From dad88dceb857ec98fea520c516398107f96296c5 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Mon, 20 Jul 2026 10:57:48 -0700
Subject: [PATCH 01/11] Add hardware intro page

---
 examples/resources/HardwareIntro.java         |  41 +++++++++++++
 .../spark-max-motor-controller.webp           | Bin 0 -> 15632 bytes
 .../talonfx-motor-controller.webp             | Bin 0 -> 12784 bytes
 src/config/sidebarConfig.ts                   |  19 +++---
 src/content/docs/resources/hardware-intro.mdx |  55 ++++++++++++++++++
 src/starlightOverrides/Header.astro           |   1 +
 6 files changed, 107 insertions(+), 9 deletions(-)
 create mode 100644 examples/resources/HardwareIntro.java
 create mode 100644 public/hardware-intro/spark-max-motor-controller.webp
 create mode 100644 public/hardware-intro/talonfx-motor-controller.webp
 create mode 100644 src/content/docs/resources/hardware-intro.mdx

diff --git a/examples/resources/HardwareIntro.java b/examples/resources/HardwareIntro.java
new file mode 100644
index 00000000..8ecf257b
--- /dev/null
+++ b/examples/resources/HardwareIntro.java
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2026 FRCSoftware
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+public class HardwareIntro {
+    // [intakeSubsystem]
+    public class IntakeSubsystem extends SubsystemBase {
+    private TalonFX motor = new TalonFX(0);
+
+    public void runIntake() {
+        motor.set(0.8);
+    }
+
+    public void stopIntake() {
+        motor.set(0.0);
+    }
+    }
+    // [/intakeSubsystem]
+
+    // [turret]
+    public class Turret extends SubsystemBase {
+        CANcoder encoder = new CANcoder(1, "rio");
+        
+        public Rotation2d getEncoderPosition() {
+            double position = encoder.getAbsolutePosition().getValue().in(Rotations) * ENCODER_MECHANISM_RATIO;
+            return Rotation2d.fromRotations(position);
+        }
+    }
+    // [/turret]
+
+    // [chassisSubsystem]
+    public class ChassisSubsystem {
+        private final Pigeon2 pigeon = new Pigeon2(2, "rio");
+
+        public Rotation2d getHeading() {
+            return Rotation2d.fromDegrees(pigeon.getYaw());
+        }
+    }
+    // [/chassisSubsystem]
+}
diff --git a/public/hardware-intro/spark-max-motor-controller.webp b/public/hardware-intro/spark-max-motor-controller.webp
new file mode 100644
index 0000000000000000000000000000000000000000..339a8ec4edbf31d307355e5b02b2c814aae127a4
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HcmV?d00001

diff --git a/src/config/sidebarConfig.ts b/src/config/sidebarConfig.ts
index f47f94fb..04910fc4 100644
--- a/src/config/sidebarConfig.ts
+++ b/src/config/sidebarConfig.ts
@@ -263,15 +263,16 @@ export const sidebarSections: Record<string, SidebarSection[]> = {
     ],
 
     // Resources section (content lives at /resources but navbar says "Other Resources")
-    // '/resources': [
-    //   {
-    //     label: 'Resources',
-    //     items: [
-    //       { label: 'Overview', slug: 'resources' },
-    //       { label: 'Glossary', slug: 'resources/glossary' },
-    //     ],
-    //   },
-    // ],
+    '/resources': [
+        {
+            label: 'Resources',
+            items: [
+                { label: 'Overview', slug: 'resources' },
+                { label: 'Glossary', slug: 'resources/glossary' },
+                { label: 'Hardware', slug: 'resources/hardware-intro' },
+            ],
+        },
+    ],
 };
 
 /**
diff --git a/src/content/docs/resources/hardware-intro.mdx b/src/content/docs/resources/hardware-intro.mdx
new file mode 100644
index 00000000..7cd8711c
--- /dev/null
+++ b/src/content/docs/resources/hardware-intro.mdx
@@ -0,0 +1,55 @@
+---
+title: Hardware Intro
+description: An introduction to hardware components for programmers
+codeRegionSources:
+    default: resources/HardwareIntro.java
+---
+
+## Motors
+
+Motor controllers are used throughout the robot in many mechanisms:
+
+- Intakes: Spin wheels to collect game pieces
+- Shooters: Spin flywheels to launch game pieces
+- Indexers: Move game pieces through the robot
+- Arms/Elevators: Raise and lower mechanisms (often with position control)
+- Climbers: Extend or retract climbing mechanisms
+
+In the command-based framework, motor controllers should be encapsulated as private member variables in your subsystem class so that hardware is not exposed to the rest of the robot code.
+Subsystem methods should handle motor control.
+
+```java #intakeSubsystem
+
+```
+
+CAN motor controllers are available through vendors such as CTR Electronics (Talon FX) and REV Robotics (SPARK MAX).
+
+![TalonFX motor controller](../../../../public/hardware-intro/talonfx-motor-controller.webp#w=30)
+![SPARK MAX motor controller](../../../../public/hardware-intro/spark-max-motor-controller.webp#w=20)
+
+## Encoders
+
+Encoders are a sensor for measuring rotational motion.
+They are reliable and less-prone to noise and interference than analog devices (such as potentiometers) because they produce digital signals.
+They can return the position and velocity of a mechanism.
+Three common types of encoders in FRC are shafted encoders, on-shaft encoders, and magnetic encoders that vary in how they are mounted to mechanisms.
+Many motor controllers also have integrated encoders.
+
+```java #turret
+
+```
+
+## Gyroscopes
+
+Gyroscopes (or "gyros") are angular rate sensor used to measure the rate of rotation around an axis.
+They are used to measure and control robot heading.
+Gyros measure rate rather than position.
+Position is inferred by integrating the rate to calculate the total change in angle.
+Gyro angle measurements are always relative to some arbitrary zero angle determined by the angle of the gyro when either the robot was turned on or a zeroing method was called.
+They can have accumulated errors (called “drift”) that increase in magnitude the longer the gyro is used.
+The amount of drift varies with the type of gyro.
+Three common types of gyros-used in FRC are single-axis gyros, three-axis gyros, and IMUs.
+
+```java #chassisSubsystem
+
+```
diff --git a/src/starlightOverrides/Header.astro b/src/starlightOverrides/Header.astro
index d3861413..2d8c3c09 100644
--- a/src/starlightOverrides/Header.astro
+++ b/src/starlightOverrides/Header.astro
@@ -12,6 +12,7 @@ const navLinks = [
     { href: '/', label: 'Home' },
     { href: '/learning-course/', label: 'Learning Course' },
     { href: '/educators-guide/introduction/', label: "Educator's Guide" },
+    { href: '/resources/', label: 'Other Resources' },
     { href: '/contribution/', label: 'Contribution' },
 ];
 

