diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index ef8a586f98..fa5a1302d2 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -818,6 +818,7 @@ void DriverStation::GetData() {
  * This is only called once the first time GetInstance() is called
  */
 DriverStation::DriverStation() {
+  HAL_Initialize(500, 0);
   m_waitForDataCounter = 0;
   m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
   m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
diff --git a/wpilibc/src/main/native/cpp/RobotBase.cpp b/wpilibc/src/main/native/cpp/RobotBase.cpp
index ef1cb70603..a8cd9d6596 100644
--- a/wpilibc/src/main/native/cpp/RobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/RobotBase.cpp
@@ -70,6 +70,11 @@ static void SetupCameraServerShared() {
  * boot so ensure that it runs.
  */
 RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
+  if (!HAL_Initialize(500, 0)) {
+    wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
+    wpi::errs().flush();
+    std::terminate();
+  }
   m_threadId = std::this_thread::get_id();
 
   RobotState::SetImplementation(DriverStation::GetInstance());
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index cd7c06fe28..7dd7cdf0eb 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -185,6 +185,7 @@ public class DriverStation implements RobotState.Interface {
    * variable.
    */
   private DriverStation() {
+    HAL.initialize(500, 0);
     m_waitForDataCount = 0;
     m_waitForDataMutex = new ReentrantLock();
     m_waitForDataCond = m_waitForDataMutex.newCondition();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 55ddea32d6..c3aa313270 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -83,6 +83,7 @@ public abstract class RobotBase implements AutoCloseable {
    * to put this code into it's own task that loads on boot so ensure that it runs.
    */
   protected RobotBase() {
+    initializeHardwareConfiguration();
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
     setupCameraServerShared();
     inst.setNetworkIdentity("Robot");
@@ -219,7 +220,9 @@ public abstract class RobotBase implements AutoCloseable {
    */
   @SuppressWarnings("PMD.UnusedFormalParameter")
   public static void main(String... args) {
-    initializeHardwareConfiguration();
+    if (!HAL.initialize(500, 0)) {
+      throw new IllegalStateException("Failed to initialize. Terminating");
+    }
 
     HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);