Added support for Jenkins to generate doxygen.

Change-Id: I2febfe42cc9301446f796376cfe8e1ef6744f19a
2026-06-21 01:01:43 +00:00 · 2014-08-12 15:06:43 -04:00
2645 changed files with 408331 additions and 173681 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,79 +1,21 @@
-# WPIlib Specific
-
-dependency-reduced-pom.xml
-/wpilibj/src/athena/cpp/nivision/*.c
-/wpilibj/src/athena/cpp/nivision/*.cpp
-/wpilibj/src/athena/cpp/nivision/*.s
-/wpilibj/src/athena/cpp/nivision/*_arm.ini
-/wpilibj/src/athena/cpp/nivision/*.java
-/wpilibj/src/athena/cpp/nivision/nivision_funcs.txt
-/wpilibj/src/athena/cpp/nivision/imaqdx_funcs.txt
-doxygen.log
-
-# Created by the jenkins test script
-test-reports
-
-# IntelliJ
-*.iml
-.idea/
-
-# Created by http://www.gitignore.io
-
-### Linux ###
+wpilibc/build/
+hal/build/
+networktables/cpp/build/
+build/
+networktables/OutlineViewer/nbproject/private
 *~
+target/
+dist/
+bin/
+.project
+.cproject
+.settings/
+.classpath
+**/dependency-reduced-pom.xml

-# 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
@@ -81,103 +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
-
-### Python ###
-*.pyc
-__pycache__
-
-# External tool builders
-.externalToolBuilders/
-
-# Locally stored "Eclipse launch configurations"
-*.launch
-
-# CDT-specific
-.cproject
-
-# PDT-specific
-.buildpath
-
-# sbteclipse plugin
-.target
-
-# TeXlipse plugin
-.texlipse
-
-#catkin stuff
-package.xml
-
-# Doxygen stuff
-NO
-
-# Simulation folder stuff
-!simulation/install_resources/*
--- a/Building.md
+++ b/Building.md
@@ -0,0 +1,29 @@
+Building everything requires Maven
+mvn package -DembeddedJDKHome=/home/patrick/Downloads/arm-jdk1.7.0_45/
+TODO... Explain maven....
+TODO.. how to import into eclipse correctly...
+
+Building C++ only
+------------------
+
+C++ requires cmake if not run from maven, and is much faster. 
+Make a new directory and then run:
+```
+mkdir build && cd build
+cmake .. -DCMAKE_TOOLCHAIN_FILE=../arm-toolchain.cmake
+make # multicore add -j(num of cpu cores + 1), so -j3 on dual core for faster compile
+make install DESTDIR=/some/dir/you/want/to/put/all/headers/and/libs #optional
+``
+
+Alternatively, if you like IDEs, you can import it directly into QtDeveloper, or a number of other IDEs such as Code::Blocks or Eclipse. See CMake documentation for details.
+Eclipse demo:
+```
+cd ..
+mkdir build && cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=../allwpilib/arm-toolchain.cmake .. -G "Eclipse CDT4 - Unix Makefiles"
+```
+and then import that directory into eclipse. Eclipse will detect a CDT project and standard tools will work.
+
+GCC versions
+------------
+Update arm-toolchain.cmake if the triplet changes (eg using Ubuntu repo arm compiler is arm-linux-gnueabi) or in a non-standard location. Currently it assumes that the compiler is on the path.
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,39 +1,13 @@
 cmake_minimum_required(VERSION 2.8)
-project(AllC++Sim)
+project(All-WPILib)
+set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
+SET(CMAKE_SKIP_BUILD_RPATH TRUE)

-include(CheckCXXCompilerFlag)
-include (FindPkgConfig)
-include(GNUInstallDirs)
-
-#check for depenedencies
-find_package(gazebo REQUIRED)
-find_package(Boost COMPONENTS system filesystem REQUIRED)
-
-#on windows we produce .dlls with no prefix
-if(WIN32)
-  #allows us to define constexpr and noexcept in macros
-  #since msvc 2013 doesn't support them
-  add_definitions(-D_ALLOW_KEYWORD_MACROS)
-
-  # defines things like M_PI
-  add_definitions(-D_USE_MATH_DEFINES)
-
-  # get rid of min max macros on windows
-  add_definitions(-DNOMINMAX)
-
-  add_definitions(-DWIN32_LEAN_AND_MEAN)
-
-  SET(CMAKE_FIND_LIBRARY_PREFIXES "")
-  SET(CMAKE_FIND_LIBRARY_SUFFIXES ".lib" ".dll")
-endif()
-
-if (MSVC)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFRC_SIMULATOR /MDd /Zi")
-else ()
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -std=c++1y -DFRC_SIMULATOR -Wno-unused-parameter -pthread -fPIC -fpermissive")
-endif()
-
-include_directories("build")
-add_subdirectory(simulation/gz_msgs)
-add_subdirectory(wpilibc/simulation)
-add_subdirectory(simulation/frc_gazebo_plugins)
+file(GLOB_RECURSE NI_LIBS ni-libraries/*.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)
+add_subdirectory(hal)
+add_subdirectory(networktables/cpp)
+add_subdirectory(wpilibc)
--- a/README.md
+++ b/README.md
@@ -1,73 +0,0 @@
-# Building WPILib
-
-Building WPILib is very straightforward. WPILib uses Gradle to compile. It only has a few dependencies on outside tools, including the ARM cross compiler.
-
-## Requirements
- [ARM Compiler Toolchain](http://first.wpi.edu/FRC/roborio/toolchains/)
- Doxygen (Only required if you want to build the C++ documentation)
-
-## Setup
-Clone the WPILib Repo. If the toolchains are not installed, install them, and make sure they are available on the system PATH.
-
-## Building
-All build steps are executed using the Gradle wrapper, `gradlew`. Each target that Gradle can build is referred to as a task. The most common Gradle task to use is `build`. This will build all of the outputs created by WPILib. To run, open a console and cd into the cloned WPILib directory. Then:
-
-```bash
-./gradlew build
-```
-
-To build a specific subproject, such as wpilibc, you must access the subproject and run the build task only on that project. Accessing a subproject in Gradle is quite easy. Simply use `:subproject_name:task_name` with the Gradle wrapper. For example, building just wpilibc:
-
-```bash
-./gradlew :wpilibc:build
-```
-
-If you also want simulation to be build, add -PmakeSim. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of gazebo should work, even on windows if you build from source. Correct means cmake needs to be able to find gazebo-config.cmake, which you get for free with ubuntu installs.
-
-```bash
-./gradlew build -PmakeSim
-```
-
-C++ simulation tasks (including plugins, gz_msgs, and wpilibcSim) all depend on gazebo_transport. In order for this to build you must have installed gazebo. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
-If you prefer to use CMake directly, the you can still do so.
-The common cmake tasks are wpilibcSim, frc_gazebo_plugins, and gz_msgs
-
-```bash
-mkdir build #run this in the root of allwpilib
-cd build
-cmake ..
-make
-```
-
-
-The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change to the HAL and then run `:wpilibc:build`, the HAL will be rebuilt, then wpilibc.
-
-There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
-
-## Publishing
-If you are building to test with the eclipse plugins or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:
-
- development - The default repo.
- beta - Publishes to ~/releases/maven/beta.
- stable - Publishes to ~/releases/maven/stable.
- release - Publishes to ~/releases/maven/release.
-
-The following maven targets a published by this task:
-
- edu.wpi.first.wpilib.cmake:cpp-root:1.0.0 - RoboRIO C++
- edu.wpi.first.wpilibc.simulation:WPILibCSim:0.1.0 - Simulation C++
- edu.wpi.first.wpilibj:wpilibJavaFinal:0.1.0-SNAPSHOT - RoboRIO Java
- edu.wpi.first.wpilibj:wpilibJavaSim:0.1.0-SNAPSHOT - Simulation Java
- edu.wpi.first.wpilibj.simulation:SimDS:0.1.0-SNAPSHOT - The driverstation for controlling simulation.
- org.gazebosim:JavaGazebo:0.1.0-SNAPSHOT - Gazebo protocol for Java.
-
-## Structure and Organization
-The main wpilib code you're probably looking for is in wpilibj and wpilibc. Those directories are split into shared, sim, and athena. Athena contains the wpilib code meant to run on your RoboRIO. Sim is wpilib code meant to run on your computer with gazebo, and shared is code shared between the two. Shared code must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, msvc, etc...).
-
-The Simulation directory contains extra simulation tools and libraries, such as gz_msgs and JavaGazebo. See sub-directories for more information.
-
-The integration test directories for C++ and Java contain test code that runs on our test-system. When you submit code for review, it is tested by those programs. If you add new functionality you should make sure to write tests for it so we don't break it in the future.
-
-The hal directory contains more C++ code meant to run on the RoboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the ni-libraries folder.
-
-The styleguide directory contains the styleguide for C++ and Java code. Anything submitted to the wpilib project needs to follow the code style guides outlined in there.
--- 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 $ENV{USER_HOME}/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/arm-none-linux-gnueabi/libc)
--- a/build.gradle
+++ b/build.gradle
@@ -1,47 +0,0 @@
-def enableSimulation = hasProperty('enableSimulation')
-
-if (!hasProperty('repo')) {
-    ext.repo = 'development'
-}
-
-def repoBaseUrl = "http://first.wpi.edu/FRC/roborio/maven/${repo}"
-def publishUrl = "${System.getProperty('user.home')}/releases/maven/${repo}"
-
-ext.simulationInstallDir = "$rootDir/build/install/simulation"
-
-allprojects {
-    ext.enableSimulation = enableSimulation
-    ext.repo = repo
-
-    repositories {
-        mavenCentral()
-        maven {
-            url publishUrl
-        }
-        maven {
-            url repoBaseUrl
-        }
-    }
-}
-
-subprojects {
-    apply plugin: 'eclipse'
-    apply plugin: 'idea'
-
-    ext.armBuild = true
-
-    // Disables doclint in java 8.
-    if (JavaVersion.current().isJava8Compatible()) {
-        tasks.withType(Javadoc) {
-            options.addStringOption('Xdoclint:none', '-quiet')
-        }
-    }
-
-    ext.setupWpilibRepo = { publishing ->
-        publishing.repositories.maven {
-            url = "${System.getProperty('user.home')}/releases/maven/${repo}"
-        }
-    }
-}
-
-apply from: 'cppSettings.gradle'
--- a/wpilibj/src/athena/cpp/.gitignore
+++ b/wpilibj/src/athena/cpp/.gitignore
--- a/cmake/pom.xml
+++ b/cmake/pom.xml
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+	<modelVersion>4.0.0</modelVersion>
+	<groupId>edu.wpi.first.wpilib.cmake</groupId>
+	<artifactId>cpp-root</artifactId>
+	<version>1.0.0</version>
+	<packaging>pom</packaging>
+	<profiles>
+		<profile>
+			<id>unix-properties</id>
+			<properties>
+				<cmakeGenerator>Unix Makefiles</cmakeGenerator>
+			</properties>
+			<activation>
+				<os>
+					<family>unix</family>
+				</os>
+			</activation>
+		</profile>
+		<profile>
+			<id>MAC-properties</id>
+			<properties>
+				<cmakeGenerator>Unix Makefiles</cmakeGenerator>
+			</properties>
+			<activation>
+				<os>
+					<family>mac</family>
+				</os>
+			</activation>
+		</profile>
+		<profile>
+			<id>windows-properties</id>
+			<properties>
+				<cmakeGenerator>MSYS Makefiles</cmakeGenerator>
+			</properties>
+			<activation>
+				<os>
+					<family>windows</family>
+				</os>
+			</activation>
+		</profile>
+	</profiles>
+	<build>
+		<plugins>
+			<plugin>
+				<groupId>com.googlecode.cmake-maven-project</groupId>
+				<artifactId>cmake-maven-plugin</artifactId>
+				<version>2.8.11-b4</version>
+				<executions>
+					<execution>
+						<id>cmake</id>
+						<phase>generate-resources</phase>
+						<goals>
+							<goal>generate</goal>
+						</goals>
+						<configuration>
+							<options>
+								<option>-DCMAKE_TOOLCHAIN_FILE=../../../arm-toolchain.cmake</option>
+								<option>-DCMAKE_INSTALL_PREFIX=target-root</option>
+							</options>
+						</configuration>
+					</execution>
+					<execution>
+						<id>cmake2</id>
+						<phase>generate-resources</phase>
+						<goals>
+							<goal>compile</goal>
+						</goals>
+						<configuration>
+							<target>install</target>
+						</configuration>
+					</execution>
+				</executions>
+				<configuration>
+					<sourcePath>..</sourcePath>
+					<targetPath>${project.build.directory}/cmake</targetPath>
+					<projectDirectory>${project.build.directory}/cmake</projectDirectory>
+					<generator>${cmakeGenerator}</generator>
+					<buildType>release</buildType>
+				</configuration>
+			</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.MMdd.HHmmss"/>
+								</tstamp>
+								<property name="version" value="${version-info}.${build-number}"/>
+							</target>
+							<exportAntProperties>true</exportAntProperties>
+						</configuration>
+					</execution>
+					<!-- Unzip the include files for cpp.zip. -->
+					<execution>
+						<id>unzip-cpp-includes</id>
+						<phase>compile</phase>
+						<goals>
+							<goal>run</goal>
+						</goals>
+						<configuration>
+							<target>
+								<echo file="${project.build.directory}/cmake/target-root/so.properties">cpp-sos=${version-info}</echo>
+								<zip destfile="${project.build.directory}/${project.build.finalName}.zip" basedir="${project.build.directory}/cmake/target-root" />
+							</target>
+						</configuration>
+					</execution>
+				</executions>
+			</plugin>
+			      <plugin>
+        <groupId>org.codehaus.mojo</groupId>
+        <artifactId>build-helper-maven-plugin</artifactId>
+        <version>1.2</version>
+        <executions>
+        <execution>
+						<id>zip-cpp-includes</id>
+						<phase>compile</phase>
+						<goals>
+							<goal>attach-artifact</goal>
+						</goals>
+            <configuration>
+              <artifacts>
+                <artifact>
+                  <file>${project.build.directory}/${project.build.finalName}.zip</file>
+                  <type>zip</type>
+                </artifact>
+                <artifact>
+                  <file>${project.build.directory}/cmake/target-root/lib/libHALAthena.a</file>
+                  <type>a</type>
+                </artifact>
+              </artifacts>
+            </configuration>
+          </execution>
+        </executions>
+      </plugin>
+    </plugins>
+	</build>
+</project>
--- 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/configure.bat
+++ b/configure.bat
@@ -1,46 +0,0 @@
-:: This file is a helper for allC++Sim
-::
-:: Usage: cd /build && ../configure
-::
-:: WARNING -- this is only temporary, and only meant for debug, and only works on my computer
-@set WS=C:\Users\peter\gz-ws
-@set BOOST_PATH=%WS%\boost_1_56_0
-@set BOOST_LIBRARY_DIR=%BOOST_PATH%\lib64-msvc-12.0
-
-@set PROTOBUF_PATH=%WS%\protobuf-2.6.0-win64-vc12
-
-@set OGRE_PATH=%WS%\ogre_src_v1-8-1-vc12-x64-release-debug\build\install\Debug
-@set OGRE_INCLUDE_DIR=%OGRE_PATH%\include;%OGRE_PATH%\include\OGRE;%OGRE_PATH%\include\OGRE\RTShaderSystem;%OGRE_PATH%\include\OGRE\Terrain;%OGRE_PATH%\include\OGRE\Paging
-@set OGRE_LIBRARY_DIR=%OGRE_PATH%\lib\Debug
-set OGRE_LIB_SUFFIX=_d.lib
-@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreOverlay%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
-@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
-
-@set FREEIMAGE_PATH=%WS%\FreeImage-vc12-x64-release-debug
-@set FREEIMAGE_INCLUDE_DIR=%FREEIMAGE_PATH%\Source
-
-@set TBB_PATH=%WS%\tbb43_20141023oss
-@set TBB_INCLUDEDIR=%TBB_PATH%\include
-
-@set DLFCN_WIN32_PATH=%WS%\dlfcn-win32-vc12-x64-release-debug\build\install\Debug
-@set DLFCN_WIN32_INCLUDE_DIR=%DLFCN_WIN32_PATH%\include
-
-@set TINY_XML_INCLUDE_DIR=%WS%\sdformat\src\win\tinyxml
-
-@set GAZEBO_PATH=%WS%\gazebo\build\install\Debug\lib\cmake\gazebo
-@set SDFORMAT_PATH=%WS%\sdformat\build\install\Debug\lib\cmake\sdformat
-@set IGNITION-MATH_PATH=%WS%\ign-math\build\install\Debug\lib\cmake\ignition-math2
-
-@set INCLUDE=%TINY_XML_INCLUDE_DIR%;%FREEIMAGE_INCLUDE_DIR%;%TBB_INCLUDEDIR%;%DLFCN_WIN32_INCLUDE_DIR%;%INCLUDE%
-@set LIB=%LIB%
-
-cmake -G "NMake Makefiles"^
-	-DCMAKE_INSTALL_PREFIX=build^
-    -DCMAKE_PREFIX_PATH="%GAZEBO_PATH%;%SDFORMAT_PATH%;%IGNITION-MATH_PATH%"^
-    -DOGRE_FOUND=1^
-    -DOGRE_INCLUDE_DIRS="%OGRE_INCLUDE_DIR%"^
-    -DOGRE_LIBRARIES="%OGRE_LIBS%"^
-    -DPROTOBUF_SRC_ROOT_FOLDER="%PROTOBUF_PATH%"^
-    -DBOOST_ROOT="%BOOST_PATH%"^
-    -DBOOST_LIBRARYDIR="%BOOST_LIBRARY_DIR%"^
-    ..
