wpilibsuite/allwpilib v2021.2.2

WPILib 2021.2.2 Release

on GitHub

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

• Deploy C++ programs with permissions to set real-time thread priority (wpilibsuite/GradleRIO#486)

RobotBuilder

• Fixed InstantCommand when no subsystem is specified (wpilibsuite/RobotBuilder#366)
• Fixed C++ export of XboxControllerButton (wpilibsuite/RobotBuilder#369)
• Make subsystems public in RobotContainer (wpilibsuite/RobotBuilder#370)

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

• Added field images for the 5 Infinite Recharge @ Home Autonomous Challenges (wpilibsuite/PathWeaver#200)

RobotBuilder

• Set Subsystem name for C++. This allows LiveWindow items to be grouped by subsystem (wpilibsuite/RobotBuilder#356)

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