePath());
 					final Process unzipProcess = DebugPlugin.exec(cmd, installLocation);
 					try (final InputStream is = unzipProcess.getInputStream()) {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/installer/ToolsInstaller.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/installer/ToolsInstaller.java
@@ -1,6 +1,8 @@
 package edu.wpi.first.wpilib.plugins.core.installer;

 import java.io.InputStream;
+import java.util.Properties;
+
 import org.eclipse.jface.preference.IPreferenceStore;

 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
@@ -9,7 +11,7 @@ import edu.wpi.first.wpilib.plugins.core.preferences.PreferenceConstants;
 public class ToolsInstaller extends AbstractInstaller {

 	public ToolsInstaller(String version) {
-		super(version, WPILibCore.getDefault().getPreferenceStore().getString(PreferenceConstants.TOOLS_VERSION), WPILibCore.getDefault().getWPILibBaseDir() + "/tools");
+		super(version);
 	}

 	@Override
@@ -20,8 +22,13 @@ public class ToolsInstaller extends AbstractInstaller {
 	@Override
 	protected void updateInstalledVersion(String version) {
 		IPreferenceStore prefs = WPILibCore.getDefault().getPreferenceStore();
-		prefs.setValue(PreferenceConstants.TOOLS_VERSION, version);
-		
+		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLS_VERSION)) {
+			WPILibCore.logInfo("Forcing library version to "+version);
+	    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
+	    	props.setProperty("version", version);
+	    	WPILibCore.getDefault().saveGlobalProperties(props);
+			prefs.setValue(PreferenceConstants.TOOLS_VERSION, version);
+		}
 	}

 	@Override
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/PreferenceInitializer.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/PreferenceInitializer.java
@@ -19,8 +19,7 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 		IPreferenceStore store = WPILibCore.getDefault().getPreferenceStore();
 		store.setDefault(PreferenceConstants.TEAM_NUMBER,
 				WPILibCore.getDefault().getProjectProperties(null).getProperty("team-number", "0"));
-		String val = store.getString(PreferenceConstants.TOOLS_VERSION);
-		if (!store.contains(PreferenceConstants.TOOLS_VERSION) && val != null)
-			store.setValue(PreferenceConstants.TOOLS_VERSION, "none");
+		store.setDefault(PreferenceConstants.TOOLS_VERSION, WPILibCore.getDefault().getDefaultVersion());
+		store.setDefault(PreferenceConstants.UPDATE_TOOLS_VERSION, true);
 	}
 }
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/NewProjectMainPage.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/NewProjectMainPage.java
@@ -35,7 +35,7 @@ public class NewProjectMainPage extends WizardPage {
 	private Text worldText;
 	private Button worldButton;

-	Button iterativeRobot, commandRobot, sampleRobot;
+	Button iterativeRobot, commandRobot;
 	private boolean showPackage;
 	private boolean showProjectTypes;
 	private TeamNumberPage teamNumberPage;
@@ -98,24 +98,17 @@ public class NewProjectMainPage extends WizardPage {
 			groupLayout.numColumns = 1;
 			projectTypeGroup.setLayout(groupLayout);

-			commandRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
-			commandRobot.setText("Command-Based Robot: A robot project that allows robots to be implemented using the command based model to allow complex functionality to be developed from simpler functionality.");
-			gd = new GridData(GridData.FILL_HORIZONTAL);
-			gd.widthHint = 300;
-			commandRobot.setLayoutData(gd);
-			commandRobot.setSelection(true);
-
 			iterativeRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
 			iterativeRobot.setText("Iterative Robot: A robot project that allows robots to be implemented in an iterative manner.");
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
 			iterativeRobot.setLayoutData(gd);

-			sampleRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
-			sampleRobot.setText("Sample Robot: A robot project used for small sample programs or for highly advanced programs with more complete control over program flow");
+			commandRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
+			commandRobot.setText("Command-Based Robot: A robot project that allows robots to be implemented using the command based model to allow complex functionality to be developed from simpler functionality.");
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
-			sampleRobot.setLayoutData(gd);
+			commandRobot.setLayoutData(gd);
 		}

 		label = new Label(container, SWT.NULL);
@@ -221,7 +214,6 @@ public class NewProjectMainPage extends WizardPage {
 	public ProjectType getProjectType() {
 		if (!showProjectTypes) return null;
 		else if (iterativeRobot.getSelection()) return types.get(ProjectType.ITERATIVE);
-		else if (sampleRobot.getSelection()) return types.get(ProjectType.SAMPLE);
 		else return types.get(ProjectType.COMMAND_BASED);
 	}

--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectCreationUtils.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectCreationUtils.java
@@ -21,8 +21,6 @@ import org.eclipse.core.resources.ResourcesPlugin;
 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.core.runtime.IPath;
 import org.eclipse.core.runtime.Path;
-import org.eclipse.jface.dialogs.MessageDialog;
-import org.eclipse.swt.widgets.Display;

 import edu.wpi.first.wpilib.plugins.core.WPILibCore;

@@ -81,14 +79,8 @@ public class ProjectCreationUtils {
 			} catch (CoreException e) {
                WPILibCore.logError("Can't create new project.", e);
 			}
-		}else {
-			Display.getDefault().syncExec(new Runnable() {
-				@Override
-				public void run() {
-					MessageDialog.openError(Display.getDefault().getActiveShell(), "Error", "Error! A project of the same name already exists in the Workspace");
-				}
-			});
 		}
+		
 		return newProject;
 	}

--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectType.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectType.java
@@ -4,7 +4,7 @@ import java.net.URL;
 import java.util.Map;

 public interface ProjectType {
-	String SAMPLE = "SAMPLE";
+	String SIMPLE = "SIMPLE";
 	String ITERATIVE = "ITERATIVE";
 	String COMMAND_BASED = "COMMAND_BASED";
 	
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/TeamNumberPage.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/TeamNumberPage.java
@@ -77,8 +77,8 @@ public class TeamNumberPage extends WizardPage {
 	private void dialogChanged() {
 		String teamNumber = getTeamNumber();
 		if (listener != null) listener.stateChanged(null); 
-		if (!teamNumber.matches("^([1-9][0-9]*)$")) {
-			updateStatus("Team number must be a valid integer without leading zeroes.");
+		if (!teamNumber.matches("^([0-9]+)$")) {
+			updateStatus("Team number must be a valid integer.");
 			return;
 		}
 		updateStatus(null);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/feature.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/feature.xml
@@ -10,12 +10,12 @@
   </description>

   <copyright>
-      * Copyright (c) 2015 FIRST and WPI
+      * Copyright (c) 2013 FIRST and WPI
 * All rights reserved.
   </copyright>