--- a/cppSettings.gradle
+++ b/cppSettings.gradle
@@ -1,194 +0,0 @@
-// This regex matches either a Windows or Unix style file separator, then the lib part of the library,
-// then the name of the library itself, and finally the .so extension at the end. The name of the library
-// is in the libName capture group, which is extracted and used for the linker flags
-def libPattern = /.*((\\/|\\).*)+lib(?<libName>.+).so$/
-def niLibraryArgs = []
-def niLibraryPath = file('ni-libraries').path
-
-// The NI Library tree includes all non-wpi libraries, which is everything that doesn't have libwpi in the name
-def niLibraryTree = fileTree(niLibraryPath)
-niLibraryTree.include '*.so'
-niLibraryTree.exclude '*wpi*.so'
-
-// This adds all linker flags to the list of ni library linker flags
-niLibraryTree.each { lib ->
-    def nameMatcher = (lib.path =~ libPattern)
-    if (nameMatcher[0].size() > 1) {
-        def name = nameMatcher.group('libName')
-        niLibraryArgs << '-l' + name
-    }
-}
-
-def armNtDependency =
-    project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:arm@zip")
-def armConfig = project.configurations.detachedConfiguration(armNtDependency)
-armConfig.setTransitive(false)
-def armNetTables = armConfig.files[0].canonicalFile
-
-def desktopNetTables
-if (project.hasProperty('makeSim')){
-    def desktopNtDependency =
-        project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:desktop@zip")
-    def desktopConfig = project.configurations.detachedConfiguration(desktopNtDependency)
-    desktopConfig.setTransitive(false)
-    desktopNetTables = desktopConfig.files[0].canonicalFile
-}
-
-def netTablesUnzipLocation = "$buildDir/networktables"
-
-// Create a task that will unzip the networktables files into a temporary build directory
-task unzipNetworkTables(type: Copy) {
-    description = 'Unzips the networktables maven dependency so that the include files and libraries can be used'
-    group = 'WPILib'
-    if (project.hasProperty('makeSim')){
-        from zipTree(desktopNetTables)
-    }
-    from zipTree(armNetTables)
-    into netTablesUnzipLocation
-}
-
-task clean(type: Delete) {
-    description = "Deletes the build directory"
-    group = "Build"
-    delete buildDir
-}
-
-subprojects {
-    plugins.withType(CppPlugin).whenPluginAdded {
-        // This defines a project property that projects depending on network tables can use to setup that dependency.
-        ext.defineNetworkTablesProperties = {
-            ext.netTables = netTablesUnzipLocation
-            ext.netTablesInclude = "$netTablesUnzipLocation/include"
-            ext.netLibArmLocation = "$netTablesUnzipLocation/Linux/arm"
-            if (project.hasProperty('makeSim')){
-              ext.netLibDesktopLocation = "$netTablesUnzipLocation/Linux/amd64"
-            }
-            ext.netSharedLib = "$netLibArmLocation/libntcore.so"
-            ext.netStaticLib = "$netLibArmLocation/libntcore.a"
-
-            task addNetworkTablesLibraryLinks() {
-                description = 'Adds the linker flags for the networktables libraries retreived from maven'
-                group = 'WPILib'
-                dependsOn project(':').unzipNetworkTables
-                doLast {
-                    binaries.all {
-                        tasks.withType(CppCompile) {
-                            // desktop version doesn't use all the NI libraries
-                            // so only do this for arm libraries
-                            String architecture = targetPlatform.architecture
-                            if (architecture.contains('arm')){
-                                linker.args netStaticLib
-                            }
-                        }
-                    }
-                }
-            }
-        }
-
-        model {
-            buildTypes {
-                debug
-            }
-            // Adds a custom toolchain for our compiler prefix and options
-            toolChains {
-                gcc(Gcc) {
-                    target('arm') {
-                        // We use a custom-built cross compiler with the prefix arm-frc-linux-gnueabi-<util name>
-                        // If this ever changes, the prefix will need to be changed here
-                        def compilerPrefix = 'arm-frc-linux-gnueabi-'
-                        cppCompiler.executable = compilerPrefix + cppCompiler.executable
-                        linker.executable = compilerPrefix + linker.executable
-                        assembler.executable = compilerPrefix + assembler.executable
-                        // Gradle auto-adds the -m32 argument to the linker and compiler. Our compiler only supports
-                        // arm, and doesn't understand this flag, so it is removed from both
-                        cppCompiler.withArguments { args ->
-                            args << '-std=c++1y' << '-Wformat=2' << '-Wall' << '-Wextra' << '-Werror' << '-pedantic'
-                            args << '-Wno-psabi' << '-Wno-unused-parameter' << '-fPIC' << '-O0' << '-g3' << '-rdynamic'
-                            //TODO: When the compiler allows us to actually call deprecated functions from within
-                            // deprecated function, remove this line (this will cause calling deprecated functions
-                            // to be treated as a warning rather than an error).
-                            args << '-Wno-error=deprecated-declarations'
-                            args.remove('-m32')
-                        }
-                        linker.withArguments { args ->
-                            args << '-rdynamic'
-                            args.remove('-m32')
-                        }
-                        staticLibArchiver.executable = compilerPrefix + staticLibArchiver.executable
-                    }
-                }
-                // Workaround for OS X. Macs for some reason want to use Xcode's gcc
-                // (which just wraps Clang), so we have to explicitly make it so
-                // that trying to compile with Clang will call gcc instead
-                macGcc(Clang) {
-                    target('arm') {
-                        // We use a custom-built cross compiler with the prefix arm-frc-linux-gnueabi-<util name>
-                        // If this ever changes, the prefix will need to be changed here
-                        def compilerPrefix = 'arm-frc-linux-gnueabi-'
-                        cppCompiler.executable = compilerPrefix + 'g++'
-                        linker.executable = compilerPrefix + 'g++'
-                        assembler.executable = compilerPrefix + 'gcc'
-                        // Gradle auto-adds the -m32 argument to the linker and compiler. Our compiler only supports
-                        // arm, and doesn't understand this flag, so it is removed from both
-                        cppCompiler.withArguments { args ->
-                            args << '-std=c++1y' << '-Wformat=2' << '-Wall' << '-Wextra' << '-Werror' << '-pedantic'
-                            args << '-Wno-psabi' << '-Wno-unused-parameter' << '-fPIC' << '-O0' << '-g3' << '-rdynamic'
-                            //TODO: When the compiler allows us to actually call deprecated functions from within
-                            // deprecated function, remove this line (this will cause calling deprecated functions
-                            // to be treated as a warning rather than an error).
-                            args << '-Wno-error=deprecated-declarations'
-                            args.remove('-m32')
-                        }
-                        linker.withArguments { args ->
-                            args << '-rdynamic'
-                            args.remove('-m32')
-                        }
-                        staticLibArchiver.executable = compilerPrefix + 'ar'
-                    }
-                }
-            }
-
-            // The only platform is arm linux
-            platforms {
-                arm {
-                    architecture 'arm'
-                    operatingSystem 'linux'
-                }
-            }
-        }
-
-        // This task adds the appropriate linker flags for the NI libraries
-        task addNiLibraryLinks() {
-            description = 'Adds the linker flags for the NI libraries in the ni-library folders'
-            group = 'WPILib'
-            doLast {
-                binaries.all {
-                    tasks.withType(CppCompile) {
-                        // desktop version doesn't use all the NI libraries
-                        // so only do this for arm libraries
-                        String architecture = targetPlatform.architecture
-                        if (architecture.contains('arm')){
-                            linker.args << '-L' + niLibraryPath
-                            linker.args.addAll(niLibraryArgs)
-                        }
-                    }
-                }
-                model {
-                    repositories {
-                        libs(PrebuiltLibraries) { libs ->
-                            // Loops through all .so files (except files matching *libwpi*.so) in ../ni-libraries
-                            // and includes them for linking
-                            niLibraryTree.each { niLib ->
-                                libs.create(niLib) {
-                                    binaries.withType(SharedLibraryBinary) {
-                                        sharedLibraryFile = file(niLib.path)
-                                    }
-                                }
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-}
--- a/driver-station/pom.xml
+++ b/driver-station/pom.xml
@@ -0,0 +1,44 @@
+<?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>
+  <groupId>edu.wpi.first</groupId>
+  <artifactId>driver-station</artifactId>
+  <packaging>jar</packaging>
+  <version>0.1.0-SNAPSHOT</version>
+  <profiles>
+    <profile>
+      <id>docline-java8-disable</id>
+      <activation>
+		<jdk>[1.8,</jdk>
+      </activation>
+    </profile>
+  </profiles>
+  
+  <build>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-compiler-plugin</artifactId>
+        <version>3.1</version>
+        <configuration>
+          <source>1.7</source>
+          <target>1.7</target>
+        </configuration>
+		</plugin>
+		<plugin>
+		<groupId>org.apache.maven.plugins</groupId>
+		<artifactId>maven-jar-plugin</artifactId>
+		<version>2.4</version>
+		<configuration>
+			<archive>
+				<manifest>
+					<mainClass>edu.wpi.first.driverstation.DriverStation</mainClass>
+				</manifest>
+			</archive>
+		</configuration>
+		</plugin>
+    </plugins>
+  </build>
+  
+</project>
--- a/driver-station/src/main/java/edu/wpi/first/driverstation/DriverStation.java
+++ b/driver-station/src/main/java/edu/wpi/first/driverstation/DriverStation.java
@@ -0,0 +1,248 @@
+package edu.wpi.first.driverstation;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.net.ServerSocket;
+import java.net.Socket;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.logging.ConsoleHandler;
+import java.util.logging.Handler;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
+import edu.wpi.first.driverstation.fms.FMSController;
+import edu.wpi.first.driverstation.fms.FMSInterface;
+import edu.wpi.first.driverstation.robotcoms.ControlMode;
+import edu.wpi.first.driverstation.robotcoms.RobotComm;
+
+/**
+ * Driver station implementation for the test stand. This is based heavily on
+ * code done by Brendan McLeod, modified for command line argument and local
+ * socket input.
+ * 
+ * @author Fredric Silberberg
+ */
+public class DriverStation {
+
+	protected static final Logger log = Logger.getLogger(DriverStation.class
+			.getName());
+	protected static DriverStation station;
+
+	public static void main(String[] args) {
+		int team = 190, port = 6190;
+		List<String> commandQueue = new LinkedList<>();
+
+		// If there are command line arguments, then input them
+		if (args.length > 0) {
+			for (int i = 0; i < args.length; i++) {
+				String command = args[i];
+				switch (command) {
+				case "-t":
+					// Get the team number if there is still an argument
+					if (i + 1 < args.length) {
+						try {
+							team = Integer.parseInt(args[++i]);
+						} catch (NumberFormatException ex) {
+							log.log(Level.WARNING,
+									"Error, non-integer team number " + args[i]);
+							displayUsage();
+							System.exit(-1);
+						}
+					} else {
+						log.log(Level.WARNING,
+								"Error, no team number provided.");
+						displayUsage();
+						System.exit(-1);
+					}
+					log.log(Level.INFO, "Team number is set to " + team);
+					break;
+				case "-h":
+					// Display help
+					displayUsage();
+					return;
+					// TODO: Support networked commands
+					// case "-p":
+					// // Get the port number
+					// // Get the team number if there is still an argument
+					// if (i + 1 < args.length) {
+					// try {
+					// port = Integer.parseInt(args[++i]);
+					// } catch (NumberFormatException ex) {
+					// log.log(Level.WARNING,
+					// "Error, non-integer port number " + args[i]);
+					// displayUsage();
+					// System.exit(-1);
+					// }
+					// } else {
+					// log.log(Level.WARNING,
+					// "Error, no port number provided.");
+					// displayUsage();
+					// System.exit(-1);
+					// }
+					// log.log(Level.INFO, "Port number is set to " + port);
+					// break;
+				case "enable":
+				case "disable":
+				case "teleop":
+				case "auto":
+				case "estop":
+				case "reboot":
+				case "test":
+					// Add the command to the queue of commands
+					commandQueue.add(command);
+					break;
+				default:
+					log.log(Level.SEVERE, "Unknown input " + command);
+					displayUsage();
+					System.exit(-1);
+				}
+			}
+		}
+		station = new DriverStation(team, port);
+		for (String command : commandQueue) {
+			station.addCommand(command);
+		}
+
+		station.run();
+	}
+
+	public static void displayUsage() {
+		System.out.println("The Java FRC Driverstation");
+		System.out.println("To Use: java -jar <driverstation jar> [commands]");
+		System.out.println("-h: Print this display and exit");
+		System.out.println("-t [team]: Specify the team number (default 190)");
+		System.out
+				.println("enable, disable, teleop, auto, test, estop, reboot");
+		System.out.println("Run the given commands on startup");
+	}
+
+	RobotComm robot;
+	FMSInterface fms;
+	LinkedBlockingQueue<String> queue;
+	Thread netThread, sysThread;
+
+	public DriverStation(final int team, final int port) {
+		queue = new LinkedBlockingQueue<>();
+		robot = new RobotComm(team);
+		fms = new FMSController(team);
+		robot.setFMSController(fms);
+		robot.setDaemon(true);
+		sysThread = new Thread(new Runnable() {
+			public void run() {
+				BufferedReader sysIn = new BufferedReader(
+						new InputStreamReader(System.in));
+				while (!Thread.interrupted()) {
+					try {
+						String com = sysIn.readLine();
+						log.log(Level.FINE, "Recieved stdin command " + com);
+						station.addCommand(com);
+					} catch (IOException ex) {
+						log.log(Level.WARNING, "Error in system read thread",
+								ex);
+					}
+				}
+			}
+		});
+		sysThread.setDaemon(true);
+
+		// TODO: Test the networking protocol
+		// netThread = new Thread(new Runnable() {
+		// public void run() {
+		// ServerSocket servSock = null;
+		// List<Thread> connections = new LinkedList<>();
+		// try {
+		// servSock = new ServerSocket(port);
+		// while (!Thread.interrupted()) {
+		// Socket sock = servSock.accept();
+		// Thread newCon = new Thread(new ReadThread(sock, station));
+		// newCon.run();
+		// connections.add(newCon);
+		// log.log(Level.INFO, "Accepted new network connection");
+		// }
+		// } catch (IOException ex) {
+		// log.log(Level.WARNING, "Error with the network thread", ex);
+		// } finally {
+		// try {
+		// for (Thread t : connections) {
+		// t.interrupt();
+		// }
+		// servSock.close();
+		// } catch (IOException | NullPointerException e) {
+		// log.log(Level.SEVERE,
+		// "Error when closing the server socket", e);
+		// }
+		// }
+		// }
+		// });
+		// netThread.setDaemon(true);
+	}
+
+	public void run() {
+		System.out.println("Activating driver station");
+		robot.start();
+		System.out
+				.println("The driverstation supports the following commands:");
+		System.out
+				.println("enable, disable, teleop, auto, test, reboot, estop, quit");
+		sysThread.start();
+		// netThread.start();
+		while (true) {
+			try {
+				String command = queue.take();
+				log.log(Level.FINE, "Received command " + command);
+				switch (command) {
+				case "enable":
+					log.log(Level.INFO, "Enabling robot");
+					robot.setEnabled(true);
+					break;
+				case "disable":
+					log.log(Level.INFO, "Disabling robot");
+					robot.setEnabled(false);
+					break;
+				case "teleop":
