Choreo v2025.0.0

ARCHIVED.

The GUI is broken, but the vendordep is (to our knowledge) usable for building projects against WPILib's stable 2025 release.

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

Use the vendor dependencies panel in VS Code (recommended) or the URL https://lib.choreo.autos/dep/ChoreoLib2025.json

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.

What's Changed

• Clear .chor variables list when deserializaing by @shueja in #1055
• [trajoptlib] Reset differential cancellation flag by @calcmogul in #1058
• Rename LocalProgressUpdate::DiffTrajectory to DifferentialTrajectory, fixing mismatch with TS by @shueja in #1059
• Make rounding of trajectory sample fields normalize -0.0 to 0.0 by @shueja in #1062
• [ci] Upgrade to wpiformat 2024.51 by @calcmogul in #1064
• Simplify logic when receiving a successful generation in UI by @shueja in #1065
• [docs] Fix annotations in ChoreoLib Trajectory API documentation by @bryceroethel in #1069
• Add docs build instructions by @DeltaDizzy in #1052
• Remove numbers as valid input for dimensioned exprs by @shueja in #1067
• [docs] Update home page screenshot by @spacey-sooty in #1040
• [docs] Document Settings Improvements by @DeltaDizzy in #1068
• [docs] Fix requirements.txt by @bryceroethel in #1071
• [choreolib] AutoChooser Fixes and Sim behavior changes by @oh-yes-0-fps in #1057
• Fix controllers in getting started docs by @spacey-sooty in #1077
• [Choreolib] cleaned up various parts of the non-user facing code by @oh-yes-0-fps in #1048
• Add Python script for updating field dimensions across the project by @shueja in #1079
• Make AutoBindings package private by @spacey-sooty in #1076
• Clear undo history when opening a project. by @shueja in #1074
• [docs] Fix formatting of Auto Bindings section by @bryceroethel in #1083
• Use autogenerated field dimensions in default keep-in rectangle by @shueja in #1085
• [trajoptlib] Fix keep-out polygon distance by @calcmogul in #1086
• Remove dimension tooltips by @shueja in #1075
• Simpler ExpressionInput internals by always showing the same internal variable. by @shueja in #1073
• Directly depend on global variables store in expression stores by @shueja in #1084
• Add a way to clear the path list that properly sets activePath to default by @shueja in #1082
• [docs] Update saving page by @shueja in #1089
• [docs] Remove broken link to motor calculator docs by @shueja in #1091
• [docs] Update the view options page by @shueja in #1090
• [trajoptlib] Upgrade Sleipnir by @calcmogul in #1094
• Display a different icon if the trajectory is changed since being generated by @shueja in #1093
• Refactor path gradients and make them properly support diff drive by @calcmogul in #1095
• [trajoptlib] Clean up InputModulus() by @calcmogul in #1096
• [trajoptlib] Use direct collocation for diff drive dynamics constraints by @calcmogul in #1097
• [trajoptlib] Upgrade to fmt 11.1.1 by @calcmogul in #1098
• Remove file associations for STL headers by @calcmogul in #1100
• [trajoptlib] Normalize Rotation2d constructor arguments by @calcmogul in #1101
• [choreolib] Fix SwerveSample docs typo by @calcmogul in #1103
• [trajoptlib] Const-qualify solution passed to callback by @calcmogul in #1105
• [trajoptlib] Remove anti-tunneling constraint by @calcmogul in #1109
• Give AutoFactory.trajectoryCmd() an actual routine that runs by @shueja in #1110
• [trajoptlib] Hoist decision variables out of nested loops by @calcmogul in #1113
• [choreolib] Rename Alerts group to Choreo Alerts by @spacey-sooty in #1112
• Restore document from snapshot if project opening fails by @shueja in #1081
• Fix bug preventing "pose.x" from being transformed by @shueja in #1087
• Editing paths docs by @spacey-sooty in #1039
• 2025 Update: field and WPILib by @shueja in #1107
• Alert QoL + Docs updates by @Daniel1464 in #1111
• Update version to v2025.0.0 by @shueja in #1114

Full Changelog: v2025.0.0-beta-9...v2025.0.0