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

Math:

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

NetworkTables:

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

Commands:

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

Examples:

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

Docs:

• Exclude eigen and protobuf from doxygen by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5871
• Improve AprilTag docs by @Gold856 in https://github.com/wpilibsuite/allwpilib/pull/5895
• wpiunits Documentation improvements by @agasser in https://github.com/wpilibsuite/allwpilib/pull/5932
• Update getAlliance() docs by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5971
• Add SysId doc links to LinearSystemId in C++ by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5960

Vision Processing (CameraServer and AprilTags):

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

Other:

• [wpiutil] MemoryBuffer: Fix normal read and file type check by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5875
• [hal] Add capability to read power distribution data as a stream by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/4983
• [wpiutil] Change Struct to allow non-constexpr implementations by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5992
• [wpiunits] Overload Measure.per(Time) to return Measure<Velocity> by @SamCarlberg in https://github.com/wpilibsuite/allwpilib/pull/6018
• [hal] Add usage reporting ids from 2024v2 image by @guineawheek in https://github.com/wpilibsuite/allwpilib/pull/6041

GradleRIO:

• Update to gradle 8.5 by @ThadHouse in https://github.com/wpilibsuite/GradleRIO/pull/694
• Warn and don't start program if NoApp is triggered by @ThadHouse in https://github.com/wpilibsuite/GradleRIO/pull/700
• Add custom frc kill script to work around jvm bug by @ThadHouse in https://github.com/wpilibsuite/GradleRIO/pull/699

VS Code:

• Cancel sim when escape is pressed at extension selection by @rzblue in https://github.com/wpilibsuite/vscode-wpilib/pull/636
• Hide cancel button on modal dialogs by @sciencewhiz in https://github.com/wpilibsuite/vscode-wpilib/pull/635
• Fix global project options not showing by @ThadHouse in https://github.com/wpilibsuite/vscode-wpilib/pull/640
• Update .gitignore with log file formats by @JCaporuscio in https://github.com/wpilibsuite/vscode-wpilib/pull/642

Installer:

• Include XRP and Romi dependencies by @sciencewhiz in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/371
• Update AdvantageScope to 3.0.0-beta-5 by @PeterJohnson in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/374
• Add Python extensions by @Gold856 in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/372
• Update vscode to 1.85.1 and update extensions by @PeterJohnson in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/377

Full Changelog: https://github.com/wpilibsuite/allwpilib/compare/v2024.1.1-beta-3...v2024.1.1-beta-4

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!

• @binex-dsk made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5886
• @ElliotScher made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5900
• @spacey-sooty made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5897
• @MrRedness made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5943
• @agasser made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5932
• @ncorrea210 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5988
• @guineawheek made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6041

MD5 Hashes

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SHA256 Hashes

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