From 6fef90335fd728c276f0022068ea8643e3fcfb8a Mon Sep 17 00:00:00 2001
From: Lavi Arzi <laviarzi@gmail.com>
Date: Wed, 7 Jan 2026 07:31:26 +0000
Subject: [PATCH 1/2] make `gradlew` executable, github actions tools version
 bumps, add gradle build reports as artifacts on failed builds

---
 .github/workflows/gradle.yml | 27 +++++++++++++++------------
 gradlew                      |  0
 2 files changed, 15 insertions(+), 12 deletions(-)
 mode change 100644 => 100755 gradlew

diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index 796c3a29..723880d1 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -2,9 +2,9 @@ name: Java CI with Gradle
 
 on:
   push:
-    branches: [ "main" ]
+    branches: ["main"]
   pull_request:
-    branches: [ "main" ]
+    branches: ["main"]
 
 permissions:
   contents: read
@@ -14,22 +14,25 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      # FIX 1: Move submodules here and update to v4
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
       - name: Set up JDK 17
-        uses: actions/setup-java@v3
+        uses: actions/setup-java@v5
         with:
-          java-version: '17'
-          distribution: 'temurin'
+          java-version: "17"
+          distribution: "temurin"
 
-      - name: Grant execute permission for gradlew
-        run: chmod +x gradlew
+      - name: Setup Gradle
+        uses: gradle/actions/setup-gradle@v5
 
-      # FIX 2: Clean up the Gradle action (removed submodules from here)
       - name: Build with Gradle
-        uses: gradle/gradle-build-action@v2
+        run: ./gradlew build
+
+      - name: Upload Build Artifacts
+        if: failure()
+        uses: actions/upload-artifact@v4
         with:
-          arguments: build
+          name: reports
+          path: build/reports/
diff --git a/gradlew b/gradlew
old mode 100644
new mode 100755

From af61580f1ce21cdc1f87ce3bf8d7f58d3b69004a Mon Sep 17 00:00:00 2001
From: Lavi Arzi <laviarzi@gmail.com>
Date: Wed, 7 Jan 2026 17:30:38 +0000
Subject: [PATCH 2/2] add error to check build artifact

---
 src/main/java/frc/trigon/robot/constants/CameraConstants.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/trigon/robot/constants/CameraConstants.java b/src/main/java/frc/trigon/robot/constants/CameraConstants.java
index 1b750328..4ebb4967 100644
--- a/src/main/java/frc/trigon/robot/constants/CameraConstants.java
+++ b/src/main/java/frc/trigon/robot/constants/CameraConstants.java
@@ -15,6 +15,6 @@ public class CameraConstants {
     public static final double OBJECT_POSE_ESTIMATOR_DELETION_THRESHOLD_SECONDS = 0.5;
     public static final ObjectDetectionCamera OBJECT_DETECTION_CAMERA = new ObjectDetectionCamera(
             "ObjectDetectionCamera",
-            ROBOT_CENTER_TO_OBJECT_DETECTION_CAMERA
+            0
     );
 }
\ No newline at end of file