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WPILib 2022.1.1 Beta 4 Release

20 Dec 22:18
@PeterJohnson PeterJohnson
v2022.1.1-beta-4
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WPILib 2022.1.1 Beta 4 Release Pre-release
Pre-release

Getting Started

This is the fourth (and likely final) beta release of WPILib for the 2022 season. This requires the 2022 v2.x roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here. Known issues for beta 4:

  • sysid: REV and CTRE devices are now supported, but a deployed drive project will segfault if configured with a drivetrain Talon with a Pigeon plugged into it. This will be fixed by wpilibsuite/sysid#256.

Major changes from Beta 3:

  • WPILib
    • DutyCycleEncoder: add support for setting duty cycle range
    • Various REV PDH and PH improvements
    • Fix simgui display of Encoder, PCM, and DeviceTree
    • Fix deadlocks in Mechanism2d
    • C++: Fix duplicate port allocations in several examples
    • C++: Start DriverStation thread from RobotBase to ensure info is published
    • C++: Fix Mecanum and Swerve ControllerCommand dangling lambda captures
  • GradleRIO
    • Remove log4j usage
    • Update to Gradle 7.3.2
    • Fix missing simulation artifacts
    • Add support for custom Java garbage collector selection
    • Add support for configuring deploy stage from DSL
  • Shuffleboard
    • More gracefully handle Windows N
  • VS Code
    • Disable system certificates (fixes certificate errors for some vendors)
    • Fix uses of deprecated functionality (e.g. externalConsole)
  • Installer
    • Support Windows 7 again (with deprecation message for 2023)
    • Abort install if a JDK process to be installed over is running
    • Change install options to "tools only" and "install everything"

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

MD5 Hashes

a4333d2a0babfa2af0820e6f301e0019  Linux/WPILib_Linux-2022.1.1-beta-4.tar.gz
85507632ef198bffe6eeed4104b49ead  Win32/WPILib_Windows32-2022.1.1-beta-4.iso
7ae4f680bbfd0ef726b411f45af3772e  Win64/WPILib_Windows64-2022.1.1-beta-4.iso
77475c1696cf4ca7619ffcc6dbd1acf4  macOS/WPILib_macOS-2022.1.1-beta-4.dmg

SHA256 Hashes

99cc9acd7168ebca0acae4d87b6e2e515f5c0bb35142d1b2a0f6e461915a6211  Linux/WPILib_Linux-2022.1.1-beta-4.tar.gz
7f0693b0361eb692ed5ecb658a1e4803b96c8fe896100bcf8adcdc1faec7ecce  Win32/WPILib_Windows32-2022.1.1-beta-4.iso
4e0a584a1aec49c84c46211aab36b8005e7b02e0e0fc081c3cc0187301b76e05  Win64/WPILib_Windows64-2022.1.1-beta-4.iso
f1875c43db52cba1f95968756fb8d7efc731ec94ff651ddc7924208deea4669d  macOS/WPILib_macOS-2022.1.1-beta-4.dmg
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WPILib 2022.1.1 Beta 3 Release

29 Nov 00:04
@PeterJohnson PeterJohnson
v2022.1.1-beta-3
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WPILib 2022.1.1 Beta 3 Release Pre-release
Pre-release

Getting Started

This is the third beta release of WPILib for the 2022 season. This requires the 2022 v2.x roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here and in Beta 3, the following are broken:
TBD

Major changes from Beta 2:

  • Glass, SysId, and Simulation GUI now use multi-file JSON save formats instead of INI and have support for loading/saving the workspace; when started from the vscode tool menu, these default to using the project directory for saving rather than the system-global location
  • Glass and sysid now install desktop shortcuts
  • Desktop shortcuts for tools now have the year in the name
  • Fixed on-robot debugging
  • Fixed simulateJava on Mac
  • Fixed Java Romi build
  • roboRIO JDK artifact is again included in the installer
  • Rev Pneumatics Hub enhancements (compressor config mode, faults)
  • Added new Counter implementations

