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WPILib 2024.1.1 Beta 3 Release

04 Nov 07:43
@PeterJohnson PeterJohnson
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WPILib 2024.1.1 Beta 3 Release Pre-release
Pre-release

This is the third beta release of WPILib for the 2024 season. Please join the discussions regarding beta testing at https://github.com/wpilibsuite/2024Beta/discussions.

This release requires the 2024_v1.1 beta roboRIO image to use on a robot. This image is included in the NI 2024 Beta 1 Game Tools.

Getting Started

Check out what's new for 2024 and jump directly to the WPILib installation guide.

If you're starting from a 2023 robot project, you will need to import it to create a 2024 project.

Downloads

For 2024, we are considering different options for our downloads due to GitHub file size limitations, and are testing this during the beta. Download links from alternate hosting sites are below. There are three download sites in addition to "split" zip files in the GitHub release. For the split zip files, you will need to download both the .zip and .z01 files and then unzip them to get the installer image (this can be done in Windows Explorer by selecting both files and running "Extract All"). Feedback regarding what of these download options works best for you is welcome on the beta forum.

What's Changed Since Beta 2

Commands

  • Add DeferredCommand by @rzblue in #5566
  • Fix Java CommandXboxController.leftTrigger() parameter order by @rzblue in #5831
  • Make Java SelectCommand generic by @rzblue in #5849
  • Add finallyDo with zero-arg lambda by @shueja-personal in #5862

NetworkTables and structured data

Glass and Simulation GUI

Simulation

  • Autodisable the robot program when real DS disconnects by @Gold856 in #5818
  • Fix off-by-one error while setting alliance station by @Gold856 in #5819
  • Fix virtual dtor warning in SolenoidSim by @virtuald in #5848

WPILib

Math

  • Add EKF/UKF u-y-R correct overload by @calcmogul in #5832
  • Make KalmanTypeFilter interface public by @calcmogul in #5830
  • Add feedforward constant constructor to ElevatorSim by @narmstro2020 in #5823
  • Don't recreate TrapezoidProfile in ProfiledPIDController calculate() by @calcmogul in #5863
  • Expose InterpolatingDoubleTreeMap constructor by @BR88C in #5865

Visual Studio Code

GradleRIO

Other changes

Full Changelog: v2024.1.1-beta-2...v2024.1.1-beta-3

New contributors

WPILib is developed by a small team of volunteers and the FIRST community. Thanks to the following new contributors (since the beta-1 release) for helping make WPILib better for all teams!

MD5 Hashes

c9cc859d63a4679c4eb6c1f89c8db22c  Linux/WPILib_Linux-2024.1.1-beta-3.tar.gz
f4e5cff3b420bc8e0d1ab8f7ed34c749  Win64/WPILib_Windows-2024.1.1-beta-3.iso
6fdd0fc043bdd113881732ca16ddb342  macOS/WPILib_macOS-Intel-2024.1.1-beta-3.dmg
05862e269e51aa9bfd135fbe41ccb15d  macOSArm/WPILib_macOS-Arm64-2024.1.1-beta-3.dmg
1e01fbf310107fce7c222831ca67e2a3  zipfiles/WPILib_Linux-2024.1.1-beta-3.z01
dfaf5ca1dbdb1c2c72b9e970059a9a82  zipfiles/WPILib_Linux-2024.1.1-beta-3.zip
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deb2b26fb575e702328120cfd0a2121b  zipfiles/WPILib_Windows-2024.1.1-beta-3.zip
b4c3d0b915b3f32edea79ca6c4bc9b69  zipfiles/WPILib_macOS-Arm64-2024.1.1-beta-3.z01
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7b2503f5b205d70e5a5e8f37d92334fa  zipfiles/WPILib_macOS-Intel-2024.1.1-beta-3.z01
cedc83363d00974a2bbeb9d3227cb727  zipfiles/WPILib_macOS-Intel-2024.1.1-beta-3.zip

SHA256 Hashes

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53189fd49626a294c4aad1bbc61bddf4186b2bd3b8389418309969b38810ff54  zipfiles/WPILib_Windows-2024.1.1-beta-3.zip
738186bf219eccf74c04fcbb8d58c8aaaa200ff3bc7305eb215bf93368167645  zipfiles/WPILib_macOS-Arm64-2024.1.1-beta-3.z01
d77be5cd1b55503580821aa91fa27b7abaea3606642671040985ec20cb0488f1  zipfiles/WPILib_macOS-Arm64-2024.1.1-beta-3.zip
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Contributors

maxolasersquad, PeterJohnson, and 14 other contributors
Assets 10
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WPILib 2024.1.1 Beta 2 Release

20 Oct 22:23
@PeterJohnson PeterJohnson
v2024.1.1-beta-2
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WPILib 2024.1.1 Beta 2 Release Pre-release
Pre-release

This is the second beta release of WPILib for the 2024 season. Please join the discussions regarding beta testing at https://github.com/wpilibsuite/2024Beta/discussions.

