Getting Started

This is the beta-4 release of WPILib for the 2023 season. While this release will work with the 2023 v1.3 roboRIO image, we recommend upgrading the image to 2023 v1.4 (it was released as part of the NI Game Tools beta 2 release).

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.

What's Changed since beta-3:

• The Mac installers are now notarized!
• The Mac binaries are now universal binaries. On Mac, this will require updating to vendor libraries synchronized with beta-4 (releases should be available in the next few days).

Other changes:

• [ntcore] Catch file open error when saving preferences by @PeterJohnson in #4571
• Explicitly mark EventLoop as non-copyable/non-movable by @virtuald in #4579
• Allow composing two triggers directly by @virtuald in #4580
• Fix Pose3d transformBy rotation type by @dellagd in #4545
• [apriltags] Use map as internal data model by @pjreiniger in #4577
• Add missing PS4 triangle methods by @Starlight220 in #4576
• [wpimath] Remove deprecated units/units.h header by @calcmogul in #4572
• [cpp cmd] Move SelectCommand factory impl to header by @Starlight220 in #4581
• Update all dependencies that use grgit by @ThadHouse in #4596
• [wpilib] Fix AprilTagFieldLayout JSON property name typos by @calcmogul in #4597
• Fix y axis not being saved in glass by @ohowe1 in #4594
• [wpinet] Fix incorrect jni definitions by @ThadHouse in #4605
• [wpimath] Update units/base.h license header by @calcmogul in #4608
• [wpimath] Add macro for disabling units fmt support by @calcmogul in #4609
• Add additional angular acceleration units by @CoryNessCTR in #4610
• Add DifferentialDriveFeedforward classes which wrap LinearPlantInversionFeedforward by @CarloWoolsey in #4598
• [wpimath] Add missing open curly brace to units/base.h by @calcmogul in #4613
• [wpilibc] ShuffleboardComponent.WithProperties: Update type by @PeterJohnson in #4615
• [ntcore] Notify locally on SetDefault by @PeterJohnson in #4617
• [wpilibj] FieldObject2d: Fix close() by @PeterJohnson in #4619
• [glass] Fix NT Mechanism2D by @PeterJohnson in #4626
• Refactor python scripts under upstream_utils and wpiutil by @egeakman in #4614
• [cpp commands] Report error on CommandPtr use-after-move by @Starlight220 in #4575
• [cmd] Fix Trigger API docs (NFC) by @Starlight220 in #4599
• [wpimath] Put Rotation2d's value always in the -pi to pi scope by @ohowe1 in #4611
• [wpimath] Fix units docs for LinearSystemId::IdentifyDrivetrainSystem() by @calcmogul in #4600
• [myRobot] Disable spotbugs by @PeterJohnson in #4565
• [commands] Remove unsafe default command isFinished check by @Starlight220 in #4411
• Remove encoder reset comments on Swerve, Mecanum Odometry and Pose Estimation by @jlmcmchl in #4643
• Rework function signatures for Pose Estimation / Odometry by @jlmcmchl in #4642
• [wpimath] Add support for swerve joystick normalization by @r4stered in #4516
• Add AprilTagFieldLayout JSON file and move class to edu.wpi.first.apriltag by @pjreiniger in #4578
• [cmd] Change factories return type to CommandBase by @Starlight220 in #4655
• Fix non initialized hal functionality during motor safety init by @ThadHouse in #4658
• Fix documentation for AprilTagFieldLayout by @rzblue in #4657
• [apriltag] Fix FieldDimensions argument order by @calcmogul in #4659
• Provide mechanism to reset internals of NT instance by @virtuald in #4653
• [ntcore] Fix WaitForListenerQueue by @PeterJohnson in #4662
• Fix swerve examples to use getDistance for turning encoder by @sciencewhiz in #4652
• [wpimath] Fix Pose relativeTo documentation by @amquake in #4661
• [cscore] Add Arducam OV9281 exposure quirk by @PeterJohnson in #4663
• Rework odometry APIs to improve feature parity by @jlmcmchl in #4645
• [ntcore] Allow numeric-compatible value sets by @PeterJohnson in #4620
• [ntcore] Implement keep duplicates pub/sub flag by @PeterJohnson in #4666
• [wpilib] Update values on controllable sendables by @PeterJohnson in #4667

New Contributors

• @dellagd made their first contribution in #4545
• @CoryNessCTR made their first contribution in #4610
• @egeakman made their first contribution in #4614

Full Changelog: v2023.1.1-beta-3...v2023.1.1-beta-4

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

MD5 Hashes

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SHA256 Hashes

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