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diff --git a/.gradle/5.0/fileHashes/fileHashes.lock b/.gradle/5.0/fileHashes/fileHashes.lock
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index 00000000..e2641222
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diff --git a/.gradle/5.0/gc.properties b/.gradle/5.0/gc.properties
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index 00000000..e69de29b
diff --git a/.gradle/5.0/taskHistory/taskHistory.bin b/.gradle/5.0/taskHistory/taskHistory.bin
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index 00000000..b10006d2
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diff --git a/.gradle/5.0/taskHistory/taskHistory.lock b/.gradle/5.0/taskHistory/taskHistory.lock
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index 00000000..6720e62e
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diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
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index 00000000..e8109729
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diff --git a/.gradle/buildOutputCleanup/cache.properties b/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 00000000..a12531e3
--- /dev/null
+++ b/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Sun Jan 06 15:07:52 PST 2019
+gradle.version=5.0
diff --git a/.gradle/buildOutputCleanup/outputFiles.bin b/.gradle/buildOutputCleanup/outputFiles.bin
new file mode 100644
index 00000000..ab9c0f3e
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diff --git a/.gradle/vcs-1/gc.properties b/.gradle/vcs-1/gc.properties
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index 00000000..e69de29b
diff --git a/.project b/.project
new file mode 100644
index 00000000..5b9bef27
--- /dev/null
+++ b/.project
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>standard</name>
+	<comment>Project standard created by Buildship.</comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+</projectDescription>
diff --git a/.settings/org.eclipse.buildship.core.prefs b/.settings/org.eclipse.buildship.core.prefs
new file mode 100644
index 00000000..e8895216
--- /dev/null
+++ b/.settings/org.eclipse.buildship.core.prefs
@@ -0,0 +1,2 @@
+connection.project.dir=
+eclipse.preferences.version=1
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 00000000..62e35203
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+    "currentLanguage": "none",
+    "enableCppIntellisense": false,
+    "projectYear": "none",
+    "teamNumber": 4904
+}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
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index 00000000..904f8abf
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,61 @@
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+}
+
+def ROBOT_MAIN_CLASS = "frc.robot.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.getTeamNumber()
+        }
+    }
+    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'
+        }
+    }
+}
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Maven central needed for JUnit
+repositories {
+    mavenCentral()
+}
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+    compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    testCompile '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.compile.collect { it.isDirectory() ? it : zipTree(it) } }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+}
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diff --git a/build/tmp/expandedArchives/wpiutil-cpp-2019.1.1-osxx86-64.zip_1bc59f83e33c372bd4a7a80d73829150/osx/x86-64/shared/libwpiutil.dylib b/build/tmp/expandedArchives/wpiutil-cpp-2019.1.1-osxx86-64.zip_1bc59f83e33c372bd4a7a80d73829150/osx/x86-64/shared/libwpiutil.dylib
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diff --git a/build/tmp/jar/MANIFEST.MF b/build/tmp/jar/MANIFEST.MF
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+++ b/build/tmp/jar/MANIFEST.MF
@@ -0,0 +1,3 @@
+Manifest-Version: 1.0
+Main-Class: frc.robot.Main
+
diff --git a/build/tmp/jniExtractDir/libcscore.dylib b/build/tmp/jniExtractDir/libcscore.dylib
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diff --git a/build/tmp/jniExtractDir/libntcore.dylib b/build/tmp/jniExtractDir/libntcore.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_calib3d.3.4.dylib b/build/tmp/jniExtractDir/libopencv_calib3d.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_java344.dylib b/build/tmp/jniExtractDir/libopencv_java344.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_ml.3.4.dylib b/build/tmp/jniExtractDir/libopencv_ml.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_objdetect.3.4.dylib b/build/tmp/jniExtractDir/libopencv_objdetect.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_photo.3.4.dylib b/build/tmp/jniExtractDir/libopencv_photo.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_stitching.3.4.dylib b/build/tmp/jniExtractDir/libopencv_stitching.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_superres.3.4.dylib b/build/tmp/jniExtractDir/libopencv_superres.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_video.3.4.dylib b/build/tmp/jniExtractDir/libopencv_video.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_videoio.3.4.dylib b/build/tmp/jniExtractDir/libopencv_videoio.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libopencv_videostab.3.4.dylib b/build/tmp/jniExtractDir/libopencv_videostab.3.4.dylib
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diff --git a/build/tmp/jniExtractDir/libwpiHal.dylib b/build/tmp/jniExtractDir/libwpiHal.dylib
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index 00000000..37bc6e09
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diff --git a/build/tmp/jniExtractDir/libwpiutil.dylib b/build/tmp/jniExtractDir/libwpiutil.dylib
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index 00000000..b9e1c192
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diff --git a/custom/motioncontrollers/BangBangController.java b/custom/motioncontrollers/BangBangController.java
index 8ea94d2b..f65f1ef9 100644
--- a/custom/motioncontrollers/BangBangController.java
+++ b/custom/motioncontrollers/BangBangController.java
@@ -5,6 +5,7 @@
 import org.usfirst.frc4904.standard.custom.sensors.InvalidSensorException;
 import org.usfirst.frc4904.standard.custom.sensors.PIDSensor;
 import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
  * A bang bang controller.
