artf4107: Uniform initialization syntax introduced

Change-Id: I452b4794d757a0817589ec62b75eda7fbdd74904

wpilibc/wpilibC++/include/Buttons/ButtonScheduler.h

@@ -14,7 +14,7 @@ class Command;
 class ButtonScheduler {
  public:
   ButtonScheduler(bool last, Trigger *button, Command *orders);
-  virtual ~ButtonScheduler() {}
+  virtual ~ButtonScheduler() = default;
   virtual void Execute() = 0;
   void Start();
 

wpilibc/wpilibC++/include/Buttons/CancelButtonScheduler.h

@@ -16,7 +16,7 @@ class Command;
 class CancelButtonScheduler : public ButtonScheduler {
  public:
   CancelButtonScheduler(bool last, Trigger *button, Command *orders);
-  virtual ~CancelButtonScheduler() {}
+  virtual ~CancelButtonScheduler() = default;
   virtual void Execute();
 
  private:

wpilibc/wpilibC++/include/Buttons/HeldButtonScheduler.h

@@ -16,7 +16,7 @@ class Command;
 class HeldButtonScheduler : public ButtonScheduler {
  public:
   HeldButtonScheduler(bool last, Trigger *button, Command *orders);
-  virtual ~HeldButtonScheduler() {}
+  virtual ~HeldButtonScheduler() = default;
   virtual void Execute();
 };
 

wpilibc/wpilibC++/include/Buttons/InternalButton.h

@@ -12,9 +12,9 @@
 
 class InternalButton : public Button {
  public:
-  InternalButton();
+  InternalButton() = default;
   InternalButton(bool inverted);
-  virtual ~InternalButton() {}
+  virtual ~InternalButton() = default;
 
   void SetInverted(bool inverted);
   void SetPressed(bool pressed);
@@ -22,8 +22,8 @@ class InternalButton : public Button {
   virtual bool Get();
 
  private:
-  bool m_pressed;
-  bool m_inverted;
+  bool m_pressed = false;
+  bool m_inverted = false;
 };
 
 #endif

wpilibc/wpilibC++/include/Buttons/JoystickButton.h

@@ -14,7 +14,7 @@
 class JoystickButton : public Button {
  public:
   JoystickButton(GenericHID *joystick, int buttonNumber);
-  virtual ~JoystickButton() {}
+  virtual ~JoystickButton() = default;
 
   virtual bool Get();
 

wpilibc/wpilibC++/include/Buttons/NetworkButton.h

@@ -15,7 +15,7 @@ class NetworkButton : public Button {
  public:
   NetworkButton(const char *tableName, const char *field);
   NetworkButton(ITable *table, const char *field);
-  virtual ~NetworkButton() {}
+  virtual ~NetworkButton() = default;
 
   virtual bool Get();
 

wpilibc/wpilibC++/include/Buttons/PressedButtonScheduler.h

@@ -16,7 +16,7 @@ class Command;
 class PressedButtonScheduler : public ButtonScheduler {
  public:
   PressedButtonScheduler(bool last, Trigger *button, Command *orders);
-  virtual ~PressedButtonScheduler() {}
+  virtual ~PressedButtonScheduler() = default;
   virtual void Execute();
 };
 

wpilibc/wpilibC++/include/Buttons/ReleasedButtonScheduler.h

@@ -16,7 +16,7 @@ class Command;
 class ReleasedButtonScheduler : public ButtonScheduler {
  public:
   ReleasedButtonScheduler(bool last, Trigger *button, Command *orders);
-  virtual ~ReleasedButtonScheduler() {}
+  virtual ~ReleasedButtonScheduler() = default;
   virtual void Execute();
 };
 

wpilibc/wpilibC++/include/Buttons/ToggleButtonScheduler.h

@@ -16,7 +16,7 @@ class Command;
 class ToggleButtonScheduler : public ButtonScheduler {
  public:
   ToggleButtonScheduler(bool last, Trigger *button, Command *orders);
-  virtual ~ToggleButtonScheduler() {}
+  virtual ~ToggleButtonScheduler() = default;
   virtual void Execute();
 
  private:

wpilibc/wpilibC++/include/Buttons/Trigger.h

@@ -31,8 +31,8 @@ class Command;
  */
 class Trigger : public Sendable {
  public:
-  Trigger();
-  virtual ~Trigger() {}
+  Trigger() = default;
+  virtual ~Trigger() = default;
   bool Grab();
   virtual bool Get() = 0;
   void WhenActive(Command *command);
@@ -46,7 +46,7 @@ class Trigger : public Sendable {
   virtual std::string GetSmartDashboardType() const;
 
  protected:
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };
 
 #endif

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

@@ -139,28 +139,39 @@ class Command : public ErrorBase, public NamedSendable, public ITableListener {
 
   /** The name of this command */
   std::string m_name;
+
   /** The time since this command was initialized */
-  double m_startTime;
+  double m_startTime = -1;
+
   /** The time (in seconds) before this command "times out" (or -1 if no
    * timeout) */
   double m_timeout;
+
   /** Whether or not this command has been initialized */
-  bool m_initialized;
+  bool m_initialized = false;
+
   /** The requirements (or null if no requirements) */
   SubsystemSet m_requirements;
+
   /** Whether or not it is running */
-  bool m_running;
+  bool m_running = false;
+
   /** Whether or not it is interruptible*/
-  bool m_interruptible;
+  bool m_interruptible = true;
+
   /** Whether or not it has been canceled */
-  bool m_canceled;
+  bool m_canceled = false;
+
   /** Whether or not it has been locked */
-  bool m_locked;
+  bool m_locked = false;
+
   /** Whether this command should run when the robot is disabled */
-  bool m_runWhenDisabled;
+  bool m_runWhenDisabled = false;
+
   /** The {@link CommandGroup} this is in */
-  CommandGroup *m_parent;
-  int m_commandID;
+  CommandGroup *m_parent = nullptr;
+
+  int m_commandID = m_commandCounter++;
   static int m_commandCounter;
 
  public:
@@ -172,7 +183,7 @@ class Command : public ErrorBase, public NamedSendable, public ITableListener {
                             EntryValue value, bool isNew);
 
  protected:
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };
 
 #endif

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

@@ -36,9 +36,9 @@
  */
 class CommandGroup : public Command {
  public:
-  CommandGroup();
+  CommandGroup() = default;
   CommandGroup(const char *name);
-  virtual ~CommandGroup();
+  virtual ~CommandGroup() = default;
 
   void AddSequential(Command *command);
   void AddSequential(Command *command, double timeout);
@@ -61,14 +61,14 @@ class CommandGroup : public Command {
  private:
   void CancelConflicts(Command *command);
 
-  typedef std::vector<CommandGroupEntry> CommandVector;
   /** The commands in this group (stored in entries) */
-  CommandVector m_commands;
-  typedef std::list<CommandGroupEntry> CommandList;
+  std::vector<CommandGroupEntry> m_commands;
+
   /** The active children in this group (stored in entries) */
-  CommandList m_children;
+  std::list<CommandGroupEntry> m_children;
+
   /** The current command, -1 signifies that none have been run */
-  int m_currentCommandIndex;
+  int m_currentCommandIndex = -1;
 };
 
 #endif

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

@@ -18,14 +18,13 @@ class CommandGroupEntry {
     kSequence_BranchChild
   } Sequence;
 
-  CommandGroupEntry();
-  CommandGroupEntry(Command *command, Sequence state);
-  CommandGroupEntry(Command *command, Sequence state, double timeout);
+  CommandGroupEntry() = default;
+  CommandGroupEntry(Command *command, Sequence state, double timeout = -1.0);
   bool IsTimedOut() const;
 
   double m_timeout;
-  Command *m_command;
-  Sequence m_state;
+  Command *m_command = nullptr;
+  Sequence m_state = kSequence_InSequence;
 };
 
