Add CI, Cursor cloud setup, agent rules, and Java 17 test toolchain

.cursor/cloud-install.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+# Cloud agent Build: prepare Demonator15 (idempotent — safe on every Build).
+set -euo pipefail
+cd "$(dirname "$0")/.."
+chmod +x gradlew
+# Unit tests use Java 17 via Gradle toolchain (build.gradle). Full roboRIO cross-build runs in GitHub Actions CI.
+./gradlew test --no-daemon

.cursor/environment.json

@@ -0,0 +1,3 @@
+{
+  "install": "bash .cursor/cloud-install.sh"
+}

.cursor/rules/frc-commands-subsystems.mdc

@@ -0,0 +1,20 @@
+---
+description: Command-based structure for FRC robot Java
+globs: src/main/java/**/*.java
+alwaysApply: false
+---
+
+# Subsystems vs commands
+
+- **Subsystems** (`subsystems/**`): hardware, `periodic()`, pose/closed-loop APIs (`drive()`, `stop()`, setpoints). No Xbox bindings or `Command` factories on subsystems when avoidable — use `commands/**` factories (e.g. `DriveCommands`).
+- **RobotContainer:** wire default commands, triggers, and `NamedCommands.registerCommand` only; keep binding logic thin.
+- **Commands:** use `run` / `runOnce` / `runEnd` / `Commands.sequence` with subsystem requirements. Name commands with `.withName(...)` for Shuffleboard and debugging.
+- **Constants:** season field poses and practice coordinates in `constants/FieldConstants`, not buried in subsystems.
+- **Autos:** PathPlanner uses `SwerveDrive` via `AutoBuilder` (pose, reset, chassis speeds). Do not break those method signatures without updating PathPlanner integration.
+
+```java
+// Prefer: factory in commands/, subsystem API stays imperative
+DriveCommands.driveWithXboxController(swerve, controller, () -> true, deadband, sensitivity);
+
+// Avoid: long teleop runEnd blocks inside SwerveDrive
+```

.cursor/rules/frc-project.mdc

@@ -0,0 +1,13 @@
+---
+description: Demonator15 FRC repo conventions (WPILib, Gradle, CI, safety)
+alwaysApply: true
+---
+
+# Demonator15 — project
+
+- **Stack:** WPILib 2026, GradleRIO, Java **17** for compile and tests. Run `./gradlew test` or `./gradlew build` (CI uses the WPILib cross container).
+- **Layout:** `src/main/java/frc/robot/` — `Robot`, `RobotContainer`, `subsystems/`, `commands/`, `constants/`, `hid/`, `util/`. CAN IDs in `RobotMap`; mechanism tuning in subsystem `*Config` classes.
+- **Scope:** Prefer small, reviewable diffs. Do not refactor unrelated subsystems in the same change unless asked.
+- **Secrets:** Never commit API keys, tokens, or `.env`. Use Cursor/GitHub secrets for cloud only when needed.
+- **PathPlanner:** Autos and paths live under `src/main/deploy/pathplanner/`. Named command strings in Java must **exactly** match the PathPlanner GUI.
+- **Docs:** [WPILib command-based](https://docs.wpilib.org/en/stable/docs/software/commandbased/index.html), [GradleRIO CI](https://docs.wpilib.org/en/stable/docs/software/advanced-gradlerio/robot-code-ci.html).

