Guía de Instalación WPILib

Esta guía está destinada a equipos que usan Java y C ++. Los equipos que usan LabVIEW pueden saltarse a: Instalación LabVIEW para FRC (únicamente LabVIEW). Además, el siguiente tutorial muestra Windows 10, pero los pasos son idénticos para todos los sistemas operativos. Se mostrarán notas que diferencian los sistemas operativos.

Prerrequisitos

Supported Operating Systems and Architectures:

• Windows 10 & 11, 64 bit only. 32 bit and Arm are not supported

• Ubuntu 22.04, 64 bit. Other Linux distributions with glibc >= 2.34 may work, but are unsupported

• macOS 11 or higher, both Intel and Arm for Java. C++ requires macOS 12 or higher with Xcode 14.

Advertencia

The following OSes are no longer supported: macOS 10.15, Ubuntu 18.04 & 20.04, Windows 7, Windows 8.1, and any 32-bit Windows.

WPILib is designed to install to different folders for different years, so that it is not necessary to uninstall a previous version before installing this year’s WPILib.

Downloading

WPILib Installer

WPILib 2023.4.3 Release - March 29, 2023

Downloads

Downloads for other platforms

Release Notes

This is an update release of WPILib for the 2023 season. This release reduces NetworkTables CPU usage and latency, improves dashboard NetworkTables connection/disconnection behavior, and has several other quality-of-life improvements, in particular to Shuffleboard. This release also includes all fixes made in earlier releases.

Upgrading from earlier 2023 releases is easy: simply download and run the new installer and it will update your current installation. If you already have the 2023 WPILib vscode installed, it will detect it and you can simply click "next" for that installation step. After installation, vscode will prompt you when opening your robot project whether you want to upgrade it to this version. Note that using the installer is required to get the new version of desktop tools such as Shuffleboard.

The documentation for WPILib is located at https://docs.wpilib.org/ (if you have trouble accessing this location, https://frcdocs.wpi.edu/en/stable/ is an alternate location with the same content).

If you're new to FRC, start with Getting Started.

Minimum system requirements have changed for 2023. WPILib requires 64-bit Windows 10 or 11, Ubuntu 22.04, or macOS 11 or higher. Newly supported this year is Apple Silicon (arm64)! C++ teams should note that Visual Studio 2022 is now required for desktop builds. For this release, Mac users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running xcode-select --install in the Terminal.

If you're returning from a previous season, check out what's new for 2023; be sure to read through this, as a lot has changed from 2022! You will need a new RoboRIO image for 2023; this is available via the FRC 2023 Game Tools. Follow the WPILib installation guide to install WPILib.

If you're starting from a 2022 robot project, you will need to import your project to create a 2023 project. The import process is important, as it will make a number of automated corrections for some breaking changes that happened in 2023. It is also necessary to import vendor libraries again, since last year’s vendor libraries must be updated to be compatible with this year’s projects.

A complete list of known issues with this release can be found here.

WPILib is developed by a small team of volunteers and the FIRST community.

What's Changed since 2022.4.2

NetworkTables

• Optimize scan of outgoing messages by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5227
• NT4 client: close timed-out connections by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5175
• Use int64 for datalog type string by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5186
• ParallelTcpConnector: don't connect to duplicate addresses by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5169

Math

• Check LTV controller max velocity precondition by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5142
• Fix invalid iterator access in TimeInterpolatableBuffer by @virtuald in https://github.com/wpilibsuite/allwpilib/pull/5138
• Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-7 by @7910f6ba7ee4 in https://github.com/wpilibsuite/allwpilib/pull/5168
• Fix NaN in C++ MakeCostMatrix() that takes an array by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5194
• Fix potential divide-by-zero in RKDP by @calcmogul in https://github.com/wpilibsuite/allwpilib/pull/5242

Commands

• RamseteCommand: default-initialize m_prevSpeeds by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5188

WPILib

• Add isTestEnabled and minor docs cleanup by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5172
• Fix enableLiveWindowInTest crashing in disabled by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5173
• DataLogManager: increase time for datetime to be valid by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5185
• Fix DutyCycleEncoder.setDistancePerRotation() in java simulation by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5147
• Fix RobotController.getComments() mishandling quotes inside the comments string by @rzblue in https://github.com/wpilibsuite/allwpilib/pull/5197
• [java] DriverStation: Fix joystick data logs by @PeterJohnson in https://github.com/wpilibsuite/allwpilib/pull/5240
• Shuffleboard: Keep duplicates on SelectTab() by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/5198

