artf4107: Removed most "Init" functions from classes

They were either replaced with delegating constructors or merged into the only constructor in the class.

Change-Id: I3d35139f6ab23c719433a9f76942b02a3b07ddac

wpilibc/wpilibC++/include/Commands/Command.h

@@ -131,7 +131,6 @@ class Command : public ErrorBase, public NamedSendable, public ITableListener {
   virtual void _Cancel();
 
  private:
-  void InitCommand(const char *name, double timeout);
   void LockChanges();
   /*synchronized*/ void Removed();
   void StartRunning();

wpilibc/wpilibC++/src/Commands/Command.cpp

@@ -19,36 +19,24 @@ static const char *kIsParented = "isParented";
 
 int Command::m_commandCounter = 0;
 
-void Command::InitCommand(const char *name, double timeout) {
-  m_timeout = timeout;
-  m_name = name == nullptr ? std::string() : name;
-}
-
 /**
  * Creates a new command.
  * The name of this command will be default.
  */
-Command::Command() { InitCommand(nullptr, -1.0); }
+Command::Command() : Command(nullptr, -1.0) {}
 
 /**
  * Creates a new command with the given name and no timeout.
  * @param name the name for this command
  */
-Command::Command(const char *name) {
-  if (name == nullptr) wpi_setWPIErrorWithContext(NullParameter, "name");
-  InitCommand(name, -1.0);
-}
+Command::Command(const char *name) : Command(name, -1.0) {}
 
 /**
  * Creates a new command with the given timeout and a default name.
  * @param timeout the time (in seconds) before this command "times out"
  * @see Command#isTimedOut() isTimedOut()
  */
-Command::Command(double timeout) {
-  if (timeout < 0.0)
-    wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
-  InitCommand(nullptr, timeout);
-}
+Command::Command(double timeout) : Command(nullptr, timeout) {}
 
 /**
  * Creates a new command with the given name and timeout.
@@ -60,7 +48,9 @@ Command::Command(const char *name, double timeout) {
   if (name == nullptr) wpi_setWPIErrorWithContext(NullParameter, "name");
   if (timeout < 0.0)
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
-  InitCommand(name, timeout);
+
+  m_timeout = timeout;
+  m_name = name == nullptr ? std::string() : name;
 }
 
 Command::~Command() {  // TODO deal with cleaning up all listeners

wpilibc/wpilibC++Devices/include/AnalogInput.h

@@ -75,7 +75,6 @@ class AnalogInput : public SensorBase,
   ITable *GetTable() const override;
 
  private:
-  void InitAnalogInput(uint32_t channel);
   uint32_t m_channel;
   void *m_port;
   int64_t m_accumulatorOffset;

wpilibc/wpilibC++Devices/include/AnalogOutput.h

@@ -30,7 +30,6 @@ class AnalogOutput : public SensorBase, public LiveWindowSendable {
   ITable *GetTable() const override;
 
  protected:
-  void InitAnalogOutput(uint32_t channel);
   uint32_t m_channel;
   void *m_port;
 

wpilibc/wpilibC++Devices/include/AnalogTrigger.h

@@ -30,8 +30,6 @@ class AnalogTrigger : public SensorBase {
   AnalogTriggerOutput *CreateOutput(AnalogTriggerType type);
 
  private:
-  void InitTrigger(uint32_t channel);
-
   uint8_t m_index;
   void *m_trigger;
 };

wpilibc/wpilibC++Devices/include/Counter.h

@@ -27,7 +27,7 @@ class Counter : public SensorBase,
                 public CounterBase,
                 public LiveWindowSendable {
  public:
-  Counter();
+  explicit Counter(Mode mode = kTwoPulse);
   explicit Counter(int32_t channel);
   explicit Counter(DigitalSource *source);
   explicit Counter(DigitalSource &source);
@@ -87,8 +87,6 @@ class Counter : public SensorBase,
   DigitalSource *m_downSource = nullptr; ///< What makes the counter count down.
   void *m_counter = nullptr;             ///< The FPGA counter object.
  private:
-  void InitCounter(Mode mode = kTwoPulse);
-
   bool m_allocatedUpSource = false;    ///< Was the upSource allocated locally?
   bool m_allocatedDownSource = false;  ///< Was the downSource allocated locally?
   uint32_t m_index = 0;            ///< The index of this counter.

wpilibc/wpilibC++Devices/include/DigitalInput.h

@@ -39,7 +39,6 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
   ITable *GetTable() const;
 
  private:
-  void InitDigitalInput(uint32_t channel);
   uint32_t m_channel;
   bool m_lastValue;
 

wpilibc/wpilibC++Devices/include/DigitalOutput.h

@@ -46,8 +46,6 @@ class DigitalOutput : public DigitalSource,
   ITable *GetTable() const;
 
  private:
-  void InitDigitalOutput(uint32_t channel);
-
   uint32_t m_channel;
   void *m_pwmGenerator;
 

wpilibc/wpilibC++Devices/include/DoubleSolenoid.h

@@ -42,8 +42,6 @@ class DoubleSolenoid : public SolenoidBase,
   ITable* GetTable() const;
 
  private:
-  virtual void InitSolenoid();
-
   uint32_t m_forwardChannel;  ///< The forward channel on the module to control.
   uint32_t m_reverseChannel;  ///< The reverse channel on the module to control.
   uint8_t m_forwardMask;      ///< The mask for the forward channel.

wpilibc/wpilibC++Devices/include/Jaguar.h

@@ -26,6 +26,5 @@ class Jaguar : public SafePWM, public SpeedController {
   virtual bool GetInverted() const override;
 
  private:
-  void InitJaguar();
   bool m_isInverted = false;
 };

wpilibc/wpilibC++Devices/include/Joystick.h

@@ -102,7 +102,6 @@ class Joystick : public GenericHID, public ErrorBase {
 
  private:
   DISALLOW_COPY_AND_ASSIGN(Joystick);
-  void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);
 
