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 https://github.com/wpilibsuite/allwpilib/pull/5720

NetworkTables

• Fixed crashes in networking on Windows by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5788

Math

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

Examples

• Make swerve examples multiply desired module speeds by cosine of heading error by @ori-coval in https://github.com/wpilibsuite/allwpilib/pull/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 https://github.com/wpilibsuite/allwpilib/pull/5776
• [wpilib] Make physics sim setState() functions public by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5779
• [commands] Add requirements parameter to Commands.idle() by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5774
• [wpilibj] Fix RobotBase.isSimulation() by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5783
• [wpilib] Counter: fix default distance per pulse, give c++ parity by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5796

Dependency updates

• Updated C++ JSON to 3.11.2 by @pjreiniger in https://github.com/wpilibsuite/allwpilib/pull/5680
• Updated EJML to 0.43.1 by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5778

Full Changelog: https://github.com/wpilibsuite/allwpilib/compare/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 https://github.com/wpilibsuite/allwpilib/pull/5758
• @anitmangal made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5757
• @BlueZeeKing made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5744

MD5 Hashes

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SHA256 Hashes

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