+					log.log(Level.INFO, "Setting robot to teleop mode");
+					robot.setControlMode(ControlMode.TELEOP);
+					break;
+				case "auto":
+					log.log(Level.INFO, "Setting robot to auto mode");
+					robot.setControlMode(ControlMode.AUTO);
+					break;
+				case "test":
+					log.log(Level.INFO, "Setting robot to test mode");
+					robot.setControlMode(ControlMode.TEST_MODE);
+					break;
+				case "estop":
+					log.log(Level.INFO, "Estoping robot");
+					robot.eStopRobot();
+					break;
+				case "reboot":
+					log.log(Level.INFO, "Rebooting robot");
+					robot.rebootRobot();
+					break;
+				case "quit":
+					log.log(Level.INFO, "Shutting down");
+					sysThread.interrupt();
+					// netThread.interrupt();
+					return;
+				default:
+					log.log(Level.WARNING, "Unknown input " + command);
+					break;
+				}
+			} catch (InterruptedException e) {
+				log.log(Level.WARNING, "Error when taking command", e);
+			}
+		}
+	}
+
+	public void addCommand(String command) {
+		try {
+			queue.put(command);
+		} catch (InterruptedException e) {
+			log.log(Level.WARNING, "Error when added an element to the queue",
+					e);
+		}
+	}
+}
--- a/driver-station/src/main/java/edu/wpi/first/driverstation/ReadThread.java
+++ b/driver-station/src/main/java/edu/wpi/first/driverstation/ReadThread.java
@@ -0,0 +1,42 @@
+package edu.wpi.first.driverstation;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.net.Socket;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
+public class ReadThread implements Runnable {
+
+	private final Logger log = Logger.getLogger(DriverStation.class.getName());
+	Socket sock;
+	DriverStation ds;
+
+	public ReadThread(Socket sock, DriverStation ds) {
+		this.sock = sock;
+		this.ds = ds;
+	}
+
+	@Override
+	public void run() {
+		try {
+			BufferedReader netIn = new BufferedReader(new InputStreamReader(
+					sock.getInputStream()));
+			while (!Thread.interrupted()) {
+				String com = netIn.readLine();
+				log.log(Level.FINE, "Received command " + com);
+				ds.addCommand(com);
+			}
+		} catch (IOException e) {
+			log.log(Level.WARNING, "IO Exception in net thread", e);
+		} finally {
+			try {
+				sock.close();
+			} catch (IOException | NullPointerException ex) {
+				log.log(Level.SEVERE, "Error when closing the socket", ex);
+			}
+		}
+	}
+
+}
--- a/driver-station/src/main/java/edu/wpi/first/driverstation/fms/FMSController.java
+++ b/driver-station/src/main/java/edu/wpi/first/driverstation/fms/FMSController.java
@@ -0,0 +1,249 @@
+package edu.wpi.first.driverstation.fms;
+
+import edu.wpi.first.driverstation.DriverStation;
+import edu.wpi.first.driverstation.fms.FMSInterface;
+
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.net.SocketException;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+import java.util.zip.CRC32;
+
+import edu.wpi.first.driverstation.robotcoms.ControlMode;
+
+/**
+ *
+ * @author Brendan
+ */
+public class FMSController extends Thread implements FMSInterface {
+
+	private static final Logger log = Logger.getLogger(DriverStation.class
+			.getName());
+
+	private class FMSDataIn extends Thread {
+
+		private FMSController fmsController;
+		private int FMSreceivePort = 1120;
+		private DatagramSocket FMSreceiveSocket;
+
+		public FMSDataIn(FMSController fmsController) {
+			this.fmsController = fmsController;
+			try {
+				FMSreceiveSocket = new DatagramSocket(FMSreceivePort);
+			} catch (SocketException ex) {
+				log.log(Level.WARNING, "Error creating Robot Sockets", ex);
+			}
+		}
+
+		@Override
+		public void run() {
+			while (true) {
+				try {
+					byte[] receiveData = new byte[74];// the size of the data
+					DatagramPacket receivePacket = new DatagramPacket(
+							receiveData, receiveData.length);
+					FMSreceiveSocket.receive(receivePacket);
+					fmsController
+							.setIP(receivePacket.getAddress().getAddress());
+					fmsController.receiveFMSpacket(receiveData);
+				} catch (Exception ex) {
+					log.log(Level.INFO, "Receive error", ex);
+				}
+			}
+		}
+	}
+
+	private FMSDataIn dataInput;
+	private DatagramSocket FMSsendingSocket;
+	private int teamNumber;
+	private int FMSsendPort = 1160;
+	private byte[] ipFMS = new byte[4];
+	private boolean[] controlState = new boolean[8];
+	// {auto, test, mode, enabled, not-estopped}
+	private boolean[] fromRobot = new boolean[] { false, false, false, true };
+	private char[] batteryData = new char[] { 13, 13 };
+	private long lastFMS = 0;
+	private long lastFMSSent = 0;
+	char[] stationID = new char[2];
+	private boolean isRobotConnected;
+
+	/*
+	 * controlState[0] //null controlState[1] //WAP link controlState[2] //check
+	 * version #s controlState[3] //request DS info? controlState[4]
+	 * //auto-teleop controlState[5] //enabled-disabled controlState[6] //not
+	 * estop controlState[7] //null
+	 */
+
+	public FMSController(int team) {
+		teamNumber = team;
+		try {
+			FMSsendingSocket = new DatagramSocket(FMSsendPort);
+		} catch (SocketException ex) {
+			log.log(Level.WARNING, "Error creating FMS Sockets", ex);
+		}
+		for (int i = 0; i < 4; i++) {
+			ipFMS[i] = (byte) 0xFF;
+		}
+		dataInput = new FMSDataIn(this);
+		dataInput.setDaemon(true);
+		setDaemon(true);
+		start();
+	}
+
+	@Override
+	public void start() {
+		dataInput.start();
+		super.start();
+	}
+
+	@Override
+	public void run() {
+		while (true) {
+			if ((System.currentTimeMillis() > (lastFMSSent + 100))) {
+				lastFMSSent = System.currentTimeMillis();
+				sendFMSData();
+
+			}
+		}
+	}
+
+	private void setIP(byte[] ipIn) {
+		ipFMS = ipIn;
+	}
+
+	@Override
+	public boolean isFMSConnected() {
+
+		return ((lastFMS + 1000) > System.currentTimeMillis());
+	}
+
+	private void receiveFMSpacket(byte[] receiveData) {
+
+		lastFMS = System.currentTimeMillis();
+		// reveive data 0, 1 are useless
+		// 2 contains control data
+		for (int i = 0; i < 8; i++) {
+			controlState[i] = (receiveData[2] & (1 << (i))) > 0;
+		}
+		stationID[0] = (char) receiveData[3];
+		stationID[1] = (char) receiveData[4];
+
+	}
+
+	private void sendFMSData() {
+		CRC32 crctest = new CRC32();
+		byte[] sendData = new byte[50];
+
+		for (int i = 0; i < 50; i++) {
+			sendData[i] = 0x00;
+		}
+
+		if (isRobotConnected)// {auto, test mode, enabled, not-estopped}
+		{
+			sendData[2] += 0x02;
+		}
+		if (fromRobot[0])// 0 holds the mode (1=auto 0=teleop)
+		{
+			sendData[2] += 0x10;
+		}
+		if (fromRobot[2])// 1 holds enabled (1=enabled)
+		{
+			sendData[2] += 0x20;
+		}
+		if (fromRobot[3])// 2 holds not e-stoped (1=good, 0=bad)
+		{
+			sendData[2] += 0x40;
+		}
+
+		byte teamHigh = (byte) ((teamNumber - (teamNumber % 100)) / 100);
+		byte teamLow = (byte) (teamNumber % 100);
+		sendData[6] = 10;// IP address
+		sendData[7] = teamHigh;
+		sendData[8] = teamLow;
+		sendData[9] = 5;// make this variable!!!!
+
+		sendData[10] = (byte) stationID[0];// the alliance color
+		sendData[11] = (byte) stationID[1]; // the station number
+
+		sendData[26] = 0x00;// amount of dropped packets
+		sendData[27] = 0x00;// amount of dropped packets
+
+		sendData[28] = 0x00;// number of packets received
+		sendData[29] = 0x00;// number of packets received
+
+		sendData[30] = 0x00;// trip time
+		sendData[31] = 0x00;// trip time
+		sendData[32] = 0x00;// trip time
+		sendData[33] = 0x00;// trip time
+
+		// need to capture actual voltage
+		sendData[40] = (byte) batteryData[0];
+		sendData[41] = (byte) batteryData[1];
+		/*
+		 * get CRC
+		 */
+		crctest.reset();
+		crctest.update(sendData);
+
+		/*
+		 * convert CRC to byte format
+		 */
+		long crccheck = crctest.getValue();
+		sendData[46] = (byte) ((crccheck >> 24) & 0xff);
+		sendData[47] = (byte) ((crccheck >> 16) & 0xff);
+		sendData[48] = (byte) ((crccheck >> 8) & 0xff);
+		sendData[49] = (byte) ((crccheck) & 0xff);
+
+		log.log(Level.FINE, "Sending FMS Data");
+		/*
+		 * send packet
+		 */
+		try {
+			DatagramPacket sendPacket = new DatagramPacket(sendData,
+					sendData.length, InetAddress.getByAddress(ipFMS),
+					FMSsendPort);
+			FMSsendingSocket.send(sendPacket);
+		} catch (Exception e) {
+		}
+	}
+
+	@Override
+	public char getAllianceColor() {
+		return stationID[0];
+	}
+
+	@Override
+	public char getDSNumber() {
+		return stationID[1];
+	}
+
+	@Override
+	public boolean isEnabled() {
+		return controlState[5];
+	}
+
+	@Override
+	public ControlMode getControlMode() {
+		if (!controlState[4]) {
+			return ControlMode.TELEOP;
+		}
+		return ControlMode.AUTO;
+	}
+
+	@Override
+	public void updateBattery(char[] batteryData) {
+		this.batteryData = batteryData;
+	}
+
+	@Override
+	public void updateRobotFeedback(boolean[] fromRobot) {
+		this.fromRobot = fromRobot;
+	}
+
+	@Override
+	public void setRobotConnected(boolean connected) {
+		isRobotConnected = connected;
+	}
+}
--- a/driver-station/src/main/java/edu/wpi/first/driverstation/fms/FMSInterface.java
+++ b/driver-station/src/main/java/edu/wpi/first/driverstation/fms/FMSInterface.java
@@ -0,0 +1,25 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package edu.wpi.first.driverstation.fms;
+
+import edu.wpi.first.driverstation.robotcoms.ControlMode;
+
+/**
+ *
+ * @author Brendan
+ */
+public interface FMSInterface {
+    
+    public char getAllianceColor();
+    public char getDSNumber();
+    public boolean isFMSConnected();
+    public boolean isEnabled();
+    public ControlMode getControlMode();
+    public void updateBattery(char[] batteryData);
+    public void updateRobotFeedback(boolean[] fromRobot);
+    public void setRobotConnected(boolean connected);
+    
+    
+}
--- a/driver-station/src/main/java/edu/wpi/first/driverstation/fms/NoFMSController.java
+++ b/driver-station/src/main/java/edu/wpi/first/driverstation/fms/NoFMSController.java
@@ -0,0 +1,54 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package edu.wpi.first.driverstation.fms;
+
+import edu.wpi.first.driverstation.robotcoms.ControlMode;
+
+/**
+ *
+ * @author Brendan
+ */
+public class NoFMSController implements FMSInterface {
+
+	@Override
+	public char getAllianceColor() {
+		return 'B';
+	}
+
+	@Override
+	public char getDSNumber() {
+		return '1';
+	}
+
+	@Override
+	public boolean isFMSConnected() {
+		return false;
+	}
+
+	@Override
+	public boolean isEnabled() {
+		return false;
+	}
+
+	@Override
+	public ControlMode getControlMode() {
+		return ControlMode.TELEOP;
+	}
+
+	@Override
+	public void updateBattery(char[] batteryData) {
+		return;
+	}
+
+	@Override
+	public void updateRobotFeedback(boolean[] fromRobot) {
+		return;
+	}
+
+	@Override
+	public void setRobotConnected(boolean connected) {
+		return;
+	}
+}
--- a/driver-station/src/main/java/edu/wpi/first/driverstation/robotcoms/ControlMode.java
+++ b/driver-station/src/main/java/edu/wpi/first/driverstation/robotcoms/ControlMode.java
@@ -0,0 +1,24 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package edu.wpi.first.driverstation.robotcoms;
+
+/**
+ *
+ * @author Brendan
+ */
+public enum ControlMode {
+    AUTO("AUTO"), TELEOP("TELEOP"), TEST_MODE("TEST");
+    private String name;
+
+    private ControlMode(String name) {
+        this.name = name;
+    }
+
+    @Override
+    public String toString() {
+        return name; //To change body of generated methods, choose Tools | Templates.
+    }
+    
+}
--- a/driver-station/src/main/java/edu/wpi/first/driverstation/robotcoms/RobotComm.java
+++ b/driver-station/src/main/java/edu/wpi/first/driverstation/robotcoms/RobotComm.java
@@ -0,0 +1,319 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package edu.wpi.first.driverstation.robotcoms;
+
+import edu.wpi.first.driverstation.DriverStation;
+import edu.wpi.first.driverstation.fms.FMSInterface;
+import edu.wpi.first.driverstation.fms.NoFMSController;
+
+import java.net.*;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+import java.util.zip.CRC32;
+
+/**
+ *
+ * @author Brendan
+ */
+public class RobotComm extends Thread {
+
+	private static final Logger log = Logger.getLogger(DriverStation.class
+			.getName());
+
+	private class RobotDataIn extends Thread {
+
+		RobotComm theRobotComm;
+		private DatagramSocket robotReceiveSocket;
+		private int robotReceivePort = 1150;
+
+		public RobotDataIn(RobotComm robotComm) {
+			theRobotComm = robotComm;
+			try {
+				robotReceiveSocket = new DatagramSocket(robotReceivePort);
+			} catch (SocketException ex) {
+				log.log(Level.WARNING, "Error creating Robot Sockets", ex);
+			}
+		}
+
+		public void run() {
+			while (true) {
+				try {
+					byte[] receiveData = new byte[1024];// the size of the data
+					DatagramPacket receivePacket = new DatagramPacket(
+							receiveData, receiveData.length);
+					robotReceiveSocket.receive(receivePacket);
+					theRobotComm.receiveRobotpacket(receiveData);
+					Thread.yield();
+				} catch (Exception ex) {
+				}
+			}
+		}
+	}
+
+	private DatagramSocket robotSendingSocket;
+	private RobotDataIn inputSocket;
+	private final int robotSendPortNormal = 1110;
+	// private final int robotSendPortNormal = 1115;//actually for sending on
+	// the field (used for robot sim)
+	private final int robotSendPortFMS = 1115;
+	private int sentPackets;// the current packet ID that is being sent to the
+							// robot
+	private int lastRobotPacket;// the last packet ID to have been recieved by
+								// the robot
+	private long lastRobotTime;// the time stamp when the robot was seen
+	private boolean[] controlDataToSend;// {auto, test mode, enabled,
+										// not-estopped, reboot}
+	private boolean[] controlFromRobot;// {auto, test mode, enabled,
+										// not-estopped}
+	private byte[] stationID = new byte[2];
+	private char[] batteryData = new char[2];
+	private int robotTeam = 0;
+	private long lastSentTime = 0;
+	private int packetOffset = 0;
+	private FMSInterface fmsController;
+
+	public RobotComm(int team) {
+
+		robotTeam = team;
+		try {
+			robotSendingSocket = new DatagramSocket();// robotSendPortNormal);
+		} catch (SocketException ex) {
+			log.log(Level.WARNING, "Error creating Robot Sockets", ex);
+		}
+		sentPackets = 0;
+		controlFromRobot = new boolean[] { false, false, false, true };// {auto,
+																		// test
+																		// mode,
+																		// enabled,
+																		// not-estopped}
+
+		controlDataToSend = new boolean[] { false, false, false, true, false };// {auto,
+																				// test
+																				// mode,
+																				// enabled,
+																				// not-estopped,
+																				// reboot}
+		fmsController = new NoFMSController();
+		inputSocket = new RobotDataIn(this);
+		inputSocket.setDaemon(true);
+	}
+
+	@Override
+	public void start() {
+		inputSocket.start();
+		super.start();
+	}
+
+	@Override
+	public void run() {
+		while (true) {
+			if ((lastSentTime + 20) < System.currentTimeMillis()) {
+				lastSentTime = System.currentTimeMillis();
+				sendRobotData();
+			}
+
+		}
+	}
+
+	public void rebootRobot() {
+		setEnabled(false);
+		controlDataToSend[4] = true;
+	}
+
+	public void setControlMode(ControlMode theMode) {
+		if (theMode == ControlMode.AUTO) {// {auto, test mode, enabled,
+											// not-estopped}
+			controlDataToSend[0] = true;
+			controlDataToSend[1] = false;
+		} else if (theMode == ControlMode.TELEOP) {// {auto, test mode, enabled,
+													// not-estopped}
+			controlDataToSend[0] = false;
+			controlDataToSend[1] = false;
+		} else if (theMode == ControlMode.TEST_MODE) {// {auto, test mode,
+														// enabled,
+														// not-estopped}
+			controlDataToSend[0] = false;
+			controlDataToSend[1] = true;
+		}
+	}
+
+	public void setEnabled(boolean enabled) {// {auto, test mode, enabled,
+												// not-estopped, reboot}
+		controlDataToSend[2] = enabled;
+	}
+
+	public void eStopRobot() {
+
+		controlDataToSend[3] = false;
+	}
+
+	public void setAllianceInfo(byte allianceColor, byte allianceStation) {
+		stationID = new byte[] { allianceColor, allianceStation };
+	}
+
+	public void setTeamNumber(int newTeam) {
+		robotTeam = newTeam;
+	}
+
+	public void setFMSController(FMSInterface newFMS) {
+		fmsController = newFMS;
+	}
+
+	/**
+	 * Packs up all the data and sends the packet to the robot
+	 */
+	private void sendRobotData() {
+		sentPackets++;
+		sentPackets = sentPackets % 0xFFFF;// makes it overflow properly
+		packetOffset = sentPackets - lastRobotPacket;
+		CRC32 crctest = new CRC32();
+		byte[] sendData = new byte[1024];
+
+		for (int i = 0; i < 1024; i++) {
+			sendData[i] = 0x00;
+		}
+
+		// Construct the pacet counts
+		sendData[0] = (byte) ((sentPackets >> 8) & 0xFF);
+		sendData[1] = (byte) (sentPackets & 0xFF);
+		// {auto, test mode, enabled, not-estopped, reboot}
+		if (controlDataToSend[4]) {// reboot bit
+			sendData[2] += 0x80;
+
+			controlDataToSend[4] = false;
+		}
+		if (controlDataToSend[3]) {// not e-stop bit
+			sendData[2] += 0x40;
+		} else {
+			controlDataToSend[3] = true;
+		}
+		if (controlDataToSend[2])// if enabled
+		{
+			sendData[2] += 0x20;
+		}