This release requires the 2024_v1.1 beta roboRIO image to use on a robot. This image is included in the NI 2024 Beta 1 Game Tools.

Getting Started

Check out what's new for 2024 and jump directly to the WPILib installation guide.

If you're starting from a 2023 robot project, you will need to import it to create a 2024 project.

Downloads

For 2024, we are considering different options for our downloads due to GitHub file size limitations, and are testing this during the beta. Download links from alternate hosting are below; alternatively in Beta 2 we are providing "split" zip files in the GitHub release--you will need to download both the .zip and .z01 files and then unzip them to get the installer image (this can be done in Windows Explorer by selecting both files and running "Extract All"). Feedback regarding this change is welcome on the beta forum.

What's Changed Since Beta 1

Major new features

  • Bundled AdvantageScope in installer (v3.0.0-beta-3)
  • Added support for serialization/deserialization of protobuf and fixed-size structs to NT and DataLog by @PeterJohnson. Documentation/examples are in work. More information in #5391.
  • Added Exponential motion profile by @jlmcmchl in #5720

NetworkTables

Math

Examples

  • Make swerve examples multiply desired module speeds by cosine of heading error by @ori-coval in #5758

Other bug fixes

  • Workaround implemented for the beta v1.1 image missing the FRC_ prefix in the image name
  • [wpilib] Close sim device in ADIS IMUs by @calcmogul in #5776
  • [wpilib] Make physics sim setState() functions public by @calcmogul in #5779
  • [commands] Add requirements parameter to Commands.idle() by @rzblue in #5774
  • [wpilibj] Fix RobotBase.isSimulation() by @PeterJohnson in #5783
  • [wpilib] Counter: fix default distance per pulse, give c++ parity by @rzblue in #5796

Dependency updates

Full Changelog: v2024.1.1-beta-1...v2024.1.1-beta-2

Errata

  • AdvantageScope fails the GateKeeper check on Mac

New contributors

WPILib is developed by a small team of volunteers and the FIRST community. Thanks to the following new contributors (since the beta-1 release) for helping make WPILib better for all teams!

MD5 Hashes

1debcd7d7f4ce61e6eea7f416ea851b2  WPILib_Linux-2024.1.1-beta-2.tar.gz
fe761aadc59aae329837176118009893  WPILib_Windows-2024.1.1-beta-2.iso
5246df73a8298527bbb403a3ce3ff821  WPILib_macOS-Intel-2024.1.1-beta-2.dmg
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6e25e45d55d6deaeed131e63fabb672e  WPILib_Linux-2024.1.1-beta-2.z01
bc5e14c94a9d5fbf1cf386b43c81fb76  WPILib_Linux-2024.1.1-beta-2.zip
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c5efe5a466c9ab67420bb8a5c424ec6c  WPILib_macOS-Arm64-2024.1.1-beta-2.z01
b43d4f439867df2b44256a43d2d55065  WPILib_macOS-Arm64-2024.1.1-beta-2.zip
cada09d2cdb04fd9d9810215956d708f  WPILib_macOS-Intel-2024.1.1-beta-2.z01
b39f18e4fe4b29a8fc419ac3ca9a8353  WPILib_macOS-Intel-2024.1.1-beta-2.zip

SHA256 Hashes

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e4107d683079e687fd38fcdf122fbe0e788384a24c88c64a0fd28a2bae7ccac3  WPILib_Windows-2024.1.1-beta-2.iso
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8f67a61358d2d7ff745a53f231456488284ffcbc5ccb8312626acff6492c53a8  WPILib_Windows-2024.1.1-beta-2.zip
5e684fd7001bd54c7d0e9b106e0bf4adfe5bfaad1d73e7286ec9a5427d43f8e5  WPILib_macOS-Arm64-2024.1.1-beta-2.z01
e7606da87de3ca757100e0de9717afdb272b666c4d4a0d0403f4d788d11e2f0a  WPILib_macOS-Arm64-2024.1.1-beta-2.zip
e9801d884e73fd8538d85d450c42cdedaf2316c7c7ce464725c7008f7fa7cee0  WPILib_macOS-Intel-2024.1.1-beta-2.z01
14ec13851738a660224c4451631b3e8be9de893619fb6eb1d4c0eeaf26832f75  WPILib_macOS-Intel-2024.1.1-beta-2.zip

Contributors

PeterJohnson, jlmcmchl, and 7 other contributors
Assets 10
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WPILib 2024.1.1 Beta 1 Release

13 Oct 17:08
@PeterJohnson PeterJohnson
v2024.1.1-beta-1
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WPILib 2024.1.1 Beta 1 Release Pre-release
Pre-release

This is the initial beta release of WPILib for the 2024 season. Please join the discussions regarding beta testing at https://github.com/wpilibsuite/2024Beta/discussions.

This release requires the 2024_v1.1 roboRIO image to use on a robot. This image will be posted on the beta forums when it's available.

Getting Started

Check out what's new for 2024 and jump directly to the WPILib installation guide.

If you're starting from a 2023 robot project, you will need to import it to create a 2024 project.

Full Changelog from 2023.4.3: v2023.4.3...v2024.1.1-beta-1

Downloads

For 2024, we are planning on using different hosting for our downloads due to GitHub file size limitations, and are testing this during the beta. Download links are below (feedback regarding this change is welcome on the beta forum).

Errata

  • NT can cause application crashes on Windows (this affects dashboard connections to robot simulation, as well as applications such as Glass and OutlineViewer).
  • The initial release of 2024.1.1-beta-1 on 10/13 installed to the incorrect location on Linux and Mac. A corrected installer was posted on 10/15 at around 5 PM PST.

New Contributors

WPILib is developed by a small team of volunteers and the FIRST community. Thanks to the following new contributors since the last 2023 release for helping make WPILib better for all teams!

MD5 Hashes

6eab2d96f86c83ade5b1b3444cb5bd27  WPILib_Linux-2024.1.1-beta-1.tar.gz
a25f28ac2f0d5dd60063db5ed696330a  WPILib_Windows-2024.1.1-beta-1.iso
a885018d3e2fd80ec2ea3985875ae2ed  WPILib_macOS-Intel-2024.1.1-beta-1.dmg
938b0dd18de5edbf84eef5665fda7ed1  WPILib_macOS-Arm64-2024.1.1-beta-1.dmg

SHA256 Hashes

1dee3532894d5da7934d0983fe272fde5d938421fbc4d248896f9a6472dc090f  WPILib_Linux-2024.1.1-beta-1.tar.gz
76b92637d918583614975c0098ea8823929b3000d6097f19273ea8f4d0a1eb4e  WPILib_Windows-2024.1.1-beta-1.iso
35e4bc7da09a28dfe40071eb402551e4ce159f46e27f4b3ea54099f707dc2fab  WPILib_macOS-Intel-2024.1.1-beta-1.dmg
e58ea98d096abd91073b215e3d5dc0539c266af91986979249aeb554dc16d879  WPILib_macOS-Arm64-2024.1.1-beta-1.dmg

Contributors

chauser, m10653, and 10 other contributors
Assets 2
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WPILib 2024.0.0 Alpha 1 Release

25 Aug 04:32
@AustinShalit AustinShalit
v2024.0.0-alpha-1
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WPILib 2024.0.0 Alpha 1 Release Pre-release
Pre-release

This is an early preview release of WPILib for the 2024 season. This release is not intended for competition or full-size robot use. The purpose of this release is to provide an easy-to-use installation of WPILib for users of the XRP robot.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. C++ teams should note that Visual Studio 2022 is required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

Follow the WPILib installation guide to install WPILib.

WPILib is developed by a small team of volunteers and the FIRST community.

MD5 Hashes

0359f187d5ee0867ebf14dddab7189ce  WPILib_Linux-2024.0.0-alpha-1.tar.gz
17482d9049ef59cde02754d2f15250e4  WPILib_Windows-2024.0.0-alpha-1.iso
0190c12529458e3e98c06e17b0acc637  WPILib_macOS-Intel-2024.0.0-alpha-1.dmg
bd7acc8217ec6f5125ff6409d265af0b  WPILib_macOS-Arm64-2024.0.0-alpha-1.dmg

SHA256 Hashes

bb7f321379ced9126a071172157a045e7a78e1f7d21ff672031e4204b88ec334  WPILib_Linux-2024.0.0-alpha-1.tar.gz
2dc07b93bfdb9360d4009ed49a225f2439b0484790a863f333f6b7c338d12d81  WPILib_Windows-2024.0.0-alpha-1.iso
0a15b36ddc8d4c1f9f1864bb9841731dfcd2c10f6bc3ffd2af46bfda81781559  WPILib_macOS-Intel-2024.0.0-alpha-1.dmg
c484bec59f2ac1aa325dc460df8e1f9d430361895ce0211ff9ec6fdc109ef7c6  WPILib_macOS-Arm64-2024.0.0-alpha-1.dmg
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WPILib 2023.4.3 Release

29 Mar 04:13
@PeterJohnson PeterJohnson
v2023.4.3
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WPILib 2023.4.3 Release

This is an update release of WPILib for the 2023 season. This release reduces NetworkTables CPU usage and latency, improves dashboard NetworkTables connection/disconnection behavior, and has several other quality-of-life improvements, in particular to Shuffleboard. This release also includes all fixes made in earlier releases.

Upgrading from earlier 2023 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

Minimum system requirements have changed for 2023. WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

A complete list of known issues with this release can be found here.

WPILib is developed by a small team of volunteers and the FIRST community.

What's Changed since 2022.4.2

NetworkTables

Math

Commands

WPILib

  • Add isTestEnabled and minor docs cleanup by @rzblue in #5172
  • Fix enableLiveWindowInTest crashing in disabled by @rzblue in #5173
  • DataLogManager: increase time for datetime to be valid by @PeterJohnson in #5185
  • Fix DutyCycleEncoder.setDistancePerRotation() in java simulation by @rzblue in #5147
  • Fix RobotController.getComments() mishandling quotes inside the comments string by @rzblue in #5197
  • [java] DriverStation: Fix joystick data logs by @PeterJohnson in #5240
  • Shuffleboard: Keep duplicates on SelectTab() by @Starlight220 in #5198

Shuffleboard

SysId

Docs

Examples

New Contributors

MD5 Hashes

fc58a52edea675b0ff91938a9c9d0743  WPILib_Linux-2023.4.3.tar.gz
5b67d336669bed34ab0dd428f81b9d31  WPILib_Windows-2023.4.3.iso
47246def80eea87b468e0be30119f789  WPILib_macOS-Intel-2023.4.3.dmg
1bb6113c1202fbb68248c3848556e47e  WPILib_macOS-Arm64-2023.4.3.dmg

SHA256 Hashes

640e1ee7cc8f39d1789b4137f4a5aae90f78eeecf2326e2c50808205d02e7795  WPILib_Linux-2023.4.3.tar.gz
8ea417ede0a8541c9ab906b943be55ca49112dddef6750f2db1a742ba0c69378  WPILib_Windows-2023.4.3.iso
a80723596a08790c78b4c35ac64b4758c72076e74df559512a62c808b2a11ef1  WPILib_macOS-Intel-2023.4.3.dmg
8dad67e28a3bdf482979a1fe4c857d52ab36a2fdec56ae05971b7177d5409ae9  WPILib_macOS-Arm64-2023.4.3.dmg

Contributors

PeterJohnson, virtuald, and 6 other contributors
Assets 6
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WPILib 2023.4.2 Release

25 Feb 08:28
@PeterJohnson PeterJohnson
v2023.4.2
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WPILib 2023.4.2 Release

This is an update release of WPILib for the 2023 season. This release reduces overhead that can impact loop times in Java, and has several other quality-of-life improvements. Note: while this release only has a few changes since 2023.4.2, it includes all fixes made in earlier releases; it's strongly recommended teams upgrade if running versions earlier than 2023.4.1.

Upgrading from earlier 2023 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

Minimum system requirements have changed for 2023. WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

A complete list of known issues with this release can be found here.

WPILib is developed by a small team of volunteers and the FIRST community.

What's Changed since 2022.4.1

WPILib

Simulation

Commands

Docs

SysId

Shuffleboard

GradleRIO

New Contributors

MD5 Hashes

07b5c5142eaad9f5c33ba7ac1dc53161  WPILib_Linux-2023.4.2.tar.gz
1072aff0a9c3af3b4da5f0915c0dc9a2  WPILib_Windows-2023.4.2.iso
4f9a57c8bd836fc86e84d10faa83b0c9  WPILib_macOS-Intel-2023.4.2.dmg
3a43345cf59ee7ab9ff2bc2090b1db34  WPILib_macOS-Arm64-2023.4.2.dmg

SHA256 Hashes

9c3804de5c6e15a2732aefde129512e93f3681bd3ffbb5a6cf34efdd05c0334e  WPILib_Linux-2023.4.2.tar.gz
55bd46d63a2213f27b92fd8e9f214157de1f5f9144ad5fabee32f6f4d4359d25  WPILib_Windows-2023.4.2.iso
a9a029dde0cc5e293251652f0d77015a9290f1cc5d07d80d4d7e25ea7629f492  WPILib_macOS-Intel-2023.4.2.dmg
8c58136596fad4502f3c6b4c8fcfca86ac131bc9123350b282217b0381193dba  WPILib_macOS-Arm64-2023.4.2.dmg

Contributors

auscompgeek, calcmogul, and 7 other contributors
Assets 6
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WPILib 2023.4.1 Release

18 Feb 17:36
@PeterJohnson PeterJohnson
v2023.4.1
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WPILib 2023.4.1 Release

This is an update release of WPILib for the 2023 season. This release fixes a couple of critical NetworkTables bugs.

Upgrading from earlier 2023 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

Minimum system requirements have changed for 2023. WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

A complete list of known issues with this release can be found here.

WPILib is developed by a small team of volunteers and the FIRST community.

What's Changed since 2022.3.2

WPILib

NetworkTables

Math

  • Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d by @jlmcmchl in #5072
  • Fix exception for empty pose buffer in pose estimators by @calcmogul in #5106
  • Add timestamp getter to MathShared by @jwbonner in #5091

Examples

Glass / OutlineViewer

Shuffleboard

PathWeaver

SysId

Docs

New Contributors

MD5 Hashes

e541b48d97e8d773b38f1db1ef35874d  WPILib_Linux-2023.4.1.tar.gz
b7f93503e06c475ba91028a6dae42e47  WPILib_Windows-2023.4.1.iso
4e265f381d9cd8fd489b46efaba3b81b  WPILib_macOS-Intel-2023.4.1.dmg
bc4a8861fba00b44c6dc9b3766b6e68e  WPILib_macOS-Arm64-2023.4.1.dmg

SHA256 Hashes

d2f11d69cd45dc66dd0947933ffa6143c07590da2e9a29337d6495c1d1eb2bf4  WPILib_Linux-2023.4.1.tar.gz
de26f0d689c51b878c5fa74102b55102eac115ef81090a9608125d9b552ae1e2  WPILib_Windows-2023.4.1.iso
9b86949bfba312168f0866f394de9d964a6c0e473662d83e334bc5be2a4a88ad  WPILib_macOS-Intel-2023.4.1.dmg
442fbb7e56734e4f67efcece4f216df8c738f427a54d0493c713191de335db7c  WPILib_macOS-Arm64-2023.4.1.dmg

Contributors

PeterJohnson, jlmcmchl, and 7 other contributors
Assets 6
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WPILib 2023.3.2 Release

06 Feb 07:17
@PeterJohnson PeterJohnson
v2023.3.2
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PeterJohnson Peter Johnson
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WPILib 2023.3.2 Release

This is an update release of WPILib for the 2023 season. Notable fixes in this release:

  • Several major NetworkTables bugs
  • ADXRS450 Gyros in C++

Significant new features in this release:

  • SysId CTRE CANivore and Phoenix Pro support

Upgrading from earlier 2023 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

Minimum system requirements have changed for 2023. WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

A complete list of known issues with this release can be found here.

WPILib is developed by a small team of volunteers and the FIRST community.

What's Changed since 2023.3.1

What's Changed since 2022.2.1

WPILib

NetworkTables

Simulation

Math

Examples

Command-Based Framework

DataLogTool

Glass

Shuffleboard

SysId

GradleRIO

VSCode

Docs

  • [wpimath] Fix typo in Pose3d::Exp() docs by @calcmogul in #4966
  • [wpimath] Update Wikipedia links for quaternion to Euler angle conversion by @calcmogul in #4995
  • [wpilibj] Fix typo in MecanumDrive docs by @calcmogul in #4969
  • [command...
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Contributors

truher, PeterJohnson, and 20 other contributors
Assets 6
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WPILib 2023.3.1 Release

05 Feb 08:29
@PeterJohnson PeterJohnson
v2023.3.1
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PeterJohnson Peter Johnson
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WPILib 2023.3.1 Release Pre-release
Pre-release

Do not update

An update release (2023.3.2) will be made later on 2/5.

This release breaks CTRE simulation.

This is an update release of WPILib for the 2023 season. Notable fixes in this release:

  • Several major NetworkTables bugs
  • ADXRS450 Gyros in C++

Significant new features in this release:

  • SysId CTRE CANivore and Phoenix Pro support

Upgrading from earlier 2023 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

Minimum system requirements have changed for 2023. WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

A complete list of known issues with this release can be found here.

WPILib is developed by a small team of volunteers and the FIRST community.

What's Changed

WPILib

NetworkTables

Simulation

Math

Examples

Command-Based Framework

DataLogTool

Glass

Shuffleboard

SysId

GradleRIO

VSCode

Docs

New Contributors

Read more

Contributors

truher, PeterJohnson, and 19 other contributors
Assets 6
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WPILib 2023.2.1 Release

14 Jan 22:39
@PeterJohnson PeterJohnson
v2023.2.1
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PeterJohnson Peter Johnson
GPG key ID: FE8D173228CE7AB9
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WPILib 2023.2.1 Release

This is an update release of WPILib for the 2023 season. This release fixes two major bugs in the kickoff release:

  • SendableChooser might not pick up the value set by the dashboard
  • Calls to NT flush() on clients were rate-limited to the default rate

Significant new features in this release:

  • 2023 field images have been added to Shuffleboard and PathWeaver
  • A 2023 field layout has been added for AprilTagFieldLayout
  • An AprilTag vision example has been added for both C++ and Java

Upgrading from the kickoff 2023 release is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

Minimum system requirements have changed for 2023. WPILib now requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! We have dropped support for older platforms including Windows 7, Ubuntu 20.04, and macOS 10.15. C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

A complete list of known issues with this release can be found here.

WPILib is developed by a small team of volunteers and the FIRST community.

What's Changed

WPILib

apriltag:

  • [apriltag] Add 2023 layout JSON by @mcm001 in #4912
  • [apriltag] Explain what April tag poses represent (NFC) by @bovlb in #4930

wpimath:

  • [wpimath] Fix swerve kinematics util classes' equals function by @ohowe1 in #4907
  • [wpimath] Pose estimator: Allow multiple vision measurements from same timestamp by @mcm001 in #4917
  • [wpimath] Fix SwerveDriveKinematics not initializing a new array each time by @ohowe1 in #4942
  • [wpimath] Fix PID atSetpoint to not return true prematurely by @sciencewhiz in #4906

commands:

ntcore:

examples:

  • [examples] Cleanup PotentiometerPID, Ultrasonic, UltrasonicPID by @Starlight220 in #4893
  • [examples] DigitalCommunication, I2CCommunication: Add tests by @Starlight220 in #4865
  • [examples] Add example programs for AprilTags detection by @fovea1959 in #4932

other:

  • [wpiutil] Guard MSVC pragma in SymbolExports.h by @calcmogul in #4911
  • [fieldImages] Add 2023 field by @sciencewhiz in #4915
  • [wpilibj] Add missing distance per pulse functions to java EncoderSim by @rzblue in #4928
  • [hal] Add handle constructor and name getters for sim devices by @rzblue in #4925

SysId

Shuffleboard

PathWeaver

Installer

New Contributors

MD5 Hashes

0d1a6eddd593b51c1d19ce3b9bcf6d7e  Linux/WPILib_Linux-2023.2.1.tar.gz
7d9bf7896a71ceebcd8ea5a77344496b  Win64/WPILib_Windows-2023.2.1.iso
e0ce03dcc0b8d614531e5eeb16470ed2  macOS/WPILib_macOS-Intel-2023.2.1.dmg
a329654a0a16bd0c15967e2a0fc125a3  macOSArm/WPILib_macOS-Arm64-2023.2.1.dmg

SHA256 Hashes

28a99bae0830a1b43aad78621ab6a329ba48897a5c01489c554ed571e40b8d98  Linux/WPILib_Linux-2023.2.1.tar.gz
691b308a08c04e84180d2e6cffc2b53a4f65a2fcbd97de861b8628470b87dc48  Win64/WPILib_Windows-2023.2.1.iso
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Contributors

PeterJohnson, jkunkee, and 13 other contributors
Assets 6
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