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

MD5 Hashes

9c07ef5ef5dea6a5f7bf102dce7a23f1  Linux/WPILib_Linux-2022.1.1-beta-3.tar.gz
385f2db88cd6636bb4b5a3bc627e27d0  Win32/WPILib_Windows32-2022.1.1-beta-3.iso
b5571f1c45a3008d431b4ec084b2e18a  Win64/WPILib_Windows64-2022.1.1-beta-3.iso
4bb8125bda7c34c26f77406d9223e88b  macOS/WPILib_macOS-2022.1.1-beta-3.dmg

SHA256 Hashes

dfdc369c832c9be98292f0ddc7f59daf2a550267f3cd068a9078d9463ed3f4e5  Linux/WPILib_Linux-2022.1.1-beta-3.tar.gz
244a2187b4f431d1f924da5e71d718f8d944e1745d48bd4573f1d00882f4d86b  Win32/WPILib_Windows32-2022.1.1-beta-3.iso
e9b1f6f5f6be0509397fef34746a95d4b74079deb0f86a30b5af4bc26beb170c  Win64/WPILib_Windows64-2022.1.1-beta-3.iso
70e21c739f19dc749f5928555ca7104c6422186b45db8c6ee1fc4e3ef3a5bd31  macOS/WPILib_macOS-2022.1.1-beta-3.dmg
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WPILib 2022.1.1 Beta 2 Release

12 Nov 19:58
@AustinShalit AustinShalit
v2022.1.1-beta-2
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PeterJohnson Peter Johnson
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WPILib 2022.1.1 Beta 2 Release Pre-release
Pre-release

Getting Started

This is the second beta release of WPILib for the 2022 season. This requires the 2022 v2.x roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here and in Beta 2, the following are broken:

This release has breaking changes to the robot template from beta 1. It will be necessary to either re-import your project from 2021 or create a new robot project and copy your beta 1 code into it.

Major changes from Beta 1:

  • Fixed RoboRIO 2 deployment version checking; requires roboRIO image v2.3 (workaround still required for v2.2)
  • Added back deployment error messages (RoboRIO not found)
  • Fixed Romi support
  • Fixed Java simulation without Visual Studio installed
  • Fixed deployment of src/main/deploy
  • Gradle updated to 7.2
  • Visual Studio Code has been updated to 1.62.0
  • Fixed Linux desktop icon permissions
  • Fix "chcp not found" warning message seen when running simulation on Windows
  • Shuffleboard: camera server streams not appearing issue from 2021 has been fixed

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

MD5 Hashes

1a392645a2191ffbd6f5498ba175c3d8  WPILib_Linux-2022.1.1-beta-2.tar.gz
af59d3915d8e76b05696691291f2ff67  WPILib_Windows32-2022.1.1-beta-2.iso
e1ed4b064834aaeb3a6b730617449774  WPILib_Windows64-2022.1.1-beta-2.iso
c8ba86fb50564919c571c59e4164a3a8  WPILib_macOS-2022.1.1-beta-2.dmg

SHA256 Hashes

441c197f4b227cd3d76971ac940117a57858ef59c3f4396c1024595958d5d6dd  WPILib_Linux-2022.1.1-beta-2.tar.gz
4e4612d85c33aba42d7c8319aa801f62b8442a19f385321dda4286ffd21de666  WPILib_Windows32-2022.1.1-beta-2.iso
eadd7d701d2ac0565745769e9fa7835d4992f4ed104343621ce451d930e2a457  WPILib_Windows64-2022.1.1-beta-2.iso
6905533fa2052582caef8efc52614e722319cea09a8bcd926988c676b6ea6ac9  WPILib_macOS-2022.1.1-beta-2.dmg
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WPILib 2022.1.1 Beta 1 Release

20 Oct 05:02
@AustinShalit AustinShalit
v2022.1.1-beta-1
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PeterJohnson Peter Johnson
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WPILib 2022.1.1 Beta 1 Release Pre-release
Pre-release

Getting Started

This is the initial beta release of WPILib for the 2022 season. This requires the 2022 v2.2 roboRIO image (either roboRIO 1 or roboRIO 2).

