Add vendor-ctre project

buildSrc/src/main/groovy/java-common-conventions.gradle

@@ -95,7 +95,7 @@ spotless {
         endWithNewline()
     }
     groovyGradle {
-        greclipse().configFile('../greclipse-gradle.properties')
+        greclipse().configFile("$rootDir/greclipse-gradle.properties")
     }
     java {
         importOrder() // Use the default importOrder configuration (can override)
@@ -107,7 +107,7 @@ spotless {
 
         formatAnnotations()  // fix formatting of type annotations
 
-        licenseHeaderFile("../java-copyright-header.txt")
+        licenseHeaderFile("$rootDir/java-copyright-header.txt")
     }
 }
 

buildSrc/src/main/groovy/publishing-conventions.gradle

@@ -2,15 +2,21 @@ plugins {
     id 'com.vanniktech.maven.publish'
 }
 
-version = '2.0.0-rc-2'
+group = 'com.team2813.lib2813'
+version = "2.0.0-rc-3"
 
 mavenPublishing {
+
     publishToMavenCentral()
     if (gradle.startParameter.taskNames.any { it.contains('MavenCentral') }) {
         signAllPublications()
     }
 
-    coordinates('com.team2813.lib2813', project.name, project.version)
+    coordinates(
+            group,
+            // The below evaluates to "vendor-ctre" for "vendor/ctre"
+            project.path.replace(':', '-').substring(1),
+            version)
 
     pom {
         inceptionYear = '2023'

lib/src/main/java/com/team2813/lib2813/control/InvertType.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2024-2025 Prospect Robotics SWENext Club
+Copyright 2024-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -17,13 +17,12 @@
 
 import static java.util.stream.Collectors.toUnmodifiableMap;
 
-import com.ctre.phoenix6.signals.InvertedValue;
 import java.util.*;
 import java.util.stream.Stream;
 
 public enum InvertType {
-  CLOCKWISE(InvertedValue.Clockwise_Positive, true),
-  COUNTER_CLOCKWISE(InvertedValue.CounterClockwise_Positive, false),
+  CLOCKWISE(true),
+  COUNTER_CLOCKWISE(false),
   FOLLOW_MASTER,
   OPPOSE_MASTER;
 
@@ -34,49 +33,27 @@ public enum InvertType {
   public static final Set<InvertType> rotationValues =
       Collections.unmodifiableSet(EnumSet.of(CLOCKWISE, COUNTER_CLOCKWISE));
 
-  private final Optional<InvertedValue> phoenixInvert;
   private final Optional<Boolean> sparkMaxInvert;
 
   InvertType() {
-    phoenixInvert = Optional.empty();
     sparkMaxInvert = Optional.empty();
   }
 
-  InvertType(InvertedValue phoenixInvert, boolean sparkMaxInvert) {
-    this.phoenixInvert = Optional.of(phoenixInvert);
+  InvertType(boolean sparkMaxInvert) {
     this.sparkMaxInvert = Optional.of(sparkMaxInvert);
   }
 
-  /**
-   * Gets an {@link InvertType} from a phoenix {@link InvertedValue}.
-   *
-   * @param v the {@link InvertedValue} to search for
-   * @return {@link Optional#empty()} if no {@link InvertType} is found, otherwise, an optional
-   *     describing the {@link InvertType}
-   */
-  public static Optional<InvertType> fromPhoenixInvert(InvertedValue v) {
-    return Optional.of(Maps.phoenixMap.get(v));
-  }
-
   /**
    * Gets an {@link InvertType} from a spark max invert
    *
-   * @param v the {@link InvertedValue} to search for
+   * @param v the value to search for
    * @return {@link Optional#empty()} if no {@link InvertType} is found, otherwise, an optional
    *     describing the {@link InvertType}
    */
   public static Optional<InvertType> fromSparkMaxInvert(boolean v) {
     return Optional.of(Maps.sparkMaxMap.get(v));
   }
 
-  public Optional<InvertedValue> phoenixInvert() {
-    return phoenixInvert;
-  }
-
-  private InvertedValue forcePhoenixInvert() {
-    return phoenixInvert.orElseThrow();
-  }
-
   public Optional<Boolean> sparkMaxInvert() {
     return sparkMaxInvert;
   }
@@ -86,15 +63,10 @@ private boolean forceSparkMaxInvert() {
   }
 
