Getting Started

This is the beta-3 release of WPILib for the 2023 season. This requires the 2023 v1.3 roboRIO image (either roboRIO 1 or roboRIO 2) [the same image as beta-2].

Check out what's new for 2023 and jump directly to the WPILib installation guide. A list of known issues with this release can be found here.

Known issues:

• The Mac installers are currently not notarized, so it's necessary to remove the quarantine flag from the dmg using xattr -d com.apple.quarantine WPILib_macOS-*.dmg before mounting the dmg.
• PortForwarder and kin do not work in Java.

What's Changed since beta-2:

This release adds Mac installers. There are two critical fixes in this release:

• [wpilib] Fix Shuffleboard SuppliedValueWidget by @PeterJohnson in #4559
• Fix joysticks either crashing or returning 0 by @ThadHouse in #4570

Other changes:

• [wpimath] Remove unused SymbolExports.h include from units/base.h by @calcmogul in #4541
• [wpilib] Fix Xbox/PS4 POV sim by @Starlight220 in #4546
• Add missing methods in CommandJoystick and More Specific Return Type For CommandPS4Controller & CommandJoystick by @ohowe1 in #4557
• [wpilib] Fix Xbox/PS4 POV sim for port number constructors by @mjansen4857 in #4548
• [wpimath] Fix docs for pose estimator local measurement models by @calcmogul in #4558
• [wpimath] Remove template argument from ElevatorFeedforward by @calcmogul in #4554
• [cmd] Change WrapperCommand to inherit CommandBase by @Starlight220 in #4561
• Update to Native Utils 2023.6.0 by @ThadHouse in #4563
• AprilTag ID to Pose API by @brennenputh in #4421
• Add comment about encoder reset back to pose estimator resetPosition() by @aryker in #4569
• SingleJointedArmSim: Check angle equals limit on wouldHit by @amquake in #4567
• [ntcore] Various fixes and cleanups by @PeterJohnson in #4544
• [upstream-utils][mpack] Add upstream util for mpack by @pjreiniger in #4500
• [ntcore] Change Java event mask to EnumSet by @PeterJohnson in #4564

New Contributors

• @mjansen4857 made their first contribution in #4548
• @brennenputh made their first contribution in #4421
• @aryker made their first contribution in #4569
• @amquake made their first contribution in #4567

Full Changelog: v2023.1.1-beta-2...v2023.1.1-beta-3

If you're starting from a 2022 robot project, you will need to import it to create a 2023 project.

MD5 Hashes

971f5b62dbeb4d9da598e65afe0e643a  Linux/WPILib_Linux-2023.1.1-beta-3.tar.gz
79524dddb32c8ce9afb09a0c0e6b8730  Win64/WPILib_Windows-2023.1.1-beta-3.iso
2f259724ddc79b17ff691102cf1c481d  macOS/WPILib_macOS-Intel-2023.1.1-beta-3.dmg
e2b695e04063cfad89c39f6b9ba03f79  macOSArm/WPILib_macOS-Arm64-2023.1.1-beta-3.dmg

SHA256 Hashes

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15ef30eb37ea7fcb688003bf80d8e8b13ec784060669e5d75a6cde64141f5b3f  Win64/WPILib_Windows-2023.1.1-beta-3.iso
6fcd7f39a6fab1b52b1a5828826270a3474970bf4ed03138045acb9966ced5b3  macOS/WPILib_macOS-Intel-2023.1.1-beta-3.dmg
e2b1d617dd9b5b55376368fc9f29c5062853818005ad3ebc8c40fb8bd1d7382e  macOSArm/WPILib_macOS-Arm64-2023.1.1-beta-3.dmg