Check out what's new for 2022 and jump directly to the WPILib installation guide.

A list of known issues with this release can be found here and in Beta 1, the following are broken:

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

MD5 Hashes

314554398cb4876d26ab5a111867f5d1  WPILib_Linux-2022.1.1-beta-1.tar.gz
e981f73d3cccc1163b1a3539693f215d  WPILib_Windows32-2022.1.1-beta-1.iso
1e2195890ec19e36be63d93852f50adc  WPILib_Windows64-2022.1.1-beta-1.iso
79a7fb0fe32b773ed4c643ba160dee48  WPILib_macOS-2022.1.1-beta-1.dmg

SHA256 Hashes

6f28db5f3efcc2cf87826d529b2dea5cffcd8202d6a44c03e17b3dda60d62a32  WPILib_Linux-2022.1.1-beta-1.tar.gz
def1a5b874f85e9c55d586f81ae2a30896b2d6d2816aa44ddc5734c5ebfbd343  WPILib_Windows32-2022.1.1-beta-1.iso
95bca0c7de6723cb2011515096738dd5366a187477dfbf204ec598d6ac2231a4  WPILib_Windows64-2022.1.1-beta-1.iso
cc2bcbb7b77567ed30a66c21fc1e2b35e4e1dbf3b5ba21250e5600ef99114168  WPILib_macOS-2022.1.1-beta-1.dmg
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WPILib 2022.1.1 Alpha 3 Prerelease

12 Oct 06:22
@AustinShalit AustinShalit
v2022.1.1-alpha-3
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PeterJohnson Peter Johnson
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WPILib 2022.1.1 Alpha 3 Prerelease Pre-release
Pre-release 
v2022.1.1-alpha-3

Version 2021.1.1-alpha-3
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WPILib 2022.1.1 Alpha 2 Prerelease

05 Oct 07:24
@AustinShalit AustinShalit
v2022.1.1-alpha-2
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PeterJohnson Peter Johnson
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WPILib 2022.1.1 Alpha 2 Prerelease Pre-release
Pre-release

Alpha release for use by vendors only.

  • Requires 2022 image (v2.x)

Errata

  • /usr/local/frc/bin/frcRunRobot.sh must be edited on the 2022 Rio image (see below) for programs to run
  • Need internet connectivity on initial build (Maven artifacts currently missing from installer)
  • Simulation launching doesn't work
  • C++ tools don't work

frcRunRobot.sh fix

The last 3 lines of /usr/local/frc/bin/frcRunRobot.sh are:

/sbin/start-stop-daemon --start \
   --pidfile /var/run/natinst/FRC_UserProgram.pid \
   --make-pidfile --exec /bin/bash -- \
   -l -c "exec $PROG $ARGS 2>&1 | FRC_ConsoleTee | tee /var/local/natinst/log/FRC_UserProgram.log"

The last line must be edited (as admin) to remove "exec", resulting in:

   -l -c "$PROG $ARGS 2>&1 | FRC_ConsoleTee | tee /var/local/natinst/log/FRC_UserProgram.log"
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WPILib 2021.3.1 Release

25 Apr 19:25
@PeterJohnson PeterJohnson
v2021.3.1
936d3b9
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WPILib 2021.3.1 Release

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 2021.3.1 (since 2021.2.2)

