build.xml

<?xml version="1.0" encoding="UTF-8"?>

<project name="FRC Deployment" default="deploy">

  <!--
  The following properties can be defined to override system level
  settings. These should not be touched unless you know what you're
  doing. The primary use is to override the wpilib version when
  working with older robots that can't compile with the latest
  libraries.
  -->

  <!-- By default the system version of WPI is used -->
  <!-- <property name="version" value=""/> -->

  <!-- By default the system team number is used -->
  <!-- <property name="team-number" value=""/> -->

  <!-- By default the target is set to 10.TE.AM.2 -->
  <!-- <property name="target" value=""/> -->

  <!-- Any other property in build.properties can also be overridden. -->
  
  <property file="${user.home}/wpilib/wpilib.properties"/>
  <property file="build.properties"/>
  <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
	<path id="yggdrasil-ref">
	  <fileset dir="lib">
	    <include name="**/*.jar" />
	  </fileset>
	</path>
	
  <import file="${wpilib.ant.dir}/build.xml"/>
	
	<target name="compile" description="Compile the source code.">
	    <mkdir dir="${build.dir}"/>
	    <echo>[yggdrasil-compile] Compiling ${src.dir} with classpath=${classpath} to ${build.dir}</echo>

	    <javac srcdir="${src.dir}"
	     destdir="${build.dir}"
	     includeAntRuntime="no"
	     includeJavaRuntime="no"
	     classpath="${classpath}"
    	 classpathref="yggdrasil-ref"
	     target="${ant.java.version}"
	     source="${ant.java.version}"
	     compiler="javac${ant.java.version}"
	     debug="true">
	    </javac>
	  </target>
	
	  <target name="jar" depends="compile">
	    <echo>[yggdrasil-jar] Making jar ${dist.jar}.</echo>
	    <mkdir dir="${dist.dir}" />
	    <mkdir dir="${build.jars}" />

	  <echo>[yggdrasil-jar] Copying jars from ${classpath} to ${build.jars}.</echo>
	  <copy todir="${build.jars}" flatten="true">
	    <path>
	    <pathelement path="${classpath}"/>
	    </path>
	  </copy>

	    <jar destfile="${dist.jar}" update="false">
	      <manifest>
	    	<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
	    	<attribute name="Robot-Class" value="${robot.class}"/>
	    	<attribute name="Class-Path" value="."/>
	      </manifest>

	      <fileset dir="${build.dir}" includes="**/*.class"/>

	    <zipgroupfileset dir="${build.jars}">
	      <include name="**/*.jar" />
	    </zipgroupfileset>
    	<zipgroupfileset dir="lib">
	      <include name="**/*.jar" />
	    </zipgroupfileset>	
	    </jar>
	  </target>
	
	<target name="deploy" depends="clean,jar,get-target-ip,dependencies" description="Deploy the jar and start the program running.">
	    <echo>[yggdrasil-deploy] Copying code over.</echo>
	    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
	    <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>

	    <echo>[yggdrasil-deploy] Starting program.</echo>
	    <sshexec host="${target}"
	       username="${username}"
	       password="${password}"
	       trust="true"
	       command="${deploy.kill.command};"/>

	  </target>

</project>