   /**
-   * Contains the maps for {@link InvertType#fromPhoenixInvert(InvertedValue)} and {@link
-   * InvertType#fromSparkMaxInvert(boolean)}. In a static class so that they will only be
-   * initialized if they are needed.
+   * Contains the maps for {@link InvertType#fromSparkMaxInvert(boolean)}. In a static class so that
+   * they will only be initialized if they are needed.
    */
   private static final class Maps {
-    private static final Map<InvertedValue, InvertType> phoenixMap =
-        Stream.of(InvertType.values())
-            .filter((j) -> j.phoenixInvert.isPresent())
-            .collect(toUnmodifiableMap(InvertType::forcePhoenixInvert, (j) -> j, (a, b) -> null));
     private static final Map<Boolean, InvertType> sparkMaxMap =
         Stream.of(InvertType.values())
             .filter((j) -> j.sparkMaxInvert.isPresent())

lib/src/main/java/com/team2813/lib2813/util/ConfigUtils.java

@@ -15,7 +15,6 @@
 */
 package com.team2813.lib2813.util;
 
-import com.ctre.phoenix6.StatusCode;
 import com.revrobotics.REVLibError;
 import edu.wpi.first.wpilibj.DriverStation;
 import java.util.function.Supplier;
@@ -39,16 +38,4 @@ public static void revConfig(Supplier<REVLibError> configMethod) {
       DriverStation.reportError(String.format("%s: Config Failed", errorCode.toString()), false);
     }
   }
-
-  public static void phoenix6Config(Supplier<StatusCode> configMethod) {
-    StatusCode errorCode = configMethod.get();
-    for (int i = 1; i <= ATTEMPTS && errorCode != StatusCode.OK; i++) {
-      DriverStation.reportError(
-          String.format("%s: Config Attempt %d Failed", errorCode.toString(), i), false);
-      errorCode = configMethod.get();
-    }
-    if (errorCode != StatusCode.OK) {
-      DriverStation.reportError(String.format("%s: Config Failed", errorCode.toString()), false);
-    }
-  }
 }

lib/src/test/java/com/team2813/lib2813/control/InvertTypeTest.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2024-2025 Prospect Robotics SWENext Club
+Copyright 2024-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -18,33 +18,16 @@
 import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertTrue;
 
-import com.ctre.phoenix6.signals.InvertedValue;
 import org.junit.Test;
 
 public class InvertTypeTest {
-  @Test
-  public void phoenixInvertsExist() {
-    for (InvertType v : InvertType.rotationValues) {
-      assertTrue(
-          String.format("No phoenix invert exists for InvertType %s.", v),
-          v.phoenixInvert().isPresent());
-    }
-  }
 
   @Test
   public void sparkMaxInvertsExist() {
     for (InvertType v : InvertType.rotationValues) {
       assertTrue(
           String.format("No spark max invert exists for InvertType %s.", v),
-          v.phoenixInvert().isPresent());
-    }
-  }
-
-  @Test
-  public void fromPhoenixInvertTest() {
-    for (InvertType v : InvertType.rotationValues) {
-      InvertedValue val = v.phoenixInvert().orElseThrow();
-      assertEquals(v, InvertType.fromPhoenixInvert(val).orElse(null));
+          v.sparkMaxInvert().isPresent());
     }
   }
 

settings.gradle

@@ -8,7 +8,5 @@
  */
 
 rootProject.name = 'lib2813'
-include('lib')
-include('limelight')
-include('vision')
-include('testing')
+include 'lib',  'limelight', 'vision', 'testing'
+include 'vendor:ctre'

vendor/ctre/build.gradle

@@ -0,0 +1,45 @@
+plugins {
+    id 'java-common-conventions'
+    id 'publishing-conventions'
+    id 'edu.wpi.first.GradleRIO' version '2026.1.1'
+}
+
+dependencies {
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
+    implementation project(':lib')
+
+    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(platform('org.junit:junit-bom:5.13.1'))
+    testImplementation('org.junit.jupiter:junit-jupiter')
+    testImplementation('com.google.truth:truth:1.4.4')
+    testRuntimeOnly('org.junit.platform:junit-platform-launcher')
+}
+
+// the magic line that makes tests work :)
+wpi.java.configureTestTasks(test)
+
+tasks.named('test') {
+    useJUnitPlatform()
+}
+
+mavenPublishing {
+    pom {
+        name = '2813 CTRE Vendor Library'
+        description = 'CTRE extensions to team2813:lib'
+        developers {
+            developer {
+                id = 'cuttestkittensrule'
+                name = 'Kyle'
+                email = 'mangoiscute95@gmail.com'
+            }
+        }
+    }
+}

lib/src/main/java/com/team2813/lib2813/control/DeviceInformation.java → vendor/ctre/src/main/java/com/team2813/lib2813/vendor/ctre/DeviceInformation.java

