Replaced wpilibj class Init() methods with delegating constructors (#79)

wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -20,25 +20,12 @@ import edu.wpi.first.wpilibj.tables.ITable;
  * @author Colby Skeggs (rail voltage)
  */
 public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
-  private double m_fullRange;
-  private double m_offset;
   private AnalogInput m_analogInput;
   private boolean m_initAnalogInput;
+  private double m_fullRange;
+  private double m_offset;
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
-  /**
-   * Common initialization code called by all constructors.
-   *
-   * @param input     The {@link AnalogInput} this potentiometer is plugged into.
-   * @param fullRange The scaling to multiply the voltage by to get a meaningful unit.
-   * @param offset    The offset to add to the scaled value for controlling the zero value
-   */
-  private void initPot(final AnalogInput input, double fullRange, double offset) {
-    m_fullRange = fullRange;
-    m_offset = offset;
-    m_analogInput = input;
-  }
-
   /**
    * AnalogPotentiometer constructor.
    *
@@ -53,9 +40,8 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
    * @param offset    The offset to add to the scaled value for controlling the zero value
    */
   public AnalogPotentiometer(final int channel, double fullRange, double offset) {
-    AnalogInput input = new AnalogInput(channel);
+    this(new AnalogInput(channel), fullRange, offset);
     m_initAnalogInput = true;
-    initPot(input, fullRange, offset);
   }
 
   /**
@@ -72,8 +58,11 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
    * @param offset    The offset to add to the scaled value for controlling the zero value
    */
   public AnalogPotentiometer(final AnalogInput input, double fullRange, double offset) {
+    m_analogInput = input;
     m_initAnalogInput = false;
-    initPot(input, fullRange, offset);
+
+    m_fullRange = fullRange;
+    m_offset = offset;
   }
 
   /**

wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java

@@ -16,6 +16,8 @@ import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.AnalogJNI;
 import edu.wpi.first.wpilibj.util.BoundaryException;
 
+import static java.util.Objects.requireNonNull;
+
 /**
  * Class for creating and configuring Analog Triggers.
  *
@@ -46,11 +48,11 @@ public class AnalogTrigger {
   protected int m_index;
 
   /**
-   * Initialize an analog trigger from a channel.
+   * Constructor for an analog trigger given a channel number.
    *
    * @param channel the port to use for the analog trigger
    */
-  protected void initTrigger(final int channel) {
+  public AnalogTrigger(final int channel) {
     final long portPointer = AnalogJNI.getPort((byte) channel);
     ByteBuffer index = ByteBuffer.allocateDirect(4);
     index.order(ByteOrder.LITTLE_ENDIAN);
@@ -62,16 +64,6 @@ public class AnalogTrigger {
     UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel);
   }
 
-  /**
-   * Constructor for an analog trigger given a channel number.
-   *
-   * @param channel the port to use for the analog trigger 0-3 are on-board, 4-7 are on the MXP
-   *                port
-   */
-  public AnalogTrigger(final int channel) {
-    initTrigger(channel);
-  }
-
   /**
    * Construct an analog trigger given an analog channel. This should be used in the case of sharing
    * an analog channel between the trigger and an analog input object.
@@ -79,10 +71,7 @@ public class AnalogTrigger {
    * @param channel the AnalogInput to use for the analog trigger
    */
   public AnalogTrigger(AnalogInput channel) {
-    if (channel == null) {
-      throw new NullPointerException("The Analog Input given was null");
-    }
-    initTrigger(channel.getChannel());
+    this(requireNonNull(channel, "The Analog Input given was null").getChannel());
   }
 
   /**

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Compressor.java

@@ -24,15 +24,17 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
   private long m_pcm;
 
   /**
-   * Create an instance of the Compressor.
+   * Constructor.
    *
    * <p>Most robots that use PCM will have a single module. Use this for supporting a second module
    * other than the default.
    *
-   * @param pcmId The PCM CAN device ID.
+   * @param module The PCM CAN device ID.
    */
-  public Compressor(int pcmId) {
-    initCompressor(pcmId);
+  public Compressor(int module) {
+    m_table = null;
+
+    m_pcm = CompressorJNI.initializeCompressor((byte) module);
   }
 
   /**
@@ -41,13 +43,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
    * ID.
    */
   public Compressor() {
-    initCompressor(getDefaultSolenoidModule());
-  }
-
-  private void initCompressor(int module) {
-    m_table = null;
-
-    m_pcm = CompressorJNI.initializeCompressor((byte) module);
+    this(getDefaultSolenoidModule());
   }
 
