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WPILib 2022.1.1 Kickoff Release

08 Jan 04:23
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v2022.1.1
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WPILib 2022.1.1 Kickoff Release

This is the kickoff release of WPILib for the 2022 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.

If you're returning from a previous season, check out what's new for 2022; be sure to read through this, as a lot has changed from 2021! You will need a new RoboRIO image for 2022; this is available via the FRC Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2020 or 2021 robot project, you will need to import your project to create a 2022 project. The import process is particularly important for 2022, as it will make a number of automated corrections for the various breaking package moves/renames that happened in 2022.

A complete list of known issues with this release can be found here. In particular, Analog Devices SPI Gyros (including the ADXRS450) do not work in this release due to an issue with the v3 RoboRIO image, and there is a warning against using the "onboard" I2C port (the MXP I2C port does not have an issue).

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

MD5 Hashes

ced4d15120943c0f1af5523f085d964e  WPILib_Linux-2022.1.1.tar.gz
7ec70c0a41d41516b1dd02d1246a9821  WPILib_Windows32-2022.1.1.iso
cdcb1ae31a3981d8fd17629e90d42af3  WPILib_Windows64-2022.1.1.iso
ff2b44abf6691b4326551f92a008091e  WPILib_macOS-2022.1.1.dmg

SHA256 Hashes

ec59a3acf05dda4ec75135d129e8f703eb40347329fd6281d76cdea150ff33b2  WPILib_Linux-2022.1.1.tar.gz
18ed99d77d649886edd62a0bfb8d117c37ea3252625d4b0886a616832865cc05  WPILib_Windows32-2022.1.1.iso
cf31ebefab0f999aef27cf59ccaa67cb34ea6eb9b7b2f64dc92e739ee99c303e  WPILib_Windows64-2022.1.1.iso
e20bf05bcfbf778853db4690293fac6b6e518cdfe7539aeec63f3a7ebe1cfffb  WPILib_macOS-2022.1.1.dmg
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WPILib 2022.1.1 Release Candidate 1

04 Jan 22:45
@PeterJohnson PeterJohnson
v2022.1.1-rc-1
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WPILib 2022.1.1 Release Candidate 1 Pre-release
Pre-release

Getting Started

This is the first release candidate for the initial release of WPILib for the 2022 season. This release requires the 2022 v2.x roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

If you're starting from a 2021 robot project, you will need to import it to create a 2022 project. The import process is particularly important for 2022, as it will try to make a number of automated corrections for the various breaking package moves/renames that happened in 2022.

MD5 Hashes

e2d51d4aced1500a666a060fa7ffc90c  Linux/WPILib_Linux-2022.1.1-rc-1.tar.gz
d6fe1e13bdc065f1a3ff9f9f49d63fe9  Win32/WPILib_Windows32-2022.1.1-rc-1.iso
63bdaa781b47085c256684ae5578efe3  Win64/WPILib_Windows64-2022.1.1-rc-1.iso
7045e52765fd2e3a117c1bc98764ce30  macOS/WPILib_macOS-2022.1.1-rc-1.dmg

SHA256 Hashes

c4c14022d1d61411dae17b06e456925aa82f9419fdbe1bc4e553820e5c5684e8  Linux/WPILib_Linux-2022.1.1-rc-1.tar.gz
86c36b1a61d7d03d390111289724d0125c9c5f9db5bd2b0b8649b0d99aee9467  Win32/WPILib_Windows32-2022.1.1-rc-1.iso
cf3a0a2457b36d6797432a1a6c7ce54e606a3aae130e0c1b88eed7b9434016d3  Win64/WPILib_Windows64-2022.1.1-rc-1.iso
ae6fefba81cbba73830320555363c432daf1b284a86fecc04d6f85fbe845cb30  macOS/WPILib_macOS-2022.1.1-rc-1.dmg
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WPILib 2022.1.1 Beta 4 Release

20 Dec 22:18
@PeterJohnson PeterJohnson
v2022.1.1-beta-4
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WPILib 2022.1.1 Beta 4 Release Pre-release
Pre-release

Getting Started

This is the fourth (and likely final) beta release of WPILib for the 2022 season. This requires the 2022 v2.x roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here. Known issues for beta 4:

  • sysid: REV and CTRE devices are now supported, but a deployed drive project will segfault if configured with a drivetrain Talon with a Pigeon plugged into it. This will be fixed by wpilibsuite/sysid#256.

