Getting Started
Download the appropriate file for your platform and see the installation instructions at Getting started.
For this release, it's okay to skip reinstalling Visual Studio Code, JDK, and the compiler if you already installed them with a previous release.
After you install the update, VS Code will prompt you when opening an older 2020 project whether or not you want to upgrade it to 2020.3.2.
What's Changed In This Release (since 2020.2.2)
WPILib
Java
- TrapezoidProfile: Fixed aliasing of m_initial to result in calculate() (#2284)
- Added more detail to RuntimeLoader failure message (#2309)
- Fixed null check order in SendableRegistry (#2314)
- Added methods for getting the color of an AddressableLED (#2366)
C++
- Removed "Set Camera Server Shared" message (#2285)
- Added missing include to ShuffleboardEventImportance.h (#2310)
- Added support to circular_buffer for types that are not implicitly convertible from int (#2350)
- Fixed two cases in circular_buffer where a reference was being returned to a constant (#2350)
- Made units of TrapezoidProfile public (#2342)
C++ and Java
- Don't create a duplicated state at knot points when generating trajectories using quintic splines (#2307)
- Added setEnabled method to RamseteController (#2313)
- Added hasElapsed and advanceIfElapsed functions to Timer class. We encourage teams to consider using these functions instead of hasPeriodPassed, which has the confusing behavior of resetting the timer--advanceIfElapsed has the same functionality as hasPeriodPassed. If you want to only check that the time period has elapsed, use hasElapsed instead (#2322)
- Fixed DifferentialDriveVoltageConstraint for tight turns with zero velocity (#2341)
- Fixed notifier race that could happen with very fast notifiers (#2370)
- Added a method for releasing a waiting interrupt (#2347)
- Added a way to access NetComm's SendConsoleLine function (#2337)
New Command Framework
- [C++] Fixed POVButton (#2294)
- [C++] Fixed ParallelRaceGroup multiple calls behavior--the Java version was correct, but the C++ version would only run once (#2339)
Documentation
- Added new speed controllers to shuffleboard docs and fix a few bad links/typos (#2288)
- Fixed DriveSubsystem.getHeading() javadoc (#2282)
- Added missing references to "f" in PIDSubsystem javadoc (#2318)
- Added note that only a single instance of ADXRS450 is supported (#2349)
Simulation
- Added support for naming I/O in the GUI. Nearly any name in the GUI (e.g. "PWM[0]") can be renamed by right clicking on it and changing the name (#2292)
- Added 2D field view to the GUI. The field image and robot image can be loaded or just a wireframe used. The robot can be moved and rotated with a mouse click + drag. The robot position is settable in robot code via the Field2d class (#2261)
- Changed Filesystem.getDeployDirectory() to src/main/deploy in simulation (#2293)
- Fixed ADXL345 and ADXL362 simulation Y value (#2332)
- Added SimulationInit and SimulationPeriodic functions. These can be used as an easy way to add code that runs only in simulation (#2377)
Examples
- Fixed GearsBot log methods not being called periodically (#2280)
- Fixed RamseteCommand RobotDrive watchdog (#2298)
- Added feed-forward and slew rate limiting to advanced drive examples (#2301)
- Examples which use SendableChooser now set a default option (#2361)
Templates
- Added missing methods to Timed and TimedSkeleton (#2306)
PathWeaver
- PathWeaver paths that used different units than meters would cause issues with WPILib trajectory following. For new projects, PathWeaver now defaults to converting to meters in the exported file, regardless of the units used in the project. For backwards compatibility, projects created with earlier versions will default to exporting in project units, but a warning is displayed recommending the setting be changed (wpilibsuite/PathWeaver#180)
RobotBuilder
- Replaced deprecated SendableChooser addObject with addOption (wpilibsuite/RobotBuilder#205)
Shuffleboard
- Fixed theme plugins (wpilibsuite/shuffleboard#645)
SmartDashboard
- Fixed StringChooser not showing up if a default wasn't set (wpilibsuite/SmartDashboard#133)
GradleRIO
- The Java simulation task now prefers the WPILib JDK and warns about potential missing runtimes (wpilibsuite/GradleRIO#401)
Visual Studio Code WPILib Extension
- Added setting for selecting a default extension (wpilibsuite/vscode-wpilib#349)
Known Issues and Workarounds
A list of known issues with this release can be found here.
MD5 Hashes
3984ead5799eec22f8a7edcdd904a3e7 WPILibInstaller_Windows32-2020.3.2.zip
d7001f51d247046310cf9dd56d133a95 WPILibInstaller_Windows64-2020.3.2.zip
c36048b7ed925d7914603c09722085f1 WPILib_Linux-2020.3.2.tar.gz
75ab40cde15893c898d6340f7f3edc44 WPILib_Mac-2020.3.2.tar.gz
SHA256 Hashes
eb6099eb64f1af081ed144da44aa0d2a7036a9ab58888f76426a1edbd22e132c WPILibInstaller_Windows32-2020.3.2.zip
65698bc0933b35763b6d62c0fb729634495102a1d7aedadd994dad66b772f4a5 WPILibInstaller_Windows64-2020.3.2.zip
3f915be4acd76eafa0d4db751c2eff3da97cac9233e5d58b78ae0dd44f2ad478 WPILib_Linux-2020.3.2.tar.gz
e1aa02d7026c923d4b2c8f32c5ec1872f7ef903ca27652af279f79d19cbd5f15 WPILib_Mac-2020.3.2.tar.gz