WPILib

  • HolonomicDriveController: Fixed atReference() behavior (#3163), fixed initial heading behavior (#3290)
  • (C++) Added RobotController::GetBatteryVoltage(); this already existed in Java (#3179)
  • Added SimDeviceSim constructor overloads (#3134)
  • Added DoubleSolenoidSim and SolenoidSim classes (#3177)
  • Require non-zero positive value for PIDController period (#3175)
  • Change KOP drivetrain simulation weight to 60 lbs (#3228)
  • Fixed Compressor sendable properties (#3269)
  • FieldObject2d: added setTrajectory() method (#3277)
  • AnalogEncoder: added channel constructor (#3273)

Math

  • Added methods to concatenate trajectories (#3139)
  • (Java) Significantly speed up trajectory loading (#3257)
  • (Java) Added kg-lb conversions to Units.java (#3203)
  • Added custom residual support to EKF (#3148)
  • Added pose estimator overload for vision and std dev measurement (#3200)
  • Fixed order of setting the gyro offset in pose estimators (#3176)
  • Fixed typo in quintic spline basis matrix
  • Removed ControllerUtil (#3169)

Commands

  • RamseteCommand: Output zero if command is interrupted (#3216)
  • (Java) Change CommandBase.withName() to return CommandBase (#3209)

Examples

  • Fixed Ramsete Controller example (#3142)
  • Made DriveDistanceOffboard example work in simulation (#3199)
  • Used more logical elevator setpoints in GearsBot example (#3198)
  • Fixed odometry update in SwerveControllerCommand example (#3310)

CameraServer

  • Added polled support to listeners; Java VideoListener now uses a Java thread (#3133)
  • Added USB camera change event (#3123)

HAL

  • Added function for changing HAL Notifier thread priority (#3218)

Glass / Simulation GUI

  • Plots
    • Auto-size plots to fit window (#3193)
    • Show full source name as tooltip and in popup (#3255)
    • Set reasonable default window size (#3261)
    • Don't overwrite series ID (#3260)
    • Fix window creation after removal (#3264)
  • Field2d enhancements (#3234)
    • Added support for pose lists > 255/3 in length
    • Improved drag selection, especially with closely overlapping objects
    • Drag selection of corner now also highlights center of object with smaller circle
    • Added multiple object display styles (box, line, closed line, track)
    • Line and arrow settings (color, weight) are now configurable
    • Added tooltip for object name, index, x, y, rotation
    • Added context menu for pose edit/add/remove
    • Can now view/edit in feet or inches as well as meters
    • Object selectability is now configurable
    • Fixed duplicate names (#3233)
  • NetworkTables
    • Fixed crash on Windows caused by long double arrays (#3242)
    • Fixed setting of empty double array (#3208)
    • String chooser: Clear value of deleted entries (#3178)
    • Don't block GUI when changing settings (#3226)
    • Allow disable of server option in settings (#3227)
    • Added "copy to clipboard" button in log view (#3274)
  • Ensure window will be initially visible on screen (#3256)
  • Sim GUI
    • Make keyboard settings loading more robust (#3167)
    • Added option to show prefix in Other Devices window (#3186)

PathWeaver

GradleRIO

VS Code

RobotBuilder

Installer

Hashes

MD5 Hashes

e0c152da3834a22093aa3c475e565a27  WPILib_Linux-2021.3.1.tar.gz
47682d4a782135cc40227cdb40401503  WPILib_macOS-2021.3.1.dmg
b1657cdb177ec7969a1f83500b3ac7ad  WPILib_Windows32-2021.3.1.iso
298d52a77aedea9d50c74d0a8e0fe990  WPILib_Windows64-2021.3.1.iso

SHA256 Hashes

1443a74be28e25d254720532fcad26e1742d5c2830fdf335e72d524bfba72d73  WPILib_Linux-2021.3.1.tar.gz
4e30c81a3e898551d07aff90d7b0f26bdc4cfb646f133c7b904926c7dc29bb2c  WPILib_macOS-2021.3.1.dmg
0d6d9af9c8579fbf0e1c88f8d4596982d28bedd447855573504d462f846ea7e1  WPILib_Windows32-2021.3.1.iso
b56c3b9dd9d26393015c71ede8033ee4b1ec85f65b871a7e6f17258dbc8e54b8  WPILib_Windows64-2021.3.1.iso
Assets 6
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WPILib 2021.2.2 Release