   DriverStation *m_ds = nullptr;
   uint32_t m_port;

wpilibc/wpilibC++Devices/include/PWM.h

@@ -109,7 +109,6 @@ class PWM : public SensorBase,
   ITable* m_table = nullptr;
 
  private:
-  void InitPWM(uint32_t channel);
   uint32_t m_channel;
   int32_t GetMaxPositivePwm() const { return m_maxPwm; }
   int32_t GetMinPositivePwm() const {

wpilibc/wpilibC++Devices/include/Relay.h

@@ -50,8 +50,6 @@ class Relay : public SensorBase,
   ITable* m_table = nullptr;
 
  private:
-  void InitRelay();
-
   uint32_t m_channel;
   Direction m_direction;
 };

wpilibc/wpilibC++Devices/include/SafePWM.h

@@ -36,6 +36,5 @@ class SafePWM : public PWM, public MotorSafety {
   virtual void SetSpeed(float speed);
 
  private:
-  void InitSafePWM();
   MotorSafetyHelper *m_safetyHelper;
 };

wpilibc/wpilibC++Devices/include/Servo.h

@@ -40,7 +40,6 @@ class Servo : public SafePWM {
   ITable* m_table = nullptr;
 
  private:
-  void InitServo();
   float GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }
 
   static constexpr float kMaxServoAngle = 180.0;

wpilibc/wpilibC++Devices/include/Solenoid.h

@@ -38,8 +38,6 @@ class Solenoid : public SolenoidBase,
   ITable* GetTable() const;
 
  private:
-  void InitSolenoid();
-
   uint32_t m_channel;  ///< The channel on the module to control.
   ITable* m_table = nullptr;
 };

wpilibc/wpilibC++Devices/include/SolenoidBase.h

@@ -29,7 +29,6 @@ class SolenoidBase : public SensorBase {
  protected:
   explicit SolenoidBase(uint8_t pcmID);
   void Set(uint8_t value, uint8_t mask, int module);
-  virtual void InitSolenoid() = 0;
   const static int m_maxModules = 63;
   const static int m_maxPorts = 8;
   static void* m_ports[m_maxModules][m_maxPorts];

wpilibc/wpilibC++Devices/include/Talon.h

@@ -26,6 +26,5 @@ class Talon : public SafePWM, public SpeedController {
   virtual bool GetInverted() const override;
 
  private:
-  void InitTalon();
   bool m_isInverted = false;
 };

wpilibc/wpilibC++Devices/include/TalonSRX.h

@@ -27,6 +27,5 @@ class TalonSRX : public SafePWM, public SpeedController {
   virtual bool GetInverted() const override;
 
  private:
-  void InitTalonSRX();
   bool m_isInverted = false;
 };

wpilibc/wpilibC++Devices/include/Victor.h

@@ -30,6 +30,5 @@ class Victor : public SafePWM, public SpeedController {
   virtual bool GetInverted() const override;
 
  private:
-  void InitVictor();
   bool m_isInverted = false;
 };

wpilibc/wpilibC++Devices/include/VictorSP.h

@@ -27,6 +27,5 @@ class VictorSP : public SafePWM, public SpeedController {
   virtual bool GetInverted() const override;
 
  private:
-  void InitVictorSP();
   bool m_isInverted = false;
 };

wpilibc/wpilibC++Devices/src/AnalogInput.cpp

@@ -18,9 +18,12 @@ const uint32_t AnalogInput::kAccumulatorNumChannels;
 const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};
 
 /**
- * Common initialization.
+ * Construct an analog input.
+ *
+ * @param channel The channel number on the roboRIO to represent. 0-3 are
+ * on-board 4-7 are on the MXP port.
  */
-void AnalogInput::InitAnalogInput(uint32_t channel) {
+AnalogInput::AnalogInput(uint32_t channel) {
   char buf[64];
   Resource::CreateResourceObject(&inputs, kAnalogInputs);
 
@@ -47,14 +50,6 @@ void AnalogInput::InitAnalogInput(uint32_t channel) {
   HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);
 }
 
-/**
- * Construct an analog input.
- *
- * @param channel The channel number on the roboRIO to represent. 0-3 are
- * on-board 4-7 are on the MXP port.
- */
-AnalogInput::AnalogInput(uint32_t channel) { InitAnalogInput(channel); }
-
 /**
  * Channel destructor.
  */

wpilibc/wpilibC++Devices/src/AnalogOutput.cpp

@@ -12,7 +12,12 @@
 
 static Resource *outputs = nullptr;
 
-void AnalogOutput::InitAnalogOutput(uint32_t channel) {
+/**
+ * Construct an analog output on the given channel.
+ * All analog outputs are located on the MXP port.
+ * @param The channel number on the roboRIO to represent.
+ */
+AnalogOutput::AnalogOutput(uint32_t channel) {
   Resource::CreateResourceObject(&outputs, kAnalogOutputs);
 
   char buf[64];
@@ -39,13 +44,6 @@ void AnalogOutput::InitAnalogOutput(uint32_t channel) {
   HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
 }
 
-/**
- * Construct an analog output on the given channel.
- * All analog outputs are located on the MXP port.
- * @param The channel number on the roboRIO to represent.
- */
-AnalogOutput::AnalogOutput(uint32_t channel) { InitAnalogOutput(channel); }
-
 /**
  * Destructor. Frees analog output resource
  */

wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp

@@ -13,9 +13,12 @@
 #include "WPIErrors.h"
 
 /**
- * Initialize an analog trigger from a channel.
+ * Constructor for an analog trigger given a channel number.
+ *
+ * @param channel The channel number on the roboRIO to represent. 0-3 are
+ * on-board 4-7 are on the MXP port.
  */
-void AnalogTrigger::InitTrigger(uint32_t channel) {
+AnalogTrigger::AnalogTrigger(int32_t channel) {
   void *port = getPort(channel);
   int32_t status = 0;
   uint32_t index = 0;
@@ -26,22 +29,14 @@ void AnalogTrigger::InitTrigger(uint32_t channel) {
   HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel);
 }
 
-/**
- * Constructor for an analog trigger given a channel number.
- *
- * @param channel The channel number on the roboRIO to represent. 0-3 are
- * on-board 4-7 are on the MXP port.
- */
-AnalogTrigger::AnalogTrigger(int32_t channel) { InitTrigger(channel); }
-
 /**
  * Construct an analog trigger given an analog input.
  * This should be used in the case of sharing an analog channel between the
  * trigger and an analog input object.
  * @param channel The pointer to the existing AnalogInput object
  */
-AnalogTrigger::AnalogTrigger(AnalogInput *input) {
-  InitTrigger(input->GetChannel());
+AnalogTrigger::AnalogTrigger(AnalogInput *input) :
+    AnalogTrigger(input->GetChannel()) {
 }
 
 AnalogTrigger::~AnalogTrigger() {

wpilibc/wpilibC++Devices/src/Counter.cpp

@@ -13,14 +13,18 @@
 #include "WPIErrors.h"
 
 /**
- * Create an instance of a counter object.
+ * Create an instance of a counter where no sources are selected.
+ * They all must be selected by calling functions to specify the upsource and
+ * the downsource
+ * independently.
+ *
  * This creates a ChipObject counter and initializes status variables
- * appropriately
+ * appropriately.
  *
  * The counter will start counting immediately.
  * @param mode The counter mode
  */
-void Counter::InitCounter(Mode mode) {
+Counter::Counter(Mode mode) {
   int32_t status = 0;
   m_counter = initializeCounter(mode, &m_index, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -30,18 +34,6 @@ void Counter::InitCounter(Mode mode) {
   HALReport(HALUsageReporting::kResourceType_Counter, m_index, mode);
 }
 