   <license>
-      * Copyright (c) 2015 FIRST and WPI
+      * Copyright (c) 2013 FIRST and WPI
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature/build.properties
@@ -0,0 +1 @@
+bin.includes = feature.xml
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature/feature.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature/feature.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<feature
+      id="edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature"
+      label="Linux Toolchain for Robot C++ Development"
+      version="0.2.0"
+      provider-name="Worcester Polytechnic Institute"
+      os="linux">
+
+   <description>
+      The C++ toolchain to build Athena programs on Linux.
+   </description>
+
+   <copyright>
+      * Copyright (c) 2013 FIRST and WPI
+* All rights reserved.
+   </copyright>
+
+   <license>
+      * Copyright (c) 2013 FIRST and WPI
+* 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 the FIRST nor the
+* names of its 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 CONTRIBUTORS``AS IS&apos;&apos;
+* 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.
+   </license>
+
+   <requires>
+      <import feature="edu.wpi.first.wpilib.plugins.cpp.feature" version="0.1.0.qualifier"/>
+   </requires>
+
+   <plugin
+         id="edu.wpi.first.wpilib.plugins.cpp.toolchains.linux"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
+</feature>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature/pom.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature</artifactId>
+  <version>0.2.0</version>
+  <packaging>eclipse-feature</packaging>
+
+  <parent>
+    <groupId>edu.wpi.first.wpilib.plugins</groupId>
+    <artifactId>edu.wpi.first.wpilib.plugins</artifactId>
+    <version>0.1.0.qualifier</version>
+    <relativePath>..</relativePath>
+  </parent>
+
+</project>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/META-INF/MANIFEST.MF
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/META-INF/MANIFEST.MF
@@ -0,0 +1,12 @@
+Manifest-Version: 1.0
+Bundle-ManifestVersion: 2
+Bundle-Name: Linux
+Bundle-SymbolicName: edu.wpi.first.wpilib.plugins.cpp.toolchains.linux;singleton:=true
+Bundle-Version: 0.2.0
+Bundle-Activator: edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.Activator
+Require-Bundle: org.eclipse.ui,
+ org.eclipse.core.runtime,
+ edu.wpi.first.wpilib.plugins.core;bundle-version="0.1.0",
+ edu.wpi.first.wpilib.plugins.cpp;bundle-version="0.1.0"
+Bundle-ActivationPolicy: lazy
+Bundle-RequiredExecutionEnvironment: JavaSE-1.7
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/README
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/README
@@ -0,0 +1,8 @@
+Making This Plugin Work
+=======================
+
+This plugin needs a very big zip that contains the toolchain. This is
+currently hosted by Jenkins in the "Windows Toolchain Provider"
+project. This can also be created from the download from mentor
+embedded. The file should be resources/toolchain.zip and contains the
+5 main directories.
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/build.properties
@@ -0,0 +1,7 @@
+source.. = src/
+output.. = bin/
+bin.includes = META-INF/,\
+               .,\
+               resources/,\
+               plugin.xml
+src.includes = resources/
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/plugin.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/plugin.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?eclipse version="3.4"?>
+<plugin>
+   <extension
+         point="org.eclipse.ui.startup">
+      <startup
+            class="edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.Activator">
+      </startup>
+   </extension>
+
+</plugin>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/pom.xml
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.linux</artifactId>
+  <version>0.2.0</version>
+  <packaging>eclipse-plugin</packaging>
+
+  <parent>
+    <groupId>edu.wpi.first.wpilib.plugins</groupId>
+    <artifactId>edu.wpi.first.wpilib.plugins</artifactId>
+    <version>0.1.0.qualifier</version>
+    <relativePath>..</relativePath>
+  </parent>
+    
+  <build>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-dependency-plugin</artifactId>
+        <version>2.8</version>
+        <executions>
+          <execution>
+            <id>copy</id>
+            <phase>prepare-package</phase>
+            <goals>
+              <goal>copy</goal>
+            </goals>
+            <configuration>
+              <artifactItems>
+                <artifactItem>
+                  <groupId>edu.wpi.first.wpilib.plugins.cpp.toolchains</groupId>
+                  <artifactId>linux</artifactId>
+                  <version>1.0.0</version>
+                  <type>zip</type>
+                  <destFileName>toolchain.zip</destFileName>
+                </artifactItem>
+              </artifactItems>
+              <overWriteIfNewer>true</overWriteIfNewer>
+              <outputDirectory>${project.build.outputDirectory}/resources</outputDirectory>
+            </configuration>
+          </execution>
+        </executions>
+      </plugin>
+    </plugins>
+  </build>
+</project>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/resources/PLACEHOLDER
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/resources/PLACEHOLDER
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/Activator.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/Activator.java
@@ -0,0 +1,62 @@
+package edu.wpi.first.wpilib.plugins.cpp.toolchains.linux;
+
+import org.eclipse.ui.IStartup;
+import org.eclipse.ui.plugin.AbstractUIPlugin;
+import org.osgi.framework.BundleContext;
+
+import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+
+/**
+ * The activator class controls the plug-in life cycle
+ */
+public class Activator extends AbstractUIPlugin implements IStartup {
+
+	// The plug-in ID
+	public static final String PLUGIN_ID = "edu.wpi.first.wpilib.plugins.cpp.toolchains.windows"; //$NON-NLS-1$
+
+	// The shared instance
+	private static Activator plugin;
+	
+	/**
+	 * The constructor
+	 */
+	public Activator() {
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#start(org.osgi.framework.BundleContext)
+	 */
+	public void start(BundleContext context) throws Exception {
+		super.start(context);
+		plugin = this;
+	}
+
+	private String getCurrentVersion() {
+		return WPILibCPPPlugin.getDefault().getDefaultToolchainVersion();
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#stop(org.osgi.framework.BundleContext)
+	 */
+	public void stop(BundleContext context) throws Exception {
+		plugin = null;
+		super.stop(context);
+	}
+
+	/**
+	 * Returns the shared instance
+	 *
+	 * @return the shared instance
+	 */
+	public static Activator getDefault() {
+		return plugin;
+	}
+
+	@Override
+	public void earlyStartup() {
+		new ToolchainInstaller(getCurrentVersion()).installIfNecessary();
+	}
+
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/ToolchainInstaller.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/ToolchainInstaller.java
@@ -0,0 +1,36 @@
+package edu.wpi.first.wpilib.plugins.cpp.toolchains.linux;
+
+import java.io.InputStream;
+
+import org.eclipse.jface.preference.IPreferenceStore;
+
+import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
+import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
+
+public class ToolchainInstaller extends AbstractInstaller {
+
+	public ToolchainInstaller(String version) {
+		super(version);
+	}
+
+	@Override
+	protected String getFeatureName() {
+		return "toolchains";
+	}
+
+	@Override
+	protected void updateInstalledVersion(String version) {
+		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
+		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION)) {
+			System.out.println("Forcing library version to "+version);
+			prefs.setValue(PreferenceConstants.TOOLCHAIN_VERSION, version);
+		}
+	}
+
+	@Override
+	protected InputStream getInstallResourceStream() {
+		return ToolchainInstaller.class.getResourceAsStream("/resources/toolchain.zip");
+	}
+
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature/build.properties
@@ -0,0 +1 @@
+bin.includes = feature.xml
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature/feature.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature/feature.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<feature
+      id="edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature"
+      label="Mac Toolchain for Robot C++ Development"
+      version="0.2.0"
+      provider-name="Worcester Polytechnic Institute"
+      os="macosx">
+
+   <description>
+      The C++ toolchain to build Athena programs on a Mac.
+   </description>
+
+   <copyright>
+      * Copyright (c) 2013 FIRST and WPI
+* All rights reserved.
+   </copyright>
+
+   <license>
+      * Copyright (c) 2013 FIRST and WPI
+* 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 the FIRST nor the
+* names of its 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 CONTRIBUTORS``AS IS&apos;&apos;
+* 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.
+   </license>
+
+   <requires>
+      <import feature="edu.wpi.first.wpilib.plugins.cpp.feature" version="0.1.0.qualifier"/>
+   </requires>
+
+   <plugin
+         id="edu.wpi.first.wpilib.plugins.cpp.toolchains.mac"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
+</feature>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature/pom.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature</artifactId>
+  <version>0.2.0</version>
+  <packaging>eclipse-feature</packaging>
+
+  <parent>
+    <groupId>edu.wpi.first.wpilib.plugins</groupId>
+    <artifactId>edu.wpi.first.wpilib.plugins</artifactId>
+    <version>0.1.0.qualifier</version>
+    <relativePath>..</relativePath>
+  </parent>
+
+</project>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/META-INF/MANIFEST.MF
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/META-INF/MANIFEST.MF
@@ -0,0 +1,12 @@
+Manifest-Version: 1.0
+Bundle-ManifestVersion: 2
+Bundle-Name: Windows
+Bundle-SymbolicName: edu.wpi.first.wpilib.plugins.cpp.toolchains.mac;singleton:=true
+Bundle-Version: 0.2.0
+Bundle-Activator: edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.Activator
+Require-Bundle: org.eclipse.ui,
+ org.eclipse.core.runtime,
+ edu.wpi.first.wpilib.plugins.core;bundle-version="0.1.0",
+ edu.wpi.first.wpilib.plugins.cpp;bundle-version="0.1.0"
+Bundle-ActivationPolicy: lazy
+Bundle-RequiredExecutionEnvironment: JavaSE-1.7
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/README
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/README
@@ -0,0 +1,8 @@
+Making This Plugin Work
+=======================
+
+This plugin needs a very big zip that contains the toolchain. This is
+currently hosted by Jenkins in the "Windows Toolchain Provider"
+project. This can also be created from the download from mentor
+embedded. The file should be resources/toolchain.zip and contains the
+5 main directories.
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/build.properties
@@ -0,0 +1,7 @@
+source.. = src/
+output.. = bin/
+bin.includes = META-INF/,\
+               .,\
+               resources/,\
+               plugin.xml
+src.includes = resources/
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/plugin.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/plugin.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?eclipse version="3.4"?>
+<plugin>
+   <extension
+         point="org.eclipse.ui.startup">
+      <startup
+            class="edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.Activator">
+      </startup>
+   </extension>
+
+</plugin>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/pom.xml
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.mac</artifactId>
+  <version>0.2.0</version>
+  <packaging>eclipse-plugin</packaging>
+
+  <parent>
+    <groupId>edu.wpi.first.wpilib.plugins</groupId>
+    <artifactId>edu.wpi.first.wpilib.plugins</artifactId>
+    <version>0.1.0.qualifier</version>
+    <relativePath>..</relativePath>
+  </parent>
+  
+  <build>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-dependency-plugin</artifactId>
+        <version>2.8</version>
+        <executions>
+          <execution>
+            <id>copy</id>
+            <phase>prepare-package</phase>
+            <goals>
+              <goal>copy</goal>
+            </goals>
+            <configuration>
+              <artifactItems>
+                <artifactItem>
+                  <groupId>edu.wpi.first.wpilib.plugins.cpp.toolchains</groupId>
+                  <artifactId>mac</artifactId>
+                  <version>1.0.0</version>
+                  <type>zip</type>
+                  <destFileName>toolchain.zip</destFileName>
+                </artifactItem>
+              </artifactItems>
+              <overWriteIfNewer>true</overWriteIfNewer>
+              <outputDirectory>${project.build.outputDirectory}/resources</outputDirectory>
+            </configuration>
+          </execution>
+        </executions>
+      </plugin>
+    </plugins>
+  </build>
+</project>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/resources/PLACEHOLDER
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/resources/PLACEHOLDER
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/mac/Activator.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/mac/Activator.java
@@ -0,0 +1,62 @@
+package edu.wpi.first.wpilib.plugins.cpp.toolchains.mac;
+
+import org.eclipse.ui.IStartup;
+import org.eclipse.ui.plugin.AbstractUIPlugin;
+import org.osgi.framework.BundleContext;
+
+import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+
+/**
+ * The activator class controls the plug-in life cycle
+ */
+public class Activator extends AbstractUIPlugin implements IStartup {
+
+	// The plug-in ID
+	public static final String PLUGIN_ID = "edu.wpi.first.wpilib.plugins.cpp.toolchains.windows"; //$NON-NLS-1$
+
+	// The shared instance
+	private static Activator plugin;
+	
+	/**
+	 * The constructor
+	 */
+	public Activator() {
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#start(org.osgi.framework.BundleContext)
+	 */
+	public void start(BundleContext context) throws Exception {
+		super.start(context);
+		plugin = this;
+	}
+
+	private String getCurrentVersion() {
+		return WPILibCPPPlugin.getDefault().getDefaultToolchainVersion();
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#stop(org.osgi.framework.BundleContext)
+	 */
+	public void stop(BundleContext context) throws Exception {
+		plugin = null;
+		super.stop(context);
+	}
+
+	/**
+	 * Returns the shared instance
+	 *
+	 * @return the shared instance
+	 */
+	public static Activator getDefault() {
+		return plugin;
+	}
+
+	@Override
+	public void earlyStartup() {
+		new ToolchainInstaller(getCurrentVersion()).installIfNecessary();
+	}
+
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/mac/ToolchainInstaller.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/mac/ToolchainInstaller.java
@@ -0,0 +1,36 @@
+package edu.wpi.first.wpilib.plugins.cpp.toolchains.mac;
+
+import java.io.InputStream;
+
+import org.eclipse.jface.preference.IPreferenceStore;
+
+import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
+import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
+
+public class ToolchainInstaller extends AbstractInstaller {
+
+	public ToolchainInstaller(String version) {
+		super(version);
+	}
+
+	@Override
+	protected String getFeatureName() {
+		return "toolchains";
+	}
+
+	@Override
+	protected void updateInstalledVersion(String version) {
+		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
+		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION)) {
+			System.out.println("Forcing library version to "+version);
+			prefs.setValue(PreferenceConstants.TOOLCHAIN_VERSION, version);
+		}
+	}
+
+	@Override
+	protected InputStream getInstallResourceStream() {
+		return ToolchainInstaller.class.getResourceAsStream("/resources/toolchain.zip");
+	}
+
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/build.properties
@@ -0,0 +1 @@
+bin.includes = feature.xml
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/feature.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/feature.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<feature
+      id="edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature"
+      label="Windows Toolchain for Robot C++ Development"
+      version="0.2.0"
+      provider-name="Worcester Polytechnic Institute"
+      os="win32">
+
+   <description>
+      The C++ toolchain to build Athena programs on Windows.
+   </description>
+
+   <copyright>
+      * Copyright (c) 2013 FIRST and WPI
+* All rights reserved.
+   </copyright>
+
+   <license>
+      * Copyright (c) 2013 FIRST and WPI
+* 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 the FIRST nor the
+* names of its 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 CONTRIBUTORS``AS IS&apos;&apos;
+* 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.
+   </license>
+
+   <requires>
+      <import feature="edu.wpi.first.wpilib.plugins.cpp.feature" version="0.1.0.qualifier"/>
+   </requires>
+
+   <plugin
+         id="edu.wpi.first.wpilib.plugins.cpp.toolchains.windows"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
+</feature>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/pom.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature</artifactId>
+  <version>0.2.0</version>
+  <packaging>eclipse-feature</packaging>
+
+  <parent>
+    <groupId>edu.wpi.first.wpilib.plugins</groupId>
+    <artifactId>edu.wpi.first.wpilib.plugins</artifactId>
+    <version>0.1.0.qualifier</version>
+    <relativePath>..</relativePath>
+  </parent>
+
+</project>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/META-INF/MANIFEST.MF
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/META-INF/MANIFEST.MF
@@ -0,0 +1,12 @@
+Manifest-Version: 1.0
+Bundle-ManifestVersion: 2
+Bundle-Name: Windows
+Bundle-SymbolicName: edu.wpi.first.wpilib.plugins.cpp.toolchains.windows;singleton:=true
+Bundle-Version: 0.2.0
+Bundle-Activator: edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.Activator
+Require-Bundle: org.eclipse.ui,
+ org.eclipse.core.runtime,
+ edu.wpi.first.wpilib.plugins.core;bundle-version="0.1.0",
+ edu.wpi.first.wpilib.plugins.cpp;bundle-version="0.1.0"
+Bundle-ActivationPolicy: lazy
+Bundle-RequiredExecutionEnvironment: JavaSE-1.7
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/README
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/README
@@ -0,0 +1,8 @@
+Making This Plugin Work
+=======================
+
+This plugin needs a very big zip that contains the toolchain. This is
+currently hosted by Jenkins in the "Windows Toolchain Provider"
+project. This can also be created from the download from mentor
+embedded. The file should be resources/toolchain.zip and contains the
+5 main directories.
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/build.properties
@@ -0,0 +1,7 @@
+source.. = src/
+output.. = bin/
+bin.includes = META-INF/,\
+               .,\
+               resources/,\
+               plugin.xml
+src.includes = resources/
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/plugin.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/plugin.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?eclipse version="3.4"?>
+<plugin>
+   <extension
+         point="org.eclipse.ui.startup">
+      <startup
+            class="edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.Activator">
+      </startup>
+   </extension>
+
+</plugin>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/pom.xml
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.windows</artifactId>
+  <version>0.2.0</version>
+  <packaging>eclipse-plugin</packaging>
+
+  <parent>
+    <groupId>edu.wpi.first.wpilib.plugins</groupId>
+    <artifactId>edu.wpi.first.wpilib.plugins</artifactId>
+    <version>0.1.0.qualifier</version>
+    <relativePath>..</relativePath>
+  </parent>
+  
+  <build>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-dependency-plugin</artifactId>
+        <version>2.8</version>
+        <executions>
+          <execution>
+            <id>copy</id>
+            <phase>prepare-package</phase>
+            <goals>
+              <goal>copy</goal>
+            </goals>
+            <configuration>
+              <artifactItems>
+                <artifactItem>
+                  <groupId>edu.wpi.first.wpilib.plugins.cpp.toolchains</groupId>
+                  <artifactId>windows</artifactId>
+                  <version>1.0.0</version>
+                  <type>zip</type>
+                  <destFileName>toolchain.zip</destFileName>
+                </artifactItem>
+              </artifactItems>
+              <overWriteIfNewer>true</overWriteIfNewer>
+              <outputDirectory>${project.build.outputDirectory}/resources</outputDirectory>
+            </configuration>
+          </execution>
+        </executions>
+      </plugin>
+    </plugins>
+  </build>
+</project>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/resources/PLACEHOLDER
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/resources/PLACEHOLDER
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/windows/Activator.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/windows/Activator.java
@@ -0,0 +1,62 @@
+package edu.wpi.first.wpilib.plugins.cpp.toolchains.windows;
+
+import org.eclipse.ui.IStartup;
+import org.eclipse.ui.plugin.AbstractUIPlugin;
+import org.osgi.framework.BundleContext;
+
+import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+
+/**
+ * The activator class controls the plug-in life cycle
+ */
+public class Activator extends AbstractUIPlugin implements IStartup {
+
+	// The plug-in ID
+	public static final String PLUGIN_ID = "edu.wpi.first.wpilib.plugins.cpp.toolchains.windows"; //$NON-NLS-1$
+
+	// The shared instance
+	private static Activator plugin;
+	
+	/**
+	 * The constructor
+	 */
+	public Activator() {
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#start(org.osgi.framework.BundleContext)
+	 */
+	public void start(BundleContext context) throws Exception {
+		super.start(context);
+		plugin = this;
+	}
+
+	private String getCurrentVersion() {
+		return WPILibCPPPlugin.getDefault().getDefaultToolchainVersion();
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#stop(org.osgi.framework.BundleContext)
+	 */
+	public void stop(BundleContext context) throws Exception {
+		plugin = null;
+		super.stop(context);
+	}
+
+	/**
+	 * Returns the shared instance
+	 *
+	 * @return the shared instance
+	 */
+	public static Activator getDefault() {
+		return plugin;
+	}
