[examples] Prepare for RobotInit deprecation by updating examples (#6623)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include "Robot.h"
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Default to a length of 60, start empty output
   // Length is expensive to set, so only set it once, then just update data
   m_led.SetLength(kLength);

wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h

@@ -12,7 +12,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
  private:

wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp

@@ -32,6 +32,19 @@
  * solution!
  */
 class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // We need to run our vision program in a separate thread. If not, our robot
+    // program will not run.
+#if defined(__linux__) || defined(_WIN32)
+    std::thread visionThread(VisionThread);
+    visionThread.detach();
+#else
+    std::fputs("Vision only available on Linux or Windows.\n", stderr);
+    std::fflush(stderr);
+#endif
+  }
+
 #if defined(__linux__) || defined(_WIN32)
 
  private:
@@ -147,18 +160,6 @@ class Robot : public frc::TimedRobot {
     }
   }
 #endif
-
-  void RobotInit() override {
-    // We need to run our vision program in a separate thread. If not, our robot
-    // program will not run.
-#if defined(__linux__) || defined(_WIN32)
-    std::thread visionThread(VisionThread);
-    visionThread.detach();
-#else
-    std::fputs("Vision only available on Linux or Windows.\n", stderr);
-    std::fflush(stderr);
-#endif
-  }
 };
 
 #ifndef RUNNING_FRC_TESTS

wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp

@@ -23,9 +23,7 @@ class Robot : public frc::TimedRobot {
   Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
-  }
 
-  void RobotInit() override {
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.

wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp

@@ -23,9 +23,7 @@ class Robot : public frc::TimedRobot {
   Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
-  }
 
-  void RobotInit() override {
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.

wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.h

@@ -14,7 +14,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {}
+  Robot() {}
   void SimulationPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;

wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp

@@ -13,7 +13,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     // Put the PDP itself to the dashboard
     frc::SmartDashboard::PutData("PDP", &m_pdp);
   }

wpilibcExamples/src/main/cpp/examples/DMA/cpp/Robot.cpp

@@ -25,7 +25,7 @@ class Robot : public frc::TimedRobot {
   frc::Encoder m_encoder{0, 1};
 
  public:
-  void RobotInit() override {
+  Robot() {
     // Trigger on falling edge of dma trigger output
     m_dma.SetExternalTrigger(&m_dmaTrigger, false, true);
 

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp

@@ -20,7 +20,7 @@ class Robot : public frc::TimedRobot {
   frc::DutyCycleEncoder m_dutyCycleEncoder{0, fullRange, expectedZero};
 
  public:
-  void RobotInit() override {
+  Robot() {
     // If you know the frequency of your sensor, uncomment the following
     // method, and set the method to the frequency of your sensor.
     // This will result in more stable readings from the sensor.

wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp

@@ -12,7 +12,7 @@ class Robot : public frc::TimedRobot {
   frc::DutyCycle m_dutyCycle{m_input};  // Duty cycle input
 
  public:
-  void RobotInit() override {}
+  Robot() {}
 
   void RobotPeriodic() override {
     // Duty Cycle Frequency in Hz

wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.h

@@ -14,7 +14,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {}
+  Robot() {}
   void RobotPeriodic() override;
   void SimulationPeriodic() override;
   void TeleopInit() override;

wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.h

@@ -14,7 +14,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {}
+  Robot() {}
   void RobotPeriodic() override;
   void SimulationPeriodic() override;
   void TeleopPeriodic() override;

wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp

@@ -22,7 +22,7 @@ static const auto KICKER_THRESHOLD = 15_mm;
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     m_controller.SetTolerance(TOLERANCE.value());
 
     frc::BooleanEvent isBallAtKicker{&m_loop, [&kickerSensor = m_kickerSensor] {

wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp

@@ -40,7 +40,7 @@ class Robot : public frc::TimedRobot {
                                0.9 * m_feedforward.Calculate(setpoint));
   }
 
-  void RobotInit() override {
+  Robot() {
     // Add bang-bang controler to SmartDashboard and networktables.
     frc::SmartDashboard::PutData("BangBangControler", &m_bangBangControler);
   }

wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp

@@ -18,16 +18,14 @@
 class Robot : public frc::TimedRobot {
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_drive, &m_left);
-    wpi::SendableRegistry::AddChild(&m_drive, &m_right);
-  }
-
-  void RobotInit() override {
     m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.
     m_right.SetInverted(true);
+
+    wpi::SendableRegistry::AddChild(&m_drive, &m_left);
+    wpi::SendableRegistry::AddChild(&m_drive, &m_right);
   }
 
