WPILib 2024.3.2 Release

This is an update release of WPILib for the 2024 season. This release has a number of quality-of-life bugfixes.

Upgrading from earlier 2024 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2024 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. This release is compatible with both 2024_v2 releases of the RoboRIO image. Mac note: if upgrading from 2024.1.1, it is necessary to manually remove the 2024.1.1 version of AdvantageScope before running the installer in order for the new version to be installed.

Note: After updating to 2024.3.2, the deploy process will deploy an updated JRE to your robot on first deploy. This means the first deploy will take a little longer than usual.

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.

System Requirements: WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 12 or higher. C++ teams should note that Visual Studio 2022 17.9 is required for desktop builds. Mac users will need to have the Xcode Command Line Tools installed before running the installer. 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 2024. You will need a new RoboRIO image for 2024; this is available via the FRC 2024 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2023 robot project, you will need to import your project to create a 2024 project. The import process is important, as it will make a few automated corrections for some breaking changes that happened in 2024. 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.

Downloads

For 2024, we have changed the location for WPILib downloads due to GitHub file size limitations. Please use the links below to download the installer package for your platform.

• WPILib 2024.3.2 - Windows (2.2 GB)
• WPILib 2024.3.2 - Mac (Arm) (1.9 GB)
• WPILib 2024.3.2 - Mac (Intel) (2.1 GB)
• WPILib 2024.3.2 - Linux (x64) (2.5 GB)
• WPILib 2024.3.2 - Linux (arm64) (2.3 GB)

What's Changed since 2024.3.1

Several changes were made to address reports of robot code not immediately restarting following an uncaught exception or native crash:

• "wpi::Now() not initialized" error is now fatal and immediately crashes by @ThadHouse in #6417
• An uncaught Java exception now immediately exits by @PeterJohnson in #6420
• JRE updated to not report memory allocation info, as this can hang by @PeterJohnson in wpilibsuite/frc-openjdk-roborio#15
• JRE error log reporting timeout shortened from 120 seconds to 2 seconds by @PeterJohnson in wpilibsuite/frc-openjdk-roborio#16

SysId

• Fix position feedback latency compensation by @brettle in #6392
• Fix arm characterization crash by @calcmogul in #6422
• Fix crash on negative feedforward gains by @calcmogul in #6425
• Fix wrong position Kd with unnormalized time by @brettle in #6433

Tools

• AdvantageScope updated to 3.2.1 by @jwbonner in wpilibsuite/WPILibInstaller-Avalonia#403

Math

• Add structured data support for DifferentialDriveWheelPositions by @DeltaDizzy in #6412
• LinearSystemId: Don't throw if Kv = 0 by @calcmogul in #6424

Simulation GUI

• Use shift key to enable docking features by @PeterJohnson in #6429

Documentation

• [wpiunits] Fix Distance class javadocs to state the correct dimension by @DeltaDizzy in #6363
• Add docs for features not supported on PDH (NFC) by @sciencewhiz in #6436

Examples

• Remove unused private variables by @calcmogul in #6403

Full Changelog: v2024.3.1...v2024.3.2

MD5 Hashes

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SHA256 Hashes

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WPILib 2024.3.1 Release

This is an update release of WPILib for the 2024 season. This release has a number of quality-of-life bugfixes.

Upgrading from earlier 2024 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2024 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. This release is compatible with the kickoff release of the RoboRIO image, so there is no need to upgrade the RIO image if you have already done so for 2024. Mac note: if upgrading from 2024.1.1, it is necessary to manually remove the 2024.1.1 version of AdvantageScope before running the installer in order for the new version to be installed.

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.

System Requirements: WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 12 or higher. C++ teams should note that Visual Studio 2022 is required for desktop builds. Mac users will need to have the Xcode Command Line Tools installed before running the installer. 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 2024. You will need a new RoboRIO image for 2024; this is available via the FRC 2024 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2023 robot project, you will need to import your project to create a 2024 project. The import process is important, as it will make a few automated corrections for some breaking changes that happened in 2024. 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.

Downloads

For 2024, we have changed the location for WPILib downloads due to GitHub file size limitations. Please use the links below to download the installer package for your platform.