-/**
- * Create an instance of a counter where no sources are selected.
- * They all must be selected by calling functions to specify the upsource and
- * the downsource
- * independently.
- *
- * The counter will start counting immediately.
- */
-Counter::Counter() {
-  InitCounter();
-}
-
 /**
  * Create an instance of a counter from a Digital Source (such as a Digital
  * Input).
@@ -54,8 +46,7 @@ Counter::Counter() {
  * @param source A pointer to the existing DigitalSource object. It will be set
  * as the Up Source.
  */
-Counter::Counter(DigitalSource *source) {
-  InitCounter();
+Counter::Counter(DigitalSource *source) : Counter() {
   SetUpSource(source);
   ClearDownSource();
 }
@@ -72,8 +63,7 @@ Counter::Counter(DigitalSource *source) {
  * @param source A reference to the existing DigitalSource object. It will be
  * set as the Up Source.
  */
-Counter::Counter(DigitalSource &source) {
-  InitCounter();
+Counter::Counter(DigitalSource &source) : Counter() {
   SetUpSource(&source);
   ClearDownSource();
 }
@@ -86,8 +76,7 @@ Counter::Counter(DigitalSource &source) {
  * @param channel The DIO channel to use as the up source. 0-9 are on-board,
  * 10-25 are on the MXP
  */
-Counter::Counter(int32_t channel) {
-  InitCounter();
+Counter::Counter(int32_t channel) : Counter() {
   SetUpSource(channel);
   ClearDownSource();
 }
@@ -100,8 +89,7 @@ Counter::Counter(int32_t channel) {
  * The counter will start counting immediately.
  * @param trigger The pointer to the existing AnalogTrigger object.
  */
-Counter::Counter(AnalogTrigger *trigger) {
-  InitCounter();
+Counter::Counter(AnalogTrigger *trigger) : Counter() {
   SetUpSource(trigger->CreateOutput(kState));
   ClearDownSource();
   m_allocatedUpSource = true;
@@ -115,8 +103,7 @@ Counter::Counter(AnalogTrigger *trigger) {
  * The counter will start counting immediately.
  * @param trigger The reference to the existing AnalogTrigger object.
  */
-Counter::Counter(AnalogTrigger &trigger) {
-  InitCounter();
+Counter::Counter(AnalogTrigger &trigger) : Counter() {
   SetUpSource(trigger.CreateOutput(kState));
   ClearDownSource();
   m_allocatedUpSource = true;
@@ -132,14 +119,14 @@ Counter::Counter(AnalogTrigger &trigger) {
  */
 
 Counter::Counter(EncodingType encodingType, DigitalSource *upSource,
-                 DigitalSource *downSource, bool inverted) {
+                 DigitalSource *downSource, bool inverted)
+               : Counter(kExternalDirection) {
   if (encodingType != k1X && encodingType != k2X) {
     wpi_setWPIErrorWithContext(
         ParameterOutOfRange,
         "Counter only supports 1X and 2X quadrature decoding.");
     return;
   }
-  InitCounter(kExternalDirection);
   SetUpSource(upSource);
   SetDownSource(downSource);
   int32_t status = 0;

wpilibc/wpilibC++Devices/src/DigitalInput.cpp

@@ -12,11 +12,12 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Create an instance of a DigitalInput.
- * Creates a digital input given a channel. Common creation routine for all
- * constructors.
+ * Create an instance of a Digital Input class.
+ * Creates a digital input given a channel.
+ *
+ * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
  */
-void DigitalInput::InitDigitalInput(uint32_t channel) {
+DigitalInput::DigitalInput(uint32_t channel) {
   char buf[64];
 
   if (!CheckDigitalChannel(channel)) {
@@ -34,14 +35,6 @@ void DigitalInput::InitDigitalInput(uint32_t channel) {
   HALReport(HALUsageReporting::kResourceType_DigitalInput, channel);
 }
 
-/**
- * Create an instance of a Digital Input class.
- * Creates a digital input given a channel.
- *
- * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
- */
-DigitalInput::DigitalInput(uint32_t channel) { InitDigitalInput(channel); }
-
 /**
  * Free resources associated with the Digital Input class.
  */

wpilibc/wpilibC++Devices/src/DigitalOutput.cpp

@@ -10,11 +10,13 @@
 #include "WPIErrors.h"
 
 /**
- * Create an instance of a DigitalOutput.
- * Creates a digital output given a channel. Common creation routine for all
- * constructors.
+ * Create an instance of a digital output.
+ * Create a digital output given a channel.
+ *
+ * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP
+ * port
  */
-void DigitalOutput::InitDigitalOutput(uint32_t channel) {
+DigitalOutput::DigitalOutput(uint32_t channel) {
   char buf[64];
 
   if (!CheckDigitalChannel(channel)) {
@@ -32,15 +34,6 @@ void DigitalOutput::InitDigitalOutput(uint32_t channel) {
   HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
 }
 
-/**
- * Create an instance of a digital output.
- * Create a digital output given a channel.
- *
- * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP
- * port
- */
-DigitalOutput::DigitalOutput(uint32_t channel) { InitDigitalOutput(channel); }
-
 /**
  * Free the resources associated with a digital output.
  */

wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp

@@ -10,9 +10,26 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common function to implement constructor behaviour.
+ * Constructor.
+ * Uses the default PCM ID of 0
+ * @param forwardChannel The forward channel number on the PCM (0..7).
+ * @param reverseChannel The reverse channel number on the PCM (0..7).
  */
-void DoubleSolenoid::InitSolenoid() {
+DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
+    : DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel, reverseChannel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The CAN ID of the PCM.
+ * @param forwardChannel The forward channel on the PCM to control (0..7).
+ * @param reverseChannel The reverse channel on the PCM to control (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
+                               uint32_t reverseChannel)
+    : SolenoidBase(moduleNumber),
+      m_forwardChannel(forwardChannel),
+      m_reverseChannel(reverseChannel) {
   char buf[64];
   if (!CheckSolenoidModule(m_moduleNumber)) {
     snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
@@ -58,34 +75,6 @@ void DoubleSolenoid::InitSolenoid() {
                                          m_forwardChannel, this);
 }
 
-/**
- * Constructor.
- * Uses the default PCM ID of 0
- * @param forwardChannel The forward channel number on the PCM (0..7).
- * @param reverseChannel The reverse channel number on the PCM (0..7).
- */
-DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
-    : SolenoidBase(GetDefaultSolenoidModule()),
-      m_forwardChannel(forwardChannel),
-      m_reverseChannel(reverseChannel) {
-  InitSolenoid();
-}
-
-/**
- * Constructor.
- *
- * @param moduleNumber The CAN ID of the PCM.
- * @param forwardChannel The forward channel on the PCM to control (0..7).
- * @param reverseChannel The reverse channel on the PCM to control (0..7).
- */
-DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
-                               uint32_t reverseChannel)
-    : SolenoidBase(moduleNumber),
-      m_forwardChannel(forwardChannel),
-      m_reverseChannel(reverseChannel) {
-  InitSolenoid();
-}
-
 /**
  * Destructor.
  */

wpilibc/wpilibC++Devices/src/Jaguar.cpp

@@ -10,9 +10,11 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common initialization code called by all constructors.
+ * Constructor for a Jaguar connected via PWM
+ * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
  */
-void Jaguar::InitJaguar() {
+Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) {
   /**
    * Input profile defined by Luminary Micro.
    *
@@ -31,13 +33,6 @@ void Jaguar::InitJaguar() {
   LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
 }
 
