Add C++ SwerveWithPathPlanner example

cpp/SwerveWithPathPlanner/.gitignore

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+# 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

cpp/SwerveWithPathPlanner/.wpilib/wpilib_preferences.json

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+{
+  "enableCppIntellisense": true,
+  "currentLanguage": "cpp",
+  "projectYear": "2025",
+  "teamNumber": 7762
+}

cpp/SwerveWithPathPlanner/WPILib-License.md

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+Copyright (c) 2009-2024 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.

cpp/SwerveWithPathPlanner/build.gradle

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+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+}
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('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 = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Set to true to run simulation in debug mode
+wpi.cpp.debugSimulation = false
+
+// Default enable simgui
+wpi.sim.addGui().defaultEnabled = true
+// Enable DS but not by default
+wpi.sim.addDriverstation()
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            targetPlatform wpi.platforms.roborio
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                }
+            }
+
+            // Set deploy task to deploy this component
+            deployArtifact.component = it
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            // Enable simulation for this component
+            wpi.sim.enable(it)
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+            wpi.cpp.deps.googleTest(it)
+        }
+    }
+}

cpp/SwerveWithPathPlanner/gradle/wrapper/gradle-wrapper.properties

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+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists