[Jared]

I'm guessing you have imported an existing project into eclipse.

Try creating a new FRC Java robot project, compiling the new project and compiling this one again.

It can't find the wpilib jars because it thinks your classpath is "${wpilib.jar}". This should automatically get replaced by the actual classpath by whatever ant reads from the build.properties file. This doesn't get set up properly until you've created a new project.