Shuffleboard

• Fix IndexOutOfBoundsException in tab setup by @Starlight220 in https://github.com/wpilibsuite/shuffleboard/pull/772
• Make any entries set by dashboard retained by @PeterJohnson in https://github.com/wpilibsuite/shuffleboard/pull/778
• FieldData: Don't throw on missing data by @Starlight220 in https://github.com/wpilibsuite/shuffleboard/pull/776
• Add DataSource.equals() by @Starlight220 in https://github.com/wpilibsuite/shuffleboard/pull/774
• Don't switch to selected tab on value change by @Starlight220 in https://github.com/wpilibsuite/shuffleboard/pull/771
• CameraServerWidget: Explicitly unbox Number objects by @Starlight220 in https://github.com/wpilibsuite/shuffleboard/pull/780
• Use ConcurrentHashMap for static collection of NT sources by @Starlight220 in https://github.com/wpilibsuite/shuffleboard/pull/779

SysId

• Give measurement period a valid default of 1 by @calcmogul in https://github.com/wpilibsuite/sysid/pull/495
• Add Venom support by @wlmchen in https://github.com/wpilibsuite/sysid/pull/499

Docs

• CommandScheduler.isComposed: Remove incorrect throws clause (NFC) by @DAflamingFOX in https://github.com/wpilibsuite/allwpilib/pull/5183
• WaitCommand: Remove subclass note (NFC) by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/5200

Examples

• Shuffleboard: Correct parameter order by @Starlight220 in https://github.com/wpilibsuite/allwpilib/pull/5204

New Contributors

• @7910f6ba7ee4 made their first contribution in https://github.com/wpilibsuite/allwpilib/pull/5143
• @wlmchen made their first contribution in https://github.com/wpilibsuite/sysid/pull/499

MD5 Hashes

fc58a52edea675b0ff91938a9c9d0743 WPILib_Linux-2023.4.3.tar.gz
5b67d336669bed34ab0dd428f81b9d31 WPILib_Windows-2023.4.3.iso
47246def80eea87b468e0be30119f789 WPILib_macOS-Intel-2023.4.3.dmg
1bb6113c1202fbb68248c3848556e47e WPILib_macOS-Arm64-2023.4.3.dmg

SHA256 Hashes

640e1ee7cc8f39d1789b4137f4a5aae90f78eeecf2326e2c50808205d02e7795 WPILib_Linux-2023.4.3.tar.gz
8ea417ede0a8541c9ab906b943be55ca49112dddef6750f2db1a742ba0c69378 WPILib_Windows-2023.4.3.iso
a80723596a08790c78b4c35ac64b4758c72076e74df559512a62c808b2a11ef1 WPILib_macOS-Intel-2023.4.3.dmg
8dad67e28a3bdf482979a1fe4c857d52ab36a2fdec56ae05971b7177d5409ae9 WPILib_macOS-Arm64-2023.4.3.dmg

You can download the latest release of the installer from GitHub.

Once on the GitHub releases page, scroll to the assets section at the bottom of the page.

Then click on the correct binary for your OS and architecture to begin the download.

Extrayendo el Instalador

Cuando descarga el instalador de WPILib, este está distribuido como un archivo de imagen de disco .iso para Windows, .tar.gz para Linux, y distribuido como DMG para MacOS.

Windows 10+macOSLinux

Windows 10+ users can right click on the downloaded disk image and select Mount to open it. Then launch WPILibInstaller.exe.

Nota

Other installed programs may associate with iso files and the mount option may not appear. If that software does not give the option to mount or extract the iso file, then follow the directions below.

You can use 7-zip to extract the disk image by right-clicking, selecting 7-Zip and selecting Extract to…. Windows 11 users may need to select Show more options at the bottom of the context menu.

After opening the .iso file, launch the installer by opening WPILibInstaller.exe.

Nota

After launching the installer, Windows may display a window titled «Windows protected your PC». Click More info, then select Run anyway to run the installer.

Corriendo el Instalador

Al abrir el instalador, se le presentará la siguiente pantalla. Presione Start.

This showcases a list of options included with the WPILib installation.

• Tools Only installs just the WPILib tools (Pathweaver, Shuffleboard, RobotBuilder, SysID, Glass, and OutlineViewer) and JDK.

• Everything installs the full development environment (VS Code, extensions, all dependencies), WPILib tools, and JDK.

Notará dos botones, Install for this User y Install for all Users. Install for this User solo se instala en la cuenta de usuario actual, y no requiere privilegios de administrador. Sin embargo, Install for all Users instala las herramientas para todas las cuentas del sistema y requerirá acceso de administrador. Install for all Users no es una opción para macOS y Linux.

Nota

If you select Install for all Users, Windows will prompt for administrator access through UAC during installation.

Seleccione la opción que sea adecuada para usted y se le presentará la siguiente pantalla de instalación.

La siguiente pantalla implica la descarga de VS Code. Desafortunadamente, debido a razones de licencia, VS Code no se puede incluir con el instalador.