 #endif

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

@@ -14,7 +14,7 @@
 class PrintCommand : public Command {
  public:
   PrintCommand(const char *message);
-  virtual ~PrintCommand() {}
+  virtual ~PrintCommand() = default;
 
  protected:
   virtual void Initialize();

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

@@ -52,20 +52,20 @@ class Scheduler : public ErrorBase, public NamedSendable {
 
   static Scheduler *_instance;
   Command::SubsystemSet m_subsystems;
-  MUTEX_ID m_buttonsLock;
+  MUTEX_ID m_buttonsLock = nullptr;
   typedef std::vector<ButtonScheduler *> ButtonVector;
   ButtonVector m_buttons;
   typedef std::vector<Command *> CommandVector;
-  MUTEX_ID m_additionsLock;
+  MUTEX_ID m_additionsLock = nullptr;
   CommandVector m_additions;
   typedef std::set<Command *> CommandSet;
   CommandSet m_commands;
-  bool m_adding;
-  bool m_enabled;
-  StringArray *commands;
-  NumberArray *ids;
-  NumberArray *toCancel;
-  ITable *m_table;
-  bool m_runningCommandsChanged;
+  bool m_adding = false;
+  bool m_enabled = true;
+  StringArray *commands = nullptr;
+  NumberArray *ids = nullptr;
+  NumberArray *toCancel = nullptr;
+  ITable *m_table = nullptr;
+  bool m_runningCommandsChanged = false;
 };
 #endif

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

@@ -13,7 +13,7 @@
 class StartCommand : public Command {
  public:
   StartCommand(Command *commandToStart);
-  virtual ~StartCommand() {}
+  virtual ~StartCommand() = default;
 
  protected:
   virtual void Initialize();

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

@@ -19,7 +19,7 @@ class Subsystem : public ErrorBase, public NamedSendable {
 
  public:
   Subsystem(const char *name);
-  virtual ~Subsystem() {}
+  virtual ~Subsystem() = default;
 
   void SetDefaultCommand(Command *command);
   Command *GetDefaultCommand();
@@ -30,11 +30,11 @@ class Subsystem : public ErrorBase, public NamedSendable {
  private:
   void ConfirmCommand();
 
-  Command *m_currentCommand;
-  bool m_currentCommandChanged;
-  Command *m_defaultCommand;
+  Command *m_currentCommand = nullptr;
+  bool m_currentCommandChanged = true;
+  Command *m_defaultCommand = nullptr;
   std::string m_name;
-  bool m_initializedDefaultCommand;
+  bool m_initializedDefaultCommand = false;
 
  public:
   virtual std::string GetName();
@@ -43,7 +43,7 @@ class Subsystem : public ErrorBase, public NamedSendable {
   virtual std::string GetSmartDashboardType() const;
 
  protected:
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };
 
 #endif

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

@@ -14,7 +14,7 @@ class WaitCommand : public Command {
  public:
   WaitCommand(double timeout);
   WaitCommand(const char *name, double timeout);
-  virtual ~WaitCommand() {}
+  virtual ~WaitCommand() = default;
 
  protected:
   virtual void Initialize();

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

@@ -14,7 +14,7 @@ class WaitForChildren : public Command {
  public:
   WaitForChildren(double timeout);
   WaitForChildren(const char *name, double timeout);
-  virtual ~WaitForChildren() {}
+  virtual ~WaitForChildren() = default;
 
  protected:
   virtual void Initialize();

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

@@ -14,7 +14,7 @@ class WaitUntilCommand : public Command {
  public:
   WaitUntilCommand(double time);
   WaitUntilCommand(const char *name, double time);
-  virtual ~WaitUntilCommand() {}
+  virtual ~WaitUntilCommand() = default;
 
  protected:
   virtual void Initialize();

wpilibc/wpilibC++/include/Controller.h

@@ -20,7 +20,7 @@
  */
 class Controller {
  public:
-  virtual ~Controller(){};
+  virtual ~Controller() = default;
 
   /**
    * Allows the control loop to run

wpilibc/wpilibC++/include/Error.h

@@ -21,7 +21,6 @@ class Error {
   typedef int32_t Code;
 
   Error();
-  ~Error();
   void Clone(Error& error);
   Code GetCode() const;
   const char* GetMessage() const;
@@ -41,13 +40,13 @@ class Error {
  private:
   void Report();
 
-  Code m_code;
+  Code m_code = 0;
   std::string m_message;
   std::string m_filename;
   std::string m_function;
-  uint32_t m_lineNumber;
-  const ErrorBase* m_originatingObject;
-  double m_timestamp;
+  uint32_t m_lineNumber = 0;
+  const ErrorBase* m_originatingObject = nullptr;
+  double m_timestamp = 0.0;
 
   static bool m_suspendOnErrorEnabled;
   DISALLOW_COPY_AND_ASSIGN(Error);

wpilibc/wpilibC++/include/ErrorBase.h

@@ -51,7 +51,8 @@
 class ErrorBase {
   // TODO: Consider initializing instance variables and cleanup in destructor
  public:
-  virtual ~ErrorBase();
+  ErrorBase();
+  virtual ~ErrorBase() = default;
   virtual Error& GetError();
   virtual const Error& GetError() const;
   virtual void SetErrnoError(const char* contextMessage, const char* filename,
@@ -82,7 +83,6 @@ class ErrorBase {
   // TODO: Replace globalError with a global list of all errors.
   static MUTEX_ID _globalErrorMutex;
   static Error _globalError;
-  ErrorBase();
 
  private:
   DISALLOW_COPY_AND_ASSIGN(ErrorBase);

wpilibc/wpilibC++/include/GenericHID.h

@@ -14,7 +14,7 @@ class GenericHID {
  public:
   enum JoystickHand { kLeftHand = 0, kRightHand = 1 };
 
-  virtual ~GenericHID() {}
+  virtual ~GenericHID() = default;
 
   virtual float GetX(JoystickHand hand = kRightHand) const = 0;
   virtual float GetY(JoystickHand hand = kRightHand) const = 0;

wpilibc/wpilibC++/include/HLUsageReporting.h

@@ -7,7 +7,7 @@
 
 class HLUsageReportingInterface {
  public:
-  virtual ~HLUsageReportingInterface(){};
+  virtual ~HLUsageReportingInterface() = default;
   virtual void ReportScheduler() = 0;
   virtual void ReportSmartDashboard() = 0;
 };

wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h

@@ -12,7 +12,7 @@ struct LiveWindowComponent {
   std::string name;
   bool isSensor;
 
-  LiveWindowComponent() {}
+  LiveWindowComponent() = default;
   LiveWindowComponent(std::string subsystem, std::string name, bool isSensor) {
     this->subsystem = subsystem;
     this->name = name;
@@ -46,7 +46,7 @@ class LiveWindow {
 
  protected:
   LiveWindow();
-  virtual ~LiveWindow();
+  virtual ~LiveWindow() = default;
 
  private:
   void UpdateValues();
@@ -61,8 +61,8 @@ class LiveWindow {
 
   Scheduler *m_scheduler;
 
-  bool m_enabled;
-  bool m_firstTime;
+  bool m_enabled = false;
+  bool m_firstTime = true;
 };
 
 #endif

wpilibc/wpilibC++/include/Notifier.h

@@ -35,11 +35,11 @@ class Notifier : public ErrorBase {
   void DeleteFromQueue();       // delete this Notifier from the timer queue
   TimerEventHandler m_handler;  // address of the handler
   void *m_param;                // a parameter to pass to the handler
-  double m_period;              // the relative time (either periodic or single)
-  double m_expirationTime;  // absolute expiration time for the current event
-  Notifier *m_nextEvent;    // next Nofifier event
-  bool m_periodic;          // true if this is a periodic event
-  bool m_queued;            // indicates if this entry is queued
+  double m_period = 0;              // the relative time (either periodic or single)
+  double m_expirationTime = 0;  // absolute expiration time for the current event
+  Notifier *m_nextEvent = nullptr;    // next Nofifier event
+  bool m_periodic = false;          // true if this is a periodic event
+  bool m_queued = false;            // indicates if this entry is queued
   SEMAPHORE_ID m_handlerSemaphore;  // held by interrupt manager task while
                                     // handler call is in progress
 

wpilibc/wpilibC++/include/PIDController.h

@@ -66,24 +66,28 @@ class PIDController : public LiveWindowSendable,
   float m_I;              // factor for "integral" control
   float m_D;              // factor for "derivative" control
   float m_F;              // factor for "feed forward" control
-  float m_maximumOutput;  // |maximum output|
-  float m_minimumOutput;  // |minimum output|
-  float m_maximumInput;   // maximum input - limit setpoint to this
-  float m_minimumInput;   // minimum input - limit setpoint to this
-  bool m_continuous;      // do the endpoints wrap around? eg. Absolute encoder
-  bool m_enabled;  // is the pid controller enabled
+  float m_maximumOutput = 1.0;  // |maximum output|
+  float m_minimumOutput = -1.0;  // |minimum output|
+  float m_maximumInput = 0;   // maximum input - limit setpoint to this
+  float m_minimumInput = 0;   // minimum input - limit setpoint to this
+  bool m_continuous = false;      // do the endpoints wrap around? eg. Absolute encoder
+  bool m_enabled = false;  // is the pid controller enabled
   bool m_destruct;    // should the calculate thread stop running
-  float m_prevError;  // the prior sensor input (used to compute velocity)
-  double m_totalError;  // the sum of the errors for use in the integral calc
-  enum { kAbsoluteTolerance, kPercentTolerance, kNoTolerance } m_toleranceType;
-  float m_tolerance;  // the percetage or absolute error that is considered on
+  float m_prevError = 0;  // the prior sensor input (used to compute velocity)
+  double m_totalError = 0;  // the sum of the errors for use in the integral calc
+  enum {
+    kAbsoluteTolerance,
+    kPercentTolerance,
+    kNoTolerance
+  } m_toleranceType = kNoTolerance;
+  float m_tolerance = 0.05;  // the percetage or absolute error that is considered on
                       // target
-  float m_setpoint;
+  float m_setpoint = 0;
   float m_error;
-  float m_result;
+  float m_result = 0;
   float m_period;
 
-  MUTEX_ID m_semaphore;
+  MUTEX_ID m_semaphore = 0;
 
   PIDSource *m_pidInput;
   PIDOutput *m_pidOutput;
@@ -103,7 +107,7 @@ class PIDController : public LiveWindowSendable,
   virtual void StopLiveWindowMode() override;
 
  protected:
-  ITable *m_table;
+  ITable *m_table = nullptr;
   virtual void Calculate();
 
   DISALLOW_COPY_AND_ASSIGN(PIDController);

wpilibc/wpilibC++/include/RobotState.h

@@ -7,7 +7,7 @@
 
 class RobotStateInterface {
  public:
-  virtual ~RobotStateInterface(){};
+  virtual ~RobotStateInterface() = default;
   virtual bool IsDisabled() const = 0;
   virtual bool IsEnabled() const = 0;
   virtual bool IsOperatorControl() const = 0;

wpilibc/wpilibC++/include/SensorBase.h

@@ -19,7 +19,7 @@
 class SensorBase : public ErrorBase {
  public:
   SensorBase();
-  virtual ~SensorBase();
+  virtual ~SensorBase() = default;
   static void DeleteSingletons();
 
   static uint32_t GetDefaultSolenoidModule() { return 0; }

wpilibc/wpilibC++/include/SmartDashboard/SendableChooser.h

@@ -32,8 +32,7 @@
  */
 class SendableChooser : public Sendable {
  public:
-  SendableChooser();
-  virtual ~SendableChooser(){};
+  virtual ~SendableChooser() = default;
 
   void AddObject(const char *name, void *object);
   void AddDefault(const char *name, void *object);

wpilibc/wpilibC++/include/SmartDashboard/SmartDashboard.h

@@ -40,9 +40,7 @@ class SmartDashboard : public SensorBase {
   static void RetrieveValue(std::string keyName, ComplexData &value);
 
  private:
-  SmartDashboard();
-  virtual ~SmartDashboard();
-  DISALLOW_COPY_AND_ASSIGN(SmartDashboard);
+  virtual ~SmartDashboard() = default;
 
   /** The {@link NetworkTable} used by {@link SmartDashboard} */
   static ITable *m_table;

wpilibc/wpilibC++/include/Task.h

@@ -44,7 +44,7 @@ class Task : public ErrorBase {
  private:
   FUNCPTR m_function;
   char* m_taskName;
-  TASK m_taskID;
+  TASK m_taskID = NULL_TASK;
   uint32_t m_stackSize;
   int m_priority;
   bool HandleError(STATUS results);

wpilibc/wpilibC++/include/Timer.h

@@ -43,9 +43,9 @@ class Timer {
   static constexpr double kRolloverTime = (1ll << 32) / 1e6;
 
  private:
-  double m_startTime;
-  double m_accumulatedTime;
-  bool m_running;
-  MUTEX_ID m_semaphore;
+  double m_startTime = 0.0;
+  double m_accumulatedTime = 0.0;
+  bool m_running = false;
+  MUTEX_ID m_semaphore = nullptr;
   DISALLOW_COPY_AND_ASSIGN(Timer);
 };

wpilibc/wpilibC++/include/interfaces/Accelerometer.h

@@ -10,7 +10,7 @@
  */
 class Accelerometer {
  public:
-  virtual ~Accelerometer(){};
+  virtual ~Accelerometer() = default;
 
   enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
 

wpilibc/wpilibC++/include/interfaces/Potentiometer.h

@@ -15,7 +15,7 @@
  */
 class Potentiometer : public PIDSource {
  public:
-  virtual ~Potentiometer(){};
+  virtual ~Potentiometer() = default;
   /**
    * Common interface for getting the current value of a potentiometer.
    *

wpilibc/wpilibC++/src/Buttons/InternalButton.cpp

@@ -7,8 +7,6 @@
 
 #include "Buttons/InternalButton.h"
 
-InternalButton::InternalButton() : m_pressed(false), m_inverted(false) {}
-
 InternalButton::InternalButton(bool inverted)
     : m_pressed(inverted), m_inverted(inverted) {}
 

wpilibc/wpilibC++/src/Buttons/Trigger.cpp

@@ -13,8 +13,6 @@
 #include "Buttons/ToggleButtonScheduler.h"
 #include "Buttons/CancelButtonScheduler.h"
 
-Trigger::Trigger() { m_table = nullptr; }
-
 bool Trigger::Grab() {
   if (Get())
     return true;

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

@@ -20,18 +20,8 @@ static const char *kIsParented = "isParented";
 int Command::m_commandCounter = 0;
 
 void Command::InitCommand(const char *name, double timeout) {
-  m_commandID = m_commandCounter++;
   m_timeout = timeout;
-  m_locked = false;
-  m_startTime = -1;
-  m_initialized = false;
-  m_running = false;
-  m_interruptible = true;
-  m_canceled = false;
-  m_runWhenDisabled = false;
-  m_parent = nullptr;
   m_name = name == nullptr ? std::string() : name;
-  m_table = nullptr;
 }
 