   /**

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java

@@ -70,7 +70,10 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
   private PIDSourceType m_pidSource;
   private double m_distancePerPulse; // distance of travel for each tick
 
-  private void initCounter(final Mode mode) {
+  /**
+   * Create an instance of a counter with the given mode.
+   */
+  public Counter(final Mode mode) {
     ByteBuffer index = ByteBuffer.allocateDirect(4);
     // set the byte order
     index.order(ByteOrder.LITTLE_ENDIAN);
@@ -94,7 +97,7 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
    * <p>The counter will start counting immediately.
    */
   public Counter() {
-    initCounter(Mode.kTwoPulse);
+    this(Mode.kTwoPulse);
   }
 
   /**
@@ -107,10 +110,10 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
    * @param source the digital source to count
    */
   public Counter(DigitalSource source) {
+    this();
     if (source == null) {
       throw new NullPointerException("Digital Source given was null");
     }
-    initCounter(Mode.kTwoPulse);
     setUpSource(source);
   }
 
@@ -122,7 +125,7 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
    * @param channel the DIO channel to use as the up source. 0-9 are on-board, 10-25 are on the MXP
    */
   public Counter(int channel) {
-    initCounter(Mode.kTwoPulse);
+    this();
     setUpSource(channel);
   }
 
@@ -139,11 +142,10 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
    */
   public Counter(EncodingType encodingType, DigitalSource upSource, DigitalSource downSource,
                  boolean inverted) {
-    initCounter(Mode.kExternalDirection);
+    this(Mode.kExternalDirection);
     if (encodingType == null) {
       throw new NullPointerException("Encoding type given was null");
     }
-
     if (encodingType != EncodingType.k1X && encodingType != EncodingType.k2X) {
       throw new RuntimeException("Counters only support 1X and 2X quadreature decoding!");
     }
@@ -176,10 +178,10 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
    * @param trigger the analog trigger to count
    */
   public Counter(AnalogTrigger trigger) {
+    this();
     if (trigger == null) {
       throw new NullPointerException("The Analog Trigger given was null");
     }
-    initCounter(Mode.kTwoPulse);
     setUpSource(trigger.createOutput(AnalogTriggerType.kState));
   }
 

wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -39,9 +39,28 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
   private byte m_reverseMask; // /< The mask for the reverse channel.
 
   /**
-   * Common function to implement constructor behavior.
+   * 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).
    */
-  private synchronized void initSolenoid() {
+  public DoubleSolenoid(final int forwardChannel, final int reverseChannel) {
+    this(getDefaultSolenoidModule(), forwardChannel, reverseChannel);
+  }
+
+  /**
+   * Constructor.
+   *
+   * @param moduleNumber   The module number of the solenoid module to use.
+   * @param forwardChannel The forward channel on the module to control (0..7).
+   * @param reverseChannel The reverse channel on the module to control (0..7).
+   */
+  public DoubleSolenoid(final int moduleNumber, final int forwardChannel,
+                        final int reverseChannel) {
+    super(moduleNumber);
+    m_forwardChannel = forwardChannel;
+    m_reverseChannel = reverseChannel;
+
     checkSolenoidModule(m_moduleNumber);
     checkSolenoidChannel(m_forwardChannel);
     checkSolenoidChannel(m_reverseChannel);
@@ -66,34 +85,6 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
     LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, 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).
-   */
-  public DoubleSolenoid(final int forwardChannel, final int reverseChannel) {
-    super(getDefaultSolenoidModule());
-    m_forwardChannel = forwardChannel;
-    m_reverseChannel = reverseChannel;
-    initSolenoid();
-  }
-
-  /**
-   * Constructor.
-   *
-   * @param moduleNumber   The module number of the solenoid module to use.
-   * @param forwardChannel The forward channel on the module to control (0..7).
-   * @param reverseChannel The reverse channel on the module to control (0..7).
-   */
-  public DoubleSolenoid(final int moduleNumber, final int forwardChannel,
-                        final int reverseChannel) {
-    super(moduleNumber);
-    m_forwardChannel = forwardChannel;
-    m_reverseChannel = reverseChannel;
-    initSolenoid();
-  }
-
   /**
    * Destructor.
    */

