This is the third update release of WPILib for the 2022 season.

Major Fixes

The Java runtime (JRE) on the roboRIO has been downgraded to the 2021 release to fix a deadlock issue. This was the actual root cause of the joystick bug in the 2022 kickoff release, and can also affect team code that uses Java synchronized blocks in other places. GradleRIO in 2022.4.1 projects will check the installed JRE on deploy and replace it with the 2021 version if necessary. Thanks to @sciencewhiz for isolating the issue and @ThadHouse for the GradleRIO fix.

Major New Features

High speed data logging for recording of telemetry data (including NetworkTables and joystick data) to a file on the robot (or USB stick if present). A new desktop Data Log Tool has been added to make it easy to download these files from the robot and convert them to CSV. Contributed by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/3780

Other Significant Changes

WPILib

• Absolute encoder API and behavior fixes by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/4052
• Fix ADIS16448 IMU default constructor not working by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/3989
• Fix joystick out of range error messages by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/3988
• Add flush to MechanismRoot2d SetPosition by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/4011
• Set Persistent in Preferences Init methods by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/4025
• Check for signedness in ArcadeDriveIK() by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4028

Commands

• Add "until" as alias for "withInterrupt" by @Oblarg in https://github.com/wpilibsuite/allwpilib/pull/3981

SysId

• Upgrade PWF to 2022.01.17 by @calcmogul in https://github.com/wpilibsuite/sysid/pull/354
• Separate forward/backward plots by @Oblarg in https://github.com/wpilibsuite/sysid/pull/353
• Display left and right datasets by @Piphi5 in https://github.com/wpilibsuite/sysid/pull/362
• Add acceleration RMSE by @Oblarg in https://github.com/wpilibsuite/sysid/pull/365
• Add theoretical mode by @Oblarg in https://github.com/wpilibsuite/sysid/pull/374
• Make Spark Max encoder port the default instead of data port by @carelesshippo in https://github.com/wpilibsuite/sysid/pull/385
• Fix NavX port description by @calcmogul in https://github.com/wpilibsuite/sysid/pull/387

Glass

• Increase plot depth to 20K points by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/3993
• Support remapping of Enter key by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/3994
• Fix crash in PlotSeries::SetSource() by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/3991

Sim GUI

• Don't force-show Timing and Other Devices by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4001
• Update sim match time to match real robot by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4024

Various other contributions by @calcmogul, @virtuald, @modelmat, and @sciencewhiz. Welcome new contributors @carelesshippo, @jonahsnider, @LennyAbbas, and @AJahueyM!

RoboRIO Image Requirements

Important: As was the case with 2022.3.1, RoboRIO image 2022_v4.0 is required to use this release; this is installed by National Instruments FRC Game Tools 2022 f1 (note the "f1" in the version number). After installing 2022 f1, use the RoboRIO Imaging Tool to reimage your RoboRIO to 2022_v4.0. This release will not work with earlier 2022 RoboRIO images and will error out if a deploy is attempted to an earlier version.

Upgrading

Upgrading WPILib from earlier 2022 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2022 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 running the installer is necessary to install upgraded desktop tools.

Documentation

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.

If you're returning from a previous season, check out what's new for 2022; be sure to read through this, as a lot has changed from 2021! You will need a new RoboRIO image for 2022; this is available via the FRC Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2020 or 2021 robot project, you will need to import your project to create a 2022 project. The import process is particularly important for 2022, as it will make a number of automated corrections for the various breaking package moves/renames that happened in 2022.

Known Issues

A complete list of known issues with this release can be found here. In particular, there is a warning against using the "onboard" I2C port (the MXP I2C port does not have an issue).

Development Team

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

Hashes

MD5 Hashes

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d22337a0b7a67ee4fb2358d5ce15f697  macOS/WPILib_macOS-2022.4.1.dmg

SHA256 Hashes

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