 /**

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

@@ -8,20 +8,11 @@
 #include "Commands/CommandGroup.h"
 #include "WPIErrors.h"
 
-/**
- * Creates a new {@link CommandGroup CommandGroup}.
- */
-CommandGroup::CommandGroup() { m_currentCommandIndex = -1; }
-
 /**
  * Creates a new {@link CommandGroup CommandGroup} with the given name.
  * @param name the name for this command group
  */
-CommandGroup::CommandGroup(const char *name) : Command(name) {
-  m_currentCommandIndex = -1;
-}
-
-CommandGroup::~CommandGroup() {}
+CommandGroup::CommandGroup(const char *name) : Command(name) {}
 
 /**
  * Adds a new {@link Command Command} to the group.  The {@link Command Command}

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

@@ -9,12 +9,6 @@
 
 #include "Commands/Command.h"
 
-CommandGroupEntry::CommandGroupEntry()
-    : m_timeout(-1.0), m_command(nullptr), m_state(kSequence_InSequence) {}
-
-CommandGroupEntry::CommandGroupEntry(Command *command, Sequence state)
-    : m_timeout(-1.0), m_command(command), m_state(state) {}
-
 CommandGroupEntry::CommandGroupEntry(Command *command, Sequence state,
                                      double timeout)
     : m_timeout(timeout), m_command(command), m_state(state) {}

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

@@ -18,19 +18,11 @@
 
 Scheduler *Scheduler::_instance = nullptr;
 
-Scheduler::Scheduler()
-    : m_buttonsLock(nullptr), m_additionsLock(nullptr), m_adding(false) {
+Scheduler::Scheduler() {
   m_buttonsLock = initializeMutexNormal();
   m_additionsLock = initializeMutexNormal();
 
   HLUsageReporting::ReportScheduler();
-
-  m_table = nullptr;
-  m_enabled = true;
-  m_runningCommandsChanged = false;
-  toCancel = nullptr;
-  commands = nullptr;
-  ids = nullptr;
 }
 
 Scheduler::~Scheduler() {

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

@@ -15,14 +15,9 @@
  * Creates a subsystem with the given name
  * @param name the name of the subsystem
  */
-Subsystem::Subsystem(const char *name)
-    : m_currentCommand(nullptr),
-      m_defaultCommand(nullptr),
-      m_initializedDefaultCommand(false) {
+Subsystem::Subsystem(const char *name) {
   m_name = name;
   Scheduler::GetInstance()->RegisterSubsystem(this);
-  m_table = nullptr;
-  m_currentCommandChanged = true;
 }
 /**
  * Initialize the default command for this subsystem

wpilibc/wpilibC++/src/Error.cpp

@@ -19,10 +19,7 @@
 #include "Utility.h"
 bool Error::m_suspendOnErrorEnabled = false;
 
-Error::Error()
-    : m_code(0), m_lineNumber(0), m_originatingObject(nullptr), m_timestamp(0.0) {}
-
-Error::~Error() {}
+Error::Error() {}
 
 void Error::Clone(Error& error) {
   m_code = error.m_code;

wpilibc/wpilibC++/src/ErrorBase.cpp

@@ -21,8 +21,6 @@ Error ErrorBase::_globalError;
  */
 ErrorBase::ErrorBase() {}
 
-ErrorBase::~ErrorBase() {}
-
 /**
  * @brief Retrieve the current error.
  * Get the current error information associated with this sensor.

wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp

@@ -20,7 +20,6 @@ LiveWindow *LiveWindow::GetInstance() {
  * Allocate the necessary tables.
  */
 LiveWindow::LiveWindow() {
-  m_enabled = false;
   m_liveWindowTable = NetworkTable::GetTable("LiveWindow");
   m_statusTable = m_liveWindowTable->GetSubTable("~STATUS~");
   m_scheduler = Scheduler::GetInstance();
@@ -52,8 +51,6 @@ void LiveWindow::SetEnabled(bool enabled) {
   m_statusTable->PutBoolean("LW Enabled", m_enabled);
 }
 
-LiveWindow::~LiveWindow() {}
-
 /**
  * Add a Sensor associated with the subsystem and with call it by the given
  * name.

wpilibc/wpilibC++/src/SmartDashboard/SendableChooser.cpp

@@ -14,8 +14,6 @@ static const char *kDefault = "default";
 static const char *kOptions = "options";
 static const char *kSelected = "selected";
 
-SendableChooser::SendableChooser() { m_defaultChoice = ""; }
-
 /**
  * Adds the given object to the list of options.  On the {@link SmartDashboard}
  * on the desktop,

wpilibc/wpilibC++Devices/include/ADXL345_I2C.h

@@ -51,7 +51,7 @@ class ADXL345_I2C : public Accelerometer,
 
  public:
   explicit ADXL345_I2C(Port port, Range range = kRange_2G);
-  virtual ~ADXL345_I2C();
+  virtual ~ADXL345_I2C() = default;
 
   // Accelerometer interface
   virtual void SetRange(Range range) override;
@@ -69,8 +69,6 @@ class ADXL345_I2C : public Accelerometer,
   virtual void StartLiveWindowMode() override {}
   virtual void StopLiveWindowMode() override {}
 
- protected:
-  // I2C* m_i2c;
  private:
   ITable *m_table;
 };

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

@@ -43,9 +43,9 @@ class AnalogAccelerometer : public SensorBase,
   void InitAccelerometer();
 
   AnalogInput *m_AnalogInput;
-  float m_voltsPerG;
-  float m_zeroGVoltage;
+  float m_voltsPerG = 1.0;
+  float m_zeroGVoltage = 2.5;
   bool m_allocatedChannel;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -80,5 +80,5 @@ class AnalogInput : public SensorBase,
   void *m_port;
   int64_t m_accumulatorOffset;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -34,5 +34,5 @@ class AnalogOutput : public SensorBase, public LiveWindowSendable {
   uint32_t m_channel;
   void *m_port;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -19,7 +19,7 @@ class BuiltInAccelerometer : public Accelerometer,
                              public LiveWindowSendable {
  public:
   BuiltInAccelerometer(Range range = kRange_8G);
-  virtual ~BuiltInAccelerometer();
+  virtual ~BuiltInAccelerometer() = default;
 
   // Accelerometer interface
   virtual void SetRange(Range range) override;
@@ -35,5 +35,5 @@ class BuiltInAccelerometer : public Accelerometer,
   virtual void StopLiveWindowMode() override {}
 
  private:
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -16,6 +16,7 @@
 #include "LiveWindow/LiveWindowSendable.h"
 #include "tables/ITable.h"
 #include "NetworkCommunication/CANSessionMux.h"
+#include "CAN/can_proto.h"
 
 #include <atomic>
 #include <mutex>
@@ -170,64 +171,64 @@ class CANJaguar : public MotorSafety,
   mutable std::recursive_mutex m_mutex;
 
   uint8_t m_deviceNumber;
-  float m_value;
+  float m_value = 0.0f;
 
