wpilibsuite/allwpilib v2021.3.1

WPILib 2021.3.1 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 2021.3.1 (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

• Added the 2021 field image (wpilibsuite/PathWeaver#208)
• Added an option to go back to the Welcome screen (wpilibsuite/PathWeaver#222)
• The default path now defaults to 25% of the field width and height (wpilibsuite/PathWeaver#226)
• Waypoint properties Y coordinate now matches WPILib coordinates (bottom left is 0,0) (wpilibsuite/PathWeaver#217)
• Editing waypoint properties now no longer results in a save popup if nothing is changed (wpilibsuite/PathWeaver#229)
• When a new path is clicked on, the first waypoint is now selected (wpilibsuite/PathWeaver#218)
• Added dark mode (wpilibsuite/PathWeaver#231)
• Drag and drop fixes (wpilibsuite/PathWeaver#256), (wpilibsuite/PathWeaver#251)
• Work around , separator issue in some locales by forcing US locale (wpilibsuite/PathWeaver#257)
• Resize alert dialogs to fit contents (wpilibsuite/PathWeaver#240)
• Renamed "Path Group" to "Autonomous Routines" (wpilibsuite/PathWeaver#219)
• "Reverse" now reverse the waypoints in the path to make the robot go backwards, rather than altering the waypoint order (wpilibsuite/PathWeaver#227)
• Fixed bug with exporting non-meter units as meters (wpilibsuite/PathWeaver#259)

GradleRIO

• Updated image mismatch error to be more user-friendly (wpilibsuite/GradleRIO#495)

VS Code

• Require a valid folder name and team number when creating a project (wpilibsuite/vscode-wpilib#443)

RobotBuilder

• (C++) Fixed export of Xbox button (wpilibsuite/RobotBuilder#380)
• (Java) Fixed declaration of SpeedControllerGroup (wpilibsuite/RobotBuilder#385)
• (C++) Removed duplicate subsystem includes in RobotContainer (wpilibsuite/RobotBuilder#386)
• (C++) Fixed type detection (wpilibsuite/RobotBuilder#387)

Installer

• Use new location for downloading VS Code (wpilibsuite/WPILibInstaller-Avalonia#164) (also fixed in 2021.2.2 updated artifacts)

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