-/**
- * Constructor for a Jaguar connected via PWM
- * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
- * on-board, 10-19 are on the MXP port
- */
-Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) { InitJaguar(); }
-
 /**
  * Set the PWM value.
  *

wpilibc/wpilibC++Devices/src/Joystick.cpp

@@ -30,9 +30,7 @@ static bool joySticksInitialized = false;
  * (0-5).
  */
 Joystick::Joystick(uint32_t port)
-    : m_port(port) {
-  InitJoystick(kNumAxisTypes, kNumButtonTypes);
-
+    : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
   m_axes[kXAxis] = kDefaultXAxis;
   m_axes[kYAxis] = kDefaultYAxis;
   m_axes[kZAxis] = kDefaultZAxis;
@@ -58,10 +56,6 @@ Joystick::Joystick(uint32_t port)
 Joystick::Joystick(uint32_t port, uint32_t numAxisTypes,
                    uint32_t numButtonTypes)
     : m_port(port) {
-  InitJoystick(numAxisTypes, numButtonTypes);
-}
-
-void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes) {
   if (!joySticksInitialized) {
     for (auto& joystick : joysticks) joystick = nullptr;
     joySticksInitialized = true;

wpilibc/wpilibC++Devices/src/PWM.cpp

@@ -19,17 +19,15 @@ const int32_t PWM::kDefaultPwmStepsDown;
 const int32_t PWM::kPwmDisabled;
 
 /**
- * Initialize PWMs given a channel.
+ * Allocate a PWM given a channel number.
  *
- * This method is private and is the common path for all the constructors for
- * creating PWM
- * instances. Checks channel value range and allocates the appropriate channel.
+ * Checks channel value range and allocates the appropriate channel.
  * The allocation is only done to help users ensure that they don't double
  * assign channels.
  * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP
  * port
  */
-void PWM::InitPWM(uint32_t channel) {
+PWM::PWM(uint32_t channel) {
   char buf[64];
 
   if (!CheckPWMChannel(channel)) {
@@ -52,13 +50,6 @@ void PWM::InitPWM(uint32_t channel) {
   HALReport(HALUsageReporting::kResourceType_PWM, channel);
 }
 
-/**
- * Allocate a PWM given a channel number.
- *
- * @param channel The PWM channel.
- */
-PWM::PWM(uint32_t channel) { InitPWM(channel); }
-
 /**
  * Free the PWM channel.
  *

wpilibc/wpilibC++Devices/src/Relay.cpp

@@ -18,13 +18,15 @@
 static Resource *relayChannels = nullptr;
 
 /**
- * Common relay initialization method.
- * This code is common to all Relay constructors and initializes the relay and
- * reserves
- * all resources that need to be locked. Initially the relay is set to both
- * lines at 0v.
+ * Relay constructor given a channel.
+ *
+ * This code initializes the relay and reserves all resources that need to be
+ * locked. Initially the relay is set to both lines at 0v.
+ * @param channel The channel number (0-3).
+ * @param direction The direction that the Relay object will control.
  */
-void Relay::InitRelay() {
+Relay::Relay(uint32_t channel, Relay::Direction direction)
+    : m_channel(channel), m_direction(direction) {
   char buf[64];
   Resource::CreateResourceObject(&relayChannels,
                                  dio_kNumSystems * kRelayChannels * 2);
@@ -61,16 +63,6 @@ void Relay::InitRelay() {
   LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
 }
 
-/**
- * Relay constructor given a channel.
- * @param channel The channel number (0-3).
- * @param direction The direction that the Relay object will control.
- */
-Relay::Relay(uint32_t channel, Relay::Direction direction)
-    : m_channel(channel), m_direction(direction) {
-  InitRelay();
-}
-
 /**
  * Free the resource associated with a relay.
  * The relay channels are set to free and the relay output is turned off.

wpilibc/wpilibC++Devices/src/SafePWM.cpp

@@ -9,20 +9,15 @@
 
 #include "MotorSafetyHelper.h"
 
-/**
- * Initialize a SafePWM object by setting defaults
- */
-void SafePWM::InitSafePWM() {
-  m_safetyHelper = new MotorSafetyHelper(this);
-  m_safetyHelper->SetSafetyEnabled(false);
-}
-
 /**
  * Constructor for a SafePWM object taking a channel number.
  * @param channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP
  * port
  */
-SafePWM::SafePWM(uint32_t channel) : PWM(channel) { InitSafePWM(); }
+SafePWM::SafePWM(uint32_t channel) : PWM(channel) {
+  m_safetyHelper = new MotorSafetyHelper(this);
+  m_safetyHelper->SetSafetyEnabled(false);
+}
 
 SafePWM::~SafePWM() { delete m_safetyHelper; }
 

wpilibc/wpilibC++Devices/src/Servo.cpp

@@ -16,27 +16,17 @@ constexpr float Servo::kMinServoAngle;
 constexpr float Servo::kDefaultMaxServoPWM;
 constexpr float Servo::kDefaultMinServoPWM;
 
-/**
- * Common initialization code called by all constructors.
- *
- * InitServo() assigns defaults for the period multiplier for the servo PWM
- * control signal, as
- * well as the minimum and maximum PWM values supported by the servo.
- */
-void Servo::InitServo() {
-  SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
-  SetPeriodMultiplier(kPeriodMultiplier_4X);
-
-  LiveWindow::GetInstance()->AddActuator("Servo", GetChannel(), this);
-  HALReport(HALUsageReporting::kResourceType_Servo, GetChannel());
-}
-
 /**
  * @param channel The PWM channel to which the servo is attached. 0-9 are
  * on-board, 10-19 are on the MXP port
  */
 Servo::Servo(uint32_t channel) : SafePWM(channel) {
-  InitServo();
+  // Set minimum and maximum PWM values supported by the servo
+  SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
+
+  // Assign defaults for period multiplier for the servo PWM control signal
+  SetPeriodMultiplier(kPeriodMultiplier_4X);
+
   //	printf("Done initializing servo %d\n", channel);
 }
 

wpilibc/wpilibC++Devices/src/Solenoid.cpp

@@ -11,9 +11,21 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common function to implement constructor behavior.
+ * Constructor using the default PCM ID (0).
+ *
+ * @param channel The channel on the PCM to control (0..7).
  */
-void Solenoid::InitSolenoid() {
+Solenoid::Solenoid(uint32_t channel)
+    : Solenoid(GetDefaultSolenoidModule(), channel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The CAN ID of the PCM the solenoid is attached to
+ * @param channel The channel on the PCM to control (0..7).
+ */
+Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
+    : SolenoidBase(moduleNumber), m_channel(channel) {
   char buf[64];
   if (!CheckSolenoidModule(m_moduleNumber)) {
     snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
@@ -40,27 +52,6 @@ void Solenoid::InitSolenoid() {
             m_moduleNumber);
 }
 