30 Jan 18:02
@PeterJohnson PeterJohnson
v2021.2.2
45590ee
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WPILib 2021.2.2 Release

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 2021.2.2 (since 2021.2.1)

WPILib

Simulation GUI

  • Fixed macOS 10.14 compatibility
  • Fixed window scaling on macOS retina displays (#3135)
  • Added right click popup menu for keyboard joystick settings (#3119)

Math

  • Fixed Rotation2d equality operator (#3128)

Examples

  • Fixed typos in SwerveControllerCommand and MecanumControllerCommand examples (#3104)
  • Fixed segmentation fault in GearsBot C++ example (#3111)
  • Removed negation of ArcadeDrive in the C++ Getting Started example (#3102)

GradleRIO

RobotBuilder

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

The builds have been reuploaded as of 3/24 to resolve an issue with VS Code Downloading.

MD5 Hashes

AE84CB6A74D840A43644B4072C64B923                                       WPILib_Linux-2021.2.2.tar.gz
D1B6A6BD77987ECFC7B4A1E26C3B7A92                                       WPILib_macOS-2021.2.2.dmg
88650D703A23421B5DAF64CE423AB920                                       WPILib_Windows32-2021.2.2.iso
FCAD169766CB295A8848407059A55D25                                       WPILib_Windows64-2021.2.2.iso

SHA256 Hashes

DC9730C87D82634001209937010FF9810016101D0315684CD40F60423402BA5F      WPILib_Linux-2021.2.2.tar.gz
11F70C4DDF0AE55701DFDDBC19412746D8B538B0397756363AE6B19CDD897C3B      WPILib_macOS-2021.2.2.dmg
671B683CA92AE4087E1990C6E792261B5E625A5BDD370465676BA07D45BDD7DD      WPILib_Windows32-2021.2.2.iso
123C6A656CF683CC39815709A40022E14A7DD8665C1EB0541E95A0F7C418E8CD      WPILib_Windows64-2021.2.2.iso
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WPILib 2021.2.1 Release

19 Jan 04:58
@PeterJohnson PeterJohnson
v2021.2.1
4488e25
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WPILib 2021.2.1 Release

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
Assets 6
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WPILib 2021.1.2 Kickoff Release

06 Jan 08:17
@PeterJohnson PeterJohnson
v2021.1.2
278e0f1
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WPILib 2021.1.2 Kickoff Release

This is the kickoff 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.

MD5 Hashes

0cec128110d0a91fd76738f20590a185  WPILib_Linux-2021.1.2.tar.gz
a3bbdc8ac5bd15afdfa37bcfd04f9643  WPILib_macOS-2021.1.2.dmg
ccdef9ab133d08acd924fabf12948a56  WPILib_Windows32-2021.1.2.iso
06ffe5360c06972b5607f4d288035cf2  WPILib_Windows64-2021.1.2.iso

SHA256 Hashes

4ce16d9002674528ffb5b1019fc199d7089886477e08bb5d8bc183915ce2ca25  WPILib_Linux-2021.1.2.tar.gz
15f287032590ca6bd2e50bc7536e021df01658ec1d4eb6f08ebcedcb6db7417c  WPILib_macOS-2021.1.2.dmg
d367e7e4ca0c5cbf3bb5764ccb70c8a62cb64e7692b9af98c752a7f62b609020  WPILib_Windows32-2021.1.2.iso
2a72f16dc2ee098b1871d2ec8ef2ef9baa70f08bf606cada1690c92dae8fe585  WPILib_Windows64-2021.1.2.iso
Assets 6
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