@@ -13,7 +13,7 @@
 See the License for the specific language governing permissions and
 limitations under the License.
 */
-package com.team2813.lib2813.control;
+package com.team2813.lib2813.vendor.ctre;
 
 import com.ctre.phoenix6.CANBus;
 import com.team2813.lib2813.util.InputValidation;

vendor/ctre/src/main/java/com/team2813/lib2813/vendor/ctre/InvertTypes.java

@@ -0,0 +1,51 @@
+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+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
+
+http://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.
+*/
+package com.team2813.lib2813.vendor.ctre;
+
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.team2813.lib2813.control.InvertType;
+import java.util.Objects;
+import java.util.Optional;
+
+/** Utility methods for working with {@link InvertType} for CTRE devices. */
+public class InvertTypes {
+
+  /**
+   * Gets the {@link InvertedValue} for the given {@link InvertType}
+   *
+   * @return The {@code InvertedValue}, or {@link Optional#empty()} if the provided {@code
+   *     invertType} is not a rotational value.
+   */
+  public static Optional<InvertedValue> toInvertValue(InvertType invertType) {
+    return switch (Objects.requireNonNull(invertType, "invertType should not be null")) {
+      case CLOCKWISE -> Optional.of(InvertedValue.Clockwise_Positive);
+      case COUNTER_CLOCKWISE -> Optional.of(InvertedValue.CounterClockwise_Positive);
+      default -> Optional.empty();
+    };
+  }
+
+  /** Gets the {@link InvertType} for the given {@link InvertedValue} */
+  public static InvertType toInvertType(InvertedValue invertedValue) {
+    return switch (Objects.requireNonNull(invertedValue, "invertedValue should not be null")) {
+      case Clockwise_Positive -> InvertType.CLOCKWISE;
+      case CounterClockwise_Positive -> InvertType.COUNTER_CLOCKWISE;
+    };
+  }
+
+  private InvertTypes() {
+    throw new AssertionError("Not instantiable");
+  }
+}

vendor/ctre/src/main/java/com/team2813/lib2813/vendor/ctre/PhoenixUtils.java

@@ -0,0 +1,40 @@
+/*
+Copyright 2023-2026 Prospect Robotics SWENext Club
+
+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
+
+http://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.
+*/
+package com.team2813.lib2813.vendor.ctre;
+
+import com.ctre.phoenix6.StatusCode;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.util.function.Supplier;
+
+public class PhoenixUtils {
+  private static final int ATTEMPTS = 10;
+
+  public static void phoenix6Config(Supplier<StatusCode> configMethod) {
+    StatusCode errorCode = configMethod.get();
+    for (int i = 1; i <= ATTEMPTS && errorCode != StatusCode.OK; i++) {
+      DriverStation.reportError(
+          String.format("%s: Config Attempt %d Failed", errorCode.toString(), i), false);
+      errorCode = configMethod.get();
+    }
+    if (errorCode != StatusCode.OK) {
+      DriverStation.reportError(String.format("%s: Config Failed", errorCode.toString()), false);
+    }
+  }
+
+  private PhoenixUtils() {
+    throw new AssertionError("Not instantiable");
+  }
+}

lib/src/main/java/com/team2813/lib2813/control/encoders/CancoderWrapper.java → vendor/ctre/src/main/java/com/team2813/lib2813/vendor/ctre/encoder/CancoderWrapper.java

@@ -13,13 +13,13 @@
 See the License for the specific language governing permissions and
 limitations under the License.
 */
-package com.team2813.lib2813.control.encoders;
+package com.team2813.lib2813.vendor.ctre.encoder;
 
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.hardware.CANcoder;
-import com.team2813.lib2813.control.DeviceInformation;
 import com.team2813.lib2813.control.Encoder;
-import com.team2813.lib2813.util.ConfigUtils;
+import com.team2813.lib2813.vendor.ctre.DeviceInformation;
+import com.team2813.lib2813.vendor.ctre.PhoenixUtils;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -78,7 +78,7 @@ public Angle getPositionMeasure() {
 
   @Override
   public void setPosition(Angle position) {
-    ConfigUtils.phoenix6Config(() -> cancoder.setPosition(position.in(Units.Rotations)));
+    PhoenixUtils.phoenix6Config(() -> cancoder.setPosition(position.in(Units.Rotations)));
   }
 
   public CANcoder encoder() {