+
+	@Override
+	public void earlyStartup() {
+		new ToolchainInstaller(getCurrentVersion()).installIfNecessary();
+	}
+
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/windows/ToolchainInstaller.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/windows/ToolchainInstaller.java
@@ -0,0 +1,36 @@
+package edu.wpi.first.wpilib.plugins.cpp.toolchains.windows;
+
+import java.io.InputStream;
+
+import org.eclipse.jface.preference.IPreferenceStore;
+
+import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
+import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
+
+public class ToolchainInstaller extends AbstractInstaller {
+
+	public ToolchainInstaller(String version) {
+		super(version);
+	}
+
+	@Override
+	protected String getFeatureName() {
+		return "toolchains";
+	}
+
+	@Override
+	protected void updateInstalledVersion(String version) {
+		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
+		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION)) {
+			System.out.println("Forcing library version to "+version);
+			prefs.setValue(PreferenceConstants.TOOLCHAIN_VERSION, version);
+		}
+	}
+
+	@Override
+	protected InputStream getInstallResourceStream() {
+		return ToolchainInstaller.class.getResourceAsStream("/resources/toolchain.zip");
+	}
+
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/META-INF/MANIFEST.MF
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/META-INF/MANIFEST.MF
@@ -25,8 +25,7 @@ Require-Bundle: org.eclipse.ui,
 org.eclipse.cdt.debug.ui;bundle-version="7.2.0",
 org.eclipse.cdt.launch;bundle-version="7.1.0",
 org.eclipse.cdt.launch.remote;bundle-version="2.4.0",
- org.eclipse.cdt.debug.mi.core;bundle-version="7.2.0",
- org.eclipse.core.variables
+ org.eclipse.cdt.debug.mi.core;bundle-version="7.2.0"
 Bundle-ActivationPolicy: lazy
 Bundle-RequiredExecutionEnvironment: JavaSE-1.7
 Export-Package: edu.wpi.first.wpilib.plugins.cpp,
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml
@@ -173,6 +173,15 @@
         </enablement>
      </commonWizard>
   </extension>
+   <extension
+       point="org.eclipse.ui.preferencePages">
+      <page
+            category="edu.wpi.first.wpilib.plugins.core.preferences.WPILibPreferencePage"
+            class="edu.wpi.first.wpilib.plugins.cpp.preferences.CPPPreferencePage"
+            id="edu.wpi.first.wpilib.plugins.cpp.preferences.CPPPreferencePage"
+            name="C++ Preferences">
+      </page>
+   </extension>
   <extension
         point="org.eclipse.core.runtime.preferences">
      <initializer
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml
@@ -133,7 +133,7 @@
 									<format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
 								</tstamp>
 								<tstamp>
-									<format property="version-info" pattern="yyyy.MM.dd.HH.mm.ss"/>
+									<format property="version-info" pattern="yyyy.MM"/>
 								</tstamp>
 								<property name="version" value="${version-info}.${build-number}"/>
 							</target>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
@@ -1,99 +1,76 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
 	<storageModule moduleId="org.eclipse.cdt.core.settings">
-		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751" moduleId="org.eclipse.cdt.core.settings" name="Debug">
+		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.debug.418253318">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.debug.418253318" moduleId="org.eclipse.cdt.core.settings" name="Debug">
 				<externalSettings/>
 				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="FRCUserProgram" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751" name="Debug" parent="cdt.managedbuild.config.gnu.cross.exe.debug">
-					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751." name="/" resourcePath="">
-						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.debug.379433867" name="Cross GCC" nonInternalBuilderId="cdt.managedbuild.builder.gnu.cross" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.debug">
-							<option id="cdt.managedbuild.option.gnu.cross.prefix.541714056" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" value="arm-frc-linux-gnueabi-" valueType="string"/>
-							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.864368257" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
-							<builder autoBuildTarget="all" buildPath="${workspace_loc:/$project}/Debug" cleanBuildTarget="clean" id="org.eclipse.cdt.build.core.internal.builder.1308552451" incrementalBuildTarget="all" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="CDT Internal Builder" superClass="org.eclipse.cdt.build.core.internal.builder"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.1261239456" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
-								<option defaultValue="gnu.c.optimization.level.none" id="gnu.c.compiler.option.optimization.level.680635682" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
-								<option id="gnu.c.compiler.option.debugging.level.143320011" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.c.debugging.level.max" valueType="enumerated"/>
-								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1793678673" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+				<configuration artifactName="FRCUserProgram" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GCCErrorParser;org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.config.gnu.cross.exe.debug.418253318" name="Debug" parent="cdt.managedbuild.config.gnu.cross.exe.debug" postannouncebuildStep="" postbuildStep="" preannouncebuildStep="" prebuildStep="">
+					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.debug.418253318." name="/" resourcePath="">
+						<toolChain errorParsers="" id="cdt.managedbuild.toolchain.gnu.cross.exe.debug.1222262887" name="Cross GCC" nonInternalBuilderId="cdt.managedbuild.builder.gnu.cross" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.debug">
+							<option id="cdt.managedbuild.option.gnu.cross.prefix.513278893" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" value="arm-none-linux-gnueabi-" valueType="string"/>
+							<option id="cdt.managedbuild.option.gnu.cross.path.1104307" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" value="$toolchain/bin" valueType="string"/>
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.801649698" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
+							<builder autoBuildTarget="all" buildPath="${workspace_loc:/$project}/Debug" cleanBuildTarget="clean" errorParsers="" id="org.eclipse.cdt.build.core.internal.builder.2128327489" incrementalBuildTarget="all" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="CDT Internal Builder" superClass="org.eclipse.cdt.build.core.internal.builder"/>
+							<tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.tool.gnu.cross.c.compiler.432788947" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
+								<option defaultValue="gnu.c.optimization.level.none" id="gnu.c.compiler.option.optimization.level.154663678" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" valueType="enumerated"/>
+								<option id="gnu.c.compiler.option.debugging.level.516596133" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" value="gnu.c.debugging.level.max" valueType="enumerated"/>
+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1224398283" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
 							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.1505235107" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
-								<option id="gnu.cpp.compiler.option.optimization.level.1204256582" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
-								<option id="gnu.cpp.compiler.option.debugging.level.969129918" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
-								<option id="gnu.cpp.compiler.option.include.paths.394786621" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/include&quot;"/>
-								</option>
-								<option id="gnu.cpp.compiler.option.dialect.std.1060340803" name="Language standard" superClass="gnu.cpp.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.cpp.compiler.dialect.c++1y" valueType="enumerated"/>
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.442358515" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
+								<option id="gnu.cpp.compiler.option.optimization.level.549514425" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
+								<option id="gnu.cpp.compiler.option.debugging.level.1682909384" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
+							        <option id="gnu.cpp.compiler.option.include.paths.1597382905" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
+								  <listOptionValue builtIn="false" value="$cpp-location/include"/>
+							        </option>
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.963785380" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.362679811" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1895838080" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
-								<option id="gnu.cpp.link.option.libs.1363675797" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
-									<listOptionValue builtIn="false" value="wpi"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1367166630" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
+							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1568604896" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
+								<option id="gnu.cpp.link.option.paths.1928585110" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
+									<listOptionValue builtIn="false" value="$cpp-location/lib"/>
 								</option>
-								<option id="gnu.cpp.link.option.paths.1566479969" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
-									<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/lib&quot;"/>
+								<option id="gnu.cpp.link.option.libs.1072058280" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="WPILib"/>
+									<listOptionValue builtIn="false" value="WPILibAthena"/>
+									<listOptionValue builtIn="false" value="WPILib"/>
+									<listOptionValue builtIn="false" value="HALAthena"/>
+									<listOptionValue builtIn="false" value="NetworkTables"/>
+									<listOptionValue builtIn="false" value="FRC_NetworkCommunication"/>
+									<listOptionValue builtIn="false" value="i2c"/>
+									<listOptionValue builtIn="false" value="ni_emb"/>
+									<listOptionValue builtIn="false" value="NiFpgaLv"/>
+									<listOptionValue builtIn="false" value="NiFpga"/>
+									<listOptionValue builtIn="false" value="nirio_emb_can"/>
+									<listOptionValue builtIn="false" value="NiRioSrv"/>
+									<listOptionValue builtIn="false" value="ni_rtlog"/>
+									<listOptionValue builtIn="false" value="RoboRIO_FRC_ChipObject"/>
+									<listOptionValue builtIn="false" value="spi"/>
+									<listOptionValue builtIn="false" value="visa"/>
+									<listOptionValue builtIn="false" value="dl"/>
+									<listOptionValue builtIn="false" value="pthread"/>
 								</option>
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.132949138" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+								<option id="gnu.cpp.link.option.flags.1747959472" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath-link,$cpp-location/lib" valueType="string"/>
+								<option id="gnu.cpp.link.option.other.1891020896" name="Other options (-Xlinker [option])" superClass="gnu.cpp.link.option.other" valueType="stringList">
+									<listOptionValue builtIn="false" value="-export-dynamic"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1757265359" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
 								</inputType>
 							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.412234585" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1047448065" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
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-							</tool>
-						</toolChain>
-					</folderInfo>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.300115601">
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-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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-					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.300115601." name="/" resourcePath="">
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-							<builder buildPath="${workspace_loc:/$project}/Release" id="cdt.managedbuild.builder.gnu.cross.1554116591" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" superClass="cdt.managedbuild.builder.gnu.cross"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.985086840" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
-								<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.option.optimization.level.2030238370" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
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-							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.1342658383" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
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-								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1782227077" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
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-							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1397048702" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.linker.716979188" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.126686576" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.886832650" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1915412749" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
-								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.671283127" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.1584536431" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
+							<tool command="as" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GASErrorParser" id="cdt.managedbuild.tool.gnu.cross.assembler.184874228" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
+								<option id="gnu.both.asm.option.include.paths.1131856974" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths"/>
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1900042568" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>
 						</toolChain>
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@@ -104,44 +81,94 @@
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+		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.1534660163">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.1534660163" moduleId="org.eclipse.cdt.core.settings" name="Release">
 				<externalSettings/>
 				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="FRCUserProgram" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325" name="Simulate" parent="cdt.managedbuild.config.gnu.cross.exe.debug">
-					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325." name="/" resourcePath="">
+				<configuration artifactName="FRCUserProgram" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.1534660163" name="Release" parent="cdt.managedbuild.config.gnu.cross.exe.release">
+					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.1534660163." name="/" resourcePath="">
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+							<option id="cdt.managedbuild.option.gnu.cross.prefix.2033173825" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" value="arm-none-linux-gnueabi-" valueType="string"/>
+							<option id="cdt.managedbuild.option.gnu.cross.path.1246856819" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" value="$toolchain/bin" valueType="string"/>
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+							<builder buildPath="${workspace_loc:/$project}/Release" id="cdt.managedbuild.builder.gnu.cross.716436070" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.2003820010" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
+								<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.option.optimization.level.1889430616" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" valueType="enumerated"/>
+								<option id="gnu.c.compiler.option.debugging.level.1571598299" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" value="gnu.c.debugging.level.none" valueType="enumerated"/>
+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1532409549" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.901599840" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
+								<option id="gnu.cpp.compiler.option.optimization.level.366961467" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.most" valueType="enumerated"/>
+								<option id="gnu.cpp.compiler.option.debugging.level.95433592" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.863062221" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
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+							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.970059366" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.linker.476884336" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.749590312" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.1104120173" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1966871489" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.304828125" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
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+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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+        <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.debug.418253318.2017904325">
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+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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+					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.debug.418253318.2017904325." name="/" resourcePath="">
 						<toolChain errorParsers="" id="cdt.managedbuild.toolchain.gnu.base.1184188597" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
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 							<builder buildPath="${workspace_loc:/${ProjName}}/Simulate" errorParsers="org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.CWDLocator" id="cdt.managedbuild.target.gnu.builder.base.840272037" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.158466008" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
-							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.2105416021" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
+							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.tool.gnu.cpp.compiler.base.2105416021" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
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 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
-									<listOptionValue builtIn="false" value="${WPILIB}/cpp/current/sim/include"/>
+									<listOptionValue builtIn="false" value="$cpp-location/sim/include"/>
 									<listOptionValue builtIn="false" value="/usr/include"/>
-									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.1"/>
+									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.0"/>
 									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.0"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.optimization.level.1648211502" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.937474733" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1758810658" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.2039239712" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+							<tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.tool.gnu.c.compiler.base.2039239712" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
 								<option defaultValue="gnu.c.optimization.level.none" id="gnu.c.compiler.option.optimization.level.2100353684" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" valueType="enumerated"/>
 								<option id="gnu.c.compiler.option.debugging.level.1900634657" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" value="gnu.c.debugging.level.max" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1197133064" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.66697269" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
-							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.2094820582" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
+							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cpp.linker.base.2094820582" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
 								<option id="gnu.cpp.link.option.libs.1563598353" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
 									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibSim"/>
@@ -164,40 +191,83 @@
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 							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.assembler.base.2105089872" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+							<tool command="as" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GASErrorParser" id="cdt.managedbuild.tool.gnu.assembler.base.2105089872" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
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 							</tool>
 						</toolChain>
 					</folderInfo>
+					<sourceEntries>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
+					</sourceEntries>
 				</configuration>
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 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
 	</storageModule>
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 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
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+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;" command="arm-none-linux-gnueabi-gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+		</scannerConfigBuildInfo>
+	</storageModule>
 	<storageModule moduleId="refreshScope" versionNumber="2">
-		<configuration configurationName="Debug">
+		<configuration configurationName="Release">
 			<resource resourceType="PROJECT" workspacePath="/$project"/>
 		</configuration>
-		<configuration configurationName="Release">
+		<configuration configurationName="Debug">
 			<resource resourceType="PROJECT" workspacePath="/$project"/>
 		</configuration>
 		<configuration configurationName="Simulate">
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/build.properties
@@ -27,6 +27,3 @@ sim.exe=Simulate/${out}
 wpilib.sim=${wpilib}/sim
 sim.tools=${wpilib.sim}/tools
 sim.lib=${wpilib.sim}/lib
-
-# Use the current C++ library by default
-cpp-version=current
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Command.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Command.h
@@ -2,7 +2,6 @@
 #define $classname_H

