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WPILib 2021.2.1 Release
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@PeterJohnson PeterJohnson released this 19 Jan 04:58
v2021.2.1
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Learn about vigilant mode.

This is an update release of WPILib for the 2021 season.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/ 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 2021 and jump directly to the WPILib installation guide.

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

What's New in 2021.2.1

WPILib

Simulation

  • Added support for setting maximum value for keyboard joysticks in Simulation GUI (#3083)
  • Added SimInt and SimLong wrappers for int/long SimValue (#3066)
  • Added reset() method to SimValue (#3064)
  • Documentation improvements (#3079)

Math

  • Added optimize() method to SwerveModuleState (#3065)
  • Added RKF45 integration (more stable than Runge-Kutta for systems with large elements in A or B matrices) (#3047)
  • [C++] (BREAKING CHANGE) Changed from std::array to wpi::array to enable compile time size checking of array parameters (#3087)

Bug Fixes

  • [C++] Added missing function RoboRioSim::ResetData() (#3073)
  • [examples] Don't continually set setpoint in PotentiometerPID examples (#3084)
  • [examples] Fixed StateSpaceDifferentialDriveSimulation and SimpleDifferentialDriveSimulation example trajectories (#3081)
  • [sim] Fixed wouldHitLowerLimit() in elevator and arm simulation classes (#3076)

Glass / Simulation GUI

  • Added support for Y axis labels (#3061)
  • Shorten SmartDashboard default window names (#3096)

PathWeaver

RobotBuilder

Hashes

MD5 Hashes

2f7c551bcadd1c4adcb82f066f145175  WPILib_Linux-2021.2.1.tar.gz
b506714010c31c743a5bd37fd286677b  WPILib_macOS-2021.2.1.dmg
d430473984e84e622fad76f643c054da  WPILib_Windows32-2021.2.1.iso
4f7407f8a34f8bc9fae8d4c16099df5b  WPILib_Windows64-2021.2.1.iso

SHA256 Hashes

79a48e98d75c0b7ec11d12c40b3d86a2c0b9464d06641d2d9539f9430889f0e1  WPILib_Linux-2021.2.1.tar.gz
1bde5e860245a6922d695c7be7363ce804f89dc49428f8c8a7cd15e8849c59af  WPILib_macOS-2021.2.1.dmg
8a0fcfae9f3eed70b33ab9a56f60a1c7c03e5cf78763256a4c7675a5d20fbc89  WPILib_Windows32-2021.2.1.iso
388d25a0b0cc312546df1c00f51b87c1552ed87eb7367cd2ed058faf6170c0af  WPILib_Windows64-2021.2.1.iso
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