Major changes from Beta 3:

  • WPILib
    • DutyCycleEncoder: add support for setting duty cycle range
    • Various REV PDH and PH improvements
    • Fix simgui display of Encoder, PCM, and DeviceTree
    • Fix deadlocks in Mechanism2d
    • C++: Fix duplicate port allocations in several examples
    • C++: Start DriverStation thread from RobotBase to ensure info is published
    • C++: Fix Mecanum and Swerve ControllerCommand dangling lambda captures
  • GradleRIO
    • Remove log4j usage
    • Update to Gradle 7.3.2
    • Fix missing simulation artifacts
    • Add support for custom Java garbage collector selection
    • Add support for configuring deploy stage from DSL
  • Shuffleboard
    • More gracefully handle Windows N
  • VS Code
    • Disable system certificates (fixes certificate errors for some vendors)
    • Fix uses of deprecated functionality (e.g. externalConsole)
  • Installer
    • Support Windows 7 again (with deprecation message for 2023)
    • Abort install if a JDK process to be installed over is running
    • Change install options to "tools only" and "install everything"

If you're starting from a 2021 robot project, you will need to import it to create a 2022 project. The import process is particularly important for 2022, as it will try to make a number of automated corrections for the various breaking package moves that happened in 2022.

MD5 Hashes

a4333d2a0babfa2af0820e6f301e0019  Linux/WPILib_Linux-2022.1.1-beta-4.tar.gz
85507632ef198bffe6eeed4104b49ead  Win32/WPILib_Windows32-2022.1.1-beta-4.iso
7ae4f680bbfd0ef726b411f45af3772e  Win64/WPILib_Windows64-2022.1.1-beta-4.iso
77475c1696cf4ca7619ffcc6dbd1acf4  macOS/WPILib_macOS-2022.1.1-beta-4.dmg

SHA256 Hashes

99cc9acd7168ebca0acae4d87b6e2e515f5c0bb35142d1b2a0f6e461915a6211  Linux/WPILib_Linux-2022.1.1-beta-4.tar.gz
7f0693b0361eb692ed5ecb658a1e4803b96c8fe896100bcf8adcdc1faec7ecce  Win32/WPILib_Windows32-2022.1.1-beta-4.iso
4e0a584a1aec49c84c46211aab36b8005e7b02e0e0fc081c3cc0187301b76e05  Win64/WPILib_Windows64-2022.1.1-beta-4.iso
f1875c43db52cba1f95968756fb8d7efc731ec94ff651ddc7924208deea4669d  macOS/WPILib_macOS-2022.1.1-beta-4.dmg
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WPILib 2022.1.1 Beta 3 Release

29 Nov 00:04
@PeterJohnson PeterJohnson
v2022.1.1-beta-3
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WPILib 2022.1.1 Beta 3 Release Pre-release
Pre-release

Getting Started

This is the third beta release of WPILib for the 2022 season. This requires the 2022 v2.x roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here and in Beta 3, the following are broken:
TBD

Major changes from Beta 2:

  • Glass, SysId, and Simulation GUI now use multi-file JSON save formats instead of INI and have support for loading/saving the workspace; when started from the vscode tool menu, these default to using the project directory for saving rather than the system-global location
  • Glass and sysid now install desktop shortcuts
  • Desktop shortcuts for tools now have the year in the name
  • Fixed on-robot debugging
  • Fixed simulateJava on Mac
  • Fixed Java Romi build
  • roboRIO JDK artifact is again included in the installer
  • Rev Pneumatics Hub enhancements (compressor config mode, faults)
  • Added new Counter implementations

If you're starting from a 2021 robot project, you will need to import it to create a 2022 project. The import process is particularly important for 2022, as it will try to make a number of automated corrections for the various breaking package moves that happened in 2022.