   // Parameters/configuration
   ControlMode m_controlMode;
-  uint8_t m_speedReference;
-  uint8_t m_positionReference;
-  double m_p;
-  double m_i;
-  double m_d;
-  NeutralMode m_neutralMode;
-  uint16_t m_encoderCodesPerRev;
-  uint16_t m_potentiometerTurns;
-  LimitMode m_limitMode;
-  double m_forwardLimit;
-  double m_reverseLimit;
-  double m_maxOutputVoltage;
-  double m_voltageRampRate;
-  float m_faultTime;
+  uint8_t m_speedReference = LM_REF_NONE;
+  uint8_t m_positionReference = LM_REF_NONE;
+  double m_p = 0.0;
+  double m_i = 0.0;
+  double m_d = 0.0;
+  NeutralMode m_neutralMode = kNeutralMode_Jumper;
+  uint16_t m_encoderCodesPerRev = 0;
+  uint16_t m_potentiometerTurns = 0;
+  LimitMode m_limitMode = kLimitMode_SwitchInputsOnly;
+  double m_forwardLimit = 0.0;
+  double m_reverseLimit = 0.0;
+  double m_maxOutputVoltage = 30.0;
+  double m_voltageRampRate = 0.0;
+  float m_faultTime = 0.0f;
 
   // Which parameters have been verified since they were last set?
-  bool m_controlModeVerified;
-  bool m_speedRefVerified;
-  bool m_posRefVerified;
-  bool m_pVerified;
-  bool m_iVerified;
-  bool m_dVerified;
-  bool m_neutralModeVerified;
-  bool m_encoderCodesPerRevVerified;
-  bool m_potentiometerTurnsVerified;
-  bool m_forwardLimitVerified;
-  bool m_reverseLimitVerified;
-  bool m_limitModeVerified;
-  bool m_maxOutputVoltageVerified;
-  bool m_voltageRampRateVerified;
-  bool m_faultTimeVerified;
+  bool m_controlModeVerified = false; // Needs to be verified because it's set in the constructor
+  bool m_speedRefVerified = true;
+  bool m_posRefVerified = true;
+  bool m_pVerified = true;
+  bool m_iVerified = true;
+  bool m_dVerified = true;
+  bool m_neutralModeVerified = true;
+  bool m_encoderCodesPerRevVerified = true;
+  bool m_potentiometerTurnsVerified = true;
+  bool m_forwardLimitVerified = true;
+  bool m_reverseLimitVerified = true;
+  bool m_limitModeVerified = true;
+  bool m_maxOutputVoltageVerified = true;
+  bool m_voltageRampRateVerified = true;
+  bool m_faultTimeVerified = true;
 
   // Status data
-  mutable float m_busVoltage;
-  mutable float m_outputVoltage;
-  mutable float m_outputCurrent;
-  mutable float m_temperature;
-  mutable double m_position;
-  mutable double m_speed;
-  mutable uint8_t m_limits;
-  mutable uint16_t m_faults;
-  uint32_t m_firmwareVersion;
-  uint8_t m_hardwareVersion;
+  mutable float m_busVoltage = 0.0f;
+  mutable float m_outputVoltage = 0.0f;
+  mutable float m_outputCurrent = 0.0f;
+  mutable float m_temperature = 0.0f;
+  mutable double m_position = 0.0;
+  mutable double m_speed = 0.0;
+  mutable uint8_t m_limits = 0x00;
+  mutable uint16_t m_faults = 0x0000;
+  uint32_t m_firmwareVersion = 0;
+  uint8_t m_hardwareVersion = 0;
 
   // Which periodic status messages have we received at least once?
-  mutable std::atomic<bool> m_receivedStatusMessage0;
-  mutable std::atomic<bool> m_receivedStatusMessage1;
-  mutable std::atomic<bool> m_receivedStatusMessage2;
+  mutable std::atomic<bool> m_receivedStatusMessage0{false};
+  mutable std::atomic<bool> m_receivedStatusMessage1{false};
+  mutable std::atomic<bool> m_receivedStatusMessage2{false};
 
   bool m_controlEnabled;
 
   void verify();
 
-  MotorSafetyHelper *m_safetyHelper;
+  MotorSafetyHelper *m_safetyHelper = nullptr;
 
   void ValueChanged(ITable *source, const std::string &key, EntryValue value,
                     bool isNew) override;
@@ -238,9 +239,9 @@ class CANJaguar : public MotorSafety,
   void InitTable(ITable *subTable) override;
   ITable *GetTable() const override;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 
  private:
   void InitCANJaguar();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };

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

@@ -183,14 +183,14 @@ class CANTalon : public MotorSafety,
   int m_deviceNumber;
   CanTalonSRX *m_impl;
   MotorSafetyHelper *m_safetyHelper;
-  int m_profile;  // Profile from CANTalon to use. Set to zero until we can
-                  // actually test this.
+  int m_profile = 0;  // Profile from CANTalon to use. Set to zero until we can
+                      // actually test this.
 
-  bool m_controlEnabled;
-  ControlMode m_controlMode;
+  bool m_controlEnabled = true;
+  ControlMode m_controlMode = kPercentVbus;
   TalonControlMode m_sendMode;
 
-  double m_setPoint;
+  double m_setPoint = 0;
   static const unsigned int kDelayForSolicitedSignalsUs = 4000;
   /**
    * Fixup the sendMode so Set() serializes the correct demand value.

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

@@ -19,9 +19,9 @@ class Compressor : public SensorBase,
                    public LiveWindowSendable,
                    public ITableListener {
  public:
-  explicit Compressor(uint8_t pcmID);
-  Compressor();
-  virtual ~Compressor();
+  // Default PCM ID is 0
+  explicit Compressor(uint8_t pcmID = GetDefaultSolenoidModule());
+  virtual ~Compressor() = default;
 
   void Start();
   void Stop();
@@ -55,10 +55,9 @@ class Compressor : public SensorBase,
   void *m_pcm_pointer;
 
  private:
-  void InitCompressor(uint8_t module);
   void SetCompressor(bool on);
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };
 
 #endif /* Compressor_H_ */

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

@@ -83,15 +83,15 @@ class Counter : public SensorBase,
   ITable *GetTable() const override;
 
  protected:
-  DigitalSource *m_upSource;    ///< What makes the counter count up.
-  DigitalSource *m_downSource;  ///< What makes the counter count down.
-  void *m_counter;              ///< The FPGA counter object.
+  DigitalSource *m_upSource = nullptr;   ///< What makes the counter count up.
+  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;    ///< Was the upSource allocated locally?
-  bool m_allocatedDownSource;  ///< Was the downSource allocated locally?
-  uint32_t m_index;            ///< The index of this counter.
+  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.
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -20,7 +20,7 @@ class CounterBase {
  public:
   enum EncodingType { k1X, k2X, k4X };
 
-  virtual ~CounterBase() {}
+  virtual ~CounterBase() = default;
   virtual int32_t Get() const = 0;
   virtual void Reset() = 0;
   virtual double GetPeriod() const = 0;

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

@@ -43,5 +43,5 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
   uint32_t m_channel;
   bool m_lastValue;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -51,5 +51,5 @@ class DigitalOutput : public DigitalSource,
   uint32_t m_channel;
   void *m_pwmGenerator;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -20,7 +20,7 @@
  */
 class DigitalSource : public InterruptableSensorBase {
  public:
-  virtual ~DigitalSource();
+  virtual ~DigitalSource() = default;
   virtual uint32_t GetChannelForRouting() const = 0;
   virtual uint32_t GetModuleForRouting() const = 0;
   virtual bool GetAnalogTriggerForRouting() const = 0;

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

@@ -49,5 +49,5 @@ class DoubleSolenoid : public SolenoidBase,
   uint8_t m_forwardMask;      ///< The mask for the forward channel.
   uint8_t m_reverseMask;      ///< The mask for the reverse channel.
 