   /**

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp

@@ -15,7 +15,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp

@@ -9,7 +9,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Start recording to data log
   frc::DataLogManager::Start();
 

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp

@@ -9,7 +9,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Start recording to data log
   frc::DataLogManager::Start();
 

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp

@@ -15,6 +15,14 @@
  * processing.
  */
 class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // We need to run our vision program in a separate thread. If not, our robot
+    // program will not run.
+    std::thread visionThread(VisionThread);
+    visionThread.detach();
+  }
+
  private:
   static void VisionThread() {
     // Create an HTTP camera. The address will need to be modified to have the
@@ -50,13 +58,6 @@ class Robot : public frc::TimedRobot {
       outputStream.PutFrame(mat);
     }
   }
-
-  void RobotInit() override {
-    // We need to run our vision program in a separate thread. If not, our robot
-    // program will not run.
-    std::thread visionThread(VisionThread);
-    visionThread.detach();
-  }
 };
 
 #ifndef RUNNING_FRC_TESTS

wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp

@@ -18,6 +18,19 @@
  * processing.
  */
 class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // We need to run our vision program in a separate thread. If not, our robot
+    // program will not run.
+#if defined(__linux__) || defined(_WIN32)
+    std::thread visionThread(VisionThread);
+    visionThread.detach();
+#else
+    std::fputs("Vision only available on Linux or Windows.\n", stderr);
+    std::fflush(stderr);
+#endif
+  }
+
 #if defined(__linux__) || defined(_WIN32)
 
  private:
@@ -55,18 +68,6 @@ class Robot : public frc::TimedRobot {
     }
   }
 #endif
-
-  void RobotInit() override {
-    // We need to run our vision program in a separate thread. If not, our robot
-    // program will not run.
-#if defined(__linux__) || defined(_WIN32)
-    std::thread visionThread(VisionThread);
-    visionThread.detach();
-#else
-    std::fputs("Vision only available on Linux or Windows.\n", stderr);
-    std::fflush(stderr);
-#endif
-  }
 };
 
 #ifndef RUNNING_FRC_TESTS

wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp

@@ -13,7 +13,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);

wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp

@@ -30,7 +30,7 @@ class Robot : public frc::TimedRobot {
   static constexpr double kElevatorMinimumLength = 0.5;
 
  public:
-  void RobotInit() override {
+  Robot() {
     m_elevatorEncoder.SetDistancePerPulse(kMetersPerPulse);
 
     // publish to dashboard

wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp

@@ -33,7 +33,7 @@ class Robot : public frc::TimedRobot {
     frc::SmartDashboard::PutNumber("Encoder", m_encoder.GetDistance());
   }
 
-  void RobotInit() override {
+  Robot() {
     // Use SetDistancePerPulse to set the multiplier for GetDistance
     // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
     m_encoder.SetDistancePerPulse((std::numbers::pi * 6) / 360.0);

wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp

@@ -11,11 +11,11 @@
  * Uses the CameraServer class to automatically capture video from a USB webcam
  * and send it to the FRC dashboard without doing any vision processing. This is
  * the easiest way to get camera images to the dashboard. Just add this to the
- * RobotInit() method in your program.
+ * robot class constructor.
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
 #if defined(__linux__) || defined(_WIN32)
     frc::CameraServer::StartAutomaticCapture();
 #else

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include "Robot.h"
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Configure default commands and condition bindings on robot startup
   m_robot.ConfigureBindings();
 }

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.h

@@ -27,7 +27,7 @@ class RapidReactCommandBot {
    * Use this method to define bindings between conditions and commands. These
    * are useful for automating robot behaviors based on button and sensor input.
    *
-   * <p>Should be called during Robot::RobotInit().
+   * <p>Should be called in the robot class constructor.
    *
    * <p>Event binding methods are available on the frc2::Trigger class.
    */

