github wpilibsuite/allwpilib v2021.3.1
WPILib 2021.3.1 Release

latest releases: v2025.0.0-alpha-2, v2025.0.0-alpha-1, v2024.3.2...
3 years ago

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

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