From 0c10d17faa853d718317a143f149ec39bdc4bc34 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Mon, 20 Jul 2026 14:54:37 -0700
Subject: [PATCH 02/11] Add other resources to home cards grid

---
 src/content/docs/index.mdx | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/content/docs/index.mdx b/src/content/docs/index.mdx
index 0e308db8..32ab99f7 100644
--- a/src/content/docs/index.mdx
+++ b/src/content/docs/index.mdx
@@ -28,6 +28,12 @@ import HomeCard from '../../components/HomeCard.astro';
         icon="book"
         description="A guide for educators implementing the FRCSoftware.org Learning Course."
     />
+    <HomeCard
+        title="Other Resources"
+        href="/resources/"
+        icon="folder"
+        description="Besides the other content on the websie, we have a nice collection of resources (e.g. a glossary and hardware intro)."
+    />
     <HomeCard
         description="Help contribute! Since FRCSoftware.org is in such an early stage right now, we are in need of contributors."
         icon="wrench"

From a5c6c30508c7675e41e190456ca329d489b3959c Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Mon, 20 Jul 2026 15:41:22 -0700
Subject: [PATCH 03/11] Add resources overview page based on FRCDesign.org

---
 examples/resources/HardwareIntro.java   | 14 ++---
 src/components/ContentCard.astro        | 83 +++++++++++++++++++++++++
 src/components/ContentTitleBar.astro    | 48 ++++++++++++++
 src/config/sidebarConfig.ts             | 12 +++-
 src/content/docs/resources/overview.mdx | 32 ++++++++++
 src/starlightOverrides/Header.astro     |  2 +-
 6 files changed, 180 insertions(+), 11 deletions(-)
 create mode 100644 src/components/ContentCard.astro
 create mode 100644 src/components/ContentTitleBar.astro
 create mode 100644 src/content/docs/resources/overview.mdx

diff --git a/examples/resources/HardwareIntro.java b/examples/resources/HardwareIntro.java
index 8ecf257b..a7b5b96d 100644
--- a/examples/resources/HardwareIntro.java
+++ b/examples/resources/HardwareIntro.java
@@ -6,15 +6,15 @@
 public class HardwareIntro {
     // [intakeSubsystem]
     public class IntakeSubsystem extends SubsystemBase {
-    private TalonFX motor = new TalonFX(0);
+        private TalonFX motor = new TalonFX(0);
 
-    public void runIntake() {
-        motor.set(0.8);
-    }
+        public void runIntake() {
+            motor.set(0.8);
+        }
 
-    public void stopIntake() {
-        motor.set(0.0);
-    }
+        public void stopIntake() {
+            motor.set(0.0);
+        }
     }
     // [/intakeSubsystem]
 