-  ITable* m_table;
+  ITable* m_table = nullptr;
 };

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

@@ -97,15 +97,15 @@ class DriverStation : public SensorBase, public RobotStateInterface {
   HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
   HALJoystickButtons m_joystickButtons[kJoystickPorts];
   HALJoystickDescriptor m_joystickDescriptor[kJoystickPorts];
-  Task m_task;
-  SEMAPHORE_ID m_newControlData;
-  MULTIWAIT_ID m_packetDataAvailableMultiWait;
+  Task m_task{"DriverStation", (FUNCPTR)DriverStation::InitTask};
+  SEMAPHORE_ID m_newControlData = 0;
+  MULTIWAIT_ID m_packetDataAvailableMultiWait = 0;
   MUTEX_ID m_packetDataAvailableMutex;
-  MULTIWAIT_ID m_waitForDataSem;
+  MULTIWAIT_ID m_waitForDataSem = 0;
   MUTEX_ID m_waitForDataMutex;
-  bool m_userInDisabled;
-  bool m_userInAutonomous;
-  bool m_userInTeleop;
-  bool m_userInTest;
-  double m_nextMessageTime;
+  bool m_userInDisabled = false;
+  bool m_userInAutonomous = false;
+  bool m_userInTeleop = false;
+  bool m_userInTest = false;
+  double m_nextMessageTime = 0;
 };

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

@@ -96,14 +96,14 @@ class Encoder : public SensorBase,
   DigitalSource *m_bSource;  // the B phase of the quad encoder
   bool m_allocatedASource;   // was the A source allocated locally?
   bool m_allocatedBSource;   // was the B source allocated locally?
-  void *m_encoder;
-  int32_t m_index;              // The encoder's FPGA index.
-  double m_distancePerPulse;    // distance of travel for each encoder tick
-  Counter *m_counter;           // Counter object for 1x and 2x encoding
-  EncodingType m_encodingType;  // Encoding type
-  int32_t m_encodingScale;      // 1x, 2x, or 4x, per the encodingType
+  void *m_encoder = nullptr;
+  int32_t m_index = 0;             // The encoder's FPGA index.
+  double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
+  Counter *m_counter = nullptr;    // Counter object for 1x and 2x encoding
+  EncodingType m_encodingType;     // Encoding type
+  int32_t m_encodingScale;         // 1x, 2x, or 4x, per the encodingType
   PIDSourceParameter
-      m_pidSource;  // Encoder parameter that sources a PID controller
+      m_pidSource = kDistance; // Encoder parameter that sources a PID controller
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -23,7 +23,7 @@ class GearTooth : public Counter {
   GearTooth(uint32_t channel, bool directionSensitive = false);
   GearTooth(DigitalSource *source, bool directionSensitive = false);
   GearTooth(DigitalSource &source, bool directionSensitive = false);
-  virtual ~GearTooth();
+  virtual ~GearTooth() = default;
   void EnableDirectionSensing(bool directionSensitive);
 
   virtual std::string GetSmartDashboardType() const override;

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

@@ -68,5 +68,5 @@ class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable {
   uint32_t m_center;
   PIDSourceParameter m_pidSource;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -20,7 +20,7 @@ class InterruptableSensorBase : public SensorBase {
   };
 
   InterruptableSensorBase();
-  virtual ~InterruptableSensorBase();
+  virtual ~InterruptableSensorBase() = default;
   virtual uint32_t GetChannelForRouting() const = 0;
   virtual uint32_t GetModuleForRouting() const = 0;
   virtual bool GetAnalogTriggerForRouting() const = 0;
@@ -42,7 +42,7 @@ class InterruptableSensorBase : public SensorBase {
   virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
 
  protected:
-  void *m_interrupt;
+  void *m_interrupt = nullptr;
   uint32_t m_interruptIndex;
   void AllocateInterrupts(bool watcher);
 

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

@@ -72,12 +72,12 @@ class IterativeRobot : public RobotBase {
  protected:
   virtual void Prestart();
 
-  virtual ~IterativeRobot();
+  virtual ~IterativeRobot() = default;
   IterativeRobot();
 
  private:
-  bool m_disabledInitialized;
-  bool m_autonomousInitialized;
-  bool m_teleopInitialized;
-  bool m_testInitialized;
+  bool m_disabledInitialized = false;
+  bool m_autonomousInitialized = false;
+  bool m_teleopInitialized = false;
+  bool m_testInitialized = false;
 };

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

@@ -16,7 +16,7 @@
 class Jaguar : public SafePWM, public SpeedController {
  public:
   explicit Jaguar(uint32_t channel);
-  virtual ~Jaguar();
+  virtual ~Jaguar() = default;
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
@@ -27,5 +27,5 @@ class Jaguar : public SafePWM, public SpeedController {
 
  private:
   void InitJaguar();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };

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

@@ -104,13 +104,13 @@ class Joystick : public GenericHID, public ErrorBase {
   DISALLOW_COPY_AND_ASSIGN(Joystick);
   void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);
 
-  DriverStation *m_ds;
+  DriverStation *m_ds = nullptr;
   uint32_t m_port;
-  uint32_t *m_axes;
-  uint32_t *m_buttons;
-  uint32_t m_outputs;
-  uint16_t m_leftRumble;
-  uint16_t m_rightRumble;
+  uint32_t *m_axes = nullptr;
+  uint32_t *m_buttons = nullptr;
+  uint32_t m_outputs = 0;
+  uint16_t m_leftRumble = 0;
+  uint16_t m_rightRumble = 0;
 };
 
 #endif

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

@@ -106,7 +106,7 @@ class PWM : public SensorBase,
   void InitTable(ITable* subTable) override;
   ITable* GetTable() const override;
 
-  ITable* m_table;
+  ITable* m_table = nullptr;
 
  private:
   void InitPWM(uint32_t channel);

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

@@ -40,7 +40,7 @@ class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
   ITable *GetTable() const override;
 
  private:
-  ITable *m_table;
+  ITable *m_table = nullptr;
   uint8_t m_module;
 };
 

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

@@ -85,11 +85,11 @@ class Preferences : public ErrorBase, public ITableListener {
   static Preferences *_instance;
 
   /** The semaphore for accessing the file */
-  MUTEX_ID m_fileLock;
+  MUTEX_ID m_fileLock = nullptr;
   /** The semaphore for beginning reads and writes to the file */
-  SEMAPHORE_ID m_fileOpStarted;
+  SEMAPHORE_ID m_fileOpStarted = nullptr;
   /** The semaphore for reading from the table */
-  MUTEX_ID m_tableLock;
+  MUTEX_ID m_tableLock = nullptr;
   typedef std::map<std::string, std::string> StringMap;
   /** The actual values (String->String) */
   StringMap m_values;

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

@@ -47,7 +47,7 @@ class Relay : public SensorBase,
   void InitTable(ITable* subTable) override;
   ITable* GetTable() const override;
 
-  ITable* m_table;
+  ITable* m_table = nullptr;
 
  private:
   void InitRelay();

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

@@ -61,8 +61,8 @@ class RobotBase {
 
   virtual void Prestart();
 
-  Task *m_task;
-  DriverStation *m_ds;
+  Task *m_task = nullptr;
+  DriverStation *m_ds = nullptr;
 
  private:
   static RobotBase *m_instance;