-/**
- * Constructor using the default PCM ID (0).
- *
- * @param channel The channel on the PCM to control (0..7).
- */
-Solenoid::Solenoid(uint32_t channel)
-    : SolenoidBase(GetDefaultSolenoidModule()), m_channel(channel) {
-  InitSolenoid();
-}
-
-/**
- * Constructor.
- *
- * @param moduleNumber The CAN ID of the PCM the solenoid is attached to
- * @param channel The channel on the PCM to control (0..7).
- */
-Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
-    : SolenoidBase(moduleNumber), m_channel(channel) {
-  InitSolenoid();
-}
-
 /**
  * Destructor.
  */

wpilibc/wpilibC++Devices/src/Talon.cpp

@@ -11,24 +11,24 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common initialization code called by all constructors.
- *
- * Note that the Talon uses the following bounds for PWM values. These values
- * should work reasonably well for
- * most controllers, but if users experience issues such as asymmetric behavior
- * around
- * the deadband or inability to saturate the controller in either direction,
- * calibration is recommended.
- * The calibration procedure can be found in the Talon User Manual available
- * from CTRE.
- *
- *   2.037ms = full "forward"
- *   1.539ms = the "high end" of the deadband range
- *   1.513ms = center of the deadband range (off)
- *   1.487ms = the "low end" of the deadband range
- *   0.989ms = full "reverse"
+ * Constructor for a Talon (original or Talon SR)
+ * @param channel The PWM channel number that the Talon is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
  */
-void Talon::InitTalon() {
+Talon::Talon(uint32_t channel) : SafePWM(channel) {
+  /* Note that the Talon uses the following bounds for PWM values. These values
+   * should work reasonably well for most controllers, but if users experience
+   * issues such as asymmetric behavior around the deadband or inability to
+   * saturate the controller in either direction, calibration is recommended.
+   * The calibration procedure can be found in the Talon User Manual available
+   * from CTRE.
+   *
+   *   2.037ms = full "forward"
+   *   1.539ms = the "high end" of the deadband range
+   *   1.513ms = center of the deadband range (off)
+   *   1.487ms = the "low end" of the deadband range
+   *   0.989ms = full "reverse"
+   */
   SetBounds(2.037, 1.539, 1.513, 1.487, .989);
   SetPeriodMultiplier(kPeriodMultiplier_1X);
   SetRaw(m_centerPwm);
@@ -38,13 +38,6 @@ void Talon::InitTalon() {
   LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
 }
 
-/**
- * Constructor for a Talon (original or Talon SR)
- * @param channel The PWM channel number that the Talon is attached to. 0-9 are
- * on-board, 10-19 are on the MXP port
- */
-Talon::Talon(uint32_t channel) : SafePWM(channel) { InitTalon(); }
-
 /**
  * Set the PWM value.
  *

wpilibc/wpilibC++Devices/src/TalonSRX.cpp

@@ -11,23 +11,23 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common initialization code called by all constructors.
- *
- * Note that the TalonSRX uses the following bounds for PWM values. These values
- * should work reasonably well for
- * most controllers, but if users experience issues such as asymmetric behaviour
- * around
- * the deadband or inability to saturate the controller in either direction,
- * calibration is recommended.
- * The calibration procedure can be found in the TalonSRX User Manual available
- * from Cross The Road Electronics.
- *   2.004ms = full "forward"
- *   1.52ms = the "high end" of the deadband range
- *   1.50ms = center of the deadband range (off)
- *   1.48ms = the "low end" of the deadband range
- *   0.997ms = full "reverse"
+ * Construct a TalonSRX connected via PWM
+ * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
  */
-void TalonSRX::InitTalonSRX() {
+TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) {
+  /* Note that the TalonSRX uses the following bounds for PWM values. These
+   * values should work reasonably well for most controllers, but if users
+   * experience issues such as asymmetric behavior around the deadband or
+   * inability to saturate the controller in either direction, calibration is
+   * recommended. The calibration procedure can be found in the TalonSRX User
+   * Manual available from Cross The Road Electronics.
+   *   2.004ms = full "forward"
+   *   1.52ms = the "high end" of the deadband range
+   *   1.50ms = center of the deadband range (off)
+   *   1.48ms = the "low end" of the deadband range
+   *   0.997ms = full "reverse"
+   */
   SetBounds(2.004, 1.52, 1.50, 1.48, .997);
   SetPeriodMultiplier(kPeriodMultiplier_1X);
   SetRaw(m_centerPwm);
@@ -37,13 +37,6 @@ void TalonSRX::InitTalonSRX() {
   LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
 }
 
-/**
- * Construct a TalonSRX connected via PWM
- * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
- * on-board, 10-19 are on the MXP port
- */
-TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) { InitTalonSRX(); }
-
 /**
  * Set the PWM value.
  *

wpilibc/wpilibC++Devices/src/Victor.cpp

@@ -11,28 +11,26 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common initialization code called by all constructors.
- *
- * Note that the Victor uses the following bounds for PWM values.  These values
- * were determined
- * empirically and optimized for the Victor 888. These values should work
- * reasonably well for
- * Victor 884 controllers as well but if users experience issues such as
- * asymmetric behaviour around
- * the deadband or inability to saturate the controller in either direction,
- * calibration is recommended.
- * The calibration procedure can be found in the Victor 884 User Manual
- * available from IFI.
- *
- *   2.027ms = full "forward"
- *   1.525ms = the "high end" of the deadband range
- *   1.507ms = center of the deadband range (off)
- *   1.49ms = the "low end" of the deadband range
- *   1.026ms = full "reverse"
+ * Constructor for a Victor
+ * @param channel The PWM channel number that the Victor is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
  */
-void Victor::InitVictor() {
+Victor::Victor(uint32_t channel) : SafePWM(channel) {
+  /* Note that the Victor uses the following bounds for PWM values.  These
+   * values were determined empirically and optimized for the Victor 888. These
+   * values should work reasonably well for Victor 884 controllers as well but
+   * if users experience issues such as asymmetric behaviour around the deadband
+   * or inability to saturate the controller in either direction, calibration is
+   * recommended. The calibration procedure can be found in the Victor 884 User
+   * Manual available from IFI.
+   *
+   *   2.027ms = full "forward"
+   *   1.525ms = the "high end" of the deadband range
+   *   1.507ms = center of the deadband range (off)
+   *   1.49ms = the "low end" of the deadband range
+   *   1.026ms = full "reverse"
+   */
   SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
-
   SetPeriodMultiplier(kPeriodMultiplier_2X);
   SetRaw(m_centerPwm);
   SetZeroLatch();
@@ -41,13 +39,6 @@ void Victor::InitVictor() {
   HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
 }
 