+		if (controlDataToSend[0])// 1 holds the mode (1=auto 0=teleop)
+		{
+			sendData[2] += 0x10;
+		}
+		if (fmsController.isFMSConnected()) {
+			sendData[2] += 0x08;
+		}
+
+		if (!isConnected()) {
+			sendData[2] += 0x04;
+		}
+
+		sendData[3] = (byte) 0xFF;// make all digial inputs high
+
+		sendData[4] = (byte) ((robotTeam >> 8) & 0xFF);// packs up and sends
+														// team number
+		sendData[5] = (byte) ((robotTeam) & 0xFF);
+
+		sendData[6] = stationID[0];// the alliance color
+		sendData[7] = stationID[1]; // the station number
+
+		sendData[72] = (byte) 0x31;
+		sendData[73] = (byte) 0x31;
+		sendData[74] = (byte) 0x33;
+		sendData[75] = (byte) 0x30;
+		sendData[76] = (byte) 0x21;
+		sendData[77] = (byte) 0x21;
+		sendData[78] = (byte) 0x30;
+		sendData[79] = (byte) 0x30;
+
+		crctest.reset();
+		crctest.update(sendData);
+		long crccheck = crctest.getValue();
+		sendData[1020] = (byte) ((crccheck >> 24) & 0xff);
+		sendData[1021] = (byte) ((crccheck >> 16) & 0xff);
+		sendData[1022] = (byte) ((crccheck >> 8) & 0xff);
+		sendData[1023] = (byte) ((crccheck >> 0) & 0xff);
+
+		byte teamHigh = (byte) ((robotTeam - robotTeam % 100) / 100);
+		byte teamLow = (byte) (robotTeam % 100);
+		/*
+		 * send packet
+		 */
+		try {
+			DatagramPacket sendPacket;
+			if (!fmsController.isFMSConnected()) {
+				sendPacket = new DatagramPacket(sendData, sendData.length,
+						InetAddress.getByAddress(new byte[] { 10, teamHigh,
+								teamLow, 2 }), robotSendPortNormal);
+			} else {
+				sendPacket = new DatagramPacket(sendData, sendData.length,
+						InetAddress.getByAddress(new byte[] { 10, teamHigh,
+								teamLow, 2 }), robotSendPortFMS);
+			}
+			robotSendingSocket.send(sendPacket);
+		} catch (Exception e) {
+			log.log(Level.WARNING, "Failed to send", e);
+		}
+
+		fmsController.setRobotConnected(isConnected());
+
+	}
+
+	public boolean isConnected() {
+
+		if (!(lastRobotTime + 100 > System.currentTimeMillis())) {
+			return (false);
+		}
+
+		if (packetOffset > 25) {
+			return (false);
+		}
+
+		return (true);
+	}
+
+	public char[] getBatteryData() {
+		return batteryData;
+	}
+
+	/**
+	 * Return the control data that it has gathered from the robot in the
+	 * format: {auto, test mode, enabled, not-estopped}
+	 *
+	 * @return The data from the robot
+	 */
+	public boolean[] getControlDataFromRobot() {
+		return controlFromRobot;
+	}
+
+	public double getBatteryVoltage() {
+		return Double.parseDouble(getBatteryString());
+	}
+
+	public String getBatteryString() {
+		return (String.format("%x", getBatteryData()[0]) + "." + String.format(
+				"%x", getBatteryData()[1]));
+	}
+
+	protected void receiveRobotpacket(byte[] dataIn) {// this gets called
+														// whenever a new robot
+														// packet is recieved
+		int teamNumber = 0;
+		teamNumber += dataIn[8] & 0xFF;
+		teamNumber = ((teamNumber << 8) + (dataIn[9] & 0xFF)) & 0xFFFF;
+		if (robotTeam == teamNumber) {
+			lastRobotTime = System.currentTimeMillis();
+			batteryData[0] = (char) dataIn[1];
+			batteryData[1] = (char) dataIn[2];
+			lastRobotPacket = 0;
+			lastRobotPacket += dataIn[30] & 0xFF;
+			lastRobotPacket = ((lastRobotPacket << 8) + (dataIn[31] & 0xFF)) & 0xFFFF;
+			controlFromRobot[0] = ((0x10 & dataIn[0]) > 0);// auto
+			controlFromRobot[2] = ((0x20 & dataIn[0]) > 0);// enabled
+			controlFromRobot[3] = true;// robot isn't estopped yet
+
+		} else {
+			log.log(Level.INFO, "Data from different team...");
+		}
+		fmsController.updateRobotFeedback(controlFromRobot);
+		fmsController.updateBattery(batteryData);
+
+	}
+}
--- a/eclipse-plugins/.gitattributes
+++ b/eclipse-plugins/.gitattributes
@@ -0,0 +1,4 @@
+*runcppprogram text eol=lf
+*runjavaprogram text eol=lf
+*robotCommand text eol=lf
+*robotDebugCommand text eol=lf
--- a/eclipse-plugins/.gitignore
+++ b/eclipse-plugins/.gitignore
@@ -0,0 +1,4 @@
+*~
+target/
+bin/
+.settings/
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/build.properties
@@ -0,0 +1 @@
+bin.includes = feature.xml
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/feature.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/feature.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<feature
+      id="edu.wpi.first.wpilib.plugins.core.feature"
+      label="WPILib Robot Development Core"
+      version="0.1.0.qualifier"
+      provider-name="Worcester Polytechnic Institute">
+
+   <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>
+
+   <url>
+      <discovery label="Juno" url="http://download.eclipse.org/releases/juno/"/>
+   </url>
+
+   <plugin
+         id="edu.wpi.first.wpilib.plugins.core"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
+</feature>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/pom.xml
@@ -0,0 +1,15 @@
+<?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.core.feature</artifactId>
+  <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.core/META-INF/MANIFEST.MF
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/META-INF/MANIFEST.MF
@@ -0,0 +1,34 @@
+Manifest-Version: 1.0
+Bundle-ManifestVersion: 2
+Bundle-Name: edu.wpi.first.wpilib.plugins.core
+Bundle-SymbolicName: edu.wpi.first.wpilib.plugins.core;singleton:=true
+Bundle-Version: 0.1.0.qualifier
+Bundle-Activator: edu.wpi.first.wpilib.plugins.core.WPILibCore
+Require-Bundle: org.eclipse.ui,
+ org.eclipse.core.runtime,
+ org.eclipse.jface.text,
+ org.eclipse.core.resources,
+ org.eclipse.ui.editors,
+ org.eclipse.ui.ide,
+ org.eclipse.ant.core;bundle-version="3.2.400",
+ org.eclipse.ant.launching;bundle-version="1.0.200",
+ org.eclipse.debug.core;bundle-version="3.7.100",
+ org.eclipse.core.externaltools;bundle-version="1.0.100",
+ org.eclipse.debug.ui;bundle-version="3.8.1",
+ org.eclipse.ui.externaltools;bundle-version="3.2.100",
+ org.eclipse.ant.ui;bundle-version="3.5.300",
+ org.eclipse.ui.console;bundle-version="3.5.100",
+ org.eclipse.ui.navigator;bundle-version="3.5.200",
+ 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"
+Bundle-ActivationPolicy: lazy
+Bundle-RequiredExecutionEnvironment: JavaSE-1.7
+Export-Package: edu.wpi.first.wpilib.plugins.core,
+ edu.wpi.first.wpilib.plugins.core.ant,
+ edu.wpi.first.wpilib.plugins.core.installer,
+ edu.wpi.first.wpilib.plugins.core.launching,
+ edu.wpi.first.wpilib.plugins.core.nature,
+ edu.wpi.first.wpilib.plugins.core.preferences,
+ edu.wpi.first.wpilib.plugins.core.wizards
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
@@ -0,0 +1,3 @@
+
+a#WPILibRobotDevelopment-introLink img { background-image : url(graphics/sample.gif); }
+a#WPILibRobotDevelopment-introLink:hover img { background-image : url(graphics/sample_hov.gif); }
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/WPILib
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<introContent>
+  	<extensionContent id="WPILibRobotDevelopment-introExtension" style="css/sample.css" name="Sample Extension" path="overview/@">
+		<group style-id="content-group" id="WPILibRobotDevelopment-introLink-group">
+       		<link label="WPILib Documentation" url="http://wpilib.screenstepslive.com/s/3120" id="WPILibRobotDevelopment-introLink" style-id="content-link">
+          		<text>Documentation of how WPILib and it's associated tools work. (Internet Connection Needed)</text>
+       		</link>
+       	</group>
+  	</extensionContent>
+</introContent>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/build.properties
@@ -0,0 +1,10 @@
+source.. = src/main/java/
+output.. = bin/
+bin.includes = plugin.xml,\
+               META-INF/,\
+               .,\
+               icons/,\
+               resources/
+buildDirectory = build/
+plugin.destination = ${basedir}/repository
+eclipse.home = /usr/lib/eclipse
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/outlineviewer16x16.png
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/outlineviewer16x16.png
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/robotbuilder.png
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/robotbuilder.png
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/robotbuilder16x16.png
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/robotbuilder16x16.png
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/sample.gif
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/sample.gif
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/sfxdashboard16x16.png
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/sfxdashboard16x16.png
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/smartdashboard16x16.png
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/smartdashboard16x16.png
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/wpi.ico
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/icons/wpi.ico
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/plugin.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/plugin.xml
@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?eclipse version="3.4"?>
+<plugin>
+   <extension
+         id="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+         name="FRCProjectNature"
+         point="org.eclipse.core.resources.natures">
+      <runtime>
+         <run
+               class="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature">
+         </run>
+      </runtime>
+   </extension>
+   <extension
+         point="org.eclipse.ui.actionSets">
+      <actionSet
+            id="edu.wpi.first.wpilib.plugins.core.actionSet"
+            label="WPILib Action Set"
+            visible="true">
+         <menu
+               id="edu.wpi.first.wpilib.plugins.core.menu"
+               label="WPI&amp;Lib">
+            <separator
+                  name="edu.wpi.first.wpilib.plugins.core.actions">
+            </separator>
+         </menu>
+         <action
+               class="edu.wpi.first.wpilib.plugins.core.actions.RunSmartDashboardAction"
+               icon="icons/smartdashboard16x16.png"
+               id="edu.wpi.first.wpilib.plugins.core.actions.RunSmartDashboardAction"
+               label="Run &amp;SmartDashboard"
+               menubarPath="edu.wpi.first.wpilib.plugins.core.menu/edu.wpi.first.wpilib.plugins.core.actions"
+               toolbarPath="WPILib"
+               tooltip="Launch the SmartDashboard to get feedback from the robot.">
+         </action>
+         <action
+               class="edu.wpi.first.wpilib.plugins.core.actions.RunRobotBuilderAction"
+               icon="icons/robotbuilder16x16.png"
+               id="edu.wpi.first.wpilib.plugins.core.actions.RunRobotBuilderAction"
+               label="Run &amp;RobotBuilder"
+               menubarPath="edu.wpi.first.wpilib.plugins.core.menu/edu.wpi.first.wpilib.plugins.core.actions"
+               toolbarPath="WPILib"
+               tooltip="Launch the RobotBuilder to help develop command-based programs.">
+         </action>
+         <action
+               class="edu.wpi.first.wpilib.plugins.core.actions.RunSFXDashboardAction"
+               icon="icons/sfxdashboard16x16.png"
+               id="edu.wpi.first.wpilib.plugins.core.actions.RunSFXDashboardAction"
+               label="Run &amp;SFX Dashboard"
+               menubarPath="edu.wpi.first.wpilib.plugins.core.menu/edu.wpi.first.wpilib.plugins.core.actions"
+               toolbarPath="WPILib"
+               tooltip="Launch the SFX Dashboard to get feedback from the robot.">
+         </action>
+         <action
+               class="edu.wpi.first.wpilib.plugins.core.actions.RunOutlineViewerAction"
+               icon="icons/outlineviewer16x16.png"
+               id="edu.wpi.first.wpilib.plugins.core.actions.RunOutlineViewerAction"
+               label="Run &amp;Outline Viewer"
+               menubarPath="edu.wpi.first.wpilib.plugins.core.menu/edu.wpi.first.wpilib.plugins.core.actions"
+               toolbarPath="WPILib"
+               tooltip="Launch the Outline Viewer to see the raw feedback from the robot.">
+         </action>
+      </actionSet>
+   </extension>
+   <extension
+         point="org.eclipse.ui.preferencePages">
+      <page
+            class="edu.wpi.first.wpilib.plugins.core.preferences.WPILibPreferencePage"
+            id="edu.wpi.first.wpilib.plugins.core.preferences.WPILibPreferencePage"
+            name="WPILib Preferences">
+      </page>
+   </extension>
+   <extension
+         point="org.eclipse.core.runtime.preferences">
+      <initializer
+            class="edu.wpi.first.wpilib.plugins.core.preferences.PreferenceInitializer">
+      </initializer>
+   </extension>
+   <extension
+         point="org.eclipse.ui.intro.configExtension">
+      <configExtension
+            configId="org.eclipse.ui.intro.universalConfig"
+            content="WPILib Intro/sample.xml">
+      </configExtension>
+   </extension>
+
+</plugin>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/pom.xml
@@ -0,0 +1,14 @@
+<?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.core</artifactId>
+  <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>
+</project>
--- 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
@@ -0,0 +1,151 @@
+package edu.wpi.first.wpilib.plugins.core;
+
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Properties;
+
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.core.runtime.Status;
+import org.eclipse.jface.resource.ImageDescriptor;
+import org.eclipse.ui.plugin.AbstractUIPlugin;
+import org.osgi.framework.BundleContext;
+
+import edu.wpi.first.wpilib.plugins.core.ant.AntPropertiesParser;
+import edu.wpi.first.wpilib.plugins.core.installer.ToolsInstaller;
+import edu.wpi.first.wpilib.plugins.core.preferences.PreferenceConstants;
+
+/**
+ * The activator class controls the plug-in life cycle
+ */
+public class WPILibCore extends AbstractUIPlugin {
+
+	// The plug-in ID
+	public static final String PLUGIN_ID = "edu.wpi.first.wpilib.plugins.core"; //$NON-NLS-1$
+
+	// The shared instance
+	private static WPILibCore plugin;
+
+	/**
+	 * The constructor
+	 */
+	public WPILibCore() {
+	}
+
+	/*
+	 * (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;
+
+		new ToolsInstaller(getDefaultVersion()).installIfNecessary();
+	}
+
+	/*
+	 * (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 WPILibCore getDefault() {
+		return plugin;
+	}
+
+	/**
+	 * Returns an image descriptor for the image file at the given plug-in
+	 * relative path
+	 * 
+	 * @param path
+	 *            the path
+	 * @return the image descriptor
+	 */
+	public static ImageDescriptor getImageDescriptor(String path) {
+		return imageDescriptorFromPlugin(PLUGIN_ID, path);
+	}
+
+	public Properties getProjectProperties(IProject project) {
+		List<InputStream> streams = new ArrayList<InputStream>();
+		try {
+			if (project != null) {
+				try {
+					streams.add(project.getFile("build.properties")
+							.getContents());
+				} catch (CoreException e) {
+				} // No properties file
+			}
+			File file = new File(getWPILibBaseDir() + "/wpilib.properties");
+			streams.add(new FileInputStream(file));
+			return new AntPropertiesParser(streams).getProperties();
+		} catch (Exception e) {
+            WPILibCore.logError("Error loading project properties.", e);
+			return new Properties();
+		}
+	}
+
+	public void saveGlobalProperties(Properties props) {
+		try {
+			props.store(new FileOutputStream(new File(WPILibCore.getDefault()
+					.getWPILibBaseDir() + "/wpilib.properties")),
+					"Don't add new properties, they will be deleted by the eclipse plugin.");
+		} catch (IOException e) {
+            WPILibCore.logError("Error saving global properties.", e);
+		}
+	}
+
+	public int getTeamNumber(IProject project) {
+		return Integer.parseInt(getProjectProperties(project).getProperty(
+				"team-number", "0"));
+	}
+
+	public String getTargetIP(IProject project) {
+		String target = getProjectProperties(project).getProperty("target");
+		if (target != null)
+			return target;
+		else {
+			int teamNumber = getTeamNumber(project);
+			return "roborio-" + teamNumber + ".local";
+		}
+	}
+
+	public String getWPILibBaseDir() {
+		return System.getProperty("user.home") + "/wpilib";
+	}
+
+	public String getDefaultVersion() {
+		return "2013-test-0.4";
+	}
+
+	public String getCurrentVersion() {
+		return getPreferenceStore()
+				.getString(PreferenceConstants.TOOLS_VERSION);
+	}
+
+	public static void logInfo(String msg) {
+		getDefault().getLog().log(new Status(Status.INFO, PLUGIN_ID, Status.OK, msg, null));
+	}
+
+	public static void logError(String msg, Exception e) {
+		getDefault().getLog().log(new Status(Status.ERROR, PLUGIN_ID, Status.OK, msg, e));
+	}
+}
--- 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
@@ -0,0 +1,71 @@
+package edu.wpi.first.wpilib.plugins.core.actions;
+
+import java.io.File;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.action.IAction;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.ui.IWorkbenchWindow;
+import org.eclipse.ui.IWorkbenchWindowActionDelegate;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Our sample action implements workbench action delegate.