 #include "../CommandBase.h"
-#include "WPILib.h"

 class $classname: public CommandBase
 {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.h
@@ -5,7 +5,6 @@
 #include "Commands/Command.h"
 #include "Subsystems/ExampleSubsystem.h"
 #include "OI.h"
-#include "WPILib.h"

 /**
 * The base for all commands. All atomic commands should subclass CommandBase.
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandGroup.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandGroup.h
@@ -2,7 +2,6 @@
 #define $classname_H

 #include "Commands/CommandGroup.h"
-#include "WPILib.h"

 class $classname: public CommandGroup
 {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/ExampleCommand.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/ExampleCommand.h
@@ -2,7 +2,6 @@
 #define EXAMPLE_COMMAND_H

 #include "../CommandBase.h"
-#include "WPILib.h"

 class ExampleCommand: public CommandBase
 {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp
@@ -3,6 +3,9 @@
 #include "SmartDashboard/SmartDashboard.h"
 #include "LiveWindow/LiveWindow.h"

+#@autogenerated_code("pid", "")
+#parse("${exporter-path}PIDSubsystem-pid.cpp")
+#end
 $classname::$classname() :
 		PIDSubsystem("$classname", 1.0, 0.0, 0.0)
 {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp
@@ -15,11 +15,6 @@ private:
 		autonomousCommand = new ExampleCommand();
 		lw = LiveWindow::GetInstance();
 	}
-	
-	void DisabledPeriodic()
-	{
-		Scheduler::GetInstance()->Run();
-	}

 	void AutonomousInit()
 	{
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/RobotMap.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/RobotMap.h
@@ -1,7 +1,6 @@
 #ifndef ROBOTMAP_H
 #define ROBOTMAP_H

-#include "WPILib.h"

 /**
 * The RobotMap is a mapping from the ports sensors and actuators are wired into
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.cpp
@@ -1,12 +1,15 @@
-#include "$classname.h"
+// TODO: convert into C++ template
+#error "This is not a C++ file. I have no idea what this is doing here, so I'm leaving this message here to let someone else clean this up"
+import edu.wpi.first.wpilibj.command.Trigger;

-$classname::$classname()
+/**
+ * New and improved C++
+ */
+public class $classname extends Trigger
 {
-
+public:
+	bool get()
+	{
+		return false;
+	}
 }
-
-bool $classname::Get()
-{
-	return false;
-}
-
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.h
@@ -1,13 +1,9 @@
-#ifndef $classname_H
-#define $classname_H
+// TODO: convert into C++ template
+#error "This is not a C++ file. I have no idea what this is doing here, so I'm leaving this message here to let someone else clean this up"
+import edu.wpi.first.wpilibj.command.Trigger;