@@ -18,6 +19,7 @@ public class BangBangController extends MotionController {
 	protected double A;
 	protected double F;
 	protected double threshold;
+	protected static final String DEFAULT_SMARTDASHBOARD_PREFIX = "!!";
 
 	/**
 	 * BangBang controller
@@ -115,6 +117,60 @@ public BangBangController(PIDSource source, double A, double F) {
 		this(source, A, F, Double.MIN_VALUE);
 	}
 
+	/**
+	 * @return
+	 * 		The current A value
+	 */
+	public double getA() {
+		return A;
+	}
+
+	/**
+	 * @return
+	 * 		The current F (feed forward) value
+	 */
+	public double getF() {
+		return F;
+	}
+
+	/**
+	 * @return
+	 * 		The current D value
+	 */
+	public double getThreshold() {
+		return threshold;
+	}
+
+	/**
+	 * Set the value of the A constant
+	 * 
+	 * @param the
+	 *        desired A value
+	 */
+	public void setA(double A) {
+		this.A = A;
+	}
+
+	/**
+	 * Set the value of the F (feed forward) constant
+	 * 
+	 * @param the
+	 *        desired F value
+	 */
+	public void setF(double F) {
+		this.F = F;
+	}
+
+	/**
+	 * Set the value of the bang-bang threshold
+	 * 
+	 * @param the
+	 *        desired threshold value
+	 */
+	public void setThreshold(double threshold) {
+		this.threshold = threshold;
+	}
+
 	/**
 	 * Sets the stored error value to zero (0)
 	 */
@@ -188,4 +244,66 @@ public double get() {
 	public double getError() {
 		return error;
 	}
+
+	/**
+	 * Put the PID controller to SmartDashboard for tuning.
+	 * Puts the error, setpoint, sensor value, and output.
+	 * This method adds a very small random value to everything
+	 * so that graphs show properly on SmartDashboard.
+	 * 
+	 * @param prefix
+	 *        The prefix to use when putting things on SmartDashboard.
+	 */
+	@Override
+	public void putToSmartDashboard(String prefix) {
+		double noise = (Math.random() - 0.5) * 0.0000001; // Generate very small noise centered at zero
+		SmartDashboard.putNumber(prefix + "_Error", getError() + noise);
+		SmartDashboard.putNumber(prefix + "_Setpoint", getSetpoint() + noise);
+		SmartDashboard.putNumber(prefix + "_Sensor", getSensorValue() + noise);
+		SmartDashboard.putNumber(prefix + "_Output", get() + noise);
+	}
+
+	/**
+	 * Put the PID controller to SmartDashboard for tuning.
+	 * Puts the error, setpoint, sensor value, and output.
+	 * This method adds a very small random value to everything
+	 * so that graphs show properly on SmartDashboard.
+	 */
+	@Override
+	public void putToSmartDashboard() {
+		putToSmartDashboard(BangBangController.DEFAULT_SMARTDASHBOARD_PREFIX);
+	}
+
+	/**
+	 * Update the PID controller from SmartDashboard for tuning.
+	 * Gets the P, I, D, and F constants from SmartDashboard,
+	 * or puts the current ones there if there's no constants.