• Download for this computer only

  • Esto descarga VS Code solo para la plataforma actual, que es también la descarga más pequeña.

• Skip and don’t use VS Code

  • Omitir la instalación de VS Code. Útil para instalaciones o configuraciones avanzadas. Generalmente no es recomendado.

• Select existing VS Code archive for offline install on this computer

  • Al seleccionar esta opción, aparecerá un mensaje que le permitirá seleccionar un archivo zip preexistente de VS Code que ha sido descargado previamente por el instalador. Esta opción no le permite seleccionar una copia ya instalada de VS Code en su máquina.

• Create VS Code archives to share with other computers/OSes for offline install

  • Esta opción descarga y guarda una copia de VS Code para todas las plataformas, que es útil para compartir la copia del instalador.

Go ahead and select Download for this computer only. This will begin the download process and can take a bit depending on internet connectivity (it’s ~100MB). Once the download is done, select Next. You should be presented with a screen that looks similar to the one below.

Una vez completada la instalación, se le presentará la pantalla finalizada.

Importante

WPILib installs a separate version of VS Code. It does not use an already existing installation. Each year has it’s own copy of the tools appended with the year. IE: WPILib VS Code 2022. Please launch the WPILib VS Code and not a system installed copy!

¡Felicitaciones, el entorno de desarrollo y las herramientas de WPILib ya están instalados en su computadora! Presione Finalizar para salir del instalador.

Post-Instalación

Algunos sistemas operativos requieren acciones finales para completar la instalación.

macOSLinux

Después de la instalación, el instalador abre la carpeta WPILib VS Code. Arrastre la aplicación VS Code al dock. Expulsar la imagen de WPILibInstaller del escritorio.

Nota

Installing desktop tools and rebooting will create a folder on the desktop called YYYY WPILib Tools, where YYYY is the current year. Desktop tool shortcuts are not available on Linux and macOS.

Additional C++ Installation for Simulation

C++ robot simulation requires that a native compiler to be installed. For Windows, this would be Visual Studio 2022 (not VS Code), macOS requires Xcode 14 or later, and Linux (Ubuntu) requires the build-essential package.

Ensure the Desktop Development with C++ option is checked in the Visual Studio installer for simulation support.

¿Qué se instaló?

El instalador sin conexión instala los siguientes componentes:

• Visual Studio Code - El IDE compatible para 2019 y el desarrollo de código de robot posterior. El instalador fuera de línea configura una copia separada de VS Code para el desarrollo de WPILib, incluso si ya tiene VS Code en su máquina. Esto se hace porque algunas de las configuraciones que hacen que la configuración de WPILib funcione pueden romper los flujos de trabajo existentes si usa VS Code para otros proyectos.

• C++ Compiler - Las cadenas de herramientas para construir código de C++ para la roboRIO

• Gradle - La versión específica de Gradle usada para construir/desplegar código de robot C++ o Java

• Java JDK/JRE - Una versión específica de Java JDK/JRE que se utiliza para crear código de robot Java y para ejecutar cualquiera de las herramientas basadas en Java (Dashboards, etc.). Esto existe al lado de cualquier instalación de JDK existente y no sobrescribe la variable JAVA_HOME

• WPILib Tools - SmartDashboard, Shuffleboard, RobotBuilder, Outline Viewer, Pathweaver, Glass, SysID

• WPILib Dependencies - OpenCV, etc.

• VS Code Extensions - Las extensiones de WPILib para desarrollo de código de robot en VS Code

Desinstalando

WPILib está diseñado para poderse instalar en diferentes carpetas durante diferentes años, así que no es necesario desinstalar una versión previa antes de instalar WPILib de este año. No obstante, las siguientes instrucciones pueden usarse para desinstalar WPILib si es que se desea.

WindowsmacOSLinux

1. Delete the appropriate wpilib folder (c:\Users\Public\wpilib\YYYY where YYYY is the year to uninstall)

2. Elimine los iconos del escritorio en C:\Users\Public\Public Desktop

3. Elimine las variables de entorno de ruta de acceso.

   1. En el menú de inicio, escriba entorno y seleccione «Editar las variables de entorno del sistema»

   2. Haga clic en el botón de variables de entorno (1).

   3. En las variables de usuario, seleccione la ruta (2) y luego haga clic en editar (3).

   4. Seleccione la ruta con de roborio\bin (4) y haga clic en eliminar (5).

   5. Seleccione la ruta con frccode y haga clic en eliminar (5).

   6. Repita los pasos de 3-6 veces en el panel variable de sistemas.

Solución de problemas

En caso de que el instalador falle, abra un problema en el repositorio del instalador. Un enlace está disponible aquí <https://github.com/wpilibsuite/wpilibinstaller-avalonia> __. El instalador debe dar un mensaje sobre la causa del error, por favor inclúyalo en la descripción de su problema.