• WPILib 2024.3.1 - Windows (2.2 GB)
• WPILib 2024.3.1 - Mac (Arm) (1.9 GB)
• WPILib 2024.3.1 - Mac (Intel) (2.1 GB)
• WPILib 2024.3.1 - Linux (x64) (2.5 GB)
• WPILib 2024.3.1 - Linux (arm64) (2.3 GB)

What's Changed since 2024.2.1

NetworkTables

• StructArrayPublisher: Publish schema in span-taking setters by @PeterJohnson in #6303
• Don't send value update to client setting value by @PeterJohnson in #6375
• Add hidden subscribe option by @PeterJohnson in #6376

SysId

• Fix SSTO calculation by @calcmogul in #6301
• Relax peak acceleration search by @Oblarg in #6378
• SysIdRoutine: Reset timer in quasistatic test by @ArchdukeTim in #6322
• SysIdRoutineLog: Initialize m_stateInitialized by @Kython89 in #6359
• Add angular subsystem to SysIdRoutine example by @DeltaDizzy in #6297

Math

• Clean up profile classes by @calcmogul in #6311
• Make Rotation2d implicitly convert from any angle unit by @calcmogul in #6316
• Remove duplicate calls to norm() in Quaternion::Log() by @ThadHouse in #6358
• Add lastValue() method to filters by @N0tACyb0rg in #6351
• Add vector projection and geometry vector conversions by @AngleSideAngle in #6343
• Use correct 'k' value when negative ka is provided in Feed Forward by @fodfodfod in #6360
• ExponentialProfile: Return copies of the current and goal states by @shueja in #6370

Glass / Simulation GUI

• Update field size defaults in Field2D by @gerth2 in #6298
• Fix FMS game data editing by @PeterJohnson in #6381

Java Units

• Add singularized aliases for built in units by @SamCarlberg in #6323
• Fix measure isNear function by @vichik123 in #6313

Commands

• Fix incorrect ordering of parameters in TrapezoidProfileSubsystem by @rzblue in #6338

Shuffleboard

• Improve NT behavior by @PeterJohnson in wpilibsuite/shuffleboard#796

Examples

• Move triggers to subsystem fields by @DeltaDizzy in #6318
• Fix memory leak in C++ controller command examples by @KangarooKoala in #6306
• Don't reset encoders when resetting odometry by @rzblue in #6329

WPILib

• Add methods for reading individual RGB values from LED buffers by @SamCarlberg in #6333
• Remove unusable std::unique_ptr case for SendableChooser by @KangarooKoala in #6357
• Const-qualify SendableChooser.GetSelected() by @KangarooKoala in #6356

AprilTag

• Fix field length in 2024 JSON by @calcmogul in #6373
• Add AprilTagFieldLayout.loadField() and migrate to it by @KangarooKoala in #6377

HAL

• Error out of HAL_Initialize if SetupRioNow fails by @ThadHouse in #6374
• HAL_RefreshDSData: Zero out control word on DS disconnected, Use cache in sim by @ThadHouse in #6380

Installer

• Disable CLI args for AdvantageScope on Windows by @jwbonner in wpilibsuite/WPILibInstaller-Avalonia#397
• Enable vscode system HTTP certificates by @spacey-sooty in wpilibsuite/WPILibInstaller-Avalonia#398
• Update AdvantageScope to 3.2.0 by @jwbonner in wpilibsuite/WPILibInstaller-Avalonia#400

New Contributors

• @ArchdukeTim made their first contribution in #6322
• @vichik123 made their first contribution in #6313
• @Kython89 made their first contribution in #6359
• @N0tACyb0rg made their first contribution in #6351
• @fodfodfod made their first contribution in #6360
• @JoeWildfong made their first contribution in #6367

Full Changelog: v2024.2.1...v2024.3.1

MD5 Hashes

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SHA256 Hashes

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WPILib 2024.2.1 Release

This is an update release of WPILib for the 2024 season. This release improves dashboard NetworkTables connection/disconnection behavior and improves SysId, along with other bugfixes. This upgrade is recommended for all teams.

Upgrading from earlier 2024 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2024 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. This release is compatible with the kickoff release of the RoboRIO image, so there is no need to upgrade the RIO image if you have already done so for 2024. Mac note: for this release, it is necessary to manually remove the 2024.1.1 version of AdvantageScope before running the installer in order for the new version to be installed.

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.

System Requirements: WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 12 or higher. C++ teams should note that Visual Studio 2022 is required for desktop builds. Mac users will need to have the Xcode Command Line Tools installed before running the installer. 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 2024. You will need a new RoboRIO image for 2024; this is available via the FRC 2024 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2023 robot project, you will need to import your project to create a 2024 project. The import process is important, as it will make a few automated corrections for some breaking changes that happened in 2024. 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.