+	 * 
+	 * @param prefix
+	 *        The prefix to use when putting things on SmartDashboard.
+	 */
+	@Override
+	public void updateFromSmartDashboard(String prefix) {
+		// If we're missing any constants on SmartDashboard, put the current ones
+		if (!(SmartDashboard.containsKey(prefix + "_A") && SmartDashboard.containsKey(prefix + "_F")
+			&& SmartDashboard.containsKey(prefix + "_threshold"))) {
+			SmartDashboard.putNumber(prefix + "_A", getA());
+			SmartDashboard.putNumber(prefix + "_F", getF());
+			SmartDashboard.putNumber(prefix + "_threshold", getThreshold());
+			return;
+		}
+		setA(SmartDashboard.getNumber(prefix + "_A", getA()));
+		setF(SmartDashboard.getNumber(prefix + "_F", getF()));
+		setThreshold(SmartDashboard.getNumber(prefix + "_threshold", getThreshold()));
+	}
+
+	/**
+	 * Update the PID controller from SmartDashboard for tuning.
+	 * Gets the P, I, D, and F constants from SmartDashboard,
+	 * or puts the current ones there if there's no constants.
+	 */
+	@Override
+	public void updateFromSmartDashboard() {
+		updateFromSmartDashboard(BangBangController.DEFAULT_SMARTDASHBOARD_PREFIX);
+	}
 }
diff --git a/custom/motioncontrollers/CustomPIDController.java b/custom/motioncontrollers/CustomPIDController.java
index 657664fc..5e00d202 100644
--- a/custom/motioncontrollers/CustomPIDController.java
+++ b/custom/motioncontrollers/CustomPIDController.java
@@ -7,6 +7,7 @@
 import org.usfirst.frc4904.standard.custom.sensors.PIDSensor;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.hal.util.BoundaryException;
 
 /**
@@ -28,6 +29,7 @@ public class CustomPIDController extends MotionController {
 	protected double lastErrorDerivative;
 	protected double derivativeTolerance;
 	protected double minimumNominalOutput = 0.0;
+	protected static final String DEFAULT_SMARTDASHBOARD_PREFIX = "PID";
 
 	/**
 	 * An extremely basic PID controller.
@@ -421,6 +423,70 @@ public double get() {
 		}
 	}
 
+	/**
+	 * Put the PID controller to SmartDashboard for tuning.
+	 * Puts the error, setpoint, sensor value, and output.
+	 * This method adds a very small random value to everything
+	 * so that graphs show properly on SmartDashboard.
+	 * 
+	 * @param prefix
+	 *        The prefix to use when putting things on SmartDashboard.
+	 */
+	@Override
+	public void putToSmartDashboard(String prefix) {
+		double noise = (Math.random() - 0.5) * 0.0000001; // Generate very small noise centered at zero
+		SmartDashboard.putNumber(prefix + "_Error", getError() + noise);
+		SmartDashboard.putNumber(prefix + "_Setpoint", getSetpoint() + noise);
+		SmartDashboard.putNumber(prefix + "_Sensor", getSensorValue() + noise);
+		SmartDashboard.putNumber(prefix + "_Output", get() + noise);
+	}
+
+	/**
+	 * Put the PID controller to SmartDashboard for tuning.
+	 * Puts the error, setpoint, sensor value, and output.
+	 * This method adds a very small random value to everything
+	 * so that graphs show properly on SmartDashboard.
+	 */
+	@Override
+	public void putToSmartDashboard() {
+		putToSmartDashboard(CustomPIDController.DEFAULT_SMARTDASHBOARD_PREFIX);
+	}
+
+	/**
+	 * Update the PID controller from SmartDashboard for tuning.
+	 * Gets the P, I, D, and F constants from SmartDashboard,
+	 * or puts the current ones there if there's no constants.
+	 * 
+	 * @param prefix
+	 *        The prefix to use when putting things on SmartDashboard.