+ * The action proxy will be created by the workbench and
+ * shown in the UI. When the user tries to use the action,
+ * this delegate will be created and execution will be 
+ * delegated to it.
+ * @see IWorkbenchWindowActionDelegate
+ */
+public class RunOutlineViewerAction implements IWorkbenchWindowActionDelegate {
+	/**
+	 * The constructor.
+	 */
+	public RunOutlineViewerAction() {
+	}
+
+	/**
+	 * The action has been activated. The argument of the
+	 * method represents the 'real' action sitting
+	 * in the workbench UI.
+	 * @see IWorkbenchWindowActionDelegate#run
+	 */
+	public void run(IAction action) {
+		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 outline viewer.", e);
+		}
+	}
+
+	/**
+	 * Selection in the workbench has been changed. We 
+	 * can change the state of the 'real' action here
+	 * if we want, but this can only happen after 
+	 * the delegate has been created.
+	 * @see IWorkbenchWindowActionDelegate#selectionChanged
+	 */
+	public void selectionChanged(IAction action, ISelection selection) {
+	}
+
+	/**
+	 * We can use this method to dispose of any system
+	 * resources we previously allocated.
+	 * @see IWorkbenchWindowActionDelegate#dispose
+	 */
+	public void dispose() {
+	}
+
+	/**
+	 * We will cache window object in order to
+	 * be able to provide parent shell for the message dialog.
+	 * @see IWorkbenchWindowActionDelegate#init
+	 */
+	public void init(IWorkbenchWindow window) {
+	}
+}
--- 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
@@ -0,0 +1,78 @@
+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;
+import org.eclipse.jface.action.IAction;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.ui.IWorkbenchWindow;
+import org.eclipse.ui.IWorkbenchWindowActionDelegate;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Our sample action implements workbench action delegate.
+ * The action proxy will be created by the workbench and
+ * shown in the UI. When the user tries to use the action,
+ * this delegate will be created and execution will be 
+ * delegated to it.
+ * @see IWorkbenchWindowActionDelegate
+ */
+public class RunRobotBuilderAction implements IWorkbenchWindowActionDelegate {
+	/**
+	 * The constructor.
+	 */
+	public RunRobotBuilderAction() {
+	}
+
+	/**
+	 * The action has been activated. The argument of the
+	 * method represents the 'real' action sitting
+	 * in the workbench UI.
+	 * @see IWorkbenchWindowActionDelegate#run
+	 */
+	public void run(IAction action) {
+		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.length < 1) return;
+		String[] cmd = {"java", "-jar", files[0].getAbsolutePath()};
+		try {
+			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
+		} catch (CoreException e) {
+            WPILibCore.logError("Error running RobotBuilder.", e);
+		}
+	}
+
+	/**
+	 * Selection in the workbench has been changed. We 
+	 * can change the state of the 'real' action here
+	 * if we want, but this can only happen after 
+	 * the delegate has been created.
+	 * @see IWorkbenchWindowActionDelegate#selectionChanged
+	 */
+	public void selectionChanged(IAction action, ISelection selection) {
+	}
+
+	/**
+	 * We can use this method to dispose of any system
+	 * resources we previously allocated.
+	 * @see IWorkbenchWindowActionDelegate#dispose
+	 */
+	public void dispose() {
+	}
+
+	/**
+	 * We will cache window object in order to
+	 * be able to provide parent shell for the message dialog.
+	 * @see IWorkbenchWindowActionDelegate#init
+	 */
+	public void init(IWorkbenchWindow window) {
+	}
+}
--- 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
@@ -0,0 +1,71 @@
+package edu.wpi.first.wpilib.plugins.core.actions;
+
+import java.io.File;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.action.IAction;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.ui.IWorkbenchWindow;
+import org.eclipse.ui.IWorkbenchWindowActionDelegate;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Our sample action implements workbench action delegate.
+ * The action proxy will be created by the workbench and
+ * shown in the UI. When the user tries to use the action,
+ * this delegate will be created and execution will be 
+ * delegated to it.
+ * @see IWorkbenchWindowActionDelegate
+ */
+public class RunSFXDashboardAction implements IWorkbenchWindowActionDelegate {
+	/**
+	 * The constructor.
+	 */
+	public RunSFXDashboardAction() {
+	}
+
+	/**
+	 * The action has been activated. The argument of the
+	 * method represents the 'real' action sitting
+	 * in the workbench UI.
+	 * @see IWorkbenchWindowActionDelegate#run
+	 */
+	public void run(IAction action) {
+		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 SFXDashboard.", e);
+		}
+	}
+
+	/**
+	 * Selection in the workbench has been changed. We 
+	 * can change the state of the 'real' action here
+	 * if we want, but this can only happen after 
+	 * the delegate has been created.
+	 * @see IWorkbenchWindowActionDelegate#selectionChanged
+	 */
+	public void selectionChanged(IAction action, ISelection selection) {
+	}
+
+	/**
+	 * We can use this method to dispose of any system
+	 * resources we previously allocated.
+	 * @see IWorkbenchWindowActionDelegate#dispose
+	 */
+	public void dispose() {
+	}
+
+	/**
+	 * We will cache window object in order to
+	 * be able to provide parent shell for the message dialog.
+	 * @see IWorkbenchWindowActionDelegate#init
+	 */
+	public void init(IWorkbenchWindow window) {
+	}
+}
--- 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
@@ -0,0 +1,71 @@
+package edu.wpi.first.wpilib.plugins.core.actions;
+
+import java.io.File;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.action.IAction;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.ui.IWorkbenchWindow;
+import org.eclipse.ui.IWorkbenchWindowActionDelegate;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Our sample action implements workbench action delegate.
+ * The action proxy will be created by the workbench and
+ * shown in the UI. When the user tries to use the action,
+ * this delegate will be created and execution will be 
+ * delegated to it.
+ * @see IWorkbenchWindowActionDelegate
+ */
+public class RunSmartDashboardAction implements IWorkbenchWindowActionDelegate {
+	/**
+	 * The constructor.
+	 */
+	public RunSmartDashboardAction() {
+	}
+
+	/**
+	 * The action has been activated. The argument of the
+	 * method represents the 'real' action sitting
+	 * in the workbench UI.
+	 * @see IWorkbenchWindowActionDelegate#run
+	 */
+	public void run(IAction action) {
+		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) {
+            WPILibCore.logError("Error running SmartDashboard.", e);
+		}
+	}
+
+	/**
+	 * Selection in the workbench has been changed. We 
+	 * can change the state of the 'real' action here
+	 * if we want, but this can only happen after 
+	 * the delegate has been created.
+	 * @see IWorkbenchWindowActionDelegate#selectionChanged
+	 */
+	public void selectionChanged(IAction action, ISelection selection) {
+	}
+
+	/**
+	 * We can use this method to dispose of any system
+	 * resources we previously allocated.
+	 * @see IWorkbenchWindowActionDelegate#dispose
+	 */
+	public void dispose() {
+	}
+
+	/**
+	 * We will cache window object in order to
+	 * be able to provide parent shell for the message dialog.
+	 * @see IWorkbenchWindowActionDelegate#init
+	 */
+	public void init(IWorkbenchWindow window) {
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/ant/AntPropertiesParser.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/ant/AntPropertiesParser.java
@@ -0,0 +1,83 @@
+package edu.wpi.first.wpilib.plugins.core.ant;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Properties;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.core.runtime.Status;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+public class AntPropertiesParser {
+	List<InputStream> files;
+
+	public AntPropertiesParser(List<InputStream> files) {
+		this.files = files;
+	}
+	
+	@SuppressWarnings("serial")
+	public AntPropertiesParser(final InputStream file) {
+		this(new ArrayList<InputStream>() {{add(file);}});
+	}
+	
+	public Properties getProperties() throws CoreException {
+		return getProperties(null);
+	}
+
+	
+	public Properties getProperties(Properties defaults) throws CoreException {
+		Properties props = defaults;
+		
+		for (int i = files.size()-1; i >= 0; i--) {
+			props = getPropertyFile(files.get(i), props);
+		}
+		
+		return props;
+	}
+	
+	public Properties getPropertyFile(InputStream resource, Properties defaults) throws CoreException {
+		Properties props;
+		if (defaults == null) props = new Properties();
+		else props = new Properties(defaults);
+		try {
+			props.load(resource);
+		} catch (IOException e) {
+            WPILibCore.logError("Error loading property file: "+resource, e);
+			return null;
+		}
+		
+		// TODO: Improve parsing of ant properties
+		boolean overflow = false;
+		for (Object key : props.keySet().toArray()) {
+			int count = 0;
+			while (props.getProperty((String) key).toString().contains("$") && count < 10) {
+				Pattern pattern = Pattern.compile( "\\$\\{(.*?)\\}" );
+		        Matcher matcher = pattern.matcher( props.getProperty((String) key).toString() );
+		        StringBuffer sb = new StringBuffer();
+		        while ( matcher.find() ) {
+		        	String prop = matcher.group().substring(2, matcher.group().length()-1);
+		        	if (props.getProperty(prop) != null) {
+		        		matcher.appendReplacement(sb, Matcher.quoteReplacement(props.getProperty(prop)));
+		        	} else if (prop.equals("user.home")) {
+		        		matcher.appendReplacement(sb, Matcher.quoteReplacement(System.getProperty("user.home")));
+ 		        	} else {
+		        		matcher.appendReplacement(sb, Matcher.quoteReplacement(matcher.group()));
+		        	}
+		        }
+		        matcher.appendTail( sb );
+		        props.setProperty((String) key, sb.toString());	
+
+				count++;
+			}
+			if (count >= 50) overflow = true;
+		}
+		if (overflow) throw new CoreException(new Status(0, "WPI", "Could not parse build.properties file"));
+		
+		return props;
+	}
+}
--- 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
@@ -0,0 +1,243 @@
+package edu.wpi.first.wpilib.plugins.core.installer;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.util.zip.ZipEntry;
+import java.util.zip.ZipInputStream;
+
+import javax.swing.JOptionPane;
+
+import org.eclipse.core.resources.ResourcesPlugin;
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.core.runtime.IProgressMonitor;
+import org.eclipse.core.runtime.IStatus;
+import org.eclipse.core.runtime.Status;
+import org.eclipse.core.runtime.jobs.Job;
+import org.eclipse.debug.core.DebugPlugin;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+public abstract class AbstractInstaller {
+	protected File installLocation;
+	protected String version;
+
+	public AbstractInstaller(String version) {
+		this.installLocation = new File(WPILibCore.getDefault().getWPILibBaseDir()
+				+ File.separator + getFeatureName() + File.separator + version);
+		this.version = version;
+	}
+
+	/**
+	 * @return The name of the feature being installed.
+	 */
+	protected abstract String getFeatureName();
+
+	/**
+	 * Update the installed version to the latest version.
+	 * @param version The latest version installed.
+	 */
+	protected abstract void updateInstalledVersion(String version);
+
+	/**
+	 * @return The input stream to the zip file being installed.
+	 */
+	protected abstract InputStream getInstallResourceStream();
+
+	public void installIfNecessary() {
+		final Job installJob = new Job("Install " + getFeatureName()) {
+
+			@Override
+			protected IStatus run(IProgressMonitor monitor) {
+				monitor.beginTask(getTaskMessage(), IProgressMonitor.UNKNOWN);
+				WPILibCore.logInfo("Installing "+getFeatureName()+" if necessary");
+
+				if (!isInstalled()) {
+					WPILibCore.logInfo("Install necessary");
+					try {
+						install();
+					} catch (InstallException e) {
+                        WPILibCore.logError("Error installing "+getFeatureName(), e);
+						return new Status(IStatus.ERROR, WPILibCore.PLUGIN_ID,
+								getErrorMessage(e));
+					}
+				}
+
+				updateInstalledVersion(version);
+				WPILibCore.logInfo("Installed");
+
+				return Status.OK_STATUS;
+			}
+
+			private String getErrorMessage(InstallException ex) {
+				String message = "Unable to install " + getFeatureName();
+				if (ex.getCause() != null) {
+					message += ": " + ex.getCause().getMessage();
+				} else if (ex.getMessage() != null) {
+					message += ": " + ex.getMessage();
+				}
+
+				message += ". See console for details.";
+				return message;
+			}
+
+			private String getTaskMessage() {
+				try {
+					return "Extracting to " + installLocation.getCanonicalPath();
+				} catch (IOException ex) {
+                    WPILibCore.logError("installIfNecessary().getTaskMessage()", ex);
+					return "Extracting";
+				}
+			}
+		};
+
+		installJob.setUser(true);
+		installJob.setRule(ResourcesPlugin.getWorkspace().getRuleFactory().buildRule());
+		installJob.schedule();
+	}
+
+	/**
+	 * This function has been updated to guarantee that the wpilib folder date
+	 * is older than the jar file being run, which ensures up to date tools.
+	 *
+	 * @return True for is there and newer, false otherwise.
+	 */
+	protected boolean isInstalled() {
+		return installLocation.exists(); 
+	}
+
+	/**
+	 * This function will delete an old wpilib subfolder if necessary and then copy
+	 * the resource stream to the intended directory.
+	 *
+	 * @throws InstallException if bad things happen ...
+	 */
+	protected void install() throws InstallException {
+		if(installLocation.exists()) {
+			if(!removeFileHandler(installLocation, true)) {
+				JOptionPane.showMessageDialog(null,
+					String.format("Could not update the old wpilib folder.%n"
+							+ "Please close any WPILib tools and restart Eclipse."));
+			}
+			else
+				removeFileHandler(installLocation, false);
+		}
+
+		installLocation.mkdirs();
+		final String osName = System.getProperty("os.name");
+		try {
+			if (osName.startsWith("Mac OS X") || osName.startsWith("Linux")) { // Unix-like OSes must preserve the executable bit; call unzip
+				final File tmpFile = File.createTempFile(getFeatureName()+"-", ".zip");
+				try {
+					// Copy to temporary file
+					try (final InputStream zip = getInstallResourceStream();
+							final FileOutputStream fout = new FileOutputStream(tmpFile)) {
+						copyStreams(zip, fout);
+					}
+
+					// Call 'unzip'
+					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()) {
+						copyStreams(is, System.out); // Copy output to console
+					}
+
+					// Check result
+					final int exitCode = unzipProcess.waitFor();
+					if (exitCode > 1 || exitCode < 0) { // Exit code 1 indicates success with warnings
+						throw new InstallException("Unzip process failed with code " + exitCode);
+					}
+				} finally {
+					tmpFile.delete();
+				}
+			} else {
+				ZipInputStream zip = new ZipInputStream(getInstallResourceStream());
+				ZipEntry entry = zip.getNextEntry();
+				while (entry != null) {
+					WPILibCore.logInfo("\tZipEntry " + entry + ": " + entry.getSize());
+					File f = new File(installLocation, entry.getName());
+					if (entry.isDirectory()) {
+						f.mkdirs();
+					} else {
+						FileOutputStream fo = new FileOutputStream(f);
+						copyStreams(zip, fo);
+						fo.close();
+					}
+
+					zip.closeEntry();
+					entry = zip.getNextEntry();
+				}
+				zip.close();
+			}
+		} catch (IOException | CoreException | InterruptedException ex) {
+			throw new InstallException("Install encountered a problem", ex);
+		}
+	}
+
+	private static void copyStreams(InputStream source, OutputStream destination) throws IOException {
+		byte[] buffer = new byte[1024];
+		int len;
+
+		while((len = source.read(buffer)) >= 0){
+			destination.write(buffer,0,len);
+		}
+	}
+
+	/**
+	 * Recursively remove all of the files and folders described by this file handler.
+	 *
+	 * @param file The file to remove
+	 * @param testRun True to just test if the files can be deleted
+	 * @return True if this and all subFiles were removed, false otherwise.