-#include "WPILib.h"
-
-class $classname: public Trigger
+public class $classname extends Trigger
 {
 public:
-	$classname();
-	bool Get();
-};
-
-#endif
+	bool get();
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/ArcadeDrive/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/ArcadeDrive/src/Robot.cpp
@@ -1,40 +0,0 @@
-#include "WPILib.h"
-
-/**
- * This is a demo program showing the use of the RobotDrive class.
- * The SampleRobot class is the base of a robot application that will automatically call your
- * Autonomous and OperatorControl methods at the right time as controlled by the switches on
- * the driver station or the field controls.
- *
- * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
- * don't. Unless you know what you are doing, complex code will be much more difficult under
- * this system. Use IterativeRobot or Command-Based instead if you're new.
- */
-class Robot: public SampleRobot
-{
-	RobotDrive myRobot; // robot drive system
-	Joystick stick; // only joystick
-
-public:
-	Robot() :
-			myRobot(0, 1),	// initialize the RobotDrive to use motor controllers on ports 0 and 1
-			stick(0)
-	{
-		myRobot.SetExpiration(0.1);
-	}
-
-	/**
-	 * Runs the motors with arcade steering.
-	 */
-	void OperatorControl()
-	{
-		while (IsOperatorControl())
-		{
-			myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
-			Wait(0.005);				// wait for a motor update time
-		}
-	}
-
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANPDP/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANPDP/src/Robot.cpp
@@ -1,47 +0,0 @@
-#include "WPILib.h"
-
-/**
- * This is a sample program showing how to retrieve information from
- *   the Power Distribution Panel via CAN.
- * The information will be displayed under variables through the SmartDashboard.
- */
-class Robot: public SampleRobot
-{
-
-	// Object for dealing with the Power Distribution Panel (PDP).
-	PowerDistributionPanel m_pdp;
-
-	// Update every 5milliseconds/0.005 seconds.
-	const double kUpdatePeriod = 0.005;
-
-public:
-	Robot() {
-	}
-
-	/**
-	 * Retrieve information from the PDP over CAN and
-	 *   displays it on the SmartDashboard interface.
-	 * SmartDashboard::PutNumber takes a string (for a label) and a double;
-	 * GetCurrent takes a channel number and returns a double for current,
-	 *   in Amperes. Channel numbers are printed on the PDP and range from 0-15.
-	 */
-	void OperatorControl()
-	{
-		while (IsOperatorControl())
-		{
-			// Get the current going through channel 7, in Amperes.
-			// The PDP returns the current in increments of 0.125A.
-			// At low currents the current readings tend to be less accurate. 
-			SmartDashboard::PutNumber("Current Channel 7", m_pdp.GetCurrent(7));
-			// Get the voltage going into the PDP, in Volts.
-			// The PDP returns the voltage in increments of 0.05 Volts.
-			SmartDashboard::PutNumber("Voltage", m_pdp.GetVoltage());
-			// Retrieves the temperature of the PDP, in degrees Celsius.
-			SmartDashboard::PutNumber("Temperature", m_pdp.GetTemperature());
-			Wait(kUpdatePeriod);
-		}
-	}
-
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Encoder/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Encoder/src/Robot.cpp
@@ -1,82 +0,0 @@
-#include "WPILib.h"
-
-/**
- * Sample program displaying the value of a quadrature encoder on the SmartDashboard.
- * Quadrature Encoders are digital sensors which can detect the amount the encoder
- *   has rotated since starting as well as the direction in which the encoder
- *   shaft is rotating. However, encoders can not tell you the absolute
- *   position of the encoder shaft (ie, it considers where it starts to be the
- *   zero position, no matter where it starts), and so can only tell you how
- *   much the encoder has rotated since starting.
- * Depending on the precision of an encoder, it will have fewer or greater
- *   ticks per revolution; the number of ticks per revolution will affect the
- *   conversion between ticks and distance, as specified by DistancePerPulse.
- * One of the most common uses of encoders is in the drivetrain, so that the
- *   distance that the robot drives can be precisely controlled during the
- *   autonomous mode.
- */
-class Robot: public SampleRobot
-{
-	Encoder m_encoder;
-
-	/**
-	 * Time to wait between updating SmartDashboard values.
-	 * It is generally a good idea to stick a short wait in these loops
-	 *   to avoid hogging CPU power, especially as there will be no
-	 *   perceivable difference in the SmartDashboard display.
-	 */
-	const double kUpdatePeriod = 0.005; // 5milliseconds / 0.005 seconds.
-
-public:
-	/**
-	 * The Encoder object is constructed with 4 parameters, the last two being optional.
-	 * The first two parameters (1, 2 in this case) refer to the ports on the
-	 *   roboRIO which the encoder uses. Because a quadrature encoder has
-	 *   two signal wires, the signal from two DIO ports on the roboRIO are used.
-	 * The third (optional) parameter is a boolean which defaults to false.
-	 *   If you set this parameter to true, the direction of the encoder will
-	 *   be reversed, in case it makes more sense mechanically.
-	 * The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X)
-	 *   and defaults to k4X. Faster (k4X) encoding gives greater positional
-	 *   precision but more noise in the rate.
-	 */
-	Robot() : m_encoder(1, 2, false, Encoder::k4X)
-	{
-		// Defines the number of samples to average when determining the rate.
-		// On a quadrature encoder, values range from 1-255; larger values
-		//   result in smoother but potentially less accurate rates than lower values.
-		m_encoder.SetSamplesToAverage(5);
-
-		// Defines how far the mechanism attached to the encoder moves per pulse.
-		// In this case, we assume that a 360 count encoder is directly attached
-		//   to a 3 inch diameter (1.5inch radius) wheel, and that we want to
-		//   measure distance in inches.
-		m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
-
-		// Defines the lowest rate at which the encoder will not be considered
-		//   stopped, for the purposes of the GetStopped() method.
-		// Units are in distance / second, where distance refers to the units
-		//   of distance that you are using, in this case inches.
-		m_encoder.SetMinRate(1.0);
-	}
-
-	/**
-	 * Retrieve various information from the encoder and display it
-	 *   on the SmartDashboard.
-	 */
-	void OperatorControl()
-	{
-		while (IsOperatorControl())
-		{
-			// Retrieve the net displacement of the Encoder since the lsat Reset.
-			SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
-
-			// Retrieve the current rate of the encoder.
-			SmartDashboard::PutNumber("Encoder Rate", m_encoder.GetRate());
-
-			Wait(kUpdatePeriod); // Wait a short bit before updating again.
-		}
-	}
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/OI.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/OI.cpp
@@ -19,7 +19,7 @@ OI::OI() {
 	SmartDashboard::PutData("Open Claw", new OpenClaw());
 	SmartDashboard::PutData("Close Claw", new CloseClaw());

-	joy= new Joystick(0);
+	joy= new Joystick(1);


    // Create some buttons
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp
@@ -26,6 +26,9 @@ DriveTrain::DriveTrain() : Subsystem("DriveTrain") {
 		right_encoder->SetDistancePerPulse((double) (4.0/12.0*M_PI) / 360.0);
 	#endif

+	left_encoder->Start();
+	right_encoder->Start();
+
 	rangefinder = new AnalogInput(6);
 	gyro = new Gyro(1);

--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.h
@@ -1,6 +1,7 @@
 #ifndef DriveTrain_H
 #define DriveTrain_H

+#include "Commands/Subsystem.h"
 #include "WPILib.h"

 /**
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp
@@ -1,59 +0,0 @@
-#include "WPILib.h"
-
-class Robot: public IterativeRobot
-{
-
-	RobotDrive myRobot; // robot drive system
-	Joystick stick; // only joystick
-	LiveWindow *lw;
-	int autoLoopCounter;
-
-public:
-	Robot() :
-		myRobot(0, 1),	// these must be initialized in the same order
-		stick(0),		// as they are declared above.
-		lw(NULL),
-		autoLoopCounter(0)
-	{
-		myRobot.SetExpiration(0.1);
-	}
-
-private:
-	void RobotInit()
-	{
-		lw = LiveWindow::GetInstance();
-	}
-
-	void AutonomousInit()
-	{
-		autoLoopCounter = 0;
-	}
-
-	void AutonomousPeriodic()
-	{
-		if(autoLoopCounter < 100) //Check if we've completed 100 loops (approximately 2 seconds)
-		{
-			myRobot.Drive(-0.5, 0.0); 	// drive forwards half speed
-			autoLoopCounter++;
-			} else {
-			myRobot.Drive(0.0, 0.0); 	// stop robot
-		}
-	}
-
-	void TeleopInit()
-	{
-
-	}
-
-	void TeleopPeriodic()
-	{
-		myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
-	}
-
-	void TestPeriodic()
-	{
-		lw->Run();
-	}
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MecanumDrive/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MecanumDrive/src/Robot.cpp
@@ -1,49 +0,0 @@
-#include "WPILib.h"
-
-/**
- * This is a demo program showing how to use Mecanum control with the RobotDrive class.
- */
-class Robot: public SampleRobot
-{
-
-    // Channels for the wheels
-    const static int frontLeftChannel	= 2;
-    const static int rearLeftChannel	= 3;
-    const static int frontRightChannel	= 1;
-    const static int rearRightChannel	= 0;
-
-    const static int joystickChannel	= 0;
-
-	RobotDrive robotDrive;	// robot drive system
-	Joystick stick;			// only joystick
-
-public:
-	Robot() :
-			robotDrive(frontLeftChannel, rearLeftChannel,
-					   frontRightChannel, rearRightChannel),	// these must be initialized in the same order
-			stick(joystickChannel)								// as they are declared above.
-	{
-		robotDrive.SetExpiration(0.1);
-		robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);	// invert the left side motors
-		robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);	// you may need to change or remove this to match your robot
-	}
-
-	/**
-	 * Runs the motors with Mecanum drive.
-	 */
-	void OperatorControl()
-	{
-		robotDrive.SetSafetyEnabled(false);
-		while (IsOperatorControl())
-		{
-        	// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
-        	// This sample does not use field-oriented drive, so the gyro input is set to zero.
-			robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetZ());
-
-			Wait(0.005); // wait 5ms to avoid hogging CPU cycles
-		}
-	}
-
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MotorControl/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MotorControl/src/Robot.cpp
@@ -1,44 +0,0 @@
-#include "WPILib.h"
-
-/**
- * This sample program shows how to control a motor using a joystick. In the operator
- * control part of the program, the joystick is read and the value is written to the motor.
- *
- * Joystick analog values range from -1 to 1 and speed controller inputs as range from
- * -1 to 1 making it easy to work together. The program also delays a short time in the loop
- * to allow other threads to run. This is generally a good idea, especially since the joystick
- * values are only transmitted from the Driver Station once every 20ms.
- */
-class Robot : public SampleRobot {
-	Joystick m_stick;
-
-	// The motor to control with the Joystick.
-	// This uses a Talon speed controller; use the Victor or Jaguar classes for
-	//   other speed controllers.
-	Talon m_motor;
-
-	// update every 0.005 seconds/5 milliseconds.
-	double kUpdatePeriod = 0.005;
-
-public:
-	Robot() :
-			m_stick(0), // Initialize Joystick on port 0.
-			m_motor(0) // Initialize the Talon on channel 0.
-	{
-	}
-
-	/**
-	 * Runs the motor from the output of a Joystick.
-	 */
-	void OperatorControl() {
-		while (IsOperatorControl()) {
-			// Set the motor controller's output.
-			// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
-			m_motor.Set(m_stick.GetY());
-
-			Wait(kUpdatePeriod); // Wait 5ms for the next update.
-		}
-	}
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MotorControlEncoder/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MotorControlEncoder/src/Robot.cpp
@@ -1,55 +0,0 @@
-#include "WPILib.h"
-
-/**
- * This sample program shows how to control a motor using a joystick. In the operator
- * control part of the program, the joystick is read and the value is written to the motor.
- * An Encoder is then used to read the total distance that the motor has turned and
- *   to display it on the SmartDashboard.
- *
- * Joystick analog values range from -1 to 1 and speed controller inputs as range from
- * -1 to 1 making it easy to work together. The program also delays a short time in the loop
- * to allow other threads to run. This is generally a good idea, especially since the joystick
- * values are only transmitted from the Driver Station once every 20ms.
- */
-class Robot : public SampleRobot {
-	Joystick m_stick;
-
-	// The motor to control with the Joystick.
-	// This uses a Talon speed controller; use the Victor or Jaguar classes for
-	//   other speed controllers.
-	Talon m_motor;
-
-	// update every 0.005 seconds/5 milliseconds.
-	double kUpdatePeriod = 0.005;
-
-	Encoder m_encoder;
-
-public:
-	Robot() :
-			m_stick(0), // Initialize Joystick on port 0.
-			m_motor(2), // Initialize the Talon on channel 0.
-			m_encoder(1, 2) // Iniitialize encoder connected on DIO ports 1 and 2.
-	{
-		// Distance will give total rotations of the motor, assuming a 360 count encoder.
-		m_encoder.SetDistancePerPulse(1.0 / 360.0);
-	}
-
-	/**
-	 * Runs the motor from the output of a Joystick.
-	 * Simultaneously displays encoder values on the SmartDashboard.
-	 */
-	void OperatorControl() {
-		while (IsOperatorControl()) {
-			// Set the motor controller's output.
-			// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
-			m_motor.Set(m_stick.GetY());
-
-			// Display the total displacement of the encoder, in rotations.
-			SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
-
-			Wait(kUpdatePeriod); // Wait 5ms for the next update.
-		}
-	}
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Network
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Network
@@ -0,0 +1,24 @@
+#include <networktables/NetworkTable.h>
+#include <iostream>
+using namespace std;
+
+// This is a simple robot program
+int main()
+{
+	NetworkTable::SetServerMode();
+	NetworkTable::SetTeam(190);
+	NetworkTable* table = NetworkTable::GetTable("SmartDashboard");
+	cout << "Started up" << endl;
+
+	long i = 0;
+	while (true)
+	{
+		cout << i << endl;
+		table->PutNumber("i", i);
+		i++;
+
+		sleep(1);
+	}
+
+	return 0;
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/CheckForHotGoal.h
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/CheckForHotGoal.h
@@ -9,7 +9,7 @@
 * points than get none. When called sequentially, this command will block until
 * the hot goal is detected or until it is timed out.
 */
-class CheckForHotGoal : public Command {
+class CheckForHotGoal : Command {
 public:
 	CheckForHotGoal(double time);
 	void Initialize();
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp
@@ -6,7 +6,6 @@
 #include "Commands/SetPivotSetpoint.h"
 #include "Commands/DriveForward.h"
 #include "Commands/Shoot.h"
-#include "Commands/CheckForHotGoal.h"