Downloads

For 2024, we have changed the location for WPILib downloads due to GitHub file size limitations. Please use the links below to download the installer package for your platform.

• WPILib 2024.2.1 - Windows (2.2 GB)
• WPILib 2024.2.1 - Mac (Arm) (1.9 GB)
• WPILib 2024.2.1 - Mac (Intel) (2.1 GB)
• WPILib 2024.2.1 - Linux (x64) (2.5 GB)
• WPILib 2024.2.1 - Linux (arm64) (2.3 GB)

What's Changed since 2024.1.1

NetworkTables

• Fix large text message splitting by @PeterJohnson in #6263
• Use last received time instead of last ping response for connection timeout by @PeterJohnson in #6266
• WebSocket serializer bugfixes by @PeterJohnson in #6264
• Fix client "received unknown id -1" by @PeterJohnson in #6186
• Improve disconnect reason reporting by @PeterJohnson in #6262 and #6265
• Enhance debug logging across NT and WS layers by @PeterJohnson in #6267
• Map int[] to int64[] for DataLog by @PeterJohnson in #6279
• NetworkTable::GetStruct: Add I template param by @PeterJohnson in #6183

SysId

• Data selector: use timestamps instead of ranges by @PeterJohnson in #6193
• Filter valid test names by @PeterJohnson in #6200
• Fix peak acceleration filtering behavior in dynamic velocity test by @HarryXChen3 in #6207
• Fix test duration slider responsiveness by @Oblarg in #6216
• Remove unused "gains to encoder counts" checkbox by @calcmogul in #6234
• Show warning tooltips next to bad feedforward gains instead of throwing by @HarryXChen3 in #6251
• Document using AdvantageScope for troubleshooting by @calcmogul in #6247

SysIdRoutine:

• Fix SysId log key for acceleration by @calcmogul in #6196
• Defer creation of state log entry by @jwbonner in #6259
• Fix state log entry name typo by @auscompgeek in #6261
• Use mechanism name instead of subsystem name by @AngleSideAngle in #6277

WPILib

• Add ADIS16470 methods with no params by @spacey-sooty in #6184
• [C++] Use std::atomic for ADIS classes by @spacey-sooty in #6217
• Don't automatically pull in cscore for all robot projects by @ThadHouse in #6245
• [C++] Fix destruction crash in ADIS classes by @PeterJohnson in #6282

Glass / Simulation GUI

• Fix Field2d position and scaling by @PeterJohnson in #6222
• Default to 2024 field image by @PeterJohnson in #6225
• Sim GUI DS: Add "Disconnected" state and start in it by @PeterJohnson in #6218

RoboRIO Team Number Setter

• Add functionality to enable and disable NI webserver by @ThadHouse in #6270

VS Code

• Pass native compiler arguments to intellisense engine by @ThadHouse in wpilibsuite/vscode-wpilib#656
• Fix debug keybindings by @sciencewhiz in wpilibsuite/vscode-wpilib#657
• Disable vscode completion case matching by @sciencewhiz in wpilibsuite/WPILibInstaller-Avalonia#390

GradleRIO

• Increase SSH timeout from 3 to 7 seconds by @ThadHouse in wpilibsuite/GradleRIO#717
• Catch MalformedInputException by @ThadHouse in wpilibsuite/GradleRIO#719
• Update OneDrive error to be more informative by @spacey-sooty in wpilibsuite/GradleRIO#716

Installer

• Offline cache module files for junit by @ThadHouse in wpilibsuite/WPILibInstaller-Avalonia#387
• Add Linux arm64 installer by @ThadHouse in wpilibsuite/WPILibInstaller-Avalonia#305
• Fix running AdvantageScope.py directly by @calcmogul in wpilibsuite/WPILibInstaller-Avalonia#388
• Update AdvantageScope to 3.0.2 by @jwbonner in wpilibsuite/WPILibInstaller-Avalonia#391
• Install Python API docs by @sciencewhiz in wpilibsuite/WPILibInstaller-Avalonia#392

Examples

• Limit error bit correction in April Tag examples by @sciencewhiz in #6224

Other notable changes

• Use Miklast high resolution field render by @sciencewhiz in #6185
• [wpiutil] Fix using 2 different locks in StructArrayLogEntry by @ThadHouse in #6231
• [wpimath] Use tolerance in rotation interpolation tests by @calcmogul in #6237
• [wpiutil] Fix how DynamicStructs handle strings by @ThadHouse in #6253
• [hal] Don't write a 0 length led string to the FPGA by @ThadHouse in #6271
• [hal] Use 64 bit timestamp in DMA by @ThadHouse in #6278

New Contributors

• @gerth2 made their first contribution in #6191
• @HarryXChen3 made their first contribution in #6207
• @BenBean18 made their first contribution in #6219
• @AngleSideAngle made their first contribution in #6277

Full Changelog: v2024.1.1...v2024.2.1

MD5 Hashes

84ce28678ccf243c6c04...