diff --git a/src/components/ContentCard.astro b/src/components/ContentCard.astro
new file mode 100644
index 00000000..182308c0
--- /dev/null
+++ b/src/components/ContentCard.astro
@@ -0,0 +1,83 @@
+---
+import type { HTMLAttributes } from 'astro/types';
+
+interface Props extends Omit<HTMLAttributes<'a'>, 'title'> {
+    title: string;
+    description?: string;
+    eyebrow?: string;
+    href: string;
+}
+
+const { title, description, eyebrow, href, ...attributes } = Astro.props;
+---
+
+<a class="content-card" href={href} {...attributes}>
+    {eyebrow && <p class="content-card-eyebrow">{eyebrow}</p>}
+    <h3>{title}</h3>
+    {description && <p class="content-card-description">{description}</p>}
+    <slot />
+    <span class="content-card-arrow" aria-hidden="true">→</span>
+</a>
+
+<style>
+    .content-card {
+        position: relative;
+        display: flex;
+        min-height: 11.5rem;
+        flex-direction: column;
+        padding: 1.2rem;
+        border: 1px solid var(--sl-color-gray-5);
+        border-radius: 0.5rem;
+        color: inherit;
+        text-decoration: none;
+        background: var(--sl-color-black);
+        transition:
+            border-color 160ms ease,
+            background-color 160ms ease;
+    }
+
+    .content-card:hover {
+        border-color: var(--accent-color);
+        background: color-mix(
+            in srgb,
+            var(--sl-color-black) 92%,
+            var(--accent-color)
+        );
+    }
+
+    .content-card-eyebrow {
+        margin: 0 2.25rem 0.7rem 0;
+        color: var(--sl-color-text-accent);
+        font-size: 0.76rem;
+        font-weight: 800;
+        letter-spacing: 0;
+        text-transform: uppercase;
+    }
+
+    .content-card h3 {
+        margin: 0 2.25rem 0.55rem 0;
+        color: var(--sl-color-white);
+        font-size: 1.35rem;
+        line-height: 1.2;
+    }
+
+    .content-card-description {
+        margin: 0;
+        color: var(--sl-color-gray-2);
+        line-height: 1.55;
+    }
+
+    .content-card-arrow {
+        position: absolute;
+        top: 1rem;
+        right: 1.15rem;
+        color: var(--sl-color-gray-3);
+        font-size: 1.35rem;
+        line-height: 1;
+        transition: color 160ms ease;
+    }
+
+    .content-card:hover .content-card-arrow {
+        color: var(--accent-color-hover);
+    }
+</style>
diff --git a/src/components/ContentTitleBar.astro b/src/components/ContentTitleBar.astro
new file mode 100644
index 00000000..21cc1909
--- /dev/null
+++ b/src/components/ContentTitleBar.astro
@@ -0,0 +1,48 @@
+---
+interface Props {
+    label?: string;
+    title: string;
+    description?: string;
+}
+
+const { label, title, description } = Astro.props;
+---
+
+<section class="content-titlebar">
+    {label && <p class="content-titlebar-label">{label}</p>}
+    <h2>{title}</h2>
+    {description && <p class="content-titlebar-description">{description}</p>}
+</section>
+
+<style>
+    .content-titlebar {
+        padding: 1.25rem 0 1.75rem;
+        margin-bottom: 1.5rem;
+        border-bottom: 1px solid var(--sl-color-gray-5);
+    }
+
+    .content-titlebar-label {
+        margin: 0 0 0.35rem;
+        color: var(--sl-color-text-accent);
+        font-size: 0.78rem;
+        font-weight: 800;
+        letter-spacing: 0;
+        text-transform: uppercase;
+    }
+
+    .content-titlebar h2 {
+        max-width: 18ch;
+        margin: 0;
+        color: var(--sl-color-white);
+        font-size: clamp(2.2rem, 4.8vw, 3.6rem);
+        line-height: 1;
+    }
+
+    .content-titlebar-description {
+        max-width: 46rem;
+        margin: 1rem 0 0;
+        color: var(--sl-color-gray-2);
+        font-size: 1.05rem;
+        line-height: 1.65;
+    }
+</style>
diff --git a/src/config/sidebarConfig.ts b/src/config/sidebarConfig.ts
index 04910fc4..697062f8 100644
--- a/src/config/sidebarConfig.ts
+++ b/src/config/sidebarConfig.ts
@@ -267,9 +267,15 @@ export const sidebarSections: Record<string, SidebarSection[]> = {
         {
             label: 'Resources',
             items: [
-                { label: 'Overview', slug: 'resources' },
-                { label: 'Glossary', slug: 'resources/glossary' },
-                { label: 'Hardware', slug: 'resources/hardware-intro' },
+                { label: 'Overview', slug: 'resources/overview' },
+                {
+                    label: 'Glossary',
+                    slug: 'resources/glossary',
+                },
+                {
+                    label: 'Hardware',
+                    slug: 'resources/hardware-intro',
+                },
             ],
         },
     ],
diff --git a/src/content/docs/resources/overview.mdx b/src/content/docs/resources/overview.mdx
new file mode 100644
index 00000000..5025670e
--- /dev/null
+++ b/src/content/docs/resources/overview.mdx
@@ -0,0 +1,32 @@
+---
+title: Overview
+description: An overview of additional programming resources
+---
+
+import { CardGrid } from '@astrojs/starlight/components';
+import ContentCard from '../../../components/ContentCard.astro';
+import ContentTitleBar from '../../../components/ContentTitleBar.astro';
+
+<ContentTitleBar
+    label="Resources"
+    title="Enhance your programming workflow."
+    description="Resources to help improve your knowledge of terms and support your programming workflow."
+/>
+
+<CardGrid>
+
+<ContentCard
+    href="/resources/glossary/"
+    eyebrow="Reference"
+    title="Glossary"
+    description="A compiled list of acronyms, abbreviations, and definitions to help explain the language used across the site and community."
+/>
+
+<ContentCard
+    href="/resources/hardware-intro/"
+    eyebrow="Overview"
+    title="Hardware Intro"
+    description="An overview of common FRC hardware components for programmers."
+/>
+
+</CardGrid>
diff --git a/src/starlightOverrides/Header.astro b/src/starlightOverrides/Header.astro
index 2d8c3c09..9f70ae50 100644
--- a/src/starlightOverrides/Header.astro
+++ b/src/starlightOverrides/Header.astro
@@ -12,7 +12,7 @@ const navLinks = [
     { href: '/', label: 'Home' },
     { href: '/learning-course/', label: 'Learning Course' },
     { href: '/educators-guide/introduction/', label: "Educator's Guide" },
-    { href: '/resources/', label: 'Other Resources' },
+    { href: '/resources/overview', label: 'Other Resources' },
     { href: '/contribution/', label: 'Contribution' },
 ];
 

From f2a14c1f3c2bd9b0acc4db7581ddf32572b8e070 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Tue, 21 Jul 2026 14:03:41 -0700
Subject: [PATCH 04/11] Update HardwareIntro to commands v3

