This is an update release of WPILib for the 2023 season. Notable fixes in this release:

• Several major NetworkTables bugs
• ADXRS450 Gyros in C++

Significant new features in this release:

• SysId CTRE CANivore and Phoenix Pro support

Upgrading from earlier 2023 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 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.

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.

Minimum system requirements have changed for 2023. WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. 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 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. 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.

What's Changed since 2023.3.1

• [wpilib] Revert throw on nonexistent SimDevice name in SimDeviceSim by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5053
• [cameraserver] Add GetInstance() to all functions by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5054
• [ntcore] Handle excludeSelf on SetDefault by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5058
• [ntcore] Output warning on property set on unpublished topic by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5059
• [wpilib] ElevatorSim: Fix WouldHitLimit methods by @hadley31 in https://github.com/wpilibsuite/allwpilib/pull/5057
• [wpimath] Fix DCMotor.getSpeed() by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5061
• [sysid] Make Spark Max built-in encoder sampling and measurement period configurable by @calcmogul in https://github.com/wpilibsuite/sysid/pull/478
• [sysid] Use "encoder port" instead of "built-in" for spark max built-in encoder by @calcmogul in https://github.com/wpilibsuite/sysid/pull/480

What's Changed since 2022.2.1

WPILib

• Load joystick values upon code initialization by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/4950
• AprilTagFieldLayout: Improve API shape for loading builtin JSONs by @brennenputh in https://github.com/wpilibsuite/allwpilib/pull/4949
• Fix C++ ADXRS450 and Java SPI gyro defs by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/4988
• Properly use control word that is in sync with DS data by @ThadHouse in https://github.com/wpilibsuite/allwpilib/pull/4989
• Add Timer::Restart() by @srimanachanta in https://github.com/wpilibsuite/allwpilib/pull/4963

NetworkTables

• Write empty persistent file if none found by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4996
• Handle topicsonly followed by value subscribe by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4991
• Special-case default timestamps by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5003
• Use full handle when subscribing by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5013
• Add client disconnect function by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5022
• Don't leak buffers in rare WS shutdown case by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5046
• Change wire timeout to fixed 1 second by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5048
• Report better connection close messages by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5047

Simulation

• Fix MOI calculation error in SingleJointedArmSim by @mcm001 in https://github.com/wpilibsuite/allwpilib/pull/4968
• Enable docking in the GUI by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4960
• GUI: Fix buffer overflow in joystick axes copy by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5036
• Check for null in getSimDeviceName JNI by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5038

Math

• HolonomicDriveController: Add getters for the controllers by @OliverW10 in https://github.com/wpilibsuite/allwpilib/pull/4948
• Fix Pose3d exponential and clean up Pose3d logarithm by @jlmcmchl in https://github.com/wpilibsuite/allwpilib/pull/4970
• Workaround intellisense Eigen issue by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/4992
• Remove extraneous assignments from DiscretizeAB() by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4967
• Make PIDController::Calculate(double, double) update setpoint flag by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5021
• Add nearest to Pose2d and Translation2d by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/4882
• Discard stale pose estimates by @jlmcmchl in https://github.com/wpilibsuite/allwpilib/pull/5045

Examples

• Add Computer Vision Pose Estimation and Latency Compensation Example by @CarloWoolsey in https://github.com/wpilibsuite/allwpilib/pull/4901
• Add comment to drivedistanceoffboard example by @BerkeSinanYetkin in https://github.com/wpilibsuite/allwpilib/pull/4877
• Fix swapped arguments in MecanumControllerCommand example by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/4976
• Update for AprilTag field load API usage by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4975
• C++ RamseteCommand: Fix units by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/4954
• Hatchbots: Add telemetry by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/5011
• Improvements to Elevator Simulation Example by @michaelleong25 in https://github.com/wpilibsuite/allwpilib/pull/4937

Command-Based Framework

• Fix C++ Select() factory by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/5024

DataLogTool

• Fix crash due to MemoryBuffer by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5017
• Add msgpack to datalog example by @truher in https://github.com/wpilibsuite/allwpilib/pull/5032

Glass

• Add option for debug-level NT logging by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5007
• Limit frame rate to 120 fps by default by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5030

Shuffleboard

• Format integer arrays correctly by @fovea1959 in https://github.com/wpilibsuite/shuffleboard/pull/750
• Support numbers in gyro widgets by @SamCarlberg in https://github.com/wpilibsuite/shuffleboard/pull/754
• Add all known topics on networktables client connect by @lost1227 in https://github.com/wpilibsuite/shuffleboard/pull/753
• Use NetworkTable disconnect instead of stop by @PeterJohnson in https://github.com/wpilibsuite/shuffleboard/pull/755

SysId

• Upgrade vendordeps by @calcmogul in https://github.com/wpilibsuite/sysid/pull/472
• Add CTRE CANivore and Phoenix Pro support by @TytanRock in https://github.com/wpilibsuite/sysid/pull/455

GradleRIO

• Rename Sim DriverStation to be clearer about its purpose by @PeterJohnson in https://github.com/wpilibsuite/GradleRIO/pull/644

VSCode

• Add replacements for wpi/numbers and wpi/span by @sciencewhiz in https://github.com/wpilibsuite/vscode-wpilib/pull/581
• Change WPILib on status bar to open project information by @ThadHouse in https://github.com/wpilibsuite/vscode-wpilib/pull/577
• Re-enable standalone utility notarization by @sciencewhiz in https://github.com/wpilibsuite/vscode-wpilib/pull/572
• Update vscode-java to 1.14.0 by @PeterJohnson in https://github.com/wpilibsuite/WPILibInstaller-Avalonia/pull/329

Docs

• [wpimath] Fix typo in Pose3d::Exp() docs by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4966
• [wpimath] Update Wikipedia links for quaternion to Euler angle conversion by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4995
• [wpilibj] Fix typo in MecanumDrive docs by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/4969
• [commands] Fix docs inconsistency for toggleOnFalse(Command) by @Nyxiad in https://github.com/wpilibsuite/allwpilib/pull/4978
• [wpilib] XboxController: Fix docs discrepancy by @BruceMcRooster in https://github.com/wpilibsuite/allwpilib/pull/4993
• Clarify DS functions provided by FMS by @sciencewhiz in https://github.com/wpilibsuite/allwpilib/pull/5043

New Contributors

• @BerkeSinanYetkin made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/4877
• @Nyxiad made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/4978
• @BruceMcRooster made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/4993
• @fovea1959 made their first contribution in https://github.com/wpilibsuite/shuffleboard/pull/750
• @lost1227 made their first contribution in https://github.com/wpilibsuite/shuffleboard/pull/753
• @hadley31 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5057

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