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

@@ -97,15 +97,15 @@ class RobotDrive : public MotorSafety, public ErrorBase {
   void RotateVector(double &x, double &y, double angle);
 
   static const int32_t kMaxNumberOfMotors = 4;
-  float m_sensitivity;
-  double m_maxOutput;
+  float m_sensitivity = 0.5;
+  double m_maxOutput = 1.0;
   bool m_deleteSpeedControllers;
-  SpeedController *m_frontLeftMotor;
-  SpeedController *m_frontRightMotor;
-  SpeedController *m_rearLeftMotor;
-  SpeedController *m_rearRightMotor;
-  MotorSafetyHelper *m_safetyHelper;
-  uint8_t m_syncGroup;
+  SpeedController *m_frontLeftMotor = nullptr;
+  SpeedController *m_frontRightMotor = nullptr;
+  SpeedController *m_rearLeftMotor = nullptr;
+  SpeedController *m_rearRightMotor = nullptr;
+  MotorSafetyHelper *m_safetyHelper = nullptr;
+  uint8_t m_syncGroup = 0;
 
  private:
   int32_t GetNumMotors() {

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

@@ -11,7 +11,7 @@
 class SampleRobot : public RobotBase {
  public:
   SampleRobot();
-  virtual ~SampleRobot() {}
+  virtual ~SampleRobot() = default;
   virtual void RobotInit();
   virtual void Disabled();
   virtual void Autonomous();

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

@@ -62,9 +62,9 @@ class SerialPort : public ErrorBase {
   void Reset();
 
  private:
-  uint32_t m_resourceManagerHandle;
-  uint32_t m_portHandle;
-  bool m_consoleModeEnabled;
+  uint32_t m_resourceManagerHandle = 0;
+  uint32_t m_portHandle = 0;
+  bool m_consoleModeEnabled = false;
   uint8_t m_port;
 
   DISALLOW_COPY_AND_ASSIGN(SerialPort);

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

@@ -37,7 +37,7 @@ class Servo : public SafePWM {
   void InitTable(ITable* subTable) override;
   ITable* GetTable() const override;
 
-  ITable* m_table;
+  ITable* m_table = nullptr;
 
  private:
   void InitServo();

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

@@ -41,5 +41,5 @@ class Solenoid : public SolenoidBase,
   void InitSolenoid();
 
   uint32_t m_channel;  ///< The channel on the module to control.
-  ITable* m_table;
+  ITable* m_table = nullptr;
 };

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

@@ -18,7 +18,7 @@
  */
 class SolenoidBase : public SensorBase {
  public:
-  virtual ~SolenoidBase();
+  virtual ~SolenoidBase() = default;
   uint8_t GetAll(int module = 0) const;
 
   uint8_t GetPCMSolenoidBlackList(int module) const;

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

@@ -14,7 +14,7 @@
  */
 class SpeedController : public PIDOutput {
  public:
-  virtual ~SpeedController() {}
+  virtual ~SpeedController() = default;
   /**
    * Common interface for setting the speed of a speed controller.
    *

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

@@ -16,7 +16,7 @@
 class Talon : public SafePWM, public SpeedController {
  public:
   explicit Talon(uint32_t channel);
-  virtual ~Talon();
+  virtual ~Talon() = default;
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
@@ -27,5 +27,5 @@ class Talon : public SafePWM, public SpeedController {
 
  private:
   void InitTalon();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };

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

@@ -17,7 +17,7 @@
 class TalonSRX : public SafePWM, public SpeedController {
  public:
   explicit TalonSRX(uint32_t channel);
-  virtual ~TalonSRX();
+  virtual ~TalonSRX() = default;
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
@@ -28,5 +28,5 @@ class TalonSRX : public SafePWM, public SpeedController {
 
  private:
   void InitTalonSRX();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };

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

@@ -36,26 +36,30 @@ class USBCamera : public ErrorBase {
   static constexpr char const *ATTR_BR_VALUE =
       "CameraAttributes::Brightness::Value";
 
+  // Constants for the manual and auto types
+  static constexpr char const* AUTO = "Auto";
+  static constexpr char const* MANUAL = "Manual";
+
  protected:
-  IMAQdxSession m_id;
+  IMAQdxSession m_id = 0;
   std::string m_name;
   bool m_useJpeg;
-  bool m_active;
-  bool m_open;
+  bool m_active = false;
+  bool m_open = false;
 
   std::recursive_mutex m_mutex;
 
-  unsigned int m_width;
-  unsigned int m_height;
-  double m_fps;
-  std::string m_whiteBalance;
-  unsigned int m_whiteBalanceValue;
-  bool m_whiteBalanceValuePresent;
-  std::string m_exposure;
-  unsigned int m_exposureValue;
-  bool m_exposureValuePresent;
-  unsigned int m_brightness;
-  bool m_needSettingsUpdate;
+  unsigned int m_width = 320;
+  unsigned int m_height = 240;
+  double m_fps = 30;
+  std::string m_whiteBalance = AUTO;
+  unsigned int m_whiteBalanceValue = 0;
+  bool m_whiteBalanceValuePresent = false;
+  std::string m_exposure = MANUAL;
+  unsigned int m_exposureValue = 50;
+  bool m_exposureValuePresent = false;
+  unsigned int m_brightness = 80;
+  bool m_needSettingsUpdate = true;
 
   unsigned int GetJpegSize(void *buffer, unsigned int buffSize);
 

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

@@ -90,5 +90,5 @@ class Ultrasonic : public SensorBase,
   Ultrasonic *m_nextSensor;
   DistanceUnit m_units;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -19,7 +19,7 @@
 class Victor : public SafePWM, public SpeedController {
  public:
   explicit Victor(uint32_t channel);
-  virtual ~Victor();
+  virtual ~Victor() = default;
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
@@ -31,5 +31,5 @@ class Victor : public SafePWM, public SpeedController {
 
  private:
   void InitVictor();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };

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

@@ -16,7 +16,7 @@
 class VictorSP : public SafePWM, public SpeedController {
  public:
   explicit VictorSP(uint32_t channel);
-  virtual ~VictorSP();
+  virtual ~VictorSP() = default;
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
@@ -28,5 +28,5 @@ class VictorSP : public SafePWM, public SpeedController {
 
  private:
   void InitVictorSP();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };

wpilibc/wpilibC++Devices/include/Vision/AxisCamera.h

@@ -89,27 +89,27 @@ class AxisCamera : public ErrorBase {
  private:
   std::thread m_captureThread;
   std::string m_cameraHost;
-  int m_cameraSocket;
+  int m_cameraSocket = -1;
   std::mutex m_captureMutex;
 
   std::mutex m_imageDataMutex;
   std::vector<uint8_t> m_imageData;
-  bool m_freshImage;
+  bool m_freshImage = false;
 
-  int m_brightness;
-  WhiteBalance m_whiteBalance;
-  int m_colorLevel;
-  ExposureControl m_exposureControl;
-  int m_exposurePriority;
-  int m_maxFPS;
-  Resolution m_resolution;
-  int m_compression;
-  Rotation m_rotation;
-  bool m_parametersDirty;
-  bool m_streamDirty;
+  int m_brightness = 50;
+  WhiteBalance m_whiteBalance = kWhiteBalance_Automatic;
+  int m_colorLevel = 50;
+  ExposureControl m_exposureControl = kExposureControl_Automatic;
+  int m_exposurePriority = 50;
+  int m_maxFPS = 0;
+  Resolution m_resolution = kResolution_640x480;
+  int m_compression = 50;
+  Rotation m_rotation = kRotation_0;
+  bool m_parametersDirty = true;
+  bool m_streamDirty = true;
   std::mutex m_parametersMutex;
 