WPILib 2024.1.1 Release

This is the kickoff release of WPILib for the 2024 season.

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.

System Requirements: WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 12 or higher. C++ teams should note that Visual Studio 2022 is required for desktop builds. Mac users will need to have the Xcode Command Line Tools installed before running the installer. 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 2024. You will need a new RoboRIO image for 2024; this is available via the FRC 2024 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2023 robot project, you will need to import your project to create a 2024 project. The import process is important, as it will make a few automated corrections for some breaking changes that happened in 2024. 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.

Downloads

For 2024, we have changed the location for WPILib downloads due to GitHub file size limitations. Please use the links below to download the installer package for your platform.

• WPILib 2024.1.1 - Windows (2.0 GB)
• WPILib 2024.1.1 - Mac (Arm) (2.1 GB)
• WPILib 2024.1.1 - Mac (Intel) (2.2 GB)
• WPILib 2024.1.1 - Linux (2.3 GB)

NI Game Tools (Windows only)

• NI FRC 2024 Game Tools (1.2 GB)

MD5 Hashes

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SHA256 Hashes

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WPILib 2024.1.1 Beta 4 Release

This is a BETA release. Please wait for the first non-beta release for 2024 season use!

This is the 4th 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_v2.0 beta roboRIO image to use on a robot. This image is included in the NI 2024 Beta 2 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.

• Windows: [JFrog] - [WPI] - [CloudFlare] (2.0 GB)
• Mac (Arm): [JFrog] - [WPI] - [CloudFlare] (2.1 GB)
• Mac (Intel): [JFrog] - [WPI] - [CloudFlare] (2.2 GB)
• Linux: [JFrog] - [WPI] - [CloudFlare] (2.3 GB)

What's Changed Since Beta 3

WPILib:

• Fix garbage data for match info before DS connection by @ThadHouse in #5879
• Default LiveWindowEnabledInTest to false by @Starlight220 in #5950
• Add hex string constructor to Color and Color8Bit by @srimanachanta in #5063
• Make Color::HexString() constexpr by @calcmogul in #5985
• Use final for joystick get axis methods by @spacey-sooty in #6024
• Change default Rio log dir from /home/lvuser to /home/lvuser/logs by @PeterJohnson in #5899, use logs subdirectory on USB drives by @PeterJohnson in #5975, change sim location to logs subdir by @PeterJohnson in #6039
• DataLogManager: join on Stop() call by @PeterJohnson in #5910
• Fix PS5 Controller mappings by @ThadHouse in #6050

Math:

• Reorder TrapezoidProfile.calculate() arguments by @calcmogul in #5874
• Replace gyro rotation with poseEstimator rotation by @ElliotScher in #5900
• Change G to gearing in LinearSystemId factories by @DeltaDizzy in #5834
• Clean up VecBuilder and MatBuilder by @KangarooKoala in #5906
• Clean up StateSpaceUtil by @calcmogul in #5891
• Use RKDP in DifferentialDrivetrainSim to fix numerical instability by @calcmogul in #5931
• Add basic wpiunits support to wpimath by @SamCarlberg in #5821
• Move serde functions to separate classes by @pjreiniger in #5918
• Add protobuf / struct serde for trivial types by @pjreiniger in #5935
• Make KalmanFilter variant for asymmetric updates by @calcmogul in #5951
• Explicitly export wpimath protobuf files by @ThadHouse in #5957
• Optimize 2nd derivative of quintic splines by @prateekma in #3292
• Add generic circular buffer class to Java by @calcmogul in #5969
• Remove unused SimpleMatrixUtils class by @calcmogul in #5979
• Add simulated annealing by @calcmogul in #5961
• Fix TimeInterpolatableBuffer crash by @calcmogul in #5972
• Make gcem call std functions if not constant-evaluated by @calcmogul in #5983
• Update to latest Eigen by @calcmogul in #5996
• Fix GCEM namespace usage and add hypot(x, y, z) by @calcmogul in #6002
• Struct cleanup by @KangarooKoala in #6011
• Rotate traveling salesman solution so input and solution have same initial pose by @Ashray-g in #6015
• Simplify calculation of C for DARE precondition by @calcmogul in #6022
• Fix MecanumDriveWheelSpeeds desaturate() by @Gold856 in #6040