-/**
- * Constructor for a Victor
- * @param channel The PWM channel number that the Victor is attached to. 0-9 are
- * on-board, 10-19 are on the MXP port
- */
-Victor::Victor(uint32_t channel) : SafePWM(channel) { InitVictor(); }
-
 /**
  * Set the PWM value.
  *

wpilibc/wpilibC++Devices/src/VictorSP.cpp

@@ -11,8 +11,6 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common initialization code called by all constructors.
- *
  * Note that the VictorSP uses the following bounds for PWM values. These values
  * should work reasonably well for
  * most controllers, but if users experience issues such as asymmetric behavior
@@ -28,7 +26,13 @@
  *   1.48ms = the "low end" of the deadband range
  *   0.997ms = full "reverse"
  */
-void VictorSP::InitVictorSP() {
+
+/**
+ * Constructor for a VictorSP
+ * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+VictorSP::VictorSP(uint32_t channel) : SafePWM(channel) {
   SetBounds(2.004, 1.52, 1.50, 1.48, .997);
   SetPeriodMultiplier(kPeriodMultiplier_1X);
   SetRaw(m_centerPwm);
@@ -38,13 +42,6 @@ void VictorSP::InitVictorSP() {
   LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
 }
 
-/**
- * Constructor for a VictorSP
- * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
- * on-board, 10-19 are on the MXP port
- */
-VictorSP::VictorSP(uint32_t channel) : SafePWM(channel) { InitVictorSP(); }
-
 /**
  * Set the PWM value.
  *

wpilibc/wpilibC++Sim/include/AnalogInput.h

@@ -45,7 +45,6 @@ public:
 	ITable * GetTable() const override;
 
 private:
-	void InitAnalogInput(uint32_t channel);
 	uint32_t m_channel;
 	SimFloatInput* m_impl;
 	int64_t m_accumulatorOffset;

wpilibc/wpilibC++Sim/include/Counter.h

@@ -5,6 +5,7 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+#include "HAL/HAL.hpp"
 #include "CounterBase.h"
 #include "SensorBase.h"
 #include "LiveWindow/LiveWindowSendable.h"
@@ -22,7 +23,7 @@ class Counter : public SensorBase, public CounterBase, public LiveWindowSendable
 {
 public:
 
-	Counter();
+	explicit Counter(Mode mode = kTwoPulse);
 	explicit Counter(uint32_t channel);
 	// TODO: [Not Supported] explicit Counter(DigitalSource *source);
 	// TODO: [Not Supported] explicit Counter(DigitalSource &source);
@@ -81,7 +82,6 @@ protected:
 	// TODO: [Not Supported] DigitalSource *m_downSource;	///< What makes the counter count down.
 	void* m_counter;				///< The FPGA counter object.	
 private:
-	// TODO: [Not Supported] void InitCounter(Mode mode = kTwoPulse);
 
 	bool m_allocatedUpSource;		///< Was the upSource allocated locally?
 	bool m_allocatedDownSource;	///< Was the downSource allocated locally?

wpilibc/wpilibC++Sim/include/DigitalInput.h

@@ -30,7 +30,6 @@ public:
 	ITable * GetTable() const override;
 
 private:
-	void InitDigitalInput(uint32_t channel);
 	uint32_t m_channel;
 	bool m_lastValue;
 	SimDigitalInput *m_impl;

wpilibc/wpilibC++Sim/include/DoubleSolenoid.h

@@ -41,7 +41,6 @@ public:
 	ITable * GetTable() const override;
 
 private:
-    void InitSolenoid(int slot, int channel1, int channel2);
     SimContinuousOutput* m_impl;
     Value m_value;
     bool m_reversed;

wpilibc/wpilibC++Sim/include/Jaguar.h

@@ -22,7 +22,4 @@ public:
 	virtual void Disable();
 
 	virtual void PIDWrite(float output) override;
-
-private:
-	void InitJaguar();
 };

wpilibc/wpilibC++Sim/include/Joystick.h

@@ -66,7 +66,6 @@ public:
 
 private:
 	DISALLOW_COPY_AND_ASSIGN(Joystick);
-	void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);
 
 	DriverStation *m_ds = nullptr;
 	uint32_t m_port;

wpilibc/wpilibC++Sim/include/PWM.h

@@ -96,7 +96,6 @@ protected:
 	ITable *m_table = nullptr;
 
 private:
-	void InitPWM(uint32_t channel);
 	uint32_t m_channel;
 	SimContinuousOutput* impl;
 };

wpilibc/wpilibC++Sim/include/Relay.h

@@ -56,8 +56,6 @@ public:
 	ITable *m_table = nullptr;
 
 private:
-	void InitRelay();
-
 	uint32_t m_channel;
 	Direction m_direction;
 	SimContinuousOutput* impl;

wpilibc/wpilibC++Sim/include/SafePWM.h

@@ -33,6 +33,5 @@ public:
 
 	virtual void SetSpeed(float speed);
 private:
-	void InitSafePWM();
 	MotorSafetyHelper *m_safetyHelper;
 };

wpilibc/wpilibC++Sim/include/Solenoid.h

@@ -33,7 +33,6 @@ public:
 	ITable * GetTable() const override;
 
 private:
-	void InitSolenoid(int slot, int channel);
     SimContinuousOutput* m_impl;
     bool m_on; 
 

wpilibc/wpilibC++Sim/include/Talon.h

@@ -22,7 +22,4 @@ public:
 	virtual void Disable();
 
 	virtual void PIDWrite(float output) override;
-
-private:
-	void InitTalon();
 };

wpilibc/wpilibC++Sim/include/Victor.h

@@ -22,7 +22,4 @@ public:
 	virtual void Disable();
 
 	virtual void PIDWrite(float output) override;
-
-private:
-	void InitVictor();
 };

wpilibc/wpilibC++Sim/src/AnalogInput.cpp

@@ -9,9 +9,11 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common initialization.
+ * Construct an analog input.
+ * 
+ * @param channel The channel number to represent.
  */
-void AnalogInput::InitAnalogInput(uint32_t channel)
+AnalogInput::AnalogInput(uint32_t channel)
 {
 	m_channel = channel;
 	char buffer[50];
@@ -21,16 +23,6 @@ void AnalogInput::InitAnalogInput(uint32_t channel)
 	LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
 }
 
-/**
- * Construct an analog input.
- * 
- * @param channel The channel number to represent.
- */
-AnalogInput::AnalogInput(uint32_t channel)
-{
-	InitAnalogInput(channel);
-}
-
 /**
  * Get a scaled sample straight from this channel.
  * The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().