-  bool m_done;
+  bool m_done = false;
 
   void Capture();
   void ReadImagesFromCamera();

wpilibc/wpilibC++Devices/include/Vision/BinaryImage.h

@@ -19,7 +19,7 @@
 class BinaryImage : public MonoImage {
  public:
   BinaryImage();
-  virtual ~BinaryImage();
+  virtual ~BinaryImage() = default;
   int GetNumberParticles();
   ParticleAnalysisReport GetParticleAnalysisReport(int particleNumber);
   void GetParticleAnalysisReport(int particleNumber,

wpilibc/wpilibC++Devices/include/Vision/ColorImage.h

@@ -13,7 +13,7 @@
 class ColorImage : public ImageBase {
  public:
   ColorImage(ImageType type);
-  virtual ~ColorImage();
+  virtual ~ColorImage() = default;
   BinaryImage *ThresholdRGB(int redLow, int redHigh, int greenLow,
                             int greenHigh, int blueLow, int blueHigh);
   BinaryImage *ThresholdHSL(int hueLow, int hueHigh, int saturationLow,

wpilibc/wpilibC++Devices/include/Vision/HSLImage.h

@@ -15,5 +15,5 @@ class HSLImage : public ColorImage {
  public:
   HSLImage();
   HSLImage(const char *fileName);
-  virtual ~HSLImage();
+  virtual ~HSLImage() = default;
 };

wpilibc/wpilibC++Devices/include/Vision/MonoImage.h

@@ -13,7 +13,7 @@
 class MonoImage : public ImageBase {
  public:
   MonoImage();
-  virtual ~MonoImage();
+  virtual ~MonoImage() = default;
 
   std::vector<EllipseMatch> *DetectEllipses(
       EllipseDescriptor *ellipseDescriptor, CurveOptions *curveOptions,

wpilibc/wpilibC++Devices/include/Vision/RGBImage.h

@@ -15,5 +15,5 @@ class RGBImage : public ColorImage {
  public:
   RGBImage();
   RGBImage(const char *fileName);
-  virtual ~RGBImage();
+  virtual ~RGBImage() = default;
 };

wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp

@@ -35,14 +35,6 @@ ADXL345_I2C::ADXL345_I2C(Port port, Range range) : I2C(port, kAddress) {
   LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
 }
 
-/**
- * Destructor.
- */
-ADXL345_I2C::~ADXL345_I2C() {
-  // delete m_i2c;
-  // m_i2c = nullptr;
-}
-
 /** {@inheritdoc} */
 void ADXL345_I2C::SetRange(Range range) {
   Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);

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

@@ -14,9 +14,6 @@
  * Common function for initializing the accelerometer.
  */
 void AnalogAccelerometer::InitAccelerometer() {
-  m_table = nullptr;
-  m_voltsPerG = 1.0;
-  m_zeroGVoltage = 2.5;
   HALReport(HALUsageReporting::kResourceType_Accelerometer,
             m_AnalogInput->GetChannel());
   LiveWindow::GetInstance()->AddSensor("Accelerometer",

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

@@ -21,7 +21,6 @@ const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};
  * Common initialization.
  */
 void AnalogInput::InitAnalogInput(uint32_t channel) {
-  m_table = nullptr;
   char buf[64];
   Resource::CreateResourceObject(&inputs, kAnalogInputs);
 

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

@@ -13,8 +13,6 @@
 static Resource *outputs = nullptr;
 
 void AnalogOutput::InitAnalogOutput(uint32_t channel) {
-  m_table = nullptr;
-
   Resource::CreateResourceObject(&outputs, kAnalogOutputs);
 
   char buf[64];

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

@@ -13,7 +13,7 @@
  * Constructor.
  * @param range The range the accelerometer will measure
  */
-BuiltInAccelerometer::BuiltInAccelerometer(Range range) : m_table(0) {
+BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
   SetRange(range);
 
   HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
@@ -21,8 +21,6 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) : m_table(0) {
   LiveWindow::GetInstance()->AddSensor((std::string) "BuiltInAccel", 0, this);
 }
 
-BuiltInAccelerometer::~BuiltInAccelerometer() {}
-
 /** {@inheritdoc} */
 void BuiltInAccelerometer::SetRange(Range range) {
   if (range == kRange_16G) {

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

@@ -8,7 +8,6 @@
 #include "Timer.h"
 #define tNIRIO_i32 int
 #include "NetworkCommunication/CANSessionMux.h"
-#include "CAN/can_proto.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "WPIErrors.h"
 #include <cstdio>
@@ -73,57 +72,8 @@ static int32_t sendMessageHelper(uint32_t messageID, const uint8_t *data,
  * Common initialization code called by all constructors.
  */
 void CANJaguar::InitCANJaguar() {
-  m_table = nullptr;
   m_safetyHelper = new MotorSafetyHelper(this);
 
-  m_value = 0.0f;
-  m_speedReference = LM_REF_NONE;
-  m_positionReference = LM_REF_NONE;
-  m_p = 0.0;
-  m_i = 0.0;
-  m_d = 0.0;
-  m_busVoltage = 0.0f;
-  m_outputVoltage = 0.0f;
-  m_outputCurrent = 0.0f;
-  m_temperature = 0.0f;
-  m_position = 0.0;
-  m_speed = 0.0;
-  m_limits = 0x00;
-  m_faults = 0x0000;
-  m_firmwareVersion = 0;
-  m_hardwareVersion = 0;
-  m_neutralMode = kNeutralMode_Jumper;
-  m_encoderCodesPerRev = 0;
-  m_potentiometerTurns = 0;
-  m_limitMode = kLimitMode_SwitchInputsOnly;
-  m_forwardLimit = 0.0;
-  m_reverseLimit = 0.0;
-  m_maxOutputVoltage = 30.0;
-  m_voltageRampRate = 0.0;
-  m_faultTime = 0.0f;
-
-  // Parameters only need to be verified if they are set
-  m_controlModeVerified =
-      false;  // Needs to be verified because it's set in the constructor
-  m_speedRefVerified = true;
-  m_posRefVerified = true;
-  m_pVerified = true;
-  m_iVerified = true;
-  m_dVerified = true;
-  m_neutralModeVerified = true;
-  m_encoderCodesPerRevVerified = true;
-  m_potentiometerTurnsVerified = true;
-  m_limitModeVerified = true;
-  m_forwardLimitVerified = true;
-  m_reverseLimitVerified = true;
-  m_maxOutputVoltageVerified = true;
-  m_voltageRampRateVerified = true;
-  m_faultTimeVerified = true;
-
-  m_receivedStatusMessage0 = false;
-  m_receivedStatusMessage1 = false;
-  m_receivedStatusMessage2 = false;
-
   bool receivedFirmwareVersion = false;
   uint8_t dataBuffer[8];
   uint8_t dataSize;
@@ -197,7 +147,6 @@ void CANJaguar::InitCANJaguar() {
     default:
       break;
   }
-  m_isInverted = false;
   HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber,
             m_controlMode);
   LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, this);
@@ -228,9 +177,7 @@ void CANJaguar::InitCANJaguar() {
  * @see CANJaguar#SetVoltageMode(QuadEncoderTag, int)
  */
 CANJaguar::CANJaguar(uint8_t deviceNumber)
-    : m_deviceNumber(deviceNumber),
-      m_maxOutputVoltage(kApproxBusVoltage),
-      m_safetyHelper(nullptr) {
+    : m_deviceNumber(deviceNumber) {
   char buf[64];
   snprintf(buf, 64, "CANJaguar device number %d", m_deviceNumber);
   Resource::CreateResourceObject(&allocated, 63);

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

@@ -15,11 +15,7 @@
 CANTalon::CANTalon(int deviceNumber)
     : m_deviceNumber(deviceNumber),
       m_impl(new CanTalonSRX(deviceNumber)),
-      m_safetyHelper(new MotorSafetyHelper(this)),
-      m_profile(0),
-      m_controlEnabled(true),
-      m_controlMode(kPercentVbus),
-      m_setPoint(0) {
+      m_safetyHelper(new MotorSafetyHelper(this)) {
   ApplyControlMode(m_controlMode);
   m_impl->SetProfileSlotSelect(m_profile);
   m_isInverted = false;