it's been a little too long now

.github/workflows/gradle.yml

@@ -13,8 +13,6 @@ jobs:
       uses: actions/setup-java@v1
       with:
         java-version: 1.11
-    - name: Checkout submodules
-      uses: textbook/git-checkout-submodule-action@2.0.0
 
     - name: Test with Gradle
       run: ./gradlew test

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "robot_library"]
-	path = robot_library
-	url = https://github.com/robototes/2412RobotLibrary.git

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2020",
+    "projectYear": "2021",
     "teamNumber": 2412
 }

DriveCharacterization/characterization-project/.gitignore

@@ -0,0 +1,13 @@
+### Gradle ###
+.gradle
+/build/
+
+### VS Code Specific Java Settings ###
+.settings/
+bin/
+imgui.ini
+./vscode
+.classpath
+
+### Other ###
+/.project

DriveCharacterization/characterization-project/.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+    "currentLanguage": "none",
+    "enableCppIntellisense": false,
+    "projectYear": "none",
+    "teamNumber": 2412
+}

DriveCharacterization/characterization-project/build.gradle

@@ -0,0 +1,62 @@
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2021.1.2"
+}
+
+def ROBOT_MAIN_CLASS = "dc.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project EmbeddedTools.
+deploy {
+    targets {
+        roboRIO("roborio") {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = frc.getTeamOrDefault(2412)
+        }
+    }
+    artifacts {
+        frcJavaArtifact('frcJava') {
+            targets << "roborio"
+            // Debug can be overridden by command line, for use with VSCode
+            debug = frc.getDebugOrDefault(false)
+        }
+        // Built in artifact to deploy arbitrary files to the roboRIO.
+        fileTreeArtifact('frcStaticFileDeploy') {
+            // The directory below is the local directory to deploy
+            files = fileTree(dir: 'src/main/deploy')
+            // Deploy to RoboRIO target, into /home/lvuser/deploy
+            targets << "roborio"
+            directory = '/home/lvuser/deploy'
+        }
+    }
+}
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+    implementation wpi.deps.wpilib()
+    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+
+
+    implementation wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    // In Java for now, the argument must be false
+    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+
+    testImplementation 'junit:junit:4.12'
+}
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+}
+

DriveCharacterization/characterization-project/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists