This is an update release of WPILib for the 2024 season. This release has a number of quality-of-life bugfixes.

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: if upgrading from 2024.1.1, 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 2024.3.1 - Windows (2.2 GB)
• WPILib 2024.3.1 - Mac (Arm) (1.9 GB)
• WPILib 2024.3.1 - Mac (Intel) (2.1 GB)
• WPILib 2024.3.1 - Linux (x64) (2.5 GB)
• WPILib 2024.3.1 - Linux (arm64) (2.3 GB)

What's Changed since 2024.2.1

NetworkTables

• StructArrayPublisher: Publish schema in span-taking setters by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6303
• Don't send value update to client setting value by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6375
• Add hidden subscribe option by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6376

SysId

• Fix SSTO calculation by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6301
• Relax peak acceleration search by @Oblarg in https://github.com/wpilibsuite/allwpilib/pull/6378
• SysIdRoutine: Reset timer in quasistatic test by @ArchdukeTim in https://github.com/wpilibsuite/allwpilib/pull/6322
• SysIdRoutineLog: Initialize m_stateInitialized by @Kython89 in https://github.com/wpilibsuite/allwpilib/pull/6359
• Add angular subsystem to SysIdRoutine example by @DeltaDizzy in https://github.com/wpilibsuite/allwpilib/pull/6297

Math

• Clean up profile classes by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6311
• Make Rotation2d implicitly convert from any angle unit by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6316
• Remove duplicate calls to norm() in Quaternion::Log() by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6358
• Add lastValue() method to filters by @N0tACyb0rg in https://github.com/wpilibsuite/allwpilib/pull/6351
• Add vector projection and geometry vector conversions by @AngleSideAngle in https://github.com/wpilibsuite/allwpilib/pull/6343
• Use correct 'k' value when negative ka is provided in Feed Forward by @fodfodfod in https://github.com/wpilibsuite/allwpilib/pull/6360
• ExponentialProfile: Return copies of the current and goal states by @shueja in https://github.com/wpilibsuite/allwpilib/pull/6370

Glass / Simulation GUI

• Update field size defaults in Field2D by @gerth2 in https://github.com/wpilibsuite/allwpilib/pull/6298
• Fix FMS game data editing by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/6381

Java Units

• Add singularized aliases for built in units by @SamCarlberg in https://github.com/wpilibsuite/allwpilib/pull/6323
• Fix measure isNear function by @vichik123 in https://github.com/wpilibsuite/allwpilib/pull/6313

Commands

• Fix incorrect ordering of parameters in TrapezoidProfileSubsystem by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/6338

Shuffleboard

• Improve NT behavior by @PeterJohnson in https://github.com/wpilibsuite/shuffleboard/pull/796

Examples

• Move triggers to subsystem fields by @DeltaDizzy in https://github.com/wpilibsuite/allwpilib/pull/6318
• Fix memory leak in C++ controller command examples by @KangarooKoala in https://github.com/wpilibsuite/allwpilib/pull/6306
• Don't reset encoders when resetting odometry by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/6329

WPILib

• Add methods for reading individual RGB values from LED buffers by @SamCarlberg in https://github.com/wpilibsuite/allwpilib/pull/6333
• Remove unusable std::unique_ptr case for SendableChooser by @KangarooKoala in https://github.com/wpilibsuite/allwpilib/pull/6357
• Const-qualify SendableChooser.GetSelected() by @KangarooKoala in https://github.com/wpilibsuite/allwpilib/pull/6356

AprilTag

• Fix field length in 2024 JSON by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/6373
• Add AprilTagFieldLayout.loadField() and migrate to it by @KangarooKoala in https://github.com/wpilibsuite/allwpilib/pull/6377

HAL

• Error out of HAL_Initialize if SetupRioNow fails by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6374
• HAL_RefreshDSData: Zero out control word on DS disconnected, Use cache in sim by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/6380

Installer

• Disable CLI args for AdvantageScope on Windows by @jwbonner in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/397
• Enable vscode system HTTP certificates by @spacey-sooty in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/398
• Update AdvantageScope to 3.2.0 by @jwbonner in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/400

New Contributors

• @ArchdukeTim made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6322
• @vichik123 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6313
• @Kython89 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6359
• @N0tACyb0rg made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6351
• @fodfodfod made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6360
• @JoeWildfong made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/6367

Full Changelog: https://github.com/wpilibsuite/allwpilib/compare/v2024.2.1...v2024.3.1

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