NetworkTables:

• Only datalog meta-topics if specifically requested by @PeterJohnson in #5873
• ProtobufSubscriber: Make mutex and msg mutable by @PeterJohnson in #5927
• Increase client meta-topic decoding limit by @PeterJohnson in #5934
• Update transmit period on topic add/remove by @PeterJohnson in #6021
• Add cached topic property by @KangarooKoala in #5494

Commands:

• Add static Trigger factories for robot mode changes by @DeltaDizzy in #5902
• Add GetName to Subsystem, use in Scheduler tracer epochs by @rzblue in #5836
• CommandPtr: Prevent null initialization by @Starlight220 in #5991
• CommandCompositionError: Include stacktrace of original composition by @Starlight220 in #5984

Examples:

• C++: Match array parameter bounds by @PeterJohnson in #5880
• C++: Update examples to CommandPtr by @ncorrea210 in #5988
• Call resetOdometry() when controller command is executed by @ElliotScher in #5905
• C++: Add "inline" specifier to constants.h constants by @ncorrea210 in #6049

Docs:

• Exclude eigen and protobuf from doxygen by @rzblue in #5871
• Improve AprilTag docs by @Gold856 in #5895
• wpiunits Documentation improvements by @agasser in #5932
• Update getAlliance() docs by @calcmogul in #5971
• Add SysId doc links to LinearSystemId in C++ by @calcmogul in #5960

Vision Processing (CameraServer and AprilTags):

• Add GetTags to C++ version of AprilTagFieldLayout by @r4stered in #5872
• CvSink: Allow specifying output PixelFormat by @MrRedness in #5943
• Move RawFrame to wpiutil and add function to generate RawFrames of AprilTags by @r4stered in #5923
• Replace CS_PixelFormat with WPI_PixelFormat by @calcmogul in #5954
• Add pixelFormat overload of getVideo() by @MrRedness in #5966

Other:

• [wpiutil] MemoryBuffer: Fix normal read and file type check by @PeterJohnson in #5875
• [hal...

WPILib 2024.1.1 Beta 3 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.

• Windows: [JFrog] - [WPI] - [CloudFlare] (2.0 GB)
• Mac (Arm): [JFrog] - [WPI] - [CloudFlare] (2.1 GB)
• Mac (Intel): [JFrog] - [WPI] - [CloudFlare] (2.2 GB)
• Linux: [JFrog] - [WPI] - [CloudFlare] (2.3 GB)

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

• Multiple networking bugfixes by @PeterJohnson in #5799, #5810, #5841, #5844, #5847, #5822
• Fix Java struct array unpacking by @jwbonner in #5801
• Fix Java DataLog.addSchema() exception by @PeterJohnson in #5829
• Don't check type string on publishing an entry by @PeterJohnson in #5816

Glass and Simulation GUI

• Fix occasional failure to decode protobuf topics by @PeterJohnson in #5827, #5845
• Fix Position of Data Type in NT Tree View by @ohowe1 in #5840
• Improve display of protobuf/struct type strings in NT Tree View by @PeterJohnson in #5850
• Sim GUI: Add 'Invalid' option for AllianceStation by @zhiquanyeo in #5820

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

• Add support for the PS5 DualSense controller by @maxolasersquad in #5257

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

• Updated to 1.84.0
• Validate project isn't in OneDrive on creation by @sciencewhiz in wpilibsuite/vscode-wpilib#633

GradleRIO

• Error if project is in OneDrive by @spacey-sooty in wpilibsuite/GradleRIO#680

Other changes

• Fix HAL AllianceStation on rio by @ThadHouse in #5811
• Export unit tests for examples by @ThadHouse in #5838
• [cscore] Make camera connection logging clearer by @rzblue in #5866
• [apriltag] AprilTagFieldLayout: Add accessors for origin and field dimensions by @rzblue in #5869
• [wpiutil] Add DataLog and DataLogManager Stop() by @PeterJohnson in #5860

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!

• @bhall-ctre made their first contribution in #5809
• @maxolasersquad made their first contribution in #5257
• @BR88C made their first contribution in #5865
• @spacey-sooty made their first contribution in wpilibsuite/GradleRIO#680

MD5 Hashes

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SHA256 Hashes

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74df56119b723b...