 DriveAndShootAutonomous::DriveAndShootAutonomous() {
    AddSequential(new CloseClaw());
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/OI.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/OI.cpp
@@ -10,7 +10,7 @@
 #include "Commands/SetCollectionSpeed.h"

 OI::OI() {
-	joystick = new Joystick(0);
+	joystick = new Joystick(1);

 	R1 = new JoystickButton(joystick, 12);
 	R1->WhenPressed(new LowGoal());
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp
@@ -43,6 +43,8 @@ DriveTrain::DriveTrain() :
 		leftEncoder->SetDistancePerPulse((4.0/*in*/*M_PI)/(360.0*12.0/*in/ft*/));
 	#endif

+	rightEncoder->Start();
+	leftEncoder->Start();
 	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Right Encoder", rightEncoder);
 	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Left Encoder", leftEncoder);

--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Relay/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Relay/src/Robot.cpp
@@ -1,69 +0,0 @@
-#include "WPILib.h"
-
-/**
- * This is a sample program which uses joystick buttons to control a relay.
- * A Relay (generally a spike) has two outputs, each of which can be at either
- *   0V or 12V and so can be used for actions such as turning a motor off,
- *   full forwards, or full reverse, and is generally used on the compressor.
- * This program uses two buttons on a joystick and each button corresponds to
- *   one output; pressing the button sets the output to 12V and releasing sets
- *   it to 0V.
- * During Operator Control, the loop waits for a brief time before continuing
- *   in order to allow other threads to run. This is generally a good idea,
- *   especially as joystick values are only received every 20ms.
- */
-class Robot: public SampleRobot
-{
-	// Joystick with which to control the relay.
-	Joystick m_stick;
-
-	// Relay to use for the
-	Relay m_relay;
-
-	// Numbers of the buttons to be used for controlling the Relay.
-	const int kRelayForwardButton = 1;
-	const int kRelayReverseButton = 2;
-
-	// Update every 5milliseconds/0.005 seconds.
-	const double kUpdatePeriod = 0.005;
-
-public:
-	Robot() :
-			m_stick(0), // Use joystick on port 0.
-			m_relay(0)  // Relay on port 0.
-	{
-	}
-
-	/**
-	 * Control a Relay using Joystick buttons.
-	 */
-	void OperatorControl()
-	{
-		while (IsOperatorControl())
-		{
-			// Retrieve the button values. GetRawButton will return
-			//   true if the button is pressed and false if not.
-			bool forward = m_stick.GetRawButton(kRelayForwardButton);
-			bool reverse = m_stick.GetRawButton(kRelayReverseButton);
-
-			// Depending on the button values, we want to use one of
-			//   kOn, kOff, kForward, or kReverse.
-			// kOn sets both outputs to 12V, kOff sets both to 0V,
-			//   kForward sets forward to 12V and reverse to 0V, and
-			//   kReverse sets reverse to 12V and forward to 0V.
-			if (forward && reverse)
-				m_relay.Set(Relay::kOn);
-			else if (forward)
-				m_relay.Set(Relay::kForward);
-			else if (reverse)
-				m_relay.Set(Relay::kReverse);
-			else
-				m_relay.Set(Relay::kOff);
-
-			// Insert 5ms delay in loop.
-			Wait(kUpdatePeriod);
-		}
-	}
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Simple
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Simple
@@ -0,0 +1,17 @@
+package $package;
+
+/**
+ * Simplest possible robot program
+ * 
+ * @author Team $team-number
+  */
+public class Robot {
+
+    /**
+     * @param args Input....
+     */
+    public static void main(String[] args) {
+    	// Do stuff here!
+    }
+
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Solenoid/src/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Solenoid/src/Robot.cpp
@@ -1,77 +0,0 @@
-#include "WPILib.h"
-
-/**
- * This is a sample program showing the use of the solenoid classes during
- *   operator control.
- * Three buttons from a joystick will be used to control two solenoids:
- *   One button to control the position of a single solenoid and the other
- *   two buttons to control a double solenoid.
- * Single solenoids can either be on or off, such that the air diverted through
- *   them goes through either one channel or the other.
- * Double solenoids have three states: Off, Forward, and Reverse. Forward and
- *   Reverse divert the air through the two channels and correspond to the
- *   on and off of a single solenoid, but a double solenoid can also be "off",
- *   where both channels are diverted to exhaust such that there is no pressure
- *   in either channel.
- * Additionally, double solenoids take up two channels on your PCM whereas
- *   single solenoids only take a single channel.
- * During Operator Control, the loop waits for a brief time before continuing
- *   in order to allow other threads to run. This is generally a good idea,
- *   especially as joystick values are only received every 20ms.
- */
-class Robot: public SampleRobot
-{
-	// Joystick with buttons to control solenoids with.
-	Joystick m_stick;
-	// Solenoids to control with the joystick.
-	// Solenoid corresponds to a single solenoid.
-	Solenoid m_solenoid;
-	// DoubleSolenoid corresponds to a double solenoid.
-	DoubleSolenoid m_doubleSolenoid;
-
-	// Update every 5milliseconds/0.005 seconds.
-	const double kUpdatePeriod = 0.005;
-
-	// Numbers of the buttons to use for triggering the solenoids.
-	const int kSolenoidButton = 1;
-	const int kDoubleSolenoidForward = 2;
-	const int kDoubleSolenoidReverse = 3;
-
-public:
-	Robot() :
-			m_stick(0), // Use joystick on port 0.
-			m_solenoid(0), // Use solenoid on channel 0.
-			// Use double solenoid with Forward Channel of 1 and Reverse of 2.
-			m_doubleSolenoid(1, 2)
-	{
-	}
-
-	/**
-	 * Sets the solenoids from the position of joystick buttons.
-	 */
-	void OperatorControl()
-	{
-		while (IsOperatorControl())
-		{
-			// The output of GetRawButton is true/false depending on whether
-			//   the button is pressed; Set takes a boolean for for whether to
-			//   use the default (false) channel or the other (true).
-			m_solenoid.Set(m_stick.GetRawButton(kSolenoidButton));
-
-			// In order to set the double solenoid, we will say that if neither
-			//   button is pressed, it is off, if just one button is pressed,
-			//   set the solenoid to correspond to that button, and if both
-			//   are pressed, set the solenoid to Forwards.
-			if (m_stick.GetRawButton(kDoubleSolenoidForward))
-				m_doubleSolenoid.Set(DoubleSolenoid::kForward);
-			else if (m_stick.GetRawButton(kDoubleSolenoidReverse))
-				m_doubleSolenoid.Set(DoubleSolenoid::kReverse);
-			else
-				m_doubleSolenoid.Set(DoubleSolenoid::kOff);
-
-			Wait(kUpdatePeriod);				// wait for a motor update time
-		}
-	}
-};
-
-START_ROBOT_CLASS(Robot);
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <examples>
-  <!-- TODO add back in when there are enough samples to justify tags
  <tagDescription>
    <name>Simple Robot</name>
    <description>Examples for simple robot programs.</description>
@@ -11,236 +10,48 @@
    variety of tasks such as sending and receiving values to both
    dashboards and co-processors.</description>
  </tagDescription>
-  <tagDescription>
-    <name>Simulation</name>
-    <description>Examples that can be run in simulation.</description>
-  </tagDescription>-->
-
-  <tagDescription>
-	<name>Getting Started with C++</name>
-	<description>Examples for getting started with FRC C++</description>
-  </tagDescription>
-
  <tagDescription>
    <name>CommandBased Robot</name>
    <description>Examples for CommandBased robot programs.</description>
  </tagDescription>
-
  <tagDescription>
-    <name>Actuators</name>
-    <description>Example programs that demonstrate the use of various actuators</description>
+    <name>Simulation</name>
+    <description>Examples that can be run in simulation.</description>
  </tagDescription>
-
-  <tagDescription>
-    <name>Analog</name>
-    <description>Examples programs that show different uses of analog inputs, 
-      outputs and various analog sensors</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>CAN</name>
-    <description>Example programs that demonstrate the use of the CAN components in the control system</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>Complete List</name>
-    <description>Complete list of all sample programs across all categories</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>Digital</name>
-    <description>Example programs that demonstrate the sensors that use the digital I/O ports</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>I2C</name>
-    <description>Example programs that demonstrate the use of I2C and various sensors that use it</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>Joystick</name>
-    <description>Example programs that demonstate different uses of joysticks for robot driving</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>Pneumatics</name>
-    <description>Example programs that demonstrate the use of the compressor and solenoids</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>Robot and Motor</name>
-    <description>Example programs that demonstrate driving a robot and motors including safety, servos, etc.</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>SPI</name>
-    <description>Example programs that demonstrate the use of the SPI bus and sensors that connect to it</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>Safety</name>
-    <description>Example programs that demonstate the motor safety classes and how to use them with your programs</description>
-  </tagDescription>
-
-  <tagDescription>
-    <name>Sensors</name>
-    <description>Example programs that demonstrate the use of the various commonly used sensors on FRC robots</description>
-  </tagDescription>
-
-<example>
-  <name>Motor Controller</name>
-  <description>Demonstrate controlling a single motor with a Joystick.</description>
-  <tags>
-    <tag>Robot and Motor</tag>
-    <tag>Actuators</tag>
-    <tag>Joystick</tag>
-    <tag>Complete List</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/MotorControl/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-</example>
-
-<example>
-  <name>Motor Control With Encoder</name>
-  <description>Demonstrate controlling a single motor with a Joystick and displaying the net movement of the motor using an encoder.</description>
-  <tags>
-    <tag>Robot and Motor</tag>
-    <tag>Digital</tag>
-    <tag>Sensors</tag>
-    <tag>Actuators</tag>
-    <tag>Joystick</tag>
-    <tag>Complete List</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/MotorControl/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-</example>
-
-<example>
-  <name>Relay</name>
-  <description>Demonstrate controlling a Relay from Joystick buttons.</description>
-  <tags>
-    <tag>Actuators</tag>
-    <tag>Joystick</tag>
-    <tag>Complete List</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/Relay/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-</example>
-
-<example>
-  <name>PDP CAN Monitoring</name>
-  <description>Demonstrate using CAN to monitor the voltage, current, and temperature in the Power Distribution Panel.</description>
-  <tags>
-    <tag>Complete List</tag>
-    <tag>CAN</tag>
-    <tag>Sensors</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/CANPDP/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-</example>
-
-<example>
-  <name>Solenoids</name>
-  <description>Demonstrate controlling a single and double solenoid from Joystick buttons.</description>
-  <tags>
-    <tag>Actuators</tag>
-    <tag>Joystick</tag>
-    <tag>Pneumatics</tag>
-    <tag>Complete List</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/Solenoid/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-</example>
-
-<example>
-  <name>Encoder</name>
-  <description>Demonstrate displaying the value of a quadrature encoder on the SmartDashboard.</description>
-  <tags>
-    <tag>Complete List</tag>
-    <tag>Digital</tag>
-    <tag>Sensors</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/Encoder/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-</example>
-
-<example>
-  <name>Arcade Drive</name>
-  <description>An example program which the use of Arcade Drive with the RobotDrive class</description>
-  <tags>
-    <tag>Getting Started with C++</tag>
-    <tag>Robot and Motor</tag>
-    <tag>Joystick</tag>
-    <tag>Complete List</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/ArcadeDrive/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-  </example>
-
-
-<example>
-  <name>Mecanum Drive</name>
-  <description>An example program which the use of Mecanum Drive with the RobotDrive class</description>
-  <tags>
-    <tag>Getting Started with C++</tag>
-    <tag>Robot and Motor</tag>
-    <tag>Joystick</tag>
-    <tag>Complete List</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/MecanumDrive/src/Robot.cpp" destination="src/Robot.cpp"></file>
-  </files>
-  </example>
-
-
+  
  <example>
-  <name>Getting Started</name>
-  <description>An example program which demonstrates the simplest autonomous and
-  teleoperated routines.</description>
-  <tags>
-    <tag>Getting Started with C++</tag>
-    <tag>Complete List</tag>
-  </tags>
-  <packages>
-    <package>src</package>
-  </packages>
-  <files>
-    <file source="examples/GettingStarted/src/Robot.cpp"
-      destination="src/Robot.cpp"></file>
-  </files>
+    <name>Simple Robot Example</name>
+    <description>The simplest possible program that compiles. This
+    shows the structure of a simple program that does nothing at
+    all.</description>
+    <tags>
+      <tag>Simple Robot</tag>
+    </tags>
+    <packages>
+      <package>src</package>
+    </packages>
+    <files>
+      <file source="examples/Simple Robot Example/Robot.java" destination="src/Robot.cpp" />
+    </files>
  </example>
  