---
 examples/resources/HardwareIntro.java         | 51 +++++++++++++------
 src/content/docs/resources/hardware-intro.mdx |  4 +-
 2 files changed, 37 insertions(+), 18 deletions(-)

diff --git a/examples/resources/HardwareIntro.java b/examples/resources/HardwareIntro.java
index a7b5b96d..70f826b4 100644
--- a/examples/resources/HardwareIntro.java
+++ b/examples/resources/HardwareIntro.java
@@ -3,25 +3,44 @@
  *
  * SPDX-License-Identifier: BSD-3-Clause
  */
+import org.wpilib.command3.Mechanism;
+import org.wpilib.hardware.imu.OnboardIMU;
+import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
+import org.wpilib.math.geometry.Rotation2d;
+
 public class HardwareIntro {
-    // [intakeSubsystem]
-    public class IntakeSubsystem extends SubsystemBase {
-        private TalonFX motor = new TalonFX(0);
+    // [intake]
+    public class Intake implements Mechanism {
+        // Placeholder for TalonFX, SparkMax or SparkFlex
+        private final ExampleMotor motor = new ExampleMotor(0, CANBus.systemcore(0));
 
-        public void runIntake() {
-            motor.set(0.8);
+        public Command runIntake() {
+            return run(coroutine -> {
+                while (true) {
+                    motor.set(0.8);
+                    coroutine.yield();
+                }
+            })
+            .named("Run Intake");
         }
 
-        public void stopIntake() {
-            motor.set(0.0);
+        public Command stopIntake() {
+            return run(coroutine -> {
+                while (true) {
+                    motor.set(0.0);
+                    coroutine.yield();
+                }
+            })
+            .named("Stop Intake");
         }
     }
-    // [/intakeSubsystem]
+    // [/intake]
 
     // [turret]
-    public class Turret extends SubsystemBase {
-        CANcoder encoder = new CANcoder(1, "rio");
-        
+    public class Turret extends Mechanism {
+        // Placeholder for magnetic encoder
+        private final ExampleEncoder encoder = new ExampleEncoder(1, CANBus.systemcore(0));
+
         public Rotation2d getEncoderPosition() {
             double position = encoder.getAbsolutePosition().getValue().in(Rotations) * ENCODER_MECHANISM_RATIO;
             return Rotation2d.fromRotations(position);
@@ -29,13 +48,13 @@ public Rotation2d getEncoderPosition() {
     }
     // [/turret]
 
-    // [chassisSubsystem]
-    public class ChassisSubsystem {
-        private final Pigeon2 pigeon = new Pigeon2(2, "rio");
+    // [drivetrain]
+    public class Drivetrain implements Mechanism {
+        private final OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT);
 
         public Rotation2d getHeading() {
-            return Rotation2d.fromDegrees(pigeon.getYaw());
+            return imu.getRotation2d();
         }
     }
-    // [/chassisSubsystem]
+    // [/drivetrain]
 }
diff --git a/src/content/docs/resources/hardware-intro.mdx b/src/content/docs/resources/hardware-intro.mdx
index 7cd8711c..4ba41b67 100644
--- a/src/content/docs/resources/hardware-intro.mdx
+++ b/src/content/docs/resources/hardware-intro.mdx
@@ -18,7 +18,7 @@ Motor controllers are used throughout the robot in many mechanisms:
 In the command-based framework, motor controllers should be encapsulated as private member variables in your subsystem class so that hardware is not exposed to the rest of the robot code.
 Subsystem methods should handle motor control.
 
-```java #intakeSubsystem
+```java #intake
 
 ```
 
@@ -50,6 +50,6 @@ They can have accumulated errors (called “drift”) that increase in magnitude
 The amount of drift varies with the type of gyro.
 Three common types of gyros-used in FRC are single-axis gyros, three-axis gyros, and IMUs.
 
-```java #chassisSubsystem
+```java #drivetrain
 
 ```

From e94bbed78f6b7a593ee10c9d16aec092726843b7 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Tue, 21 Jul 2026 21:41:18 -0700
Subject: [PATCH 05/11] Implement requested changes

---
 src/content/docs/resources/hardware-intro.mdx | 21 ++++++++++---------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/content/docs/resources/hardware-intro.mdx b/src/content/docs/resources/hardware-intro.mdx
index 4ba41b67..471eba20 100644
--- a/src/content/docs/resources/hardware-intro.mdx
+++ b/src/content/docs/resources/hardware-intro.mdx
@@ -7,6 +7,8 @@ codeRegionSources:
 
 ## Motors
 
+The difference between motors and motor controllers is motors are the physical actuators that move a robot's mechanisms while motor controllers are the electronic interfaces and control the speed and direction of the motor.
+
 Motor controllers are used throughout the robot in many mechanisms:
 
 - Intakes: Spin wheels to collect game pieces
@@ -15,9 +17,6 @@ Motor controllers are used throughout the robot in many mechanisms:
 - Arms/Elevators: Raise and lower mechanisms (often with position control)
 - Climbers: Extend or retract climbing mechanisms
 
-In the command-based framework, motor controllers should be encapsulated as private member variables in your subsystem class so that hardware is not exposed to the rest of the robot code.
-Subsystem methods should handle motor control.
-
 ```java #intake
 
 ```
@@ -34,21 +33,23 @@ They are reliable and less-prone to noise and interference than analog devices (
 They can return the position and velocity of a mechanism.
 Three common types of encoders in FRC are shafted encoders, on-shaft encoders, and magnetic encoders that vary in how they are mounted to mechanisms.
 Many motor controllers also have integrated encoders.
+Relative encoders track changes in position and reset to zero when the robot is turned off, while absolute encoders track exact, unique positions across a full rotation and retain this data even when powered off.
 
 ```java #turret
 
 ```
 
-## Gyroscopes
+## Inertial Measurement Units (IMUs)
+
+An IMU is a sensor that combines an accelerometer and a gyroscope.
+IMUs are used to measure a robot's orientation, rates of rotation, and acceleration.
+They can be used to control robot heading and calculate its odometry.
+The most popular IMUs in FRC are navX2, Pigeon 2.0, and the onboard SystemCore IMU.
 