MD5 Hashes

9c07ef5ef5dea6a5f7bf102dce7a23f1  Linux/WPILib_Linux-2022.1.1-beta-3.tar.gz
385f2db88cd6636bb4b5a3bc627e27d0  Win32/WPILib_Windows32-2022.1.1-beta-3.iso
b5571f1c45a3008d431b4ec084b2e18a  Win64/WPILib_Windows64-2022.1.1-beta-3.iso
4bb8125bda7c34c26f77406d9223e88b  macOS/WPILib_macOS-2022.1.1-beta-3.dmg

SHA256 Hashes

dfdc369c832c9be98292f0ddc7f59daf2a550267f3cd068a9078d9463ed3f4e5  Linux/WPILib_Linux-2022.1.1-beta-3.tar.gz
244a2187b4f431d1f924da5e71d718f8d944e1745d48bd4573f1d00882f4d86b  Win32/WPILib_Windows32-2022.1.1-beta-3.iso
e9b1f6f5f6be0509397fef34746a95d4b74079deb0f86a30b5af4bc26beb170c  Win64/WPILib_Windows64-2022.1.1-beta-3.iso
70e21c739f19dc749f5928555ca7104c6422186b45db8c6ee1fc4e3ef3a5bd31  macOS/WPILib_macOS-2022.1.1-beta-3.dmg
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WPILib 2022.1.1 Beta 2 Release

12 Nov 19:58
@AustinShalit AustinShalit
v2022.1.1-beta-2
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WPILib 2022.1.1 Beta 2 Release Pre-release
Pre-release

Getting Started

This is the second beta release of WPILib for the 2022 season. This requires the 2022 v2.x roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here and in Beta 2, the following are broken:

This release has breaking changes to the robot template from beta 1. It will be necessary to either re-import your project from 2021 or create a new robot project and copy your beta 1 code into it.

Major changes from Beta 1:

  • Fixed RoboRIO 2 deployment version checking; requires roboRIO image v2.3 (workaround still required for v2.2)
  • Added back deployment error messages (RoboRIO not found)
  • Fixed Romi support
  • Fixed Java simulation without Visual Studio installed
  • Fixed deployment of src/main/deploy
  • Gradle updated to 7.2
  • Visual Studio Code has been updated to 1.62.0
  • Fixed Linux desktop icon permissions
  • Fix "chcp not found" warning message seen when running simulation on Windows
  • Shuffleboard: camera server streams not appearing issue from 2021 has been fixed

If you're starting from a 2021 robot project, you will need to import it to create a 2022 project. The import process is particularly important for 2022, as it will try to make a number of automated corrections for the various breaking package moves that happened in 2022.

MD5 Hashes

1a392645a2191ffbd6f5498ba175c3d8  WPILib_Linux-2022.1.1-beta-2.tar.gz
af59d3915d8e76b05696691291f2ff67  WPILib_Windows32-2022.1.1-beta-2.iso
e1ed4b064834aaeb3a6b730617449774  WPILib_Windows64-2022.1.1-beta-2.iso
c8ba86fb50564919c571c59e4164a3a8  WPILib_macOS-2022.1.1-beta-2.dmg

SHA256 Hashes

441c197f4b227cd3d76971ac940117a57858ef59c3f4396c1024595958d5d6dd  WPILib_Linux-2022.1.1-beta-2.tar.gz
4e4612d85c33aba42d7c8319aa801f62b8442a19f385321dda4286ffd21de666  WPILib_Windows32-2022.1.1-beta-2.iso
eadd7d701d2ac0565745769e9fa7835d4992f4ed104343621ce451d930e2a457  WPILib_Windows64-2022.1.1-beta-2.iso
6905533fa2052582caef8efc52614e722319cea09a8bcd926988c676b6ea6ac9  WPILib_macOS-2022.1.1-beta-2.dmg
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WPILib 2022.1.1 Beta 1 Release

