Choreo v2025.0.1

These notes will be replaced by a larger announcement post soon. The below is meant for users upgrading from 2025 beta.

ChoreoLib

ChoreoLib is now in the WPILib vendor dependencies panel, which is now the recommended way to install it. The vendordep URL https://lib.choreo.autos/dep/ChoreoLib2025.json.

There are no ChoreoLib changes between 2025.0.0 and 2025.0.1.

Major Changes since Beta 9

• 2025 field
  • Thanks to @mjansen4857 for giving us a copy of the PathPlanner field background to adapt for Choreo.
  • Trajectories will be rotated around the field center, but retain a blue origin.
  • If upgrading paths, note that the default Keep In Rectangle dimensions need to be updated manually. Use a width of 17.548 m and a height of 8.052 m
• Unitless values are no longer accepted and autofilled with a default unit in expression inputs.
• Variable names can be used without parentheses; a bugfix corrected this for .x, .y, and .heading inside pose variables.
• In the list of paths, a generate button replaces the normal icon if the path is different than what was last generated.
  • This mechanic is why the .traj files include a snapshot section.
• AutoBindings
  • Removed from the AutoFactory constructor and made package-private.
  • Use AutoFactory.bind(String eventName, Command command) instead, which now returns the AutoFactory for chaining.
• AutoTrajectory.resetOdometry() is added, as a replacement to AutoRoutine.resetOdometry(AutoTrajectory), which no longer exists.
• AutoChooser
  • We intend to ensure that the command creator functions are only run when the alliance is correct. Thus:
  • Changing alliance will re-run the creator.
  • In simulation only, going directly from Disconnected to Autonomous for the first run will generate the command on autonomousInit. In real life, the auto will stop with a dashboard alert, since this is an unrealistic scenario.
• Many bugs with the library and the UI have been fixed.