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java

@@ -19,9 +19,14 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 public class Jaguar extends PWMSpeedController {
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
+   *
+   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on
+   *                the MXP port
    */
-  private void initJaguar() {
+  public Jaguar(final int channel) {
+    super(channel);
+
     /*
      * Input profile defined by Luminary Micro.
      *
@@ -38,15 +43,4 @@ public class Jaguar extends PWMSpeedController {
     UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel());
     LiveWindow.addActuator("Jaguar", getChannel(), this);
   }
-
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
-   */
-  public Jaguar(final int channel) {
-    super(channel);
-    initJaguar();
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java

@@ -98,15 +98,11 @@ public class PWM extends SensorBase implements LiveWindowSendable {
   private int m_minPwm;
 
   /**
-   * Initialize PWMs given a channel.
-   *
-   * <p>This method is private and is the common path for all the constructors for creating PWM
-   * instances. Checks channel value ranges and allocates the appropriate channel. The allocation is
-   * only done to help users ensure that they don't double assign channels.
+   * Allocate a PWM given a channel.
    *
    * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
    */
-  private void initPWM(final int channel) {
+  public PWM(final int channel) {
     checkPWMChannel(channel);
     m_channel = channel;
 
@@ -123,15 +119,6 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     UsageReporting.report(tResourceType.kResourceType_PWM, channel);
   }
 
-  /**
-   * Allocate a PWM given a channel.
-   *
-   * @param channel The PWM channel.
-   */
-  public PWM(final int channel) {
-    initPWM(channel);
-  }
-
   /**
    * Free the PWM channel.
    *

wpilibj/src/athena/java/edu/wpi/first/wpilibj/SafePWM.java

@@ -24,6 +24,7 @@ public class SafePWM extends PWM implements MotorSafety {
    */
   public SafePWM(final int channel) {
     super(channel);
+
     m_safetyHelper = new MotorSafetyHelper(this);
     m_safetyHelper.setExpiration(0.0);
     m_safetyHelper.setSafetyEnabled(false);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java

@@ -27,20 +27,6 @@ public class Servo extends PWM {
   protected static final double kDefaultMaxServoPWM = 2.4;
   protected static final double kDefaultMinServoPWM = .6;
 
-  /**
-   * Common initialization code called by all constructors.
-   *
-   * <p>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.
-   */
-  private void initServo() {
-    setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
-    setPeriodMultiplier(PeriodMultiplier.k4X);
-
-    LiveWindow.addActuator("Servo", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_Servo, getChannel());
-  }
-
   /**
    * Constructor.<br>
    *
@@ -52,7 +38,11 @@ public class Servo extends PWM {
    */
   public Servo(final int channel) {
     super(channel);
-    initServo();
+    setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
+    setPeriodMultiplier(PeriodMultiplier.k4X);
+
+    LiveWindow.addActuator("Servo", getChannel(), this);
+    UsageReporting.report(tResourceType.kResourceType_Servo, getChannel());
   }
 
 

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -28,36 +28,13 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
   private final int m_channel; // /< The channel to control.
   private long m_solenoidPort;
 
-  /**
-   * Common function to implement constructor behavior.
-   */
-  private synchronized void initSolenoid() {
-    checkSolenoidModule(m_moduleNumber);
-    checkSolenoidChannel(m_channel);
-
-    try {
-      allocated.allocate(m_moduleNumber * kSolenoidChannels + m_channel);
-    } catch (CheckedAllocationException ex) {
-      throw new AllocationException("Solenoid channel " + m_channel + " on module "
-          + m_moduleNumber + " is already allocated");
-    }
-
-    long port = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_channel);
-    m_solenoidPort = SolenoidJNI.initializeSolenoidPort(port);
-
-    LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
-    UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber);
-  }
-
   /**
    * Constructor using the default PCM ID (0)
    *
    * @param channel The channel on the PCM to control (0..7).
    */
   public Solenoid(final int channel) {
-    super(getDefaultSolenoidModule());
-    m_channel = channel;
-    initSolenoid();
+    this(getDefaultSolenoidModule(), channel);
   }
 
   /**
@@ -69,7 +46,22 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
   public Solenoid(final int moduleNumber, final int channel) {
     super(moduleNumber);
     m_channel = channel;
-    initSolenoid();
+
+    checkSolenoidModule(m_moduleNumber);
+    checkSolenoidChannel(m_channel);
+
+    try {
+      allocated.allocate(m_moduleNumber * kSolenoidChannels + m_channel);
+    } catch (CheckedAllocationException ex) {
+      throw new AllocationException("Solenoid channel " + m_channel + " on module "
+        + m_moduleNumber + " is already allocated");
+    }
+
+    long port = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_channel);
+    m_solenoidPort = SolenoidJNI.initializeSolenoidPort(port);
+
+    LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
+    UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber);
   }
 
