Skip to content

@PeterJohnson PeterJohnson released this Apr 25, 2021

This is an update release of WPILib for the 2021 season.

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

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

If you're returning from a previous season, check out what's new for 2021 and jump directly to the WPILib installation guide.

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

What's New in 2021.3.1 (since 2021.2.2)

WPILib

  • HolonomicDriveController: Fixed atReference() behavior (#3163), fixed initial heading behavior (#3290)
  • (C++) Added RobotController::GetBatteryVoltage(); this already existed in Java (#3179)
  • Added SimDeviceSim constructor overloads (#3134)
  • Added DoubleSolenoidSim and SolenoidSim classes (#3177)
  • Require non-zero positive value for PIDController period (#3175)
  • Change KOP drivetrain simulation weight to 60 lbs (#3228)
  • Fixed Compressor sendable properties (#3269)
  • FieldObject2d: added setTrajectory() method (#3277)
  • AnalogEncoder: added channel constructor (#3273)

Math

  • Added methods to concatenate trajectories (#3139)
  • (Java) Significantly speed up trajectory loading (#3257)
  • (Java) Added kg-lb conversions to Units.java (#3203)
  • Added custom residual support to EKF (#3148)
  • Added pose estimator overload for vision and std dev measurement (#3200)
  • Fixed order of setting the gyro offset in pose estimators (#3176)
  • Fixed typo in quintic spline basis matrix
  • Removed ControllerUtil (#3169)

Commands

  • RamseteCommand: Output zero if command is interrupted (#3216)
  • (Java) Change CommandBase.withName() to return CommandBase (#3209)

Examples

  • Fixed Ramsete Controller example (#3142)
  • Made DriveDistanceOffboard example work in simulation (#3199)
  • Used more logical elevator setpoints in GearsBot example (#3198)
  • Fixed odometry update in SwerveControllerCommand example (#3310)

CameraServer

  • Added polled support to listeners; Java VideoListener now uses a Java thread (#3133)
  • Added USB camera change event (#3123)

HAL

  • Added function for changing HAL Notifier thread priority (#3218)

Glass / Simulation GUI

  • Plots
    • Auto-size plots to fit window (#3193)
    • Show full source name as tooltip and in popup (#3255)
    • Set reasonable default window size (#3261)
    • Don't overwrite series ID (#3260)
    • Fix window creation after removal (#3264)
  • Field2d enhancements (#3234)
    • Added support for pose lists > 255/3 in length
    • Improved drag selection, especially with closely overlapping objects
    • Drag selection of corner now also highlights center of object with smaller circle
    • Added multiple object display styles (box, line, closed line, track)
    • Line and arrow settings (color, weight) are now configurable
    • Added tooltip for object name, index, x, y, rotation
    • Added context menu for pose edit/add/remove
    • Can now view/edit in feet or inches as well as meters
    • Object selectability is now configurable
    • Fixed duplicate names (#3233)
  • NetworkTables
    • Fixed crash on Windows caused by long double arrays (#3242)
    • Fixed setting of empty double array (#3208)
    • String chooser: Clear value of deleted entries (#3178)
    • Don't block GUI when changing settings (#3226)
    • Allow disable of server option in settings (#3227)
    • Added "copy to clipboard" button in log view (#3274)
  • Ensure window will be initially visible on screen (#3256)
  • Sim GUI
    • Make keyboard settings loading more robust (#3167)
    • Added option to show prefix in Other Devices window (#3186)

PathWeaver

GradleRIO

VS Code

RobotBuilder

Installer

Hashes

MD5 Hashes

e0c152da3834a22093aa3c475e565a27  WPILib_Linux-2021.3.1.tar.gz
47682d4a782135cc40227cdb40401503  WPILib_macOS-2021.3.1.dmg
b1657cdb177ec7969a1f83500b3ac7ad  WPILib_Windows32-2021.3.1.iso
298d52a77aedea9d50c74d0a8e0fe990  WPILib_Windows64-2021.3.1.iso

SHA256 Hashes

1443a74be28e25d254720532fcad26e1742d5c2830fdf335e72d524bfba72d73  WPILib_Linux-2021.3.1.tar.gz
4e30c81a3e898551d07aff90d7b0f26bdc4cfb646f133c7b904926c7dc29bb2c  WPILib_macOS-2021.3.1.dmg
0d6d9af9c8579fbf0e1c88f8d4596982d28bedd447855573504d462f846ea7e1  WPILib_Windows32-2021.3.1.iso
b56c3b9dd9d26393015c71ede8033ee4b1ec85f65b871a7e6f17258dbc8e54b8  WPILib_Windows64-2021.3.1.iso
Assets 6

@PeterJohnson PeterJohnson released this Jan 30, 2021

This is an update release of WPILib for the 2021 season.