-Gyroscopes (or "gyros") are angular rate sensor used to measure the rate of rotation around an axis.
-They are used to measure and control robot heading.
-Gyros measure rate rather than position.
+One important thing to note is that gyros measure rate rather than position.
 Position is inferred by integrating the rate to calculate the total change in angle.
-Gyro angle measurements are always relative to some arbitrary zero angle determined by the angle of the gyro when either the robot was turned on or a zeroing method was called.
+Gyro angle measurements are always relative to some arbitrary zero angle determined by the angle of the gyro either when the robot was turned on or a zeroing method was called.
 They can have accumulated errors (called “drift”) that increase in magnitude the longer the gyro is used.
-The amount of drift varies with the type of gyro.
-Three common types of gyros-used in FRC are single-axis gyros, three-axis gyros, and IMUs.
 
 ```java #drivetrain
 

From 115aec72cfa44714beecc9657c1ee8726a827954 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Tue, 21 Jul 2026 22:02:26 -0700
Subject: [PATCH 06/11] Create robot project for resources

---
 examples/resources/.gitignore                 | 187 +++++++++++++
 .../resources/.wpilib/wpilib_preferences.json |   6 +
 examples/resources/WPILib-License.md          |  26 ++
 examples/resources/build.gradle               | 147 +++++++++++
 .../gradle/wrapper/gradle-wrapper.jar         | Bin 0 -> 48966 bytes
 .../gradle/wrapper/gradle-wrapper.properties  |   7 +
 examples/resources/gradlew                    | 248 ++++++++++++++++++
 examples/resources/gradlew.bat                |  93 +++++++
 examples/resources/settings.gradle            |  30 +++
 .../java/org/wpilib/command3/Mechanism.java   | 128 +++++++++
 .../main/java/sources}/HardwareIntro.java     |   0
 examples/resources/vendordeps/CommandsV3.json |  25 ++
 12 files changed, 897 insertions(+)
 create mode 100644 examples/resources/.gitignore
 create mode 100644 examples/resources/.wpilib/wpilib_preferences.json
 create mode 100644 examples/resources/WPILib-License.md
 create mode 100644 examples/resources/build.gradle
 create mode 100644 examples/resources/gradle/wrapper/gradle-wrapper.jar
 create mode 100644 examples/resources/gradle/wrapper/gradle-wrapper.properties
 create mode 100644 examples/resources/gradlew
 create mode 100644 examples/resources/gradlew.bat
 create mode 100644 examples/resources/settings.gradle
 create mode 100644 examples/resources/src/main/java/org/wpilib/command3/Mechanism.java
 rename examples/resources/{ => src/main/java/sources}/HardwareIntro.java (100%)
 create mode 100644 examples/resources/vendordeps/CommandsV3.json

diff --git a/examples/resources/.gitignore b/examples/resources/.gitignore
new file mode 100644
index 00000000..34cbaac1
--- /dev/null
+++ b/examples/resources/.gitignore
@@ -0,0 +1,187 @@
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
+.classpath
+.project
+.settings/
+bin/
+
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
+# Simulation GUI and other tools window save file
+networktables.json
+simgui.json
+*-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json
+
+# Eclipse generated file for annotation processors
+.factorypath
diff --git a/examples/resources/.wpilib/wpilib_preferences.json b/examples/resources/.wpilib/wpilib_preferences.json
new file mode 100644
index 00000000..19f541ed
--- /dev/null
+++ b/examples/resources/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2027_alpha5",
+    "teamNumber": 9999
+}
diff --git a/examples/resources/WPILib-License.md b/examples/resources/WPILib-License.md
new file mode 100644
index 00000000..c2891d4d
--- /dev/null
+++ b/examples/resources/WPILib-License.md
@@ -0,0 +1,26 @@
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
+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 FIRST, WPILib, nor the names of other WPILib
+  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 OTHER WPILIB CONTRIBUTORS "AS IS" 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.
diff --git a/examples/resources/build.gradle b/examples/resources/build.gradle
new file mode 100644
index 00000000..f729df7a
--- /dev/null
+++ b/examples/resources/build.gradle
@@ -0,0 +1,147 @@
+plugins {
+    id "java"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
+    id "com.gradleup.shadow" version "9.3.0"
+    id "com.diffplug.spotless" version "8.0.0"
+}
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_25
+    targetCompatibility = JavaVersion.VERSION_25
+}
+
+def ROBOT_MAIN_CLASS = ""
+
+// Define my targets (SystemCore) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        systemcore(getTargetTypeClass('SystemCore')) {
+            // 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 = project.wpilib.getTeamNumber()
+            // Use the default systemcore host name. This must be called after setting team
+            // as happens on the line above
+            useDefaultSystemcoreHostName()
+            debug = project.wpilib.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) {
+                }
+
+                // Static files artifact
+                wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/systemcore/deploy'
+                    deleteOldFiles = false // Change to true to delete files on systemcore that no
+                    // longer exist in deploy directory of this project
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava
+
+// Set to true to use debug for all targets including JNI, which will drastically impact
+// performance.
+wpi.java.debugJni = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 5.
+dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
+
+    systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
+    systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
+
+    systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
+    systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat/shaded jar')
+// in order to make them all available at runtime and merging service files to make JSON work.
+// Also adding the manifest so WPILib knows where to look for our Robot Class.
+shadowJar {
+    mergeServiceFiles()
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
+    manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = shadowJar
