Getting Started

This is the beta-6 release of WPILib for the 2023 season. While this release will work with the 2023 v1.3 roboRIO image, we highly recommend upgrading the image to 2023 v1.4 (it was released as part of the NI Game Tools beta 2 release). This release is a critical patch fix for beta-5.

Check out what's new for 2023 and jump directly to the WPILib installation guide. A list of known issues with this release can be found here.

If you're starting from a 2022 robot project, you will need to import it to create a 2023 project.

What's Changed since beta-5:

• Replace const char* with std::string_view in Driver Station sim functions by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4532
• [ntcore] Remove table multi-subscriber by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4789
• Upgrade vscode to 1.74.0

What's Changed since beta-4:

• This release adds the core support for AprilTags, but the higher level classes for team use are not yet written.
• Shuffleboard has been updated to use NetworkTables 4.

WPILib changes:

• [apriltag] Switch 2022 apriltag layout length and width values by @amquake in https://github.com/wpilibsuite/allwpilib/pull/4670
• [glass] Don't check IsConnected for NT widgets by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4674
• [cpp cmd] Change CommandPtr to use CommandBase by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4677
• Fix jni artifacts linking to incorrect libraries by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/4680
• [java cmd] Rename wait factory to waitSeconds by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4684
• [ntcore] Allow duplicate client IDs on server by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4676
• [example] Use EncoderReversed constants by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4682
• [glass] Plot: allow for more than 11 plots by @ohowe1 in https://github.com/wpilibsuite/allwpilib/pull/4685
• [cscore] Add UYVY image support by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4700
• [cscore] Use MFVideoFormat_L8 for Gray on Windows by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4701
• [wpimath] Clarify Rotation3d roll-pitch-yaw direction by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4699
• Rename HolonomicDriveController.calculate params by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4683
• [wpilibc] Shuffleboard SimpleWidget: Return pointer instead of reference by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4703
• [cscore] Add Y16 image support by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4702
• [apriltag] Fix pluralization of apriltag artifacts by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4671
• [cmd] RepeatCommand: restart on following iteration by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4706
• [example] CANPDP: Expand properties shown by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4687
• [glass] Update NT view for topicsOnly and sendAll changes by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4718
• [ntcore] Server: Properly handle multiple subscribers by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4717
• [wpiutil] StringExtras: Add UnescapeCString by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4707
• [wpigui] Reload fonts to scale rather than preloading by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4712
• [build] cmake: Use FetchContent instead of ExternalProject by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4714
• [cpp cmd] Add factory templates by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4686
• Add link to MotorSafety article by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4720
• [cmd] Add property tests for command compositions by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4715
• [ntcore] Add NetworkTable table-specific listeners by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4640
• [wpigui] Add FontAwesome by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4713
• Use defaulted comparison operators by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4723
• Command convenience factories by @Oblarg in https://github.com/wpilibsuite/allwpilib/pull/4460
• [cmd examples] Renovate command-based examples by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4409
• Add gitignore for simgui files under myRobot and wpilibcExamples by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4726
• Remove missed isFinished check by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4727
• [cmd] Revert Trigger implementation by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4673
• [examples] Update all examples to use NWU coordinate conventions by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4725
• Allow unsetting a subsystem's default command by @democat3457 in https://github.com/wpilibsuite/allwpilib/pull/4621
• Tweak and use Color HSV formula for AddressableLED by @democat3457 in https://github.com/wpilibsuite/allwpilib/pull/4724
• [cmd] Refactor ProxyScheduleCommand, SelectCommand into ProxyCommand by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4534
• Update Subsystem factories to return CommandBase by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4729
• [ntcore] Send duplicate values to network if necessary by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4730
• [ntcore] Add Sub option for local vs remote changes by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4731
• [glass] NT: clear meta-topic info on disconnect by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4732
• [build] Fix cmake install of thirdparty includes by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4741
• [ntcore] Fix special topic multi-subscriber handling by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4740
• [hal] Allow overriding stderr printing by HAL_SendError by @virtuald in https://github.com/wpilibsuite/allwpilib/pull/4742
• [docs] Generate docs for apriltag subproject by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4745
• [wpimath] Add tolerance for Rotation3d rotation matrix special orthogonality by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4744
• Add method to disable LW test mode by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4678
• Use Odometry for internal state in Pose Estimation by @jlmcmchl in https://github.com/wpilibsuite/allwpilib/pull/4668
• [wpimath] Make transform tests use pose/transform equality operators by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4675
• [gradle/examples] Add unit testing infrastructure to examples by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4646
• [examples] Add main include directory to test builds by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4751
• Add constructors to pose estimators with default standard deviations by @superpenguin612 in https://github.com/wpilibsuite/allwpilib/pull/4754
• Remove extra terms in matrix for pose estimator docs by @superpenguin612 in https://github.com/wpilibsuite/allwpilib/pull/4756
• Add new DCMotor functions for alternative calculations and reduction calculation by @JaciBrunning in https://github.com/wpilibsuite/allwpilib/pull/4749
• Fix PIDSubsystem setSetpoint behavior by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/4759
• [cscore] Emit warning that USB Camera isn't supported on OSX by @virtuald in https://github.com/wpilibsuite/allwpilib/pull/4766
• Call set(0) rather than disable for stopMotor on PWMMotorController by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4763
• Fix documentation on CommandGenericHID POV methods by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4760
• [apriltag] Use wpilibsuite fork of apriltag by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4764
• Replace remaining references to Speed Controller with Motor Controller by @jlmcmchl in https://github.com/wpilibsuite/allwpilib/pull/4769
• [examples] HatchbotInlined: Use Subsystem factories by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4765
• [hal] Add CANManufacturer for The Thrifty Bot by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4773
• [glass] DataSource: Add spinlock to protect value by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4771
• [wpimath] Remove broken and obsoleted ComputerVisionUtil functions by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4775
• [cmd] Move GroupedCommands to CommandScheduler by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4728
• [wpilibj] Shuffleboard: Check for null sendable by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4772
• Adds CAN Stream API to Java through JNI bindings by @willtoth in https://github.com/wpilibsuite/allwpilib/pull/4193
• [cscore] Convert YUYV and UYVY directly to grayscale by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4777
• [wpilib] Sendable: Don't call setter for getter changes by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4770
• [wpilibj] Consistently use ErrorMessages.requireNonNullParam by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4776
• [examples] AddressableLED: Add unit test by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4779
• [wpigui] Update imgui to 1.89.1+ by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4780
• Revert Rotation2D change that limits angles by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/4781
• Fix multiple motor safety issues by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/4784
• Add RobotController.getSerialNumber() by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4783

New Contributors

• @democat3457 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/4621
• @superpenguin612 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/4754
• @willtoth made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/4193

Full Changelog: https://github.com/wpilibsuite/allwpilib/compare/v2023.1.1-beta-4...v2023.1.1-beta-5

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