wpilibc/wpilibC++Sim/src/DigitalInput.cpp

@@ -7,19 +7,6 @@
 #include "DigitalInput.h"
 #include "WPIErrors.h"
 
-/**
- * Create an instance of a DigitalInput.
- * Creates a digital input given a channel. Common creation routine for all
- * constructors.
- */
-void DigitalInput::InitDigitalInput(uint32_t channel)
-{
-	char buf[64];
-	m_channel = channel;
-	int n = sprintf(buf, "dio/%d", channel);
-	m_impl = new SimDigitalInput(buf);
-}
-
 /**
  * Create an instance of a Digital Input class.
  * Creates a digital input given a channel and uses the default module.
@@ -28,7 +15,10 @@ void DigitalInput::InitDigitalInput(uint32_t channel)
  */
 DigitalInput::DigitalInput(uint32_t channel)
 {
-	InitDigitalInput(channel);
+	char buf[64];
+	m_channel = channel;
+	int n = sprintf(buf, "dio/%d", channel);
+	m_impl = new SimDigitalInput(buf);
 }
 
 /*

wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp

@@ -9,26 +9,6 @@
 #include <string.h>
 #include "LiveWindow/LiveWindow.h"
 
-/**
- * Common function to implement constructor behavior.
- */
-void DoubleSolenoid::InitSolenoid(int slot, int forwardChannel, int reverseChannel)
-{
-    m_reversed = false;
-    if (reverseChannel < forwardChannel) { // Swap ports to get the right address
-        int channel = reverseChannel;
-        reverseChannel = forwardChannel;
-        forwardChannel = channel;
-        m_reversed = true;
-    }
-    char buffer[50];
-    int n = sprintf(buffer, "pneumatic/%d/%d/%d/%d", slot, forwardChannel,
-                    slot, reverseChannel);
-    m_impl = new SimContinuousOutput(buffer);  
-  
-	LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", slot, forwardChannel, this);
-}
-
 /**
  * Constructor.
  *
@@ -36,9 +16,7 @@ void DoubleSolenoid::InitSolenoid(int slot, int forwardChannel, int reverseChann
  * @param reverseChannel The reverse channel on the module to control.
  */
 DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
-{
-    InitSolenoid(1, forwardChannel, reverseChannel);
-}
+  : DoubleSolenoid(1, forwardChannel, reverseChannel) {}
 
 /**
  * Constructor.
@@ -49,7 +27,20 @@ DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
  */
 DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel)
 {
-    InitSolenoid(moduleNumber, forwardChannel, reverseChannel);
+    m_reversed = false;
+    if (reverseChannel < forwardChannel) { // Swap ports to get the right address
+        int channel = reverseChannel;
+        reverseChannel = forwardChannel;
+        forwardChannel = channel;
+        m_reversed = true;
+    }
+    char buffer[50];
+    int n = sprintf(buffer, "pneumatic/%d/%d/%d/%d", moduleNumber,
+                    forwardChannel, moduleNumber, reverseChannel);
+    m_impl = new SimContinuousOutput(buffer);  
+  
+	LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", moduleNumber,
+                                           forwardChannel, this);
 }
 
 /**

wpilibc/wpilibC++Sim/src/Jaguar.cpp

@@ -10,9 +10,9 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common initialization code called by all constructors.
+ * @param channel The PWM channel that the Jaguar is attached to.
  */
-void Jaguar::InitJaguar()
+Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
 {
 	/*
 	 * Input profile defined by Luminary Micro.
@@ -30,14 +30,6 @@ void Jaguar::InitJaguar()
 	LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
 }
 
-/**
- * @param channel The PWM channel that the Jaguar is attached to.
- */
-Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
-{
-	InitJaguar();
-}
-
 /**
  * Set the PWM value.
  *

wpilibc/wpilibC++Sim/src/Joystick.cpp

@@ -26,10 +26,8 @@ static bool joySticksInitialized = false;
  * @param port The port on the driver station that the joystick is plugged into.
  */
 Joystick::Joystick(uint32_t port)
-	: m_port (port)
+	: Joystick(port, kNumAxisTypes, kNumButtonTypes)
 {
-	InitJoystick(kNumAxisTypes, kNumButtonTypes);
-
 	m_axes[kXAxis] = kDefaultXAxis;
 	m_axes[kYAxis] = kDefaultYAxis;
 	m_axes[kZAxis] = kDefaultZAxis;
@@ -52,11 +50,6 @@ Joystick::Joystick(uint32_t port)
  */
 Joystick::Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes)
 	: m_port (port)
-{
-	InitJoystick(numAxisTypes, numButtonTypes);
-}
-
-void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes)
 {
 	if ( !joySticksInitialized )
 	{

wpilibc/wpilibC++Sim/src/PWM.cpp

@@ -16,13 +16,15 @@ const int32_t PWM::kDefaultPwmStepsDown;
 const int32_t PWM::kPwmDisabled;
 
 /**
- * Initialize PWMs given a channel.
+ * Allocate a PWM given a channel number.
  *
- * This method is private and is the common path for all the constructors for creating PWM
- * instances. Checks channel value range and allocates the appropriate channel.
- * The allocation is only done to help users ensure that they don't double assign channels.
+ * Checks channel value range and allocates the appropriate channel.
+ * The allocation is only done to help users ensure that they don't double
+ * assign channels.
+ * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP
+ * port
  */
-void PWM::InitPWM(uint32_t channel)
+PWM::PWM(uint32_t channel)
 {
 	char buf[64];
 
@@ -41,16 +43,6 @@ void PWM::InitPWM(uint32_t channel)
 	m_centerPwm = kPwmDisabled; // In simulation, the same thing.
 }
 
-/**
- * Allocate a PWM given a channel number.
- *
- * @param channel The PWM channel.
- */
-PWM::PWM(uint32_t channel)
-{
-	InitPWM(channel);
-}
-
 /**
  * Optionally eliminate the deadband from a speed controller.
  * @param eliminateDeadband If true, set the motor curve on the Jaguar to eliminate

wpilibc/wpilibC++Sim/src/Relay.cpp

@@ -11,11 +11,16 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common relay initialization method.
- * This code is common to all Relay constructors and initializes the relay and reserves
- * all resources that need to be locked. Initially the relay is set to both lines at 0v.
+ * Relay constructor given a channel.
+ *
+ * This code initializes the relay and reserves all resources that need to be
+ * locked. Initially the relay is set to both lines at 0v.
+ * @param channel The channel number (0-3).
+ * @param direction The direction that the Relay object will control.
  */
-void Relay::InitRelay()
+Relay::Relay(uint32_t channel, Relay::Direction direction)
+	: m_channel (channel)
+	, m_direction (direction)
 {
 	char buf[64];
 	if (!SensorBase::CheckRelayChannel(m_channel))
@@ -31,18 +36,6 @@ void Relay::InitRelay()
 	go_pos = go_neg = false;
 }
 