+wpi.java.configureExecutableTasks(shadowJar)
+wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}
+
+project.compileJava.dependsOn(spotlessApply)
+spotless {
+    java {
+        target fileTree(".") {
+            include "**/*.java"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        toggleOffOn()
+        palantirJavaFormat()
+        leadingSpacesToTabs(4)
+        leadingTabsToSpaces(2)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree(".") {
+            include "**/*.gradle"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        greclipse()
+        leadingTabsToSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format "misc", {
+        target fileTree(".") {
+            include "**/*.md", "**/.gitignore"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        trimTrailingWhitespace()
+        leadingTabsToSpaces(2)
+        endWithNewline()
+    }
+}
diff --git a/examples/resources/gradle/wrapper/gradle-wrapper.jar b/examples/resources/gradle/wrapper/gradle-wrapper.jar
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zeXa%Sv0sS9OmrqY6K;j|xDMBVDRJ_7<SXPme#x^=*I(d(>1SS2w*eQ0p&RVMNVi@d
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z@+!aA{YNIy&r;uKTz=r6e6v>d-%9<%_4R!+-iN^8H#0N(rQbiu-u&}-|2`q@k1agM
z<To1sj-LE|lHZ?ozTXx8klyy2L7M)V&Oa2^_d6>dHkW_1&%VDD_|I;NpK*OZfAjAb
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literal 0
HcmV?d00001

diff --git a/examples/resources/gradle/wrapper/gradle-wrapper.properties b/examples/resources/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 00000000..42bb5ac9
--- /dev/null
+++ b/examples/resources/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
diff --git a/examples/resources/gradlew b/examples/resources/gradlew
new file mode 100644
index 00000000..739907df
--- /dev/null
+++ b/examples/resources/gradlew
@@ -0,0 +1,248 @@
+#!/bin/sh
+
+#
+# Copyright © 2015 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$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: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# 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" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"
diff --git a/examples/resources/gradlew.bat b/examples/resources/gradlew.bat
new file mode 100644
index 00000000..c4bdd3ab
--- /dev/null
+++ b/examples/resources/gradlew.bat
@@ -0,0 +1,93 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
+
+@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=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@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" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 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!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/examples/resources/settings.gradle b/examples/resources/settings.gradle
new file mode 100644
index 00000000..e2626a81
--- /dev/null
+++ b/examples/resources/settings.gradle
@@ -0,0 +1,30 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        String wpilibYear = '2027_alpha5'
+        File wpilibHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            wpilibHome = new File(homeRoot, wpilibYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            wpilibHome = new File(homeRoot, wpilibYear)
+        }
+        def wpilibHomeMaven = new File(wpilibHome, 'maven')
+        maven {
+            name = 'wpilibHome'
+            url = wpilibHomeMaven
+        }
+        mavenLocal()
+        gradlePluginPortal()
+    }
+}
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/examples/resources/src/main/java/org/wpilib/command3/Mechanism.java b/examples/resources/src/main/java/org/wpilib/command3/Mechanism.java
new file mode 100644
index 00000000..f0cff499
--- /dev/null
+++ b/examples/resources/src/main/java/org/wpilib/command3/Mechanism.java
@@ -0,0 +1,128 @@
+/*
+ * Copyright 2026 FRCSoftware
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+package org.wpilib.command3;
+
+import java.util.List;
+import java.util.function.Consumer;
+import org.wpilib.annotation.NoDiscard;
+import org.wpilib.units.measure.Time;
+
+/**
+ * A "shim" for the `Mechanism` interface. In WPILib 2027 alpha 6, Mechanisms were still classes;
+ * however, alpha 7 changes them to interfaces. In an effort to not rewrite any docs, this shim will
+ * exist for now until alpha 7 releases.
+ */
+public interface Mechanism {
+  /**
+   * Returns the scheduler under which this subsystem and its default commands are registered. The
+   * scheduler is also used to fetch running commands for the subsystem.
+   *
+   * @return The registered scheduler.
+   */
+  default Scheduler getRegisteredScheduler() {
+    return Scheduler.getDefault();
+  }
+
+  /**
+   * Gets the name of this mechanism. This will default to the name of this mechanism's class.
+   *
+   * @return The name of the mechanism.
+   */
+  @NoDiscard
+  default String getName() {
+    return getClass().getSimpleName();
+  }
+
+  /**
+   * Sets the default command to run on the mechanism when no other command is scheduled. The
+   * default command's priority is effectively the minimum allowable priority for any command
+   * requiring a mechanism. For this reason, it's recommended that a default command have a priority
+   * less than {@link Command#DEFAULT_PRIORITY} so it doesn't prevent low-priority commands from
+   * running.
+   *
+   * <p>The default command is initially an idle command that only owns the mechanism without doing
+   * anything. This command has the lowest possible priority to allow any other command to run.
+   *
+   * @param defaultCommand the new default command
+   */
+  default void setDefaultCommand(Command defaultCommand) {
+    getRegisteredScheduler().setDefaultCommand(this, defaultCommand);
+  }
+
+  /**
+   * Gets the default command that was set by the latest call to {@link
+   * #setDefaultCommand(Command)}.
+   *
+   * @return The currently configured default command
+   */
+  default Command getDefaultCommand() {
+    return getRegisteredScheduler().getDefaultCommandFor(this);
+  }
+
+  /**
+   * Starts building a command that requires this mechanism.
+   *
+   * @param commandBody The main function body of the command.
+   * @return The command builder, for further configuration.
+   */
+  default NeedsNameBuilderStage run(Consumer<Coroutine> commandBody) {