+	 */
+	@Override
+	public void updateFromSmartDashboard(String prefix) {
+		// If we're missing any constants on SmartDashboard, put the current ones
+		if (!(SmartDashboard.containsKey(prefix + "_P") && SmartDashboard.containsKey(prefix + "_I")
+			&& SmartDashboard.containsKey(prefix + "_D") && SmartDashboard.containsKey(prefix + "_F"))) {
+			SmartDashboard.putNumber(prefix + "_P", getP());
+			SmartDashboard.putNumber(prefix + "_I", getI());
+			SmartDashboard.putNumber(prefix + "_D", getD());
+			SmartDashboard.putNumber(prefix + "_F", getF());
+			return;
+		}
+		setPIDF(SmartDashboard.getNumber(prefix + "_P", getP()),
+			SmartDashboard.getNumber(prefix + "_I", getI()),
+			SmartDashboard.getNumber(prefix + "_D", getD()),
+			SmartDashboard.getNumber(prefix + "_F", getF()));
+	}
+
+	/**
+	 * Update the PID controller from SmartDashboard for tuning.
+	 * Gets the P, I, D, and F constants from SmartDashboard,
+	 * or puts the current ones there if there's no constants.
+	 */
+	@Override
+	public void updateFromSmartDashboard() {
+		updateFromSmartDashboard(CustomPIDController.DEFAULT_SMARTDASHBOARD_PREFIX);
+	}
+
 	public boolean derivativeOnTarget() {
 		return derivativeTolerance == 0 || Math.abs(lastErrorDerivative) < derivativeTolerance;
 	}
@@ -428,5 +494,6 @@ public boolean derivativeOnTarget() {
 	@Override
 	public boolean onTarget() {
 		return super.onTarget() && derivativeOnTarget();
+
 	}
 }
diff --git a/custom/motioncontrollers/MotionController.java b/custom/motioncontrollers/MotionController.java
index 0970c4e9..50c3e221 100644
--- a/custom/motioncontrollers/MotionController.java
+++ b/custom/motioncontrollers/MotionController.java
@@ -32,6 +32,7 @@ public abstract class MotionController {
 	protected Exception sensorException;
 	private volatile boolean justReset;
 	private final Object lock = new Object();
+	protected static final String DEFAULT_SMARTDASHBOARD_PREFIX = "MC";
 
 	/**
 	 * A MotionController modifies an output using a sensor
@@ -397,4 +398,46 @@ public void run() {
 			}
 		}
 	}
+
+	/**
+	 * Put the controller constants to SmartDashboard for tuning.
+	 * as well as the error, setpoint, sensor value, and output.
+	 * This method adds a very small random value to everything
+	 * so that graphs show properly on SmartDashboard.
+	 * 
+	 * @param prefix
+	 *        The prefix to use when putting things on SmartDashboard.
+	 */
+	public abstract void putToSmartDashboard(String prefix);
+
+	/**
+	 * Put the controller constants to SmartDashboard for tuning.
+	 * as well as the error, setpoint, sensor value, and output.
+	 * This method adds a very small random value to everything
+	 * so that graphs show properly on SmartDashboard.
+	 * 
+	 * Uses the default prefix {@value #DEFAULT_SMARTDASHBOARD_PREFIX}
+	 */
+	public void putToSmartDashboard() {
+		putToSmartDashboard(MotionController.DEFAULT_SMARTDASHBOARD_PREFIX);
+	}
+
+	/**
+	 * Update the controller constants from SmartDashboard for tuning.
+	 * Gets new constants from SmartDashboard, defaulting to the current ones.
+	 *
+	 * @param prefix
+	 *        The prefix to use when putting things on SmartDashboard.
+	 */
+	public abstract void updateFromSmartDashboard(String prefix);
+
+	/**
+	 * Update the controller constants from SmartDashboard for tuning.
+	 * Gets new constants from SmartDashboard, defaulting to the current ones.
+	 * 
+	 * Uses the default prefix {@value #DEFAULT_SMARTDASHBOARD_PREFIX}
+	 */
+	public void updateFromSmartDashboard() {
+		updateFromSmartDashboard(MotionController.DEFAULT_SMARTDASHBOARD_PREFIX);
+	}
 }
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 00000000..ddb6d949
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100755
index 00000000..af6708ff
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 00000000..0f8d5937
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 00000000..3ff188d3
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,25 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2019'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            frcHome = new File(publicFolder, "frc${frcYear}")
+        } else {
+            def userFolder = System.getProperty("user.home")
+            frcHome = new File(userFolder, "frc${frcYear}")
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}