-/**
- * Relay constructor given a channel.
- * @param channel The channel number.
- * @param direction The direction that the Relay object will control.
- */
-Relay::Relay(uint32_t channel, Relay::Direction direction)
-	: m_channel (channel)
-	, m_direction (direction)
-{
-	InitRelay();
-}
-
 /**
  * Free the resource associated with a relay.
  * The relay channels are set to free and the relay output is turned off.

wpilibc/wpilibC++Sim/src/SafePWM.cpp

@@ -8,22 +8,14 @@
 
 #include "MotorSafetyHelper.h"
 
-/**
- * Initialize a SafePWM object by setting defaults
- */
-void SafePWM::InitSafePWM()
-{
-	m_safetyHelper = new MotorSafetyHelper(this);
-	m_safetyHelper->SetSafetyEnabled(false);
-}
-
 /**
  * Constructor for a SafePWM object taking a channel number.
  * @param channel The PWM channel number (0..19).
  */
 SafePWM::SafePWM(uint32_t channel): PWM(channel)
 {
-	InitSafePWM();
+	m_safetyHelper = new MotorSafetyHelper(this);
+	m_safetyHelper->SetSafetyEnabled(false);
 }
 
 SafePWM::~SafePWM()

wpilibc/wpilibC++Sim/src/Solenoid.cpp

@@ -9,27 +9,12 @@
 #include "LiveWindow/LiveWindow.h"
 #include "simulation/simTime.h"
 
-/**
- * Common function to implement constructor behavior.
- */
-void Solenoid::InitSolenoid(int slot, int channel)
-{
-    char buffer[50];
-    int n = sprintf(buffer, "pneumatic/%d/%d", slot, channel);
-    m_impl = new SimContinuousOutput(buffer);
-  
-	LiveWindow::GetInstance()->AddActuator("Solenoid", slot, channel, this);
-}
-
 /**
  * Constructor.
  *
  * @param channel The channel on the solenoid module to control (1..8).
  */
-Solenoid::Solenoid(uint32_t channel)
-{
-    InitSolenoid(1, channel);
-}
+Solenoid::Solenoid(uint32_t channel) : Solenoid(1, channel) {}
 
 /**
  * Constructor.
@@ -39,7 +24,12 @@ Solenoid::Solenoid(uint32_t channel)
  */
 Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
 {
-    InitSolenoid(moduleNumber, channel);
+    char buffer[50];
+    int n = sprintf(buffer, "pneumatic/%d/%d", moduleNumber, channel);
+    m_impl = new SimContinuousOutput(buffer);
+  
+	LiveWindow::GetInstance()->AddActuator("Solenoid", moduleNumber, channel,
+                                           this);
 }
 
 /**

wpilibc/wpilibC++Sim/src/Talon.cpp

@@ -9,34 +9,29 @@
 //#include "NetworkCommunication/UsageReporting.h"
 #include "LiveWindow/LiveWindow.h"
 
-/**
- * Common initialization code called by all constructors.
- *
- * Note that the Talon uses the following bounds for PWM values. These values should work reasonably well for
- * most controllers, but if users experience issues such as asymmetric behavior around
- * the deadband or inability to saturate the controller in either direction, calibration is recommended.
- * The calibration procedure can be found in the Talon User Manual available from CTRE.
- *
- *   - 211 = full "forward"
- *   - 133 = the "high end" of the deadband range
- *   - 129 = center of the deadband range (off)
- *   - 125 = the "low end" of the deadband range
- *   - 49 = full "reverse"
- */
-void Talon::InitTalon() {
-	SetBounds(2.037, 1.539, 1.513, 1.487, .989);
-	SetPeriodMultiplier(kPeriodMultiplier_2X);
-	SetRaw(m_centerPwm);
-
-	LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
-}
-
 /**
  * @param channel The PWM channel that the Talon is attached to.
  */
 Talon::Talon(uint32_t channel) : SafePWM(channel)
 {
-	InitTalon();
+  /* Note that the Talon uses the following bounds for PWM values. These values
+   * should work reasonably well for most controllers, but if users experience
+   * issues such as asymmetric behavior around the deadband or inability to
+   * saturate the controller in either direction, calibration is recommended.
+   * The calibration procedure can be found in the Talon User Manual available
+   * from CTRE.
+   *
+   *   - 211 = full "forward"
+   *   - 133 = the "high end" of the deadband range
+   *   - 129 = center of the deadband range (off)
+   *   - 125 = the "low end" of the deadband range
+   *   - 49 = full "reverse"
+   */
+  SetBounds(2.037, 1.539, 1.513, 1.487, .989);
+  SetPeriodMultiplier(kPeriodMultiplier_2X);
+  SetRaw(m_centerPwm);
+
+  LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
 }
 
 /**

wpilibc/wpilibC++Sim/src/Victor.cpp

@@ -9,36 +9,31 @@
 //#include "NetworkCommunication/UsageReporting.h"
 #include "LiveWindow/LiveWindow.h"
 
-/**
- * Common initialization code called by all constructors.
- *
- * Note that the Victor uses the following bounds for PWM values.  These values were determined
- * empirically and optimized for the Victor 888. These values should work reasonably well for
- * Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
- * the deadband or inability to saturate the controller in either direction, calibration is recommended.
- * The calibration procedure can be found in the Victor 884 User Manual available from IFI.
- *
- *   - 206 = full "forward"
- *   - 131 = the "high end" of the deadband range
- *   - 128 = center of the deadband range (off)
- *   - 125 = the "low end" of the deadband range
- *   - 56 = full "reverse"
- */
-void Victor::InitVictor() {
-	SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
-
-	SetPeriodMultiplier(kPeriodMultiplier_2X);
-	SetRaw(m_centerPwm);
-
-	LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
-}
-
 /**
  * @param channel The PWM channel that the Victor is attached to.
  */
 Victor::Victor(uint32_t channel) : SafePWM(channel)
 {
-	InitVictor();
+  /* Note that the Victor uses the following bounds for PWM values. These values
+   * were determined empirically and optimized for the Victor 888. These values
+   * should work reasonably well for Victor 884 controllers as well but if users
+   * experience issues such as asymmetric behavior around the deadband or
+   * inability to saturate the controller in either direction, calibration is
+   * recommended. The calibration procedure can be found in the Victor 884 User
+   * Manual available from IFI.
+   *
+   *   - 206 = full "forward"
+   *   - 131 = the "high end" of the deadband range
+   *   - 128 = center of the deadband range (off)
+   *   - 125 = the "low end" of the deadband range
+   *   - 56 = full "reverse"
+   */
+
+  SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
+  SetPeriodMultiplier(kPeriodMultiplier_2X);
+  SetRaw(m_centerPwm);
+
+  LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
 }
 
 /**