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

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

If you're returning from a previous season, check out what's new for 2021 and jump directly to the WPILib installation guide.

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

What's New in 2021.2.2 (since 2021.2.1)

WPILib

Simulation GUI

  • Fixed macOS 10.14 compatibility
  • Fixed window scaling on macOS retina displays (#3135)
  • Added right click popup menu for keyboard joystick settings (#3119)

Math

  • Fixed Rotation2d equality operator (#3128)

Examples

  • Fixed typos in SwerveControllerCommand and MecanumControllerCommand examples (#3104)
  • Fixed segmentation fault in GearsBot C++ example (#3111)
  • Removed negation of ArcadeDrive in the C++ Getting Started example (#3102)

GradleRIO

RobotBuilder

What's New in 2021.2.1

WPILib

Simulation

  • Added support for setting maximum value for keyboard joysticks in Simulation GUI (#3083)
  • Added SimInt and SimLong wrappers for int/long SimValue (#3066)
  • Added reset() method to SimValue (#3064)
  • Documentation improvements (#3079)

Math

  • Added optimize() method to SwerveModuleState (#3065)
  • Added RKF45 integration (more stable than Runge-Kutta for systems with large elements in A or B matrices) (#3047)
  • [C++] (BREAKING CHANGE) Changed from std::array to wpi::array to enable compile time size checking of array parameters (#3087)

Bug Fixes

  • [C++] Added missing function RoboRioSim::ResetData() (#3073)
  • [examples] Don't continually set setpoint in PotentiometerPID examples (#3084)
  • [examples] Fixed StateSpaceDifferentialDriveSimulation and SimpleDifferentialDriveSimulation example trajectories (#3081)
  • [sim] Fixed wouldHitLowerLimit() in elevator and arm simulation classes (#3076)

Glass / Simulation GUI

  • Added support for Y axis labels (#3061)
  • Shorten SmartDashboard default window names (#3096)

PathWeaver

RobotBuilder

Hashes

The builds have been reuploaded as of 3/24 to resolve an issue with VS Code Downloading.

MD5 Hashes

AE84CB6A74D840A43644B4072C64B923                                       WPILib_Linux-2021.2.2.tar.gz
D1B6A6BD77987ECFC7B4A1E26C3B7A92                                       WPILib_macOS-2021.2.2.dmg
88650D703A23421B5DAF64CE423AB920                                       WPILib_Windows32-2021.2.2.iso
FCAD169766CB295A8848407059A55D25                                       WPILib_Windows64-2021.2.2.iso

SHA256 Hashes

DC9730C87D82634001209937010FF9810016101D0315684CD40F60423402BA5F      WPILib_Linux-2021.2.2.tar.gz
11F70C4DDF0AE55701DFDDBC19412746D8B538B0397756363AE6B19CDD897C3B      WPILib_macOS-2021.2.2.dmg
671B683CA92AE4087E1990C6E792261B5E625A5BDD370465676BA07D45BDD7DD      WPILib_Windows32-2021.2.2.iso
123C6A656CF683CC39815709A40022E14A7DD8665C1EB0541E95A0F7C418E8CD      WPILib_Windows64-2021.2.2.iso
Assets 6

@PeterJohnson PeterJohnson released this Jan 19, 2021

This is an update release of WPILib for the 2021 season.

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

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

If you're returning from a previous season, check out what's new for 2021 and jump directly to the WPILib installation guide.

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

What's New in 2021.2.1

WPILib

Simulation

  • Added support for setting maximum value for keyboard joysticks in Simulation GUI (#3083)
  • Added SimInt and SimLong wrappers for int/long SimValue (#3066)
  • Added reset() method to SimValue (#3064)
  • Documentation improvements (#3079)

Math

  • Added optimize() method to SwerveModuleState (#3065)
  • Added RKF45 integration (more stable than Runge-Kutta for systems with large elements in A or B matrices) (#3047)
  • [C++] (BREAKING CHANGE) Changed from std::array to wpi::array to enable compile time size checking of array parameters (#3087)

Bug Fixes

  • [C++] Added missing function RoboRioSim::ResetData() (#3073)
  • [examples] Don't continually set setpoint in PotentiometerPID examples (#3084)
  • [examples] Fixed StateSpaceDifferentialDriveSimulation and SimpleDifferentialDriveSimulation example trajectories (#3081)
  • [sim] Fixed wouldHitLowerLimit() in elevator and arm simulation classes (#3076)