+    return new StagedCommandBuilder().requiring(this).executing(commandBody);
+  }
+
+  /**
+   * Starts building a command that requires this mechanism. The given function will be called
+   * repeatedly in an infinite loop. Useful for building commands that don't need state or multiple
+   * stages of logic.
+   *
+   * @param loopBody The body of the infinite loop.
+   * @return The command builder, for further configuration.
+   */
+  default NeedsNameBuilderStage runRepeatedly(Runnable loopBody) {
+    return run(coroutine -> {
+      while (true) {
+        loopBody.run();
+        coroutine.yield();
+      }
+    });
+  }
+
+  /**
+   * Returns a command that idles this mechanism until another command claims it. The idle command
+   * has {@link Command#LOWEST_PRIORITY the lowest priority} and can be interrupted by any other
+   * command.
+   *
+   * <p>The {@link #getDefaultCommand() default command} for every mechanism is an idle command
+   * unless a different default command has been configured.
+   *
+   * @return A new idle command.
+   */
+  default Command idle() {
+    return run(Coroutine::park).withPriority(Command.LOWEST_PRIORITY).named(getName() + "[IDLE]");
+  }
+
+  /**
+   * Returns a command that idles this mechanism for the given duration of time.
+   *
+   * @param duration How long the mechanism should idle for.
+   * @return A new idle command.
+   */
+  default Command idleFor(Time duration) {
+    return idle().withTimeout(duration);
+  }
+
+  /**
+   * Gets all running commands that require this mechanism. Commands are returned in the order in
+   * which they were scheduled. The returned list is read-only. Every command in the list will have
+   * been scheduled by the previous entry in the list or by intermediate commands that do not
+   * require the mechanism.
+   *
+   * @return The currently running commands that require the mechanism.
+   */
+  @NoDiscard
+  default List<Command> getRunningCommands() {
+    return getRegisteredScheduler().getRunningCommandsFor(this);
+  }
+}
diff --git a/examples/resources/HardwareIntro.java b/examples/resources/src/main/java/sources/HardwareIntro.java
similarity index 100%
rename from examples/resources/HardwareIntro.java
rename to examples/resources/src/main/java/sources/HardwareIntro.java
diff --git a/examples/resources/vendordeps/CommandsV3.json b/examples/resources/vendordeps/CommandsV3.json
new file mode 100644
index 00000000..f406bde7
--- /dev/null
+++ b/examples/resources/vendordeps/CommandsV3.json
@@ -0,0 +1,25 @@
+{
+    "fileName": "CommandsV3.json",
+    "name": "Commands v3",
+    "version": "1.0.0",
+    "uuid": "4decdc05-a056-46cf-9561-39449bbb0130",
+    "wpilibYear": "2027_alpha5",
+    "mavenUrls": [],
+    "jsonUrl": "",
+    "conflictsWith": [
+        {
+            "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+            "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.",
+            "offlineFileName": "CommandsV2.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.wpilib",
+            "artifactId": "commands3-java",
+            "version": "wpilib"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": []
+}

From ea5a27d1a6a910fec284e4e8b8a8b7b3add6e194 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Tue, 21 Jul 2026 22:19:41 -0700
Subject: [PATCH 07/11] Fix code region path

---
 src/content/docs/resources/hardware-intro.mdx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/content/docs/resources/hardware-intro.mdx b/src/content/docs/resources/hardware-intro.mdx
index 471eba20..cfcb3301 100644
--- a/src/content/docs/resources/hardware-intro.mdx
+++ b/src/content/docs/resources/hardware-intro.mdx
@@ -2,7 +2,7 @@
 title: Hardware Intro
 description: An introduction to hardware components for programmers
 codeRegionSources:
-    default: resources/HardwareIntro.java
+    default: resources/src/main/java/sources/HardwareIntro.java
 ---
 
 ## Motors

From 79ce47642dfc468a916b247448b4d8b84dcbf6a2 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Tue, 21 Jul 2026 23:00:39 -0700
Subject: [PATCH 08/11] Add beam brake and limit switch sections

---
 .../src/main/java/sources/HardwareIntro.java  | 23 ++++++++++++++++++-
 src/content/docs/resources/hardware-intro.mdx | 18 +++++++++++++++
 2 files changed, 40 insertions(+), 1 deletion(-)

diff --git a/examples/resources/src/main/java/sources/HardwareIntro.java b/examples/resources/src/main/java/sources/HardwareIntro.java
index 70f826b4..75a00b82 100644
--- a/examples/resources/src/main/java/sources/HardwareIntro.java
+++ b/examples/resources/src/main/java/sources/HardwareIntro.java
@@ -4,6 +4,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  */
 import org.wpilib.command3.Mechanism;
+import org.wpilib.hardware.discrete.DigitalInput;
 import org.wpilib.hardware.imu.OnboardIMU;
 import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
 import org.wpilib.math.geometry.Rotation2d;
@@ -37,7 +38,7 @@ public Command stopIntake() {
     // [/intake]
 
     // [turret]
-    public class Turret extends Mechanism {
+    public class Turret implements Mechanism {
         // Placeholder for magnetic encoder
         private final ExampleEncoder encoder = new ExampleEncoder(1, CANBus.systemcore(0));
 
@@ -48,6 +49,26 @@ public Rotation2d getEncoderPosition() {
     }
     // [/turret]
 
+    // [climber]
+    public class Climber implements Mechanism {
+        private final DigitalInput limitSwitch = new DigitalInput(2);
+
+        public boolean isLimitSwitchPressed() {
+            return !limitSwitch.get();
+        }
+    }
+    // [/climber]
+
+    // [indexer]
+    public class Indexer implements Mechanism {
+        private final DigitalInput beamBrake = new DigitalInput(3);
+
+        public boolean isBeanBakeTripped() {
+            return !beanBake.get();
+        }
+    }
+    // [/indexer]
+
     // [drivetrain]
     public class Drivetrain implements Mechanism {
         private final OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT);
diff --git a/src/content/docs/resources/hardware-intro.mdx b/src/content/docs/resources/hardware-intro.mdx
index cfcb3301..7d799def 100644
--- a/src/content/docs/resources/hardware-intro.mdx
+++ b/src/content/docs/resources/hardware-intro.mdx
@@ -39,6 +39,24 @@ Relative encoders track changes in position and reset to zero when the robot is
 