+	 */
+	private static boolean removeFileHandler(File file, boolean testRun) {
+		// if normal files (data files and the like)
+		if(file.isFile()) {
+			if(testRun) return file.getParentFile().canWrite();
+			else return file.delete();
+		}
+		// if folders
+		else if(file.isDirectory()) {
+			for(File f : file.listFiles()) {
+				if(!removeFileHandler(f, testRun))
+					return false;
+			}
+			if(testRun) return file.getParentFile().canWrite();
+			else return file.delete();
+		}
+		// I'm not sure what to do if the file is not normal or a directory ...
+		else return false;
+	}
+
+	/**
+	 * Indicates that an attempt to install a resource failed.
+	 */
+	private static class InstallException extends Exception {
+		private static final long serialVersionUID = 4883122446098399588L;
+
+		/**
+		 * @see Exception#Exception()
+		 */
+		@SuppressWarnings("unused")
+		public InstallException() {
+			super();
+		}
+
+		/**
+		 * @see Exception#Exception(String)
+		 */
+		public InstallException(String message) {
+			super(message);
+		}
+
+		/**
+		 * @see Exception#Exception(String, Throwable)
+		 */
+		public InstallException(String message, Throwable cause) {
+			super(message, cause);
+		}
+	}
+}
--- 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
@@ -0,0 +1,38 @@
+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;
+import edu.wpi.first.wpilib.plugins.core.preferences.PreferenceConstants;
+
+public class ToolsInstaller extends AbstractInstaller {
+
+	public ToolsInstaller(String version) {
+		super(version);
+	}
+
+	@Override
+	protected String getFeatureName() {
+		return "tools";
+	}
+
+	@Override
+	protected void updateInstalledVersion(String version) {
+		IPreferenceStore prefs = WPILibCore.getDefault().getPreferenceStore();
+		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
+	protected InputStream getInstallResourceStream() {
+		return ToolsInstaller.class.getResourceAsStream("/resources/tools.zip");
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/launching/AntLauncher.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/launching/AntLauncher.java
@@ -0,0 +1,148 @@
+package edu.wpi.first.wpilib.plugins.core.launching;
+
+import java.io.File;
+import java.util.HashSet;
+import java.util.Set;
+
+import org.eclipse.ant.internal.ui.launchConfigurations.AntLaunchShortcut;
+import org.eclipse.ant.launching.IAntLaunchConstants;
+import org.eclipse.core.externaltools.internal.IExternalToolConstants;
+import org.eclipse.core.runtime.Path;
+import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.debug.core.ILaunch;
+import org.eclipse.debug.core.ILaunchConfiguration;
+import org.eclipse.debug.core.ILaunchConfigurationWorkingCopy;
+import org.eclipse.debug.core.ILaunchManager;
+import org.eclipse.debug.ui.IDebugUIConstants;
+import org.eclipse.ui.IWorkbenchPage;
+import org.eclipse.ui.PlatformUI;
+import org.eclipse.ui.console.IConsoleConstants;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Contains functions to launch ant scripts while having the output sent to the
+ * console.  Allows for the use of arguments, the specification of targets, and
+ * the choice of launch modes
+ * 
+ * @author Ryan O'Meara
+ */
+@SuppressWarnings("restriction")
+public class AntLauncher {
+	private static boolean installing = false;
+	
+	/**
+	 * Runs an ant script's target's with the given arguments, in the given launch mode
+	 * @param antScript A java.io.File representation of the ant file to execute
+	 * @param targets A String of the ant targets to run.  For multiple targets, 
+	 * format if "target1,target2".  For no targets, this argument can be null.  This
+	 * method will assume output should be sent to the console, same as calling
+	 * runAntFile(antScript, targets, arguments, mode, true)
+	 * @param arguments A String of arguments to run the file with.  Format is
+	 * "-argument1 -argument2".  For no arguments, this argument can be null
+	 * @param mode String, either "run" or "debug".  If an invalid input is given, 
+	 * defaults to "run"
+	 * @return The ILaunch started, or null if it failed to start
+	 */
+	public static ILaunch runAntFile(File antScript, String targets, String arguments, String mode){
+		return runAntFile(antScript, targets, arguments, mode, true);
+	}
+	
+	/**
+	 * Runs an ant script's target's with the given arguments, in the given launch mode
+	 * @param antScript A java.io.File representation of the ant file to execute
+	 * @param targets A String of the ant targets to run.  For multiple targets, 
+	 * format if "target1,target2".  For no targets, this argument can be null.  Allows
+	 * choice of outputting to the console
+	 * @param arguments A String of arguments to run the file with.  Format is
+	 * "-argument1 -argument2".  For no arguments, this argument can be null
+	 * @param mode String, either "run" or "debug".  If an invalid input is given, 
+	 * defaults to "run"
+	 * @param outputToConsole If true, output will be sent to console, if false it will not
+	 * @return The ILaunch started, or null if it failed to start
+	 */
+	public static ILaunch runAntFile(File antScript, String targets, String arguments, String mode, boolean outputToConsole){
+		//Input error checking
+		if((mode == null)||(!mode.equalsIgnoreCase(ILaunchManager.DEBUG_MODE))){mode = ILaunchManager.RUN_MODE;}  			//Launcher only accepts run or debug
+		if((targets != null)&&(targets.equalsIgnoreCase(""))){targets = null;}  		//Standardize representation of "none"
+		if((arguments != null)&&(arguments.equalsIgnoreCase(""))){arguments = null;}
+		
+		if(antScript.getAbsolutePath().indexOf("install.xml") != -1){
+			installing = true;
+		}else{
+			installing = false;
+		}
+		
+		ILaunch ret = null;
+		
+		try{
+			
+			//Show the console
+			if(outputToConsole){
+				try{
+				final IWorkbenchPage activePage = PlatformUI.getWorkbench()
+				        .getActiveWorkbenchWindow()
+				        .getActivePage();
+				activePage.showView(IConsoleConstants.ID_CONSOLE_VIEW);
+				}catch(Exception e){}
+			}
+
+			//Get an ant launch config setup to use eclipse VM - which users will setup to be the jdk,
+			//allowing the use of javac.  Also sets the location of the file to execute 
+			ILaunchConfiguration launcher = AntLaunchShortcut.createDefaultLaunchConfiguration(new Path(antScript.getAbsolutePath()), null);
+			
+			//Get copy that can be edited
+			ILaunchConfigurationWorkingCopy workingCopy = launcher.getWorkingCopy();
+			
+			//Prevent this configuration from appearing in history or dialogs
+			workingCopy.setAttribute(ILaunchManager.ATTR_PRIVATE, false);
+			
+			//Setup to show output on console
+			if(outputToConsole){
+				workingCopy.setAttribute(DebugPlugin.ATTR_CAPTURE_OUTPUT, true);
+				workingCopy.setAttribute(IExternalToolConstants.ATTR_SHOW_CONSOLE, true);
+			}else{
+				workingCopy.setAttribute(DebugPlugin.ATTR_CAPTURE_OUTPUT, false);
+				workingCopy.setAttribute(IExternalToolConstants.ATTR_SHOW_CONSOLE, false);
+			}
+		    
+		    
+		    workingCopy.setAttribute(IDebugUIConstants.ATTR_LAUNCH_IN_BACKGROUND, true);
+		    
+		    if(targets != null){
+		    	workingCopy.setAttribute(IAntLaunchConstants.ATTR_ANT_TARGETS, targets);
+		    }
+		    
+		    if(arguments != null){
+		    	 workingCopy.setAttribute(IExternalToolConstants.ATTR_TOOL_ARGUMENTS, arguments);
+		    }
+		    
+		    if(mode.equals(ILaunchManager.DEBUG_MODE)){
+		    	Set<String> modes = new HashSet<String>();
+		    	modes.add(ILaunchManager.DEBUG_MODE);
+		    	workingCopy.addModes(modes);
+		    }
+			
+			//Save/assert all changes
+		    launcher = workingCopy.doSave();
+		    
+		   //Launch the modified configuration in the specified mode
+		   try {
+			   ret = launcher.launch(mode, null, true, true);
+		   } catch(Exception e) {
+			   //Does not need Output, handled and resolved internally
+               WPILibCore.logError("Error running launch.", e);
+			   return null;
+		   }
+		} catch(Exception e) {
+            WPILibCore.logError("Error running ant file", e);
+			return null;
+		}
+		
+		return ret;
+	}
+	
+	public static boolean isInstalling(){
+		return installing;
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/nature/FRCProjectNature.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/nature/FRCProjectNature.java
@@ -0,0 +1,97 @@
+package edu.wpi.first.wpilib.plugins.core.nature;
+
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.resources.IProjectNature;
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.core.runtime.IStatus;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+
+/**
+ * Project nature which configures any project which is given it to be an 
+ * FRC Project, and designates it so FRC options will be enabled to act on
+ * it
+ * 
+ */
+public class FRCProjectNature implements IProjectNature {
+	
+	public static final String FRC_PROJECT_NATURE = 
+		"edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature";
+	
+	
+	private IProject internalProject;
+	
+	/**
+	 * IStatus representing a failed configuration attempt
+	 * 
+	 * @author Ryan O'Meara
+	 */
+	private class FRCProjectFailedStatus implements IStatus{
+		String message;
+		
+		public FRCProjectFailedStatus(String message){
+			this.message = message;
+		}
+		
+		@Override
+		public IStatus[] getChildren() {return null;}
+
+		@Override
+		public int getCode() {return 0;}
+
+		@Override
+		public Throwable getException() {return null;}
+
+		@Override
+		public String getMessage() {return message;}
+
+		@Override
+		public String getPlugin() {return WPILibCore.PLUGIN_ID;}
+
+		@Override
+		public int getSeverity() {return ERROR;}
+
+		@Override
+		public boolean isMultiStatus() {return false;}
+
+		@Override
+		public boolean isOK() {return false;}
+
+		@Override
+		public boolean matches(int severityMask) {
+			if((severityMask & ERROR) == ERROR){return true;}
+			return false;
+		}	
+	}
+	
+	public FRCProjectNature(){
+		internalProject = null;
+	}
+	
+	@Override
+	public void configure() throws CoreException {
+		if(internalProject == null){
+			throw new CoreException(
+					new FRCProjectFailedStatus("No project set"));
+		}
+	}
+
+	@Override
+	public void deconfigure() throws CoreException {
+		if(internalProject == null){
+			throw new CoreException(
+					new FRCProjectFailedStatus("No project set"));
+		}
+	}
+
+	@Override
+	public IProject getProject() {
+		return internalProject;
+	}
+
+	@Override
+	public void setProject(IProject project) {
+		internalProject = project;
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/ComboFieldEditor.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/ComboFieldEditor.java
@@ -0,0 +1,69 @@
+package edu.wpi.first.wpilib.plugins.core.preferences;
+
+import java.util.List;
+
+import org.eclipse.jface.preference.FieldEditor;
+import org.eclipse.swt.SWT;
+import org.eclipse.swt.layout.GridData;
+import org.eclipse.swt.widgets.Combo;
+import org.eclipse.swt.widgets.Composite;
+import org.eclipse.swt.widgets.Label;
+
+public class ComboFieldEditor extends FieldEditor {
+	private List<String> choices;
+	private Composite parent;
+	Combo comboDropDown;
+
+	public ComboFieldEditor(String preference, String label, Composite parent, List<String> choices) {
+		super(preference, label, parent);
+		this.choices = choices;
+		for (String choice : choices) {
+			comboDropDown.add(choice);
+		}
+	}
+	
+	public void setChoice(String item) {
+		comboDropDown.select(choices.indexOf(item));
+	}
+
+	public String getChoice() {
+		return choices.get(comboDropDown.getSelectionIndex());
+	}
+	
+	@Override protected void adjustForNumColumns(int numColumns) {
+		((GridData) parent.getLayoutData()).horizontalSpan = numColumns;
+	}
+
+	@Override protected void doFillIntoGrid(Composite parent, int numColumns) {
+		this.parent = parent;
+		
+		GridData gd = new GridData(GridData.FILL_HORIZONTAL);
+		gd.horizontalSpan = numColumns;
+		parent.setLayoutData(gd);
+		
+		Label label = getLabelControl(parent);
+		label.setText(getLabelText());
+		
+		comboDropDown = new Combo(parent, SWT.DROP_DOWN | SWT.BORDER);
+		gd = new GridData(GridData.FILL_HORIZONTAL);
+		comboDropDown.setLayoutData(gd);
+	}
+
+	@Override protected void doLoad() {
+		String item = getPreferenceStore().getString(getPreferenceName());
+		setChoice(item);
+	}
+
+	@Override protected void doLoadDefault() {
+		String item = getPreferenceStore().getDefaultString(getPreferenceName());
+		setChoice(item);
+	}
+
+	@Override protected void doStore() {
+		getPreferenceStore().setValue(getPreferenceName(), getChoice());
+	}
+
+	@Override public int getNumberOfControls() {
+		return 2;
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/PreferenceConstants.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/PreferenceConstants.java
@@ -0,0 +1,10 @@
+package edu.wpi.first.wpilib.plugins.core.preferences;
+
+/**
+ * Constant definitions for plug-in preferences
+ */
+public class PreferenceConstants {
+	public static final String TEAM_NUMBER = "teamNumberPreference";
+	public static final String TOOLS_VERSION = "toolsVersionPreference";
+	public static final String UPDATE_TOOLS_VERSION = "udpateToolsVersionPreference";
+}
--- 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
@@ -0,0 +1,25 @@
+package edu.wpi.first.wpilib.plugins.core.preferences;
+
+import org.eclipse.core.runtime.preferences.AbstractPreferenceInitializer;
+import org.eclipse.jface.preference.IPreferenceStore;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Class used to initialize default preference values.
+ */
+public class PreferenceInitializer extends AbstractPreferenceInitializer {
+
+	/*
+	 * (non-Javadoc)
+	 * 
+	 * @see org.eclipse.core.runtime.preferences.AbstractPreferenceInitializer#initializeDefaultPreferences()
+	 */
+	public void initializeDefaultPreferences() {
+		IPreferenceStore store = WPILibCore.getDefault().getPreferenceStore();
+		store.setDefault(PreferenceConstants.TEAM_NUMBER,
+				WPILibCore.getDefault().getProjectProperties(null).getProperty("team-number", "0"));
+		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/preferences/WPILibPreferencePage.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/WPILibPreferencePage.java
@@ -0,0 +1,98 @@
+package edu.wpi.first.wpilib.plugins.core.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.jface.preference.IntegerFieldEditor;
+import org.eclipse.ui.IWorkbench;
+import org.eclipse.ui.IWorkbenchPreferencePage;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * 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 WPILibPreferencePage
+	extends FieldEditorPreferencePage
+	implements IWorkbenchPreferencePage {
+	IntegerFieldEditor teamNumberEditor;
+	private ComboFieldEditor toolsVersionEditor;
+	private BooleanFieldEditor autoUpdateEditor;
+
+	public WPILibPreferencePage() {
+		super(GRID);
+		setPreferenceStore(WPILibCore.getDefault().getPreferenceStore());
+		setDescription("A preference page for changing all workspace level settings.");
+	}
+	
+	/**
+	 * 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() {
+		teamNumberEditor =	new IntegerFieldEditor(PreferenceConstants.TEAM_NUMBER,
+						"&Team Number:", getFieldEditorParent());
+		addField(teamNumberEditor);
+		toolsVersionEditor = new ComboFieldEditor(PreferenceConstants.TOOLS_VERSION,
+				"&Tools Version:", getFieldEditorParent(), getInstalledVersions());
+		addField(toolsVersionEditor);
+		autoUpdateEditor =	new BooleanFieldEditor(PreferenceConstants.UPDATE_TOOLS_VERSION,
+				"&Auto Update Tools Version", getFieldEditorParent());
+		addField(autoUpdateEditor);
+	}
+	
+	private List<String> getInstalledVersions() {
+		File[] dirs = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools")
+							.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) {
+		WPILibCore.logInfo("Preferences initialized.");
+		Properties props = WPILibCore.getDefault().getProjectProperties(null);
+		getPreferenceStore().setValue(PreferenceConstants.TEAM_NUMBER,
+				Integer.parseInt(props.getProperty("team-number", "0")));
+	}
+	
+	@Override public void performApply() {
+		performOk();
+	}
+
+    @Override public boolean performOk() {
+    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
+    	props.setProperty("team-number", teamNumberEditor.getStringValue());
+    	WPILibCore.getDefault().saveGlobalProperties(props);
+		return super.performOk();
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ExampleWizard.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ExampleWizard.java
@@ -0,0 +1,90 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.net.URL;
+import java.util.List;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.jface.dialogs.MessageDialog;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.jface.viewers.IStructuredSelection;
+import org.eclipse.jface.wizard.IWizardPage;
+import org.eclipse.jface.wizard.Wizard;
+import org.eclipse.ui.INewWizard;
+import org.eclipse.ui.IWorkbench;
+import org.eclipse.ui.IWorkbenchWizard;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+public abstract class ExampleWizard extends Wizard implements INewWizard {
+	private ExampleWizardChoicePage page1;
+	private IWizardPage page2;
+	protected ISelection selection;
+	private TeamNumberPage teamNumberPage;
+
+	/**
+	 * Constructor for SampleNewWizard.