WPILib 2024.1.1 Beta 2 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.

• Windows (2.0 GB)
• Mac (Arm) (2.1 GB)
• Mac (Intel) (2.2 GB)
• Linux (2.3 GB)

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

• Fixed crashes in networking on Windows by @PeterJohnson in #5788

Math

• Added overloads for Transform2d and Transform3d by @anitmangal in #5757
• Fixed hardcoded module count in SwerveDriveKinematics.resetHeading() by @calcmogul in #5762
• Added DCMotor functions for Kraken X60 and Neo Vortex by @jlmcmchl in #5759
• Added LinearSystemId DCMotorSystem overload by @narmstro2020 in #5770
• Added ChassisSpeeds.fromRobotRelativeSpeeds() by @BlueZeeKing in #5744
• Made Vector-Vector binary operators return Vector by @calcmogul in #5772

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

• Updated C++ JSON to 3.11.2 by @pjreiniger in #5680
• Updated EJML to 0.43.1 by @calcmogul in #5778

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!

• @ori-coval made their first contribution in #5758
• @anitmangal made their first contribution in #5757
• @BlueZeeKing made their first contribution in #5744

MD5 Hashes

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SHA256 Hashes

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WPILib 2024.1.1 Beta 1 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).

• Windows (1.8 GB)
• Mac (Arm) (1.7 GB)
• Mac (Intel) (1.8 GB)
• Linux (2.0 GB)

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!

• @wmgrove made their first contribution in #5246
• @bakedPotatoLord made their first contribution in #5248
• @KangarooKoala made their first contribution in #5261
• @autoantwort made their first contribution in #5429
• @jasonli0616 made their first contribution in #5451
• @chauser made their first contribution in #5356
• @jruaaa made their first contribution in #5300
• @mpatankar6 made their first contribution in #5469
• @m10653 made their first contribution in #4071
• @TapChap made their first contribution in #5555
• @cfinn68916 made their first contribution in #5663
• @narmstro2020 made their first contribution in #5715

MD5 Hashes

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SHA256 Hashes

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WPILib 2024.0.0 Alpha 1 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

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SHA256 Hashes

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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

• Optimize scan of outgoing messages by @PeterJohnson in #5227
• NT4 client: close timed-out connections by @PeterJohnson in #5175
• Use int64 for datalog type string by @PeterJohnson in #5186
• ParallelTcpConnector: don't connect to duplicate addresses by @PeterJohnson in #5169

Math

• Check LTV controller max velocity precondition by @calcmogul in #5142
• Fix invalid iterator access in TimeInterpolatableBuffer by @virtuald in #5138
• Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-7 by @7910f6ba7ee4 in #5168
• Fix NaN in C++ MakeCostMatrix() that takes an array by @calcmogul in #5194
• Fix potential divide-by-zero in RKDP by @calcmogul in #5242

Commands

• RamseteCommand: default-initialize m_prevSpeeds by @PeterJohnson in #5188

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

• Fix IndexOutOfBoundsException in tab setup by @Starlight220 in wpilibsuite/shuffleboard#772
• Make any entries set by dashboard retained by @PeterJohnson in wpilibsuite/shuffleboard#778
• FieldData: Don't throw on missing data by @Starlight220 in wpilibsuite/shuffleboard#776
• Add DataSource.equals() by @Starlight220 in wpilibsuite/shuffleboard#774
• Don't switch to selected tab on value change by @Starlight220 in wpilibsuite/shuffleboard#771
• CameraServerWidget: Explicitly unbox Number objects by @Starlight220 in wpilibsuite/shuffleboard#780
• Use ConcurrentHashMap for static collection of NT sources by @Starlight220 in wpilibsuite/shuffleboard#779

SysId

• Give measurement period a valid default of 1 by @calcmogul in wpilibsuite/sysid#495
• Add Venom support by @wlmchen in wpilibsuite/sysid#499

Docs

• CommandScheduler.isComposed: Remove incorrect throws clause (NFC) by @DAflamingFOX in #5183
• WaitCommand: Remove subclass note (NFC) by @Starlight220 in #5200

Examples

• Shuffleboard: Correct parameter order by @Starlight220 in #5204

New Contributors

• @7910f6ba7ee4 made their first contribution in #5143
• @wlmchen made their first contribution in wpilibsuite/sysid#499

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