   /**

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java

@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 public class Talon extends PWMSpeedController {
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor for a Talon (original or Talon SR).
    *
    * <p>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
@@ -28,8 +28,13 @@ public class Talon extends PWMSpeedController {
    * <p>- 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 - .989ms
    * = full "reverse"
+   *
+   * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on
+   *                the MXP port
    */
-  private void initTalon() {
+  public Talon(final int channel) {
+    super(channel);
+
     setBounds(2.037, 1.539, 1.513, 1.487, .989);
     setPeriodMultiplier(PeriodMultiplier.k1X);
     setRaw(m_centerPwm);
@@ -38,15 +43,4 @@ public class Talon extends PWMSpeedController {
     LiveWindow.addActuator("Talon", getChannel(), this);
     UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
   }
-
-  /**
-   * Constructor for a Talon (original or Talon SR).
-   *
-   * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
-   */
-  public Talon(final int channel) {
-    super(channel);
-    initTalon();
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java

@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 public class TalonSRX extends PWMSpeedController {
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor for a TalonSRX connected via PWM.
    *
    * <p>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
@@ -31,8 +31,13 @@ public class TalonSRX extends PWMSpeedController {
    * center
    * of the deadband range (off) - 1.48ms = the "low end" of the deadband range - .997ms = full
    * "reverse"
+   *
+   * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are on-board, 10-19 are
+   *                on the MXP port
    */
-  protected void initTalonSRX() {
+  public TalonSRX(final int channel) {
+    super(channel);
+
     setBounds(2.004, 1.52, 1.50, 1.48, .997);
     setPeriodMultiplier(PeriodMultiplier.k1X);
     setRaw(m_centerPwm);
@@ -41,15 +46,4 @@ public class TalonSRX extends PWMSpeedController {
     LiveWindow.addActuator("TalonSRX", getChannel(), this);
     UsageReporting.report(tResourceType.kResourceType_TalonSRX, getChannel());
   }
-
-  /**
-   * Constructor for 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
-   */
-  public TalonSRX(final int channel) {
-    super(channel);
-    initTalonSRX();
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java

@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 public class Victor extends PWMSpeedController {
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
    *
    * <p>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
@@ -30,8 +30,13 @@ public class Victor extends PWMSpeedController {
    * <p>- 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"
+   *
+   * @param channel The PWM channel that the Victor is attached to. 0-9 are
+   *        on-board, 10-19 are on the MXP port
    */
-  private void initVictor() {
+  public Victor(final int channel) {
+    super(channel);
+
     setBounds(2.027, 1.525, 1.507, 1.49, 1.026);
     setPeriodMultiplier(PeriodMultiplier.k2X);
     setRaw(m_centerPwm);
@@ -40,15 +45,4 @@ public class Victor extends PWMSpeedController {
     LiveWindow.addActuator("Victor", getChannel(), this);
     UsageReporting.report(tResourceType.kResourceType_Victor, getChannel());
   }
-
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the Victor is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
-   */
-  public Victor(final int channel) {
-    super(channel);
-    initVictor();
-  }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java

@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 public class VictorSP extends PWMSpeedController {
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
    *
    * <p>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
@@ -28,8 +28,13 @@ public class VictorSP extends PWMSpeedController {
    * <p>- 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 - .997ms =
    * full "reverse"
+   *
+   * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
+   *        on-board, 10-19 are on the MXP port
    */
-  protected void initVictorSP() {
+  public VictorSP(final int channel) {
+    super(channel);
+
     setBounds(2.004, 1.52, 1.50, 1.48, .997);
     setPeriodMultiplier(PeriodMultiplier.k1X);
     setRaw(m_centerPwm);
@@ -38,15 +43,4 @@ public class VictorSP extends PWMSpeedController {
     LiveWindow.addActuator("VictorSP", getChannel(), this);
     UsageReporting.report(tResourceType.kResourceType_VictorSP, getChannel());
   }
-
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
-   */
-  public VictorSP(final int channel) {
-    super(channel);
-    initVictorSP();
-  }
 }

wpilibj/src/sim/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -24,19 +24,6 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
   private boolean m_init_analog_input;
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
-  /**
-   * Common initialization code called by all constructors.
-   *
-   * @param input  The {@link AnalogInput} this potentiometer is plugged into.
-   * @param scale  The scaling to multiply the voltage by to get a meaningful unit.
-   * @param offset The offset to add to the scaled value for controlling the zero value
-   */
-  private void initPot(final AnalogInput input, double scale, double offset) {
-    this.m_scale = scale;
-    this.m_offset = offset;
-    m_analog_input = input;
-  }
-
   /**
    * AnalogPotentiometer constructor.
    *
@@ -50,9 +37,8 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
    * @param offset  The offset to add to the scaled value for controlling the zero value
    */
   public AnalogPotentiometer(final int channel, double scale, double offset) {
-    AnalogInput input = new AnalogInput(channel);
+    this(new AnalogInput(channel), scale, offset);
     m_init_analog_input = true;
-    initPot(input, scale, offset);
   }
 
