[Jon Stratis]

This is possible to do. As part of beta testing last year, we built a library for controlling swerve drive (not completely finished and not ready for prime time yet), included it in a robot project, and pushed everything to the roboRIO.

Build the library as a jar, and include it as a dependency in the eclipse project. That'll make eclipse happy so you don't get a bunch of errors.

The key for getting it to the roboRIO is the config file that's used to build everything. I can copy in an example tonight from our build space... Basically, the file contains a list of jars (among other things) to include (wpilib.jar, etc), and you need to include your custom jar in the list. Pretty simple once you know how to do it, and if you update the jar it'll automatically be included the next time you deploy.