+	 */
+	public ExampleWizard() {
+		super();
+		setNeedsProgressMonitor(true);
+	}
+	
+	/**
+	 * The worker method. It will find the container, create the
+	 * file if missing or just replace its contents, and open
+	 * the editor on the newly created file.
+	 */
+	protected abstract void doFinish(IExampleProject ex, String teamNumber) throws CoreException;
+
+	protected abstract IWizardPage getDetailsPage();
+	
+	public abstract IExampleProject makeExampleProject(String name, String description,
+			List<String> tags, List<String> folders, List<IExampleProject.ExportFile> files);
+	
+	public abstract URL getResourceURL();
+	
+	public abstract String getXMLFile();
+	
+	protected TeamNumberPage getTeamNumberPage() {
+		return teamNumberPage;
+	}
+	
+	/**
+	 * Adding the page to the wizard.
+	 */
+
+	public void addPages() {
+		if (TeamNumberPage.needsTeamNumberPage()) {
+			teamNumberPage = new TeamNumberPage(selection);
+			addPage(teamNumberPage);
+		}
+		page1 = new ExampleWizardChoicePage(this, selection);
+		addPage(page1);
+		page2 = getDetailsPage();
+		addPage(page2);
+	}
+
+	/**
+	 * This method is called when 'Finish' button is pressed in
+	 * the wizard. We will create an operation and run it
+	 * using wizard as execution context.
+	 */
+	public boolean performFinish() {
+		try {
+			doFinish(page1.getExampleProject(), TeamNumberPage.getTeamNumberFromPage(teamNumberPage));
+		} catch (CoreException e) {
+            WPILibCore.logError("Error finishing example.", e);
+			MessageDialog.openError(getShell(), "Error", e.getMessage());
+			return false;
+		}
+		return true;
+	}
+	/**
+	 * We will accept the selection in the workbench to see if
+	 * we can initialize from it.
+	 * @see IWorkbenchWizard#init(IWorkbench, IStructuredSelection)
+	 */
+	public void init(IWorkbench workbench, IStructuredSelection selection) {
+		this.selection = selection;
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ExampleWizardChoicePage.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ExampleWizardChoicePage.java
@@ -0,0 +1,240 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.io.IOException;
+import java.net.MalformedURLException;
+import java.net.URL;
+import java.util.ArrayList;
+import java.util.List;
+
+import javax.xml.parsers.DocumentBuilder;
+import javax.xml.parsers.DocumentBuilderFactory;
+import javax.xml.parsers.ParserConfigurationException;
+
+import org.eclipse.jface.dialogs.IDialogPage;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.jface.wizard.WizardPage;
+import org.eclipse.swt.SWT;
+import org.eclipse.swt.browser.Browser;
+import org.eclipse.swt.events.SelectionEvent;
+import org.eclipse.swt.events.SelectionListener;
+import org.eclipse.swt.layout.GridData;
+import org.eclipse.swt.layout.GridLayout;
+import org.eclipse.swt.widgets.Composite;
+import org.eclipse.swt.widgets.Tree;
+import org.eclipse.swt.widgets.TreeItem;
+import org.w3c.dom.Document;
+import org.w3c.dom.Element;
+import org.w3c.dom.Node;
+import org.w3c.dom.NodeList;
+import org.xml.sax.SAXException;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * The "New" wizard page allows setting the container for the new file as well
+ * as the file name. The page will only accept file name without the extension
+ * OR with the extension that matches the expected one (mpe).
+ */
+
+public class ExampleWizardChoicePage extends WizardPage {
+	private Tree exampleTree;
+	private Browser descriptionText;
+	private IExampleProject selectedExample;
+	private ExampleWizard parent;
+
+	/**
+	 * Constructor for SampleNewWizardPage.
+	 * 
+	 * @param pageName
+	 */
+	public ExampleWizardChoicePage(ExampleWizard parent, ISelection selection) {
+		super("wizardPage");
+		this.parent = parent;
+		setTitle("Select Example Project to Create");
+		setDescription("This wizard creates a new example project based on your selection.");
+	}
+
+	/**
+	 * @see IDialogPage#createControl(Composite)
+	 */
+	public void createControl(Composite parent) {
+		Composite container = new Composite(parent, SWT.NULL);
+		GridLayout layout = new GridLayout();
+		container.setLayout(layout);
+		layout.numColumns = 2;
+		layout.verticalSpacing = 9;
+
+		exampleTree = new Tree(container, SWT.BORDER);
+		GridData gd = new GridData(GridData.FILL_HORIZONTAL | GridData.FILL_VERTICAL);
+		gd.heightHint = 400;
+		exampleTree.setLayoutData(gd);
+		exampleTree.addSelectionListener(new SelectionListener() {
+			@Override
+			public void widgetSelected(SelectionEvent arg0) {
+				dialogChanged();
+			}
+			@Override
+			public void widgetDefaultSelected(SelectionEvent arg0) {
+				dialogChanged();
+			}
+		});
+
+		descriptionText = new Browser(container, SWT.BORDER);
+		gd = new GridData(GridData.FILL_HORIZONTAL | GridData.FILL_VERTICAL);
+		gd.heightHint = 400;
+		gd.widthHint = 300;
+		descriptionText.setLayoutData(gd);
+		
+		initialize();
+		dialogChanged();
+		setControl(container);
+	}
+
+	/**
+	 * Tests if the current workbench selection is a suitable container to use.
+	 */
+
+	private void initialize() {
+		Document doc = loadXMLResource(parent.getXMLFile());
+
+		// Generate all of the tags
+		List<Tag> tags = new ArrayList<Tag>();
+		NodeList nList = doc.getElementsByTagName("tagDescription");
+		for (int i = 0; i < nList.getLength(); i++) {
+			if (nList.item(i).getNodeType() == Node.ELEMENT_NODE) {
+				tags.add(generateTagFromElement((Element) nList.item(i)));
+			}
+		}
+		
+		// Generate all of the example projects
+		List<IExampleProject> examples = new ArrayList<IExampleProject>();
+		nList = doc.getElementsByTagName("example");
+		for (int i = 0; i < nList.getLength(); i++) {
+			if (nList.item(i).getNodeType() == Node.ELEMENT_NODE) {
+				examples.add(generateExampleFromElement((Element) nList.item(i)));
+			}
+		}
+
+		WPILibCore.logInfo(examples.toString());
+		WPILibCore.logInfo(tags.toString());
+		
+		// Generate the tags tree
+		for (Tag tag : tags) {
+			TreeItem tagItem = new TreeItem(exampleTree, SWT.NONE);
+			tagItem.setData(tag);
+			tagItem.setText(tag.getName());
+			for (IExampleProject ex : examples) {
+				if (ex.getTags().contains(tag.getName())) {
+					TreeItem exItem = new TreeItem(tagItem, SWT.NONE);
+					exItem.setData(ex);
+					exItem.setText(ex.getName());
+				}
+			}
+			tagItem.setExpanded(true);
+		}
+	}
+
+	/**
+	 * Ensures that both text fields are set.
+	 */
+
+	private void dialogChanged() {
+		if (exampleTree.getSelection().length > 0) {
+			Object selectedData = exampleTree.getSelection()[0].getData();
+			if (selectedData instanceof IExampleProject) {
+				IExampleProject example = (IExampleProject) selectedData;
+				descriptionText.setText(example.getContent());
+				selectedExample = example;
+			} else if (selectedData instanceof Tag) {
+				Tag tag = (Tag) selectedData;
+				descriptionText.setText(tag.getContent());
+				selectedExample = null;
+			} else selectedExample = null;
+		}
+		
+		if (selectedExample == null) {
+			updateStatus("Must select a valid example before continuing.");
+			return;
+		}
+		
+		updateStatus(null);
+	}
+
+	private void updateStatus(String message) {
+		setErrorMessage(message);
+		setPageComplete(message == null);
+	}
+
+	private Document loadXMLResource(String filename) {
+		final URL installURL = parent.getResourceURL();
+		URL url = null;
+		try {
+			url = new URL(installURL, filename);
+		} catch (final MalformedURLException e) {
+            WPILibCore.logError("loadXMLResource()", e);
+			return null;
+		}
+		DocumentBuilderFactory dbFactory = DocumentBuilderFactory.newInstance();
+		DocumentBuilder dBuilder;
+		Document doc;
+		try {
+			dBuilder = dbFactory.newDocumentBuilder();
+			doc = dBuilder.parse(url.openStream());
+		} catch (ParserConfigurationException e) {
+            WPILibCore.logError("Error parsing "+filename, e);
+			return null;
+		} catch (SAXException e) {
+            WPILibCore.logError("SAX issue with "+filename, e);
+			return null;
+		} catch (IOException e) {
+            WPILibCore.logError("Error reading "+filename, e);
+			return null;
+		}
+		doc.getDocumentElement().normalize();
+		return doc;
+	}
+
+	private Tag generateTagFromElement(Element element) {
+		String name = element.getElementsByTagName("name").item(0).getTextContent();
+		String description = element.getElementsByTagName("description").item(0).getTextContent();
+		return new Tag(name, description);
+	}
+
+	private IExampleProject generateExampleFromElement(Element element) {
+		String name = element.getElementsByTagName("name").item(0).getTextContent();
+		String description = element.getElementsByTagName("description").item(0).getTextContent();
+		List<String> tags = new ArrayList<String>();
+		Node tagsElement = element.getElementsByTagName("tags").item(0);
+		if (tagsElement.getNodeType() == Node.ELEMENT_NODE) {
+			NodeList tagElementList = ((Element) tagsElement).getElementsByTagName("tag");
+			for (int i = 0; i < tagElementList.getLength(); i++) {
+				tags.add(tagElementList.item(i).getTextContent());
+			}
+		}
+		List<String> packages = new ArrayList<String>();
+		tagsElement = element.getElementsByTagName("packages").item(0);
+		if (tagsElement.getNodeType() == Node.ELEMENT_NODE) {
+			NodeList elementList = ((Element) tagsElement).getElementsByTagName("package");
+			for (int i = 0; i < elementList.getLength(); i++) {
+				packages.add(elementList.item(i).getTextContent());
+			}
+		}
+		List<IExampleProject.ExportFile> files = new ArrayList<IExampleProject.ExportFile>();
+		tagsElement = element.getElementsByTagName("files").item(0);
+		if (tagsElement.getNodeType() == Node.ELEMENT_NODE) {
+			NodeList elementList = ((Element) tagsElement).getElementsByTagName("file");
+			for (int i = 0; i < elementList.getLength(); i++) {
+				if (elementList.item(i).getNodeType() == Node.ELEMENT_NODE) {
+					element = (Element) elementList.item(i);
+					files.add(new IExampleProject.ExportFile(element.getAttribute("source"),
+								element.getAttribute("destination")));
+				}
+			}
+		}
+		return parent.makeExampleProject(name, description, tags, packages, files);
+	}
+
+	public IExampleProject getExampleProject() {
+		return selectedExample;
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/IExampleProject.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/IExampleProject.java
@@ -0,0 +1,17 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.util.List;
+
+public interface IExampleProject extends ProjectType {
+	public String getName();
+	public String getContent();
+	public List<String> getTags();
+	
+	static class ExportFile {
+		public String source, destination;
+		public ExportFile(String source, String destination) {
+			this.source = source;
+			this.destination = destination;
+		}
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/IProjectCreator.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/IProjectCreator.java
@@ -0,0 +1,60 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.util.List;
+import java.util.Map;
+
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.runtime.CoreException;
+
+/**
+ * An interface for providing hooks into the project creation 
+ * process. It provides necessary information and can perform
+ * both initialization and finalization of the project
+ * creation process.
+ * 
+ * @author Alex Henning
+ */
+public interface IProjectCreator {
+	
+	/**
+	 * @return The name of the project to create.
+	 */
+	String getName();
+
+	/**
+	 * @return The main package to be created. Should be an
+	 *         empty string if irrelevant.
+	 */
+	String getPackageName();
+	
+	/**
+	 * @return Map of keys to be substituted with values
+	 *         during the creation process.
+	 */
+	Map<String, String> getValues();
+
+	/**
+	 * @return The natures that this project should have.
+	 */
+	List<String> getNatures();
+
+	/**
+	 * @return A project type object that provides files
+	 *         and directories to create.
+	 */
+	ProjectType getProjectType();
+
+	/**
+	 * Run extra initialization code on the project.
+	 * @param project The project being created
+	 * @throws CoreException
+	 */
+	void initialize(IProject project) throws CoreException;
+
+	/**
+	 * Run extra finalization code on the project.
+	 * @param project The project being created
+	 * @throws CoreException
+	 */
+	void finalize(IProject project) throws CoreException;
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/IProjectFilter.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/IProjectFilter.java
@@ -0,0 +1,17 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import org.eclipse.core.resources.IProject;
+
+/**
+ * A filter that can be used to select projects.
+ * 
+ * @author alex
+ *
+ */
+public interface IProjectFilter {
+	/**
+	 * @param project The project to check.
+	 * @return Whether or to accept the project.
+	 */
+	boolean accept(IProject project);
+}
--- 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
@@ -0,0 +1,236 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.util.Map;
+
+import javax.swing.event.ChangeEvent;
+import javax.swing.event.ChangeListener;
+
+import org.eclipse.jface.dialogs.IDialogPage;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.jface.wizard.WizardPage;
+import org.eclipse.swt.SWT;
+import org.eclipse.swt.events.ModifyEvent;
+import org.eclipse.swt.events.ModifyListener;
+import org.eclipse.swt.events.SelectionAdapter;
+import org.eclipse.swt.events.SelectionEvent;
+import org.eclipse.swt.layout.GridData;
+import org.eclipse.swt.layout.GridLayout;
+import org.eclipse.swt.widgets.Button;
+import org.eclipse.swt.widgets.Composite;
+import org.eclipse.swt.widgets.FileDialog;
+import org.eclipse.swt.widgets.Group;
+import org.eclipse.swt.widgets.Label;
+import org.eclipse.swt.widgets.Text;
+
+/**
+ * The "New" wizard page allows setting the container for the new file as well
+ * as the file name. The page will only accept file name without the extension
+ * OR with the extension that matches the expected one (mpe).
+ */
+
+public class NewProjectMainPage extends WizardPage {
+	private Text projectNameText;
+	private Text packageText;
+	Map<String, ProjectType> types;
+	private Text worldText;
+	private Button worldButton;
+
+	Button iterativeRobot, commandRobot;
+	private boolean showPackage;
+	private boolean showProjectTypes;
+	private TeamNumberPage teamNumberPage;
+
+	/**
+	 * Constructor for SampleNewWizardPage.
+	 * @param teamNumberPage
+	 *
+	 * @param pageName
+	 */
+	public NewProjectMainPage(ISelection selection, TeamNumberPage teamNumberPage) {
+		super("wizardPage");
+		this.teamNumberPage = teamNumberPage;
+		showPackage = true;
+		showProjectTypes = false;
+	}
+
+	/**
+	 * @see IDialogPage#createControl(Composite)
+	 */
+	public void createControl(Composite parent) {
+		Composite container = new Composite(parent, SWT.NULL);
+		GridLayout layout = new GridLayout();
+		container.setLayout(layout);
+		layout.numColumns = 2;
+		layout.verticalSpacing = 9;
+		Label label = new Label(container, SWT.NULL);
+		label.setText("Project &Name:");
+
+		projectNameText = new Text(container, SWT.BORDER | SWT.SINGLE);
+		GridData gd = new GridData(GridData.FILL_HORIZONTAL);
+		projectNameText.setLayoutData(gd);
+		projectNameText.addModifyListener(new ModifyListener() {
+			public void modifyText(ModifyEvent e) {
+				dialogChanged();
+			}
+		});
+
+		if (showPackage) {
+			label = new Label(container, SWT.NULL);
+			label.setText("&Package:");
+
+			packageText = new Text(container, SWT.BORDER | SWT.SINGLE);
+			gd = new GridData(GridData.FILL_HORIZONTAL);
+			packageText.setLayoutData(gd);
+			packageText.addModifyListener(new ModifyListener() {
+				public void modifyText(ModifyEvent e) {
+					dialogChanged();
+				}
+			});
+		}
+
+		if (showProjectTypes) {
+			Group projectTypeGroup = new Group(container, SWT.BORDER);
+			projectTypeGroup.setText("Project Type");
+			gd = new GridData(GridData.FILL_HORIZONTAL);
+			gd.horizontalSpan = 2;
+			projectTypeGroup.setLayoutData(gd);
+			GridLayout groupLayout = new GridLayout();
+			groupLayout.numColumns = 1;
+			projectTypeGroup.setLayout(groupLayout);
+
+			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);
+
+			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);
+		}
+
+		label = new Label(container, SWT.NULL);
+		label.setText("Simulation &World:");
+
+
+		Composite comp = new Composite(container, SWT.NULL);
+		gd = new GridData(GridData.FILL_HORIZONTAL);
+		comp.setLayoutData(gd);
+		GridLayout groupLayout = new GridLayout();
+		groupLayout.numColumns = 2;
+		comp.setLayout(groupLayout);
+		worldText = new Text(comp, SWT.BORDER | SWT.SINGLE);
+		worldText.setLayoutData(gd);
+ 		worldText.setText("/usr/share/frcsim/worlds/GearsBotDemo.world");
+		worldText.addModifyListener(new ModifyListener() {
+			public void modifyText(ModifyEvent e) {
+				dialogChanged();
+			}
+		});
+		worldButton = new Button(comp, SWT.NULL);
+		worldButton.setText("Browse");
+		worldButton.addSelectionListener(new SelectionAdapter() {
+			@Override public void widgetSelected(SelectionEvent e) {
+				browse();
+			}
+		});
+
+		initialize();
+		dialogChanged();
+		setControl(container);
+	}
+
+	/**
+	 * Tests if the current workbench selection is a suitable container to use.
