This is an update release of WPILib for the 2024 season. This release improves dashboard NetworkTables connection/disconnection behavior and improves SysId, along with other bugfixes. This upgrade is recommended for all teams.

Upgrading from earlier 2024 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2024 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard. This release is compatible with the kickoff release of the RoboRIO image, so there is no need to upgrade the RIO image if you have already done so for 2024. Mac note: for this release, it is necessary to manually remove the 2024.1.1 version of AdvantageScope before running the installer in order for the new version to be installed.

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.

System Requirements: WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 12 or higher. C++ teams should note that Visual Studio 2022 is required for desktop builds. Mac users will need to have the Xcode Command Line Tools installed before running the installer. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2024. You will need a new RoboRIO image for 2024; this is available via the FRC 2024 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2023 robot project, you will need to import your project to create a 2024 project. The import process is important, as it will make a few automated corrections for some breaking changes that happened in 2024. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

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

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

Downloads

For 2024, we have changed the location for WPILib downloads due to GitHub file size limitations. Please use the links below to download the installer package for your platform.

• WPILib 2024.2.1 - Windows (2.2 GB)
• WPILib 2024.2.1 - Mac (Arm) (1.9 GB)
• WPILib 2024.2.1 - Mac (Intel) (2.1 GB)
• WPILib 2024.2.1 - Linux (x64) (2.5 GB)
• WPILib 2024.2.1 - Linux (arm64) (2.3 GB)

What's Changed since 2024.1.1

NetworkTables

• Fix large text message splitting by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6263
• Use last received time instead of last ping response for connection timeout by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6266
• WebSocket serializer bugfixes by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6264
• Fix client "received unknown id -1" by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6186
• Improve disconnect reason reporting by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6262 and https://github.com/wpilibsuite/allwpilib/pull/6265
• Enhance debug logging across NT and WS layers by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6267
• Map int[] to int64[] for DataLog by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6279
• NetworkTable::GetStruct: Add I template param by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6183

SysId

• Data selector: use timestamps instead of ranges by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6193
• Filter valid test names by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6200
• Fix peak acceleration filtering behavior in dynamic velocity test by @HarryXChen3 in https://github.com/wpilibsuite/allwpilib/pull/6207
• Fix test duration slider responsiveness by @Oblarg in https://github.com/wpilibsuite/allwpilib/pull/6216
• Remove unused "gains to encoder counts" checkbox by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6234
• Show warning tooltips next to bad feedforward gains instead of throwing by @HarryXChen3 in https://github.com/wpilibsuite/allwpilib/pull/6251
• Document using AdvantageScope for troubleshooting by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6247

SysIdRoutine:

• Fix SysId log key for acceleration by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6196
• Defer creation of state log entry by @jwbonner in https://github.com/wpilibsuite/allwpilib/pull/6259
• Fix state log entry name typo by @auscompgeek in https://github.com/wpilibsuite/allwpilib/pull/6261
• Use mechanism name instead of subsystem name by @AngleSideAngle in https://github.com/wpilibsuite/allwpilib/pull/6277

WPILib

• Add ADIS16470 methods with no params by @spacey-sooty in https://github.com/wpilibsuite/allwpilib/pull/6184
• [C++] Use std::atomic for ADIS classes by @spacey-sooty in https://github.com/wpilibsuite/allwpilib/pull/6217
• Don't automatically pull in cscore for all robot projects by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6245
• [C++] Fix destruction crash in ADIS classes by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6282

Glass / Simulation GUI

• Fix Field2d position and scaling by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6222
• Default to 2024 field image by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6225
• Sim GUI DS: Add "Disconnected" state and start in it by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6218

RoboRIO Team Number Setter

• Add functionality to enable and disable NI webserver by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6270

VS Code

• Pass native compiler arguments to intellisense engine by @ThadHouse in https://github.com/wpilibsuite/vscode-wpilib/pull/656
• Fix debug keybindings by @sciencewhiz in https://github.com/wpilibsuite/vscode-wpilib/pull/657
• Disable vscode completion case matching by @sciencewhiz in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/390

GradleRIO

• Increase SSH timeout from 3 to 7 seconds by @ThadHouse in https://github.com/wpilibsuite/GradleRIO/pull/717
• Catch MalformedInputException by @ThadHouse in https://github.com/wpilibsuite/GradleRIO/pull/719
• Update OneDrive error to be more informative by @spacey-sooty in https://github.com/wpilibsuite/GradleRIO/pull/716

Installer

• Offline cache module files for junit by @ThadHouse in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/387
• Add Linux arm64 installer by @ThadHouse in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/305
• Fix running AdvantageScope.py directly by @calcmogul in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/388
• Update AdvantageScope to 3.0.2 by @jwbonner in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/391
• Install Python API docs by @sciencewhiz in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/392

Examples

• Limit error bit correction in April Tag examples by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/6224

Other notable changes

• Use Miklast high resolution field render by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/6185
• [wpiutil] Fix using 2 different locks in StructArrayLogEntry by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6231
• [wpimath] Use tolerance in rotation interpolation tests by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6237
• [wpiutil] Fix how DynamicStructs handle strings by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6253
• [hal] Don't write a 0 length led string to the FPGA by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6271
• [hal] Use 64 bit timestamp in DMA by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6278

New Contributors

• @gerth2 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6191
• @HarryXChen3 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6207
• @BenBean18 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6219
• @AngleSideAngle made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6277

Full Changelog: https://github.com/wpilibsuite/allwpilib/compare/v2024.1.1...v2024.2.1

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