 ```
 
+## Beam Brake
+
+A beam brake detects if anything is between two points.
+Beam brakes can be used to detect when game pieces pass a specific point on a robot.
+
+```java #indexer
+
+```
+
+## Limit Switch
+
+A limit switch detects if something is past a certain threshold in distance.
+Limit switches are often used to restrict the range of motion of a joint or detect the presence of game pieces.
+
+```java #climber
+
+```
+
 ## Inertial Measurement Units (IMUs)
 
 An IMU is a sensor that combines an accelerometer and a gyroscope.

From 7b4164f8a4269f43cdbe6ec6887ceb9d1441d92b Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Tue, 21 Jul 2026 23:15:09 -0700
Subject: [PATCH 09/11] Add heading and odometry to glossary

---
 src/data/glossary.ts | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/data/glossary.ts b/src/data/glossary.ts
index 226f3333..7351d9d5 100644
--- a/src/data/glossary.ts
+++ b/src/data/glossary.ts
@@ -82,6 +82,16 @@ export const glossaryTerms: GlossaryTerm[] = [
         definition:
             'GitHub is like Google Drive, but for code. It hosts git repositories and allows for improved collaboration on projects through pull requests and issues',
     },
+    {
+        term: 'Heading',
+        definition:
+            'The direction the robot is pointed, usually expressed as an angle in degrees',
+    },
+    {
+        term: 'Odometry',
+        definition:
+            'Using sensors on the robot to create an estimate of the pose of the robot on the field.',
+    },
 ];
 
 /**

From 7c7a884d27a66eebb1aa6a205b1b7f12e837f655 Mon Sep 17 00:00:00 2001
From: Renie Joshi <renie_joshi@yahoo.com>
Date: Tue, 21 Jul 2026 23:20:18 -0700
Subject: [PATCH 10/11] Generate glossary

---
 src/content/docs/resources/glossary.mdx | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/content/docs/resources/glossary.mdx b/src/content/docs/resources/glossary.mdx
index 35d98f82..0dd82cc3 100644
--- a/src/content/docs/resources/glossary.mdx
+++ b/src/content/docs/resources/glossary.mdx
@@ -13,6 +13,10 @@ Controller Area Network: typically yellow and green cable used to communicate wi
 GitHub is like Google Drive, but for code.
 It hosts git repositories and allows for improved collaboration on projects through pull requests and issues
 
+**Heading**
+
+The direction the robot is pointed, usually expressed as an angle in degrees
+
 **Limit Switch**
 
 Type of sensor that triggers when physically or magnetically hit.
@@ -26,6 +30,10 @@ An encoder that uses a receiver and a magnet to measure position and motion
 
 Power switch for the robot
 
+**Odometry**
+
+Using sensors on the robot to create an estimate of the pose of the robot on the field.
+
 **PDH**
 
 Power Distribution Hub

From 78becedc265c995d7d54ca751bf1058df3a27309 Mon Sep 17 00:00:00 2001
From: Sam Freund <samf.236@proton.me>
Date: Wed, 22 Jul 2026 11:02:14 -0700
Subject: [PATCH 11/11] update codeowners (#110)

Co-authored-by: Zach Harel <zach@zharel.me>
---
 .github/CODEOWNERS  | 2 +-
 .github/labeler.yml | 8 ++++++++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 566c23b1..eee153d8 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1 +1 @@
-.github/workflows @frcsoftware/ci-reviewers
+.github/** package.json pnpm-workspace.yaml pnpm-lock.yaml coby.bara.sky @frcsoftware/infra
diff --git a/.github/labeler.yml b/.github/labeler.yml
index 12a1fb22..294214c2 100644
--- a/.github/labeler.yml
+++ b/.github/labeler.yml
@@ -13,3 +13,11 @@
     - changed-files:
           - any-glob-to-any-file:
                 - src/content/docs/**
+'infra':
+    - changed-files:
+          - any-glob-to-any-file:
+                - .github/**
+                - package.json
+                - pnpm-lock.yaml
+                - pnpm-workspace.yaml
+                - copy.bara.sky