Glass / Simulation GUI

  • Added support for Y axis labels (#3061)
  • Shorten SmartDashboard default window names (#3096)

PathWeaver

RobotBuilder

Hashes

MD5 Hashes

2f7c551bcadd1c4adcb82f066f145175  WPILib_Linux-2021.2.1.tar.gz
b506714010c31c743a5bd37fd286677b  WPILib_macOS-2021.2.1.dmg
d430473984e84e622fad76f643c054da  WPILib_Windows32-2021.2.1.iso
4f7407f8a34f8bc9fae8d4c16099df5b  WPILib_Windows64-2021.2.1.iso

SHA256 Hashes

79a48e98d75c0b7ec11d12c40b3d86a2c0b9464d06641d2d9539f9430889f0e1  WPILib_Linux-2021.2.1.tar.gz
1bde5e860245a6922d695c7be7363ce804f89dc49428f8c8a7cd15e8849c59af  WPILib_macOS-2021.2.1.dmg
8a0fcfae9f3eed70b33ab9a56f60a1c7c03e5cf78763256a4c7675a5d20fbc89  WPILib_Windows32-2021.2.1.iso
388d25a0b0cc312546df1c00f51b87c1552ed87eb7367cd2ed058faf6170c0af  WPILib_Windows64-2021.2.1.iso
Assets 6

@PeterJohnson PeterJohnson released this Jan 6, 2021

This is the kickoff release of WPILib for the 2021 season.

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

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

If you're returning from a previous season, check out what's new for 2021 and jump directly to the WPILib installation guide.

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

MD5 Hashes

0cec128110d0a91fd76738f20590a185  WPILib_Linux-2021.1.2.tar.gz
a3bbdc8ac5bd15afdfa37bcfd04f9643  WPILib_macOS-2021.1.2.dmg
ccdef9ab133d08acd924fabf12948a56  WPILib_Windows32-2021.1.2.iso
06ffe5360c06972b5607f4d288035cf2  WPILib_Windows64-2021.1.2.iso

SHA256 Hashes

4ce16d9002674528ffb5b1019fc199d7089886477e08bb5d8bc183915ce2ca25  WPILib_Linux-2021.1.2.tar.gz
15f287032590ca6bd2e50bc7536e021df01658ec1d4eb6f08ebcedcb6db7417c  WPILib_macOS-2021.1.2.dmg
d367e7e4ca0c5cbf3bb5764ccb70c8a62cb64e7692b9af98c752a7f62b609020  WPILib_Windows32-2021.1.2.iso
2a72f16dc2ee098b1871d2ec8ef2ef9baa70f08bf606cada1690c92dae8fe585  WPILib_Windows64-2021.1.2.iso
Assets 6
Jan 3, 2021
Version 2021.1.1
Pre-release

@PeterJohnson PeterJohnson released this Dec 12, 2020

Getting Started

This is the beta 4 (pre-kickoff preview) release of WPILib for the 2021 season.

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

If you're returning from a previous season, check out what's new for 2021 and jump directly to the WPILib installation guide. The 2021 release uses a new download format and installer application.

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

If you're starting from a 2020 robot project, you will need to import it to create a 2021 project.

MD5 Hashes

b17672b78778ec7d48ca6dfa787e4b78  WPILib_Linux-2021.1.1-beta-4.tar.gz
3c0154a5507ff7affb4d18d5687a5b5d  WPILib_macOS-2021.1.1-beta-4.dmg
32284015f23b250428b1b6ef886d886a  WPILib_Windows32-2021.1.1-beta-4.iso
8e2ceaed85b4afafbbd3aaf9a9b13dc1  WPILib_Windows64-2021.1.1-beta-4.iso

SHA256 Hashes

62abaa5aed5e11d76023d618141a101d54a96242d832cb6ccdf5442e21bffb20  WPILib_Linux-2021.1.1-beta-4.tar.gz
ffe0a9c93ae3bb2c9815f82b9f939c8eb58c4f387ee671fba31388e44bd677cf  WPILib_macOS-2021.1.1-beta-4.dmg
1064f3705f7217b66a06747117d2cb4303be6438530e049c956fae5a2f827ba3  WPILib_Windows32-2021.1.1-beta-4.iso
48b454b9a2e806ba9304cf8d6df1cb359a8737732834c860d3b334b4a8398744  WPILib_Windows64-2021.1.1-beta-4.iso
Assets 6