+  <example>
+    <name>Network Table Counter</name>
+    <description>A simple program that increments a network table
+    variable once every second. This shows the structure of a simple
+    program that only uses network tables.</description>
+    <tags>
+      <tag>Simple Robot</tag>
+      <tag>Network Tables</tag>
+    </tags>
+    <packages>
+      <package>src</package>
+    </packages>
+    <files>
+      <file source="examples/Network Table Counter/Robot.cpp" destination="src/Robot.cpp" />
+    </files>
+  </example>
+
  <example>
    <name>GearsBot</name>
    <description>A fully functional example CommandBased program for
@@ -248,7 +59,7 @@
    supports simulation.</description>
    <tags>
      <tag>CommandBased Robot</tag>
-      <tag>Complete List</tag>
+      <tag>Simulation</tag>
    </tags>
    <packages>
      <package>src</package>
@@ -326,14 +137,15 @@
            destination="src/Subsystems/Wrist.h"></file>
    </files>
  </example>
-
+  
  <example>
    <name>PacGoat</name>
    <description>A fully functional example CommandBased program for FRC Team 190&#39;s 2014 robot. This code can run on your computer if it supports simulation.</description>
    <tags>
      <tag>CommandBased Robot</tag>
-      <tag>Complete List</tag>
-   </tags>
+      <tag>Simulation</tag>
+      <tag>2014 Season</tag>
+    </tags>
    <packages>
      <package>src</package>
      <package>src/Commands</package>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/sample/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/sample/Robot.cpp
@@ -17,8 +17,8 @@ class Robot: public SampleRobot

 public:
 	Robot() :
-			myRobot(0, 1),	// these must be initialized in the same order
-			stick(0)		// as they are declared above.
+			myRobot(1, 2),	// these must be initialized in the same order
+			stick(1)		// as they are declared above.
 	{
 		myRobot.SetExpiration(0.1);
 	}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/WPILibCPPPlugin.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/WPILibCPPPlugin.java
@@ -58,6 +58,15 @@ public class WPILibCPPPlugin extends AbstractUIPlugin implements IStartup {
 		return plugin;
 	}

+	public String getDefaultToolchainVersion() {
+		return "arm-none-linux-gnueabi-4.4.1";
+	}
+
+	public String getToolchain() {
+		return WPILibCore.getDefault().getWPILibBaseDir()
+				+ File.separator + "toolchains" + File.separator + getPreferenceStore().getString(PreferenceConstants.TOOLCHAIN_VERSION);
+	}
+	
 	public String getCurrentVersion() {
 		try {
 			Properties props = new AntPropertiesParser(WPILibCPPPlugin.class.getResourceAsStream("/resources/configuration.properties")).getProperties();
@@ -73,7 +82,7 @@ public class WPILibCPPPlugin extends AbstractUIPlugin implements IStartup {

 	public String getCPPDir() {
 		return WPILibCore.getDefault().getWPILibBaseDir()
-				+ File.separator + "cpp" + File.separator + "current";
+				+ File.separator + "cpp" + File.separator + getPreferenceStore().getString(PreferenceConstants.LIBRARY_VERSION);
 	}

 	@Override
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/installer/CPPInstaller.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/installer/CPPInstaller.java
@@ -1,12 +1,11 @@
 package edu.wpi.first.wpilib.plugins.cpp.installer;

 import java.io.InputStream;
+import java.util.Properties;

-import org.eclipse.core.runtime.CoreException;
-import org.eclipse.core.variables.IStringVariableManager;
-import org.eclipse.core.variables.IValueVariable;
-import org.eclipse.core.variables.VariablesPlugin;
+import org.eclipse.jface.preference.IPreferenceStore;

+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
 import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
@@ -20,43 +19,28 @@ import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
 public class CPPInstaller extends AbstractInstaller {

 	public CPPInstaller(String version) {
-		super(version, 
-				WPILibCPPPlugin.getDefault().getPreferenceStore().getString(PreferenceConstants.LIBRARY_INSTALLED), WPILibCPPPlugin.getDefault().getCPPDir());
+		super(version);
 	}
+
+	@Override
+	protected String getFeatureName() {
+		return "cpp";
+	}
+
 	@Override
 	protected void updateInstalledVersion(String version) {
-		WPILibCPPPlugin.getDefault().getPreferenceStore().setValue(PreferenceConstants.LIBRARY_INSTALLED,
-				version);
-		
-		IStringVariableManager vm = VariablesPlugin.getDefault().getStringVariableManager();
-		try
-		{
-			if (System.getProperty("os.name").startsWith("Windows"))
-			{
-				IValueVariable vv = vm.getValueVariable("HOME");
-				if (vv == null)
-					vm.addVariables(new IValueVariable[]{vm.newValueVariable("HOME", "user.home directory", false,System.getProperty("user.home"))});
-				else
-				{
-					if (!System.getProperty("user.home").equals(vm.performStringSubstitution("${HOME}")))
-						vv.setValue(System.getProperty("user.home"));
-				}
-			}
-		} catch (CoreException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-			throw new RuntimeException(e);
+		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
+		if (prefs.getBoolean(PreferenceConstants.UPDATE_LIBRARY_VERSION)) {
+			WPILibCPPPlugin.logInfo("Forcing library version to "+version);
+	    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
+	    	props.setProperty("cpp-version", version);
+	    	WPILibCore.getDefault().saveGlobalProperties(props);
+			prefs.setValue(PreferenceConstants.LIBRARY_VERSION, version);
 		}
 	}
-	
+
 	@Override
 	protected InputStream getInstallResourceStream() {
 		return CPPInstaller.class.getResourceAsStream("/resources/cpp.zip");
 	}
-
-	@Override
-	protected String getFeatureName()
-	{
-		return "cpp";
-	}
 }
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/DeployLaunchShortcut.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/DeployLaunchShortcut.java
@@ -111,16 +111,16 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 			// Debug deploys are done with the Eclipse Remote System Explorer,
 			// which lets it work with Eclipse's C++ debugger.
 			