.cursor/rules/frc-unit-tests.mdc

@@ -0,0 +1,13 @@
+---
+description: JUnit and WPILib simulation tests for robot code
+globs: src/test/**/*.java
+alwaysApply: false
+---
+
+# Unit tests
+
+- **Runner:** JUnit 5 (`org.junit.jupiter`). Use **Arrange / Act / Assert** comments in non-trivial tests.
+- **Pure logic:** test helpers and math without HAL (`SwerveDynamics`, `SwerveModuleOptimization`, `SwerveTeleopInputs` package helpers, `AngleUtils`, `HIDUtils`).
+- **HAL / vendor sim:** `@ExtendWith(WpilibSimulationExtension.class)` for Xbox sim, SparkMaxSim, etc. Use isolated CAN IDs in tests; call `SwerveModule.close()` in `@AfterEach` when constructing real modules.
+- **Do not** instantiate full `Robot` or `SwerveDrive` in unit tests unless building a dedicated test fixture — prefer testing extracted pure functions.
+- After changes, run `./gradlew test` (Java 17 toolchain from `build.gradle`).

.github/workflows/ci.yml

@@ -0,0 +1,30 @@
+# Builds robot code and runs unit tests on push/PR to main.
+# https://docs.wpilib.org/en/stable/docs/software/advanced-gradlerio/robot-code-ci.html
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    # 2025 image is correct for 2026 per WPILib CI docs (JDK + roboRIO toolchains unchanged).
+    container: wpilib/roborio-cross-ubuntu:2025-22.04
+    env:
+      LANG: C.UTF-8
+      JAVA_TOOL_OPTIONS: -Dfile.encoding=UTF-8
+
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Add repository to git safe directories
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+
+      - name: Compile and run tests on robot code
+        run: ./gradlew build

AGENTS.md

@@ -0,0 +1,25 @@
+# Agent instructions (Demonator15)
+
+## Build and verify
+
+```bash
+chmod +x gradlew
+./gradlew test    # local / Cursor Cloud install script
+./gradlew build   # full compile + tests (matches GitHub Actions CI)
+```
+
+Cloud environment config: `.cursor/environment.json` (runs `cloud-install.sh` → `./gradlew test`).
+
+## Architecture
+
+- WPILib **command-based** robot. Subsystems own hardware; `frc.robot.commands` holds command factories; `RobotContainer` binds controls and PathPlanner **named commands**.
+- Swerve: `subsystems/drive/`, teleop commands in `commands/drive/` when present on branch.
+
+## Cursor rules
+
+See `.cursor/rules/*.mdc` for FRC-specific conventions.
+
+## PR expectations
+
+- Keep robot behavior changes scoped and describe driver/auto impact in the PR.
+- Ensure CI (`build`) passes before merge.

README.md

@@ -1,2 +1,5 @@
 # Demonator15
+
+[![CI](https://github.com/KHS-Robotics/Demonator15/actions/workflows/ci.yml/badge.svg)](https://github.com/KHS-Robotics/Demonator15/actions/workflows/ci.yml)
+
 Code repository for Demon Robotics' 2026 robot

build.gradle

@@ -78,6 +78,10 @@ dependencies {
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    // WPILib vendor JNI is validated on Java 17 (WPILib installer JDK).
+    javaLauncher = javaToolchains.launcherFor {
+        languageVersion = JavaLanguageVersion.of(17)
+    }
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -101,7 +105,8 @@ deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
 
-// Configure string concat to always inline compile
-tasks.withType(JavaCompile) {
+// Configure string concat to always inline compile; UTF-8 for CI/Linux (US-ASCII breaks on Unicode in comments).
+tasks.withType(JavaCompile).configureEach {
+    options.encoding = 'UTF-8'
     options.compilerArgs.add '-XDstringConcat=inline'
 }

settings.gradle

@@ -2,8 +2,8 @@ import org.gradle.internal.os.OperatingSystem
 
 pluginManagement {
     repositories {
-        mavenLocal()
         gradlePluginPortal()
+        mavenLocal()
         String frcYear = '2026'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
@@ -24,6 +24,13 @@ pluginManagement {
             url = frcHomeMaven
         }
     }
+    plugins {
+        id "org.gradle.toolchains.foojay-resolver-convention" version "0.9.0"
+    }
+}
+
+plugins {
+    id "org.gradle.toolchains.foojay-resolver-convention"
 }
 
 Properties props = System.getProperties();