20 Oct 05:02
@AustinShalit AustinShalit
v2022.1.1-beta-1
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WPILib 2022.1.1 Beta 1 Release Pre-release
Pre-release

Getting Started

This is the initial beta release of WPILib for the 2022 season. This requires the 2022 v2.2 roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here and in Beta 1, the following are broken:

If you're starting from a 2021 robot project, you will need to import it to create a 2022 project. The import process is particularly important for 2022, as it will try to make a number of automated corrections for the various breaking package moves that happened in 2022.

MD5 Hashes

314554398cb4876d26ab5a111867f5d1  WPILib_Linux-2022.1.1-beta-1.tar.gz
e981f73d3cccc1163b1a3539693f215d  WPILib_Windows32-2022.1.1-beta-1.iso
1e2195890ec19e36be63d93852f50adc  WPILib_Windows64-2022.1.1-beta-1.iso
79a7fb0fe32b773ed4c643ba160dee48  WPILib_macOS-2022.1.1-beta-1.dmg

SHA256 Hashes

6f28db5f3efcc2cf87826d529b2dea5cffcd8202d6a44c03e17b3dda60d62a32  WPILib_Linux-2022.1.1-beta-1.tar.gz
def1a5b874f85e9c55d586f81ae2a30896b2d6d2816aa44ddc5734c5ebfbd343  WPILib_Windows32-2022.1.1-beta-1.iso
95bca0c7de6723cb2011515096738dd5366a187477dfbf204ec598d6ac2231a4  WPILib_Windows64-2022.1.1-beta-1.iso
cc2bcbb7b77567ed30a66c21fc1e2b35e4e1dbf3b5ba21250e5600ef99114168  WPILib_macOS-2022.1.1-beta-1.dmg
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WPILib 2022.1.1 Alpha 3 Prerelease

12 Oct 06:22
@AustinShalit AustinShalit
v2022.1.1-alpha-3
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WPILib 2022.1.1 Alpha 3 Prerelease Pre-release
Pre-release 
v2022.1.1-alpha-3

Version 2021.1.1-alpha-3
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WPILib 2022.1.1 Alpha 2 Prerelease

05 Oct 07:24
@AustinShalit AustinShalit
v2022.1.1-alpha-2
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WPILib 2022.1.1 Alpha 2 Prerelease Pre-release
Pre-release

Alpha release for use by vendors only.

  • Requires 2022 image (v2.x)

Errata

  • /usr/local/frc/bin/frcRunRobot.sh must be edited on the 2022 Rio image (see below) for programs to run
  • Need internet connectivity on initial build (Maven artifacts currently missing from installer)
  • Simulation launching doesn't work
  • C++ tools don't work

frcRunRobot.sh fix

The last 3 lines of /usr/local/frc/bin/frcRunRobot.sh are:

/sbin/start-stop-daemon --start \
   --pidfile /var/run/natinst/FRC_UserProgram.pid \
   --make-pidfile --exec /bin/bash -- \
   -l -c "exec $PROG $ARGS 2>&1 | FRC_ConsoleTee | tee /var/local/natinst/log/FRC_UserProgram.log"

The last line must be edited (as admin) to remove "exec", resulting in:

   -l -c "$PROG $ARGS 2>&1 | FRC_ConsoleTee | tee /var/local/natinst/log/FRC_UserProgram.log"
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WPILib 2021.3.1 Release

25 Apr 19:25
@PeterJohnson PeterJohnson
v2021.3.1
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WPILib 2021.3.1 Release

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
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WPILib 2021.2.2 Release

30 Jan 18:02
@PeterJohnson PeterJohnson
v2021.2.2
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WPILib 2021.2.2 Release

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
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