+	 */
+	private void initialize() {
+		String teamNumber = TeamNumberPage.getTeamNumberFromPage(teamNumberPage);
+		if (showPackage) {
+			packageText.setText("org.usfirst.frc.team"+teamNumber+".robot");
+			if (teamNumberPage != null) {
+				teamNumberPage.registerChangeListener(new ChangeListener() {
+					@Override public void stateChanged(ChangeEvent e) {
+						String teamNumber = TeamNumberPage.getTeamNumberFromPage(teamNumberPage);
+						packageText.setText("org.usfirst.frc.team"+teamNumber+".robot");
+
+					}
+				});
+			}
+		}
+	}
+
+	/**
+	 * Ensures that both text fields are set.
+	 */
+	private void dialogChanged() {
+		String projectName = getProjectName();
+
+		String packageString = "";
+		if (showPackage) packageString = getPackage();
+
+		if (projectName.length() == 0) {
+			updateStatus("Project name must be specified");
+			return;
+		}
+		if (showPackage && packageString.length() == 0) {
+			updateStatus("Package must be specified");
+			return;
+		}
+		if (showPackage && !packageString.matches("^([a-zA-Z_]{1}[a-zA-Z0-9_]*(\\.[a-zA-Z_]{1}[a-zA-Z0-9_]*)*)$")) {
+			updateStatus("Must be valid java package");
+			return;
+		}
+
+		updateStatus(null);
+	}
+
+	private void browse() {
+		FileDialog dialog = new FileDialog(getShell(), SWT.OPEN);
+		dialog.setText("Pick a World to Simulate");
+		dialog.setFileName(worldText.getText());
+		dialog.setFilterNames(new String[] { "World Files", "All Files (*.*)" });
+	    dialog.setFilterExtensions(new String[] { "*.world", "*.*" });
+		String result = dialog.open();
+		if (result != null) {
+			worldText.setText(result);
+		}
+	}
+
+	private void updateStatus(String message) {
+		setErrorMessage(message);
+		setPageComplete(message == null);
+	}
+
+	public String getProjectName() {
+		return projectNameText.getText();
+	}
+
+	public String getPackage() {
+		return packageText.getText();
+	}
+
+	public ProjectType getProjectType() {
+		if (!showProjectTypes) return null;
+		else if (iterativeRobot.getSelection()) return types.get(ProjectType.ITERATIVE);
+		else return types.get(ProjectType.COMMAND_BASED);
+	}
+
+	public String getWorld() {
+		return worldText.getText().replace(System.getProperty("user.home"), "${user.home}");
+	}
+
+	public void setShowPackage(boolean bool) {
+		showPackage = bool;
+	}
+
+	public void setShowProjectTypes(boolean bool) {
+		showProjectTypes = bool;
+	}
+
+	public void setProjectTypes(Map<String, ProjectType> types) {
+		showProjectTypes = true;
+		this.types = types;
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectComboField.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectComboField.java
@@ -0,0 +1,51 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.util.Arrays;
+
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.resources.ResourcesPlugin;
+import org.eclipse.swt.events.ModifyListener;
+import org.eclipse.swt.layout.GridData;
+import org.eclipse.swt.widgets.Combo;
+import org.eclipse.swt.widgets.Composite;
+
+public class ProjectComboField {
+	public static String NO_PROJECT = "No Project";
+	
+	private Combo combo;
+	
+	public ProjectComboField(Composite composite, int config, IProjectFilter filter) {
+		combo = new Combo(composite, config);
+		
+		combo.add(NO_PROJECT);
+		combo.select(0);
+		IProject[] projects = ResourcesPlugin.getWorkspace().getRoot().getProjects();
+		for (IProject project : projects) {
+			if (filter == null || filter.accept(project))
+				combo.add(project.getName());
+		}
+	}
+
+	public void setProject(IProject project) {
+		if (project != null)
+			combo.select(Arrays.binarySearch(combo.getItems(), project.getName()));
+		else combo.select(0);
+	}
+
+	public IProject getProject() {
+		return ResourcesPlugin.getWorkspace().getRoot().getProject(combo.getItem(combo.getSelectionIndex()));
+	}
+
+	public boolean isValid() {
+		return combo.getSelectionIndex() != 0;
+	}
+
+	public void setLayoutData(GridData gd) {
+		combo.setLayoutData(gd);
+	}
+
+	public void addModifyListener(ModifyListener modifyListener) {
+		combo.addModifyListener(modifyListener);
+	}
+	
+}
--- 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
@@ -0,0 +1,195 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.io.BufferedReader;
+import java.io.ByteArrayInputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.io.Reader;
+import java.net.MalformedURLException;
+import java.net.URL;
+import java.util.Map;
+import java.util.Map.Entry;
+
+import org.eclipse.core.resources.IContainer;
+import org.eclipse.core.resources.IFile;
+import org.eclipse.core.resources.IFolder;
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.resources.IProjectDescription;
+import org.eclipse.core.resources.IResource;
+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 edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Utilities for creating a new project and files from templates. Uses
+ * IProjectCreator to provide hooks for generating the directory
+ * structure, initial files, initializing and finalizing the creation
+ * of the new project.
+ * 
+ * @author Alex Henning
+ **/
+public class ProjectCreationUtils {
+
+	/**
+	 * Create a project using the given IProjectCreator.
+	 * 
+	 * @param creator The creator that provides the necessary information
+	 *                to create the project.
+	 * @return The newly created project.
+	 */
+	public static IProject createProject(IProjectCreator creator) {
+		IProject project = createBaseProject(creator.getName(), null);
+		
+		try {
+			creator.initialize(project);
+			for (String nature : creator.getNatures()) {
+				addNature(project, nature);	
+			}
+			addToProjectStructure(project, creator);
+			addFilesToProject(project, creator);
+			creator.finalize(project);
+		} catch (CoreException e) {
+            WPILibCore.logError("Error creating project "+creator.getName(), e);
+            project = null;
+        }
+		
+        return project;
+	}
+
+	private static IProject createBaseProject(String projectName, IPath location) {
+		IProject newProject = ResourcesPlugin.getWorkspace().getRoot().getProject(projectName);
+		
+		if (!newProject.exists()) {
+			IPath projectLocation = location;
+			IProjectDescription desc = newProject.getWorkspace().newProjectDescription(newProject.getName());
+			if (location != null &&
+					ResourcesPlugin.getWorkspace().getRoot().getLocation().equals(location)) {
+				projectLocation = null;
+			}
+			desc.setLocation(projectLocation);
+			try {
+				newProject.create(desc, null);
+				if (!newProject.isOpen()) {
+					newProject.open(null);
+				}
+			} catch (CoreException e) {
+                WPILibCore.logError("Can't create new project.", e);
+			}
+		}
+		
+		return newProject;
+	}
+
+	private static void addNature(IProject project, String nature_id) throws CoreException {
+		if (!project.hasNature(nature_id)) {
+			IProjectDescription desc = project.getDescription();
+			String[] prevNatures = desc.getNatureIds();
+			String[] newNatures = new String[prevNatures.length + 1];
+			System.arraycopy(prevNatures, 0, newNatures, 0, prevNatures.length);
+			newNatures[prevNatures.length] = nature_id;
+			desc.setNatureIds(newNatures);
+			
+			project.setDescription(desc, null);
+		}
+	}
+
+	private static void addToProjectStructure(IProject project, IProjectCreator creator) throws CoreException {
+		String[] paths = creator.getProjectType().getFolders(creator.getPackageName());
+		for (String path : paths) {
+			IFolder etcFolders = project.getFolder(path);
+			createFolder(etcFolders);
+		}
+	}
+
+	private static void createFolder(IFolder folder) throws CoreException {
+		IContainer parent = folder.getParent();
+		if (parent instanceof IFolder) {
+			createFolder((IFolder) parent);
+		}
+		if (!folder.exists()) {
+			folder.create(false, true, null);
+		}
+		folder.refreshLocal(IResource.DEPTH_INFINITE, null);
+	}
+
+	private static void addFilesToProject(IProject project, IProjectCreator creator) throws CoreException {
+		Map<String, String> files = creator.getProjectType().getFiles(creator.getPackageName());
+		for (Entry<String, String> e : files.entrySet()) {
+			try {
+				URL url = new URL(creator.getProjectType().getBaseURL(), e.getValue());
+				createTemplateFile(project, e.getKey(), url, creator.getValues());
+			} catch (MalformedURLException e1) {
+                WPILibCore.logError("Error adding file "+e.toString()+" to project.", e1);
+			}
+		}
+	}
+	
+	/**
+	 * Create a file in the project from a template. Substituting as required.
+	 * 
+	 * @param project The project to use create the file in.
+	 * @param filepath The path of the created file.
+	 * @param filesource The source of the template to use.
+	 * @param vals The map of values to use for substitution.
+	 * @throws CoreException
+	 */
+	public static void createTemplateFile(IProject project, String filepath, URL url, Map<String, String> vals) throws CoreException {
+		IFile template = project.getFile(new Path(filepath));
+		if (!template.exists()) {
+			InputStream in = openTemplateContentStream(project, url, vals);
+			template.create(in, true, null);
+		}
+	}
+
+	private static InputStream openTemplateContentStream(IProject project, URL url, Map<String, String> vals) {
+		//http://eclipse-javacc.cvs.sourceforge.net/viewvc/eclipse-javacc/sf.eclipse.javacc/src-plugin/sf/eclipse/javacc/wizards/JJNewWizard.java?view=markup
+		//eclipse plugin distributing template files
+		try {
+			return makeTemplateInputStream(url.openStream(), vals);
+		} catch (final MalformedURLException e) {
+            WPILibCore.logError("Malformed URL "+url, e);
+		} catch (final IOException e) {
+            WPILibCore.logError("Issue opening input stream.", e);
+		}
+		return null;
+	}
+	
+	private static InputStream makeTemplateInputStream(InputStream stream, Map<String, String> vals) {
+		String str;
+		try {
+			str = readInput(stream);
+			stream.close();
+		} catch (final IOException e) {
+            WPILibCore.logError("Error reading template.", e);
+			return null;
+		}
+		
+		// Instantiate template
+		for (Entry<String, String> e : vals.entrySet())
+			str = str.replace(e.getKey(), e.getValue());
+
+		return new ByteArrayInputStream(str.getBytes());
+	}
+	
+	private static String readInput(InputStream stream) {
+		StringBuffer buffer = new StringBuffer();
+		try {
+			InputStreamReader isr = new InputStreamReader(stream);
+			Reader in = new BufferedReader(isr);
+			int ch;
+			while ((ch = in.read()) > -1) {
+				buffer.append((char)ch);
+			}
+			in.close();
+			return buffer.toString();
+		} catch (IOException e) {
+            WPILibCore.logError("Error reading input.", e);
+			return null;
+		}
+	}
+
+}
--- 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
@@ -0,0 +1,14 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import java.net.URL;
+import java.util.Map;
+
+public interface ProjectType {
+	String SIMPLE = "SIMPLE";
+	String ITERATIVE = "ITERATIVE";
+	String COMMAND_BASED = "COMMAND_BASED";
+	
+	String[] getFolders(String packageName);
+	Map<String, String> getFiles(String packageName);
+	URL getBaseURL();
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/Tag.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/Tag.java
@@ -0,0 +1,19 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+
+public class Tag {
+	private String name, description;
+	
+	public Tag(String name, String description) {
+		this.name = name;
+		this.description = description;
+	}
+
+	public String getName() {
+		return name;
+	}
+	
+	public String getContent() {
+		return "<h1>"+name+"</h1><p>"+description+"</p>";
+	}
+}
--- 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
@@ -0,0 +1,111 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import javax.swing.event.ChangeListener;
+
+import org.eclipse.jface.dialogs.IDialogPage;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.jface.wizard.WizardPage;
+import org.eclipse.swt.SWT;
+import org.eclipse.swt.events.ModifyEvent;
+import org.eclipse.swt.events.ModifyListener;
+import org.eclipse.swt.layout.GridData;
+import org.eclipse.swt.layout.GridLayout;
+import org.eclipse.swt.widgets.Composite;
+import org.eclipse.swt.widgets.Label;
+import org.eclipse.swt.widgets.Text;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+public class TeamNumberPage extends WizardPage {
+	private Text teamNumberText;
+	private ChangeListener listener;
+
+	/**
+	 * Constructor for SampleNewWizardPage.
+	 * 
+	 * @param pageName
+	 */
+	public TeamNumberPage(ISelection selection) {
+		super("wizardPage");
+		setTitle("Set Team Number");
+		setDescription("This page lets you set your team number so that code can be loaded onto the right robot.");
+	}
+
+	/**
+	 * @see IDialogPage#createControl(Composite)
+	 */
+	public void createControl(Composite parent) {
+		Composite container = new Composite(parent, SWT.NULL);
+		GridLayout layout = new GridLayout();
+		container.setLayout(layout);
+		layout.numColumns = 2;
+		layout.verticalSpacing = 9;
+		Label label = new Label(container, SWT.NULL);
+		label.setText("Team &Number:");
+
+		teamNumberText = new Text(container, SWT.BORDER | SWT.SINGLE);
+		GridData gd = new GridData(GridData.FILL_HORIZONTAL);
+		teamNumberText.setLayoutData(gd);
+		teamNumberText.addModifyListener(new ModifyListener() {
+			public void modifyText(ModifyEvent e) {
+				dialogChanged();
+			}
+		});
+		
+		label = new Label(container, SWT.NULL);
+		label.setText("Team number is a global setting that can be changed in Window > Preferences > WPILib Preferences > Team Number");
+		gd = new GridData(GridData.FILL_HORIZONTAL);
+		gd.horizontalSpan = 2;
+		label.setLayoutData(gd);
+		
+		initialize();
+		dialogChanged();
+		setControl(container);
+	}
+
+	/**
+	 * Tests if the current workbench selection is a suitable container to use.
+	 */
+	private void initialize() {
+		String teamNumber = Integer.toString(WPILibCore.getDefault().getTeamNumber(null));
+		teamNumberText.setText(teamNumber);
+	}
+
+	/**
+	 * Ensures that both text fields are set.
+	 */
+	private void dialogChanged() {
+		String teamNumber = getTeamNumber();
+		if (listener != null) listener.stateChanged(null); 
+		if (!teamNumber.matches("^([0-9]+)$")) {
+			updateStatus("Team number must be a valid integer.");
+			return;
+		}
+		updateStatus(null);
+	}
+
+	private void updateStatus(String message) {
+		setErrorMessage(message);
+		setPageComplete(message == null);
+	}
+
+	public String getTeamNumber() {
+		return teamNumberText.getText();
+	}
+	
+	public static boolean needsTeamNumberPage() {
+		return WPILibCore.getDefault().getTeamNumber(null) == 0;
+	}
+
+	public static String getTeamNumberFromPage(TeamNumberPage teamNumberPage) {
+		if (teamNumberPage != null) {
+			return teamNumberPage.getTeamNumber();
+		} else {
+			return Integer.toString(WPILibCore.getDefault().getTeamNumber(null));
+		}
+	}
+
+	public void registerChangeListener(ChangeListener changeListener) {
+		listener = changeListener;
+	}
+}
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/build.properties
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/build.properties
@@ -0,0 +1 @@
+bin.includes = feature.xml
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/feature.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/feature.xml
@@ -0,0 +1,64 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<feature
+      id="edu.wpi.first.wpilib.plugins.cpp.feature"
+      label="Robot C++ Development"
+      version="0.1.0.qualifier"
+      provider-name="Worcester Polytechnic Institute">
+
+   <description>
+      FRC Robot C++ Program Development Environment.
+   </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>
+
+   <url>
+      <discovery label="CDT" url="http://download.eclipse.org/tools/cdt/releases/juno/"/>
+      <discovery label="RSE" url="http://download.eclipse.org/tm/updates/2.0/"/>
+   </url>
+
+   <includes
+         id="edu.wpi.first.wpilib.plugins.core.feature"
+         version="0.0.0"/>
+
+   <plugin
+         id="edu.wpi.first.wpilib.plugins.cpp"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
+</feature>
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/pom.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/pom.xml
@@ -0,0 +1,15 @@
+<?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.feature</artifactId>
+  <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.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/Show More
+++ b/Show More