   /**
@@ -69,7 +55,10 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
    */
   public AnalogPotentiometer(final AnalogInput input, double scale, double offset) {
     m_init_analog_input = false;
-    initPot(input, scale, offset);
+
+    m_scale = scale;
+    m_offset = offset;
+    m_analog_input = input;
   }
 
   /**

wpilibj/src/sim/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -45,25 +45,6 @@ public class DoubleSolenoid implements LiveWindowSendable {
   private SimSpeedController m_impl;
   private Value m_value;
 
-  /**
-   * Common function to implement constructor behavior.
-   */
-  private synchronized void initSolenoid(int moduleNumber, int forwardChannel, int reverseChannel) {
-    m_forwardChannel = forwardChannel;
-    m_reverseChannel = reverseChannel;
-    m_moduleNumber = moduleNumber;
-//      LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
-
-    if (reverseChannel < forwardChannel) { // Swap ports
-      int channel = forwardChannel;
-      forwardChannel = reverseChannel;
-      reverseChannel = channel;
-      m_reverseDirection = true;
-    }
-    m_impl = new SimSpeedController("simulator/pneumatic/" + moduleNumber + "/" + forwardChannel
-        + "/" + moduleNumber + "/" + reverseChannel);
-  }
-
   /**
    * Constructor.
    *
@@ -71,7 +52,7 @@ public class DoubleSolenoid implements LiveWindowSendable {
    * @param reverseChannel The reverse channel on the module to control.
    */
   public DoubleSolenoid(final int forwardChannel, final int reverseChannel) {
-    initSolenoid(1, forwardChannel, reverseChannel);
+    this(1, forwardChannel, reverseChannel);
   }
 
   /**
@@ -83,7 +64,17 @@ public class DoubleSolenoid implements LiveWindowSendable {
    */
   public DoubleSolenoid(final int moduleNumber, final int forwardChannel, final int
       reverseChannel) {
-    initSolenoid(moduleNumber, forwardChannel, reverseChannel);
+    m_moduleNumber = moduleNumber;
+//      LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
+
+    if (reverseChannel < forwardChannel) { // Swap ports
+      int channel = forwardChannel;
+      m_forwardChannel = reverseChannel;
+      m_reverseChannel = channel;
+      m_reverseDirection = true;
+    }
+    m_impl = new SimSpeedController("simulator/pneumatic/" + moduleNumber + "/" + forwardChannel
+        + "/" + moduleNumber + "/" + reverseChannel);
   }
 
   /**

wpilibj/src/sim/java/edu/wpi/first/wpilibj/Jaguar.java

@@ -21,9 +21,11 @@ public class Jaguar implements SpeedController, PIDOutput, MotorSafety, LiveWind
   private SimSpeedController impl;
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
+   *
+   * @param channel The PWM channel that the Jaguar is attached to.
    */
-  private void initJaguar(final int channel) {
+  public Jaguar(final int channel) {
     this.channel = channel;
     impl = new SimSpeedController("simulator/pwm/" + channel);
 
@@ -34,15 +36,6 @@ public class Jaguar implements SpeedController, PIDOutput, MotorSafety, LiveWind
     LiveWindow.addActuator("Jaguar", channel, this);
   }
 
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the Jaguar is attached to.
-   */
-  public Jaguar(final int channel) {
-    initJaguar(channel);
-  }
-
   /**
    * Set the PWM value.
    *

wpilibj/src/sim/java/edu/wpi/first/wpilibj/Relay.java

@@ -24,7 +24,6 @@ import edu.wpi.first.wpilibj.tables.ITableListener;
  */
 public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable {
   private MotorSafetyHelper m_safetyHelper;
-
   /**
    * This class represents errors in trying to set relay values contradictory to the direction to
    * which the relay is set.
@@ -146,9 +145,7 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
    * @param channel The channel number for this relay.
    */
   public Relay(final int channel) {
-    m_channel = channel;
-    m_direction = Direction.kBoth;
-    initRelay();
+    this(channel, Direction.kBoth);
   }
 
   public void free() {

wpilibj/src/sim/java/edu/wpi/first/wpilibj/Servo.java

@@ -30,17 +30,6 @@ public class Servo implements SpeedController, LiveWindowSendable {
   private SimSpeedController impl;
   private int channel;
 