-			// Kill running program before using RSE as RSE can't
-			WPILibCPPPlugin.logInfo("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
-			WPILibCPPPlugin.logInfo("Targets: kill-program, Mode: " + mode);
-			AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), "kill-program", null, mode);
-			
 			// TODO: figure out UI issues. that's why this is undocumented
 			ILaunchConfigurationWorkingCopy config;
 			try {
 				config = getRemoteDebugConfig(activeProj);
-				DebugUITools.launch(config.doSave(), mode);
+				//config.doSave(); // NOTE: For debugging
+				//org.eclipse.debug.core.DebugPlugin.getDefault().getLaunchManager().addLaunch(config.launch(mode, null));
+				//THIS IS MADDENING! we want to add to the recent history, but I can't seem to find a public api to do so, so lets just launch the config dialog
+				//DebugUITools.openLaunchConfigurationPropertiesDialog(shell, config, "org.eclipse.cdt.launch.launchGroup");
+				//config.launch(mode, new NullProgressMonitor(), false, true);
+				DebugUITools.launch(config, mode);
 			} catch (CoreException e) {
 				WPILibCPPPlugin.logError("Debug attach failed.", e);
 			}
@@ -139,32 +139,21 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 		String remote_connection = RSEUtils.getTarget(teamNumber).getName();
 		
 		ILaunchConfigurationWorkingCopy config = type.newInstance(null, activeProj.getName());
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_COREFILE_PATH, "");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_REGISTER_BOOKKEEPING, false);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_VARIABLE_BOOKKEEPING, false);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "org.eclipse.rse.remotecdt.RemoteGDBDebugger");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_REGISTER_GROUPS, "");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_START_MODE, "remote");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_STOP_AT_MAIN, false);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_USE_TERMINAL, true);
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROJECT_NAME, activeProj.getName());
 		Collection<Executable> exes = ExecutablesManager.getExecutablesManager().getExecutablesForProject(activeProj);
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME,
 				exes.size() > 0 ? exes.toArray(new Executable[0])[0].getPath().makeRelativeTo(activeProj.getLocation()).toString():
 			 "Debug/FRCUserProgram");
-		
-		config.setAttribute("org.eclipse.cdt.dsf.gdb.DEBUG_NAME", "arm-frc-linux-gnueabi-gdb");
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/admin/FRCUserProgram");
+		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUG_NAME, WPILibCPPPlugin.getDefault().getToolchain() + "/bin/arm-none-linux-gnueabi-gdb");
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_CONNECTION, remote_connection);
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_SKIP_DOWNLOAD_TO_TARGET, false);
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_PORT, "2345");
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_COMMAND, "gdbserver");
-		
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "gdbserver");
 		List<String> solibs = new ArrayList<>();
+		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/lib");
+		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/usr/lib");
 		solibs.add(WPILibCPPPlugin.getDefault().getCPPDir() + "/lib");
 		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_SOLIB_PATH, solibs);
-		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_AUTO_SOLIB, true);
-		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_STOP_ON_SOLIB_EVENTS, false);
+		
 		return config;
 	}
 }
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java
@@ -16,10 +16,8 @@ public class RSEUtils {

 	public static IHost getTarget(int teamNumber) {
 		// The ip address based on the team number
-        //String hostName = "10."+(teamNumber/100)+"."+(teamNumber%100)+".2";
-        //String connectionName = hostName; //"Team "+teamNumber;
-		String hostName = "roboRIO-" + teamNumber + ".local";
-		String connectionName = hostName;
+        String hostName = "10."+(teamNumber/100)+"."+(teamNumber%100)+".2";
+        String connectionName = hostName; //"Team "+teamNumber;
   
        // get the singleton RSE registry
        try {
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/CPPPreferencePage.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/CPPPreferencePage.java
@@ -0,0 +1,118 @@
+package edu.wpi.first.wpilib.plugins.cpp.preferences;
+
+import java.io.File;
+import java.io.FileFilter;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+import java.util.Properties;
+
+import org.eclipse.jface.preference.BooleanFieldEditor;
+import org.eclipse.jface.preference.FieldEditorPreferencePage;
+import org.eclipse.ui.IWorkbench;
+import org.eclipse.ui.IWorkbenchPreferencePage;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+import edu.wpi.first.wpilib.plugins.core.preferences.ComboFieldEditor;
+import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+
+/**
+ * This class represents a preference page that
+ * is contributed to the Preferences dialog. By 
+ * subclassing <samp>FieldEditorPreferencePage</samp>, we
+ * can use the field support built into JFace that allows
+ * us to create a page that is small and knows how to 
+ * save, restore and apply itself.
+ * <p>
+ * This page is used to modify preferences only. They
+ * are stored in the preference store that belongs to
+ * the main plug-in class. That way, preferences can
+ * be accessed directly via the preference store.
+ */
+
+public class CPPPreferencePage
+	extends FieldEditorPreferencePage
+	implements IWorkbenchPreferencePage {
+	ComboFieldEditor toolchainVersionEditor;
+	BooleanFieldEditor autoUpdateToolchainEditor;
+	private ComboFieldEditor wpiLibVersionEditor;
+	private BooleanFieldEditor autoUpdateEditor;
+
+	public CPPPreferencePage() {
+		super(GRID);
+		setPreferenceStore(WPILibCPPPlugin.getDefault().getPreferenceStore());
+		setDescription("Change workspace level settings for C++.");
+	}
+	
+	/**
+	 * Creates the field editors. Field editors are abstractions of
+	 * the common GUI blocks needed to manipulate various types
+	 * of preferences. Each field editor knows how to save and
+	 * restore itself.
+	 */
+	public void createFieldEditors() {
+		wpiLibVersionEditor = new ComboFieldEditor(PreferenceConstants.LIBRARY_VERSION,
+				"&Library Version:", getFieldEditorParent(), getInstalledVersions());
+		addField(wpiLibVersionEditor);
+		autoUpdateEditor =	new BooleanFieldEditor(PreferenceConstants.UPDATE_LIBRARY_VERSION,
+				"&Auto Update Library Version", getFieldEditorParent());
+		addField(autoUpdateEditor);
+		toolchainVersionEditor = new ComboFieldEditor(PreferenceConstants.TOOLCHAIN_VERSION,
+				"&Toolchain Version:", getFieldEditorParent(), getInstalledToolchains());
+		addField(toolchainVersionEditor);
+		autoUpdateToolchainEditor =	new BooleanFieldEditor(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION,
+				"&Auto Update Toolchain Version", getFieldEditorParent());
+		addField(autoUpdateToolchainEditor);
+	}
+
+	private List<String> getInstalledVersions() {
+		File[] dirs = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"cpp")
+							.listFiles(new FileFilter() {
+			@Override public boolean accept(File f) {
+				return f.isDirectory();
+			}
+		});
+		List<String> versions = new ArrayList<String>();
+		for (File dir : dirs) {
+			versions.add(dir.getName());
+		}
+		Collections.sort(versions);
+		return versions;
+	}
+	
+	private List<String> getInstalledToolchains() {
+		File[] dirs = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"toolchains")
+							.listFiles(new FileFilter() {
+			@Override public boolean accept(File f) {
+				return f.isDirectory();
+			}
+		});
+		List<String> versions = new ArrayList<String>();
+		for (File dir : dirs) {
+			versions.add(dir.getName());
+		}
+		Collections.sort(versions);
+		return versions;
+	}
+
+	/* (non-Javadoc)
+	 * @see org.eclipse.ui.IWorkbenchPreferencePage#init(org.eclipse.ui.IWorkbench)
+	 */
+	public void init(IWorkbench workbench) {
+		WPILibCPPPlugin.logInfo("Preferences initialized.");
+		Properties props = WPILibCore.getDefault().getProjectProperties(null);
+		getPreferenceStore().setValue(PreferenceConstants.LIBRARY_VERSION,
+				props.getProperty("cpp-version", WPILibCPPPlugin.getDefault().getCurrentVersion()));
+	}
+	
+	@Override public void performApply() {
+		performOk();
+	}
+	
+    @Override public boolean performOk() {
+    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
+    	props.setProperty("cpp-version", wpiLibVersionEditor.getChoice());
+    	WPILibCore.getDefault().saveGlobalProperties(props);
+		return super.performOk();
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/PreferenceConstants.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/PreferenceConstants.java
@@ -4,5 +4,8 @@ package edu.wpi.first.wpilib.plugins.cpp.preferences;
 * Constant definitions for plug-in preferences
 */
 public class PreferenceConstants {
-	public static final String LIBRARY_INSTALLED = "libraryVersion_current";
+	public static final String LIBRARY_VERSION = "libraryVersionPreference";
+	public static final String UPDATE_LIBRARY_VERSION = "udpateLibraryVersionPreference";
+	public static final String TOOLCHAIN_VERSION = "toolchainVersionPreference";
+	public static final String UPDATE_TOOLCHAIN_VERSION = "udpateToolchainVersionPreference";
 }
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/PreferenceInitializer.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/PreferenceInitializer.java
@@ -18,8 +18,11 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 	 */
 	public void initializeDefaultPreferences() {
 		IPreferenceStore store = WPILibCPPPlugin.getDefault().getPreferenceStore();
-		if (!store.contains(PreferenceConstants.LIBRARY_INSTALLED))
-			store.setValue(PreferenceConstants.LIBRARY_INSTALLED,
-					"none");
+		store.setDefault(PreferenceConstants.LIBRARY_VERSION,
+				WPILibCore.getDefault().getProjectProperties(null)
+				.getProperty("cpp-version", WPILibCPPPlugin.getDefault().getCurrentVersion()));
+		store.setDefault(PreferenceConstants.UPDATE_LIBRARY_VERSION, true);
+		store.setDefault(PreferenceConstants.TOOLCHAIN_VERSION, WPILibCPPPlugin.getDefault().getDefaultToolchainVersion());
+		store.setDefault(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION, true);
 	}
 }
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/examples/ExampleCPPWizard.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/examples/ExampleCPPWizard.java
@@ -41,7 +41,7 @@ public class ExampleCPPWizard extends ExampleWizard {
 	protected IWizardPage getDetailsPage() {
 		if (detailsPage != null) return detailsPage;
 		detailsPage = new NewProjectMainPage(selection, getTeamNumberPage());
-		detailsPage.setTitle("Create Example Robot C++ Project");
+		detailsPage.setTitle("Create Example Robot Java Project");
 		detailsPage.setDescription("This wizard creates a new example project based on your selection.");
 		detailsPage.setShowPackage(false);
 		return detailsPage;
--- a/Show More
+++ b/Show More