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp

@@ -29,7 +29,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_left);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_right);
 

wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     m_trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
         frc::Pose2d{2_m, 2_m, 0_rad}, {}, frc::Pose2d{6_m, 4_m, 0_rad},
         frc::TrajectoryConfig(2_mps, 2_mps_sq));

wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/shuffleboard/Shuffleboard.h>
 #include <units/pressure.h>
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Publish elements to shuffleboard.
   frc::ShuffleboardTab& tab = frc::Shuffleboard::GetTab("Pneumatics");
   tab.Add("Single Solenoid", m_solenoid);

wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h

@@ -35,7 +35,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void TeleopPeriodic() override;
 
  private:

wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp

@@ -93,7 +93,7 @@ class Robot : public frc::TimedRobot {
   frc::TrapezoidProfile<units::radians>::State m_lastProfiledReference;
 
  public:
-  void RobotInit() override {
+  Robot() {
     // We go 2 pi radians per 4096 clicks.
     m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
   }

wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp

@@ -92,7 +92,7 @@ class Robot : public frc::TimedRobot {
   frc::TrapezoidProfile<units::meters>::State m_lastProfiledReference;
 
  public:
-  void RobotInit() override {
+  Robot() {
     // Circumference = pi * d, so distance per click = pi * d / counts
     m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi * kDrumRadius.value() /
                                   4096.0);

wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp

@@ -80,7 +80,7 @@ class Robot : public frc::TimedRobot {
   frc::XboxController m_joystick{kJoystickPort};
 
  public:
-  void RobotInit() override {
+  Robot() {
     // We go 2 pi radians per 4096 clicks.
     m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
   }

wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp

@@ -80,7 +80,7 @@ class Robot : public frc::TimedRobot {
   frc::XboxController m_joystick{kJoystickPort};
 
  public:
-  void RobotInit() override {
+  Robot() {
     // We go 2 pi radians per 4096 clicks.
     m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
   }

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 void Robot::RobotPeriodic() {
   frc2::CommandScheduler::GetInstance().Run();

wpilibcExamples/src/main/cpp/examples/SysId/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp

@@ -21,7 +21,7 @@ class Robot : public frc::TimedRobot {
   frc::Joystick m_rightStick{1};
 
  public:
-  void RobotInit() override {
+  Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
 

wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp

@@ -20,7 +20,7 @@ class Robot : public frc::TimedRobot {
   frc::XboxController m_driverController{0};
 
  public:
-  void RobotInit() override {
+  Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
 

wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp

@@ -8,7 +8,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <units/length.h>
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Add the ultrasonic on the "Sensors" tab of the dashboard
   // Data will update automatically
   frc::Shuffleboard::GetTab("Sensors").Add(m_rangeFinder);

wpilibcExamples/src/main/cpp/examples/Ultrasonic/include/Robot.h

@@ -13,7 +13,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void TeleopPeriodic() override;
   void TestInit() override;
   void TestPeriodic() override;

wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 void Robot::RobotPeriodic() {
   frc2::CommandScheduler::GetInstance().Run();

wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.h

@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp

@@ -11,7 +11,7 @@
 #include <hal/DriverStation.h>
 #include <networktables/NetworkTable.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 void Robot::Disabled() {}
 
@@ -22,8 +22,6 @@ void Robot::Teleop() {}
 void Robot::Test() {}
 
 void Robot::StartCompetition() {
-  RobotInit();
-
   frc::internal::DriverStationModeThread modeThread;
 
   wpi::Event event{false, false};

wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h

@@ -10,7 +10,7 @@
 
 class Robot : public frc::RobotBase {
  public:
-  void RobotInit();
+  Robot();
   void Disabled();
   void Autonomous();
   void Teleop();

wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <wpi/print.h>
 
-void Robot::RobotInit() {
+Robot::Robot() {
   m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
   m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
   frc::SmartDashboard::PutData("Auto Modes", &m_chooser);

wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h

@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void AutonomousInit() override;
   void AutonomousPeriodic() override;

wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include "Robot.h"
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 void Robot::RobotPeriodic() {}
 
 void Robot::AutonomousInit() {}

wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h

@@ -8,7 +8,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp

@@ -23,9 +23,7 @@ Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
   // Total usage:
   // 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2) = 9 ms
   // 9 ms / 10 ms -> 90% allocated
-}
 
-void Robot::RobotInit() {
   m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
   m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
   frc::SmartDashboard::PutData("Auto Modes", &m_chooser);

wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.h

@@ -12,8 +12,6 @@
 class Robot : public frc::TimesliceRobot {
  public:
   Robot();
-
-  void RobotInit() override;
   void RobotPeriodic() override;
   void AutonomousInit() override;
   void AutonomousPeriodic() override;

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp

@@ -23,7 +23,6 @@ Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
   // 9 ms / 10 ms -> 90% allocated
 }
 
-void Robot::RobotInit() {}
 void Robot::RobotPeriodic() {}
 
 void Robot::AutonomousInit() {}

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.h

@@ -10,7 +10,6 @@ class Robot : public frc::TimesliceRobot {
  public:
   Robot();
 
-  void RobotInit() override;
   void RobotPeriodic() override;
 
   void AutonomousInit() override;