-  /**
-   * 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.
-   */
-  private void initServo() {
-    LiveWindow.addActuator("Servo", channel, this);
-    impl = new SimSpeedController("simulator/pwm/" + channel);
-  }
-
   /**
    * Write out the PID value as seen in the PIDOutput base object.
    *
@@ -61,7 +50,8 @@ public class Servo implements SpeedController, LiveWindowSendable {
    */
   public Servo(final int channel) {
     this.channel = channel;
-    initServo();
+    LiveWindow.addActuator("Servo", channel, this);
+    impl = new SimSpeedController("simulator/pwm/" + channel);
   }
 
   private double getServoAngleRange() {

wpilibj/src/sim/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -25,24 +25,13 @@ public class Solenoid implements LiveWindowSendable {
   private boolean m_value;
   private SimSpeedController m_impl;
 
-  /**
-   * Common function to implement constructor behavior.
-   */
-  private synchronized void initSolenoid(int slot, int channel) {
-    m_moduleNumber = slot;
-    m_channel = channel;
-    m_impl = new SimSpeedController("simulator/pneumatic/" + slot + "/" + channel);
-
-    LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
-  }
-
   /**
    * Constructor.
    *
    * @param channel The channel on the module to control.
    */
   public Solenoid(final int channel) {
-    initSolenoid(1, channel);
+    this(1, channel);
   }
 
   /**
@@ -52,7 +41,11 @@ public class Solenoid implements LiveWindowSendable {
    * @param channel      The channel on the module to control.
    */
   public Solenoid(final int moduleNumber, final int channel) {
-    initSolenoid(moduleNumber, channel);
+    m_moduleNumber = moduleNumber;
+    m_channel = channel;
+    m_impl = new SimSpeedController("simulator/pneumatic/" + moduleNumber + "/" + channel);
+
+    LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
   }
 
   /**

wpilibj/src/sim/java/edu/wpi/first/wpilibj/Talon.java

@@ -21,7 +21,7 @@ public class Talon implements SpeedController, PIDOutput, MotorSafety, LiveWindo
   private SimSpeedController m_impl;
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
    *
    * <p>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
@@ -32,8 +32,10 @@ public class Talon implements SpeedController, PIDOutput, MotorSafety, LiveWindo
    * <p>- 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 - .989ms =
    * full "reverse"
+   *
+   * @param channel The PWM channel that the Talon is attached to.
    */
-  private void initTalon(final int channel) {
+  public Talon(final int channel) {
     this.m_channel = channel;
     m_impl = new SimSpeedController("simulator/pwm/" + channel);
 
@@ -44,15 +46,6 @@ public class Talon implements SpeedController, PIDOutput, MotorSafety, LiveWindo
     LiveWindow.addActuator("Talon", channel, this);
   }
 
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the Talon is attached to.
-   */
-  public Talon(final int channel) {
-    initTalon(channel);
-  }
-
   /**
    * Set the PWM value.
    *

wpilibj/src/sim/java/edu/wpi/first/wpilibj/Victor.java

@@ -21,7 +21,7 @@ public class Victor implements SpeedController, PIDOutput, MotorSafety, LiveWind
   private SimSpeedController m_impl;
 
   /**
-   * Common initialization code called by all constructors.
+   * Constructor.
    *
    * <p>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
@@ -33,8 +33,10 @@ public class Victor implements SpeedController, PIDOutput, MotorSafety, LiveWind
    * <p>- 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"
+   *
+   * @param channel The PWM channel that the Victor is attached to.
    */
-  private void initVictor(final int channel) {
+  public Victor(final int channel) {
     this.m_channel = channel;
     m_impl = new SimSpeedController("simulator/pwm/" + channel);
 
@@ -46,15 +48,6 @@ public class Victor implements SpeedController, PIDOutput, MotorSafety, LiveWind
     // UsageReporting.report(tResourceType.kResourceType_Talon, getChannel(), getModuleNumber()-1);
   }
 
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the Victor is attached to.
-   */
-  public Victor(final int channel) {
-    initVictor(channel);
-  }
-
   /**
    * Set the PWM value.
    *