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 https://github.com/wpilibsuite/allwpilib/pull/5566
• Fix Java CommandXboxController.leftTrigger() parameter order by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5831
• Make Java SelectCommand generic by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5849
• Add finallyDo with zero-arg lambda by @shueja-personal in https://github.com/wpilibsuite/allwpilib/pull/5862

NetworkTables and structured data

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

Glass and Simulation GUI

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

Simulation

• Autodisable the robot program when real DS disconnects by @Gold856 in https://github.com/wpilibsuite/allwpilib/pull/5818
• Fix off-by-one error while setting alliance station by @Gold856 in https://github.com/wpilibsuite/allwpilib/pull/5819
• Fix virtual dtor warning in SolenoidSim by @virtuald in https://github.com/wpilibsuite/allwpilib/pull/5848

WPILib

• Add support for the PS5 DualSense controller by @maxolasersquad in https://github.com/wpilibsuite/allwpilib/pull/5257

Math

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

Visual Studio Code

• Updated to 1.84.0
• Validate project isn't in OneDrive on creation by @sciencewhiz in https://github.com/wpilibsuite/vscode-wpilib/pull/633

GradleRIO

• Error if project is in OneDrive by @spacey-sooty in https://github.com/wpilibsuite/GradleRIO/pull/680

Other changes

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

Full Changelog: https://github.com/wpilibsuite/allwpilib/compare/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 https://github.com/wpilibsuite/allwpilib/pull/5809
• @maxolasersquad made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5257
• @BR88C made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5865
• @spacey-sooty made their first contribution in https://github.com/wpilibsuite/GradleRIO/pull/680

MD5 Hashes

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SHA256 Hashes

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