Merge changes I3d35139f,I05bb06f6,I4a3db0f1,I452b4794,If281e46a

* changes:
  artf4107: Removed most "Init" functions from classes
  artf4107: Replaced throw() with noexcept
  artf4107: GetInstance() calls are now atomic
  artf4107: Uniform initialization syntax introduced
  artf4107: clang-modernize was run on WPILib

networktables/cpp/include/networktables2/connection/BadMessageException.h

@@ -15,7 +15,7 @@ class BadMessageException : public std::exception
 {
 public:
 	BadMessageException(const char* message);
-	~BadMessageException() throw ();
+	~BadMessageException() noexcept;
 	const char* what() const noexcept;
 private:
 	std::string message;

networktables/cpp/lib/share/networktables2/connection/BadMessageException.cpp

@@ -13,7 +13,7 @@ BadMessageException::BadMessageException(const char* msg)
 
 }
 
-BadMessageException::~BadMessageException() throw ()
+BadMessageException::~BadMessageException() noexcept
 {
 }
 

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

@@ -131,7 +131,6 @@ class Command : public ErrorBase, public NamedSendable, public ITableListener {
   virtual void _Cancel();
 
  private:
-  void InitCommand(const char *name, double timeout);
   void LockChanges();
   /*synchronized*/ void Removed();
   void StartRunning();
@@ -139,28 +138,39 @@ 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 +182,7 @@ 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

@@ -50,22 +50,21 @@ class Scheduler : public ErrorBase, public NamedSendable {
 
   void ProcessCommandAddition(Command *command);
 
-  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

@@ -14,7 +14,7 @@ typedef void (*TimerEventHandler)(void *param);
 
 class Notifier : public ErrorBase {
  public:
-  Notifier(TimerEventHandler handler, void *param = NULL);
+  Notifier(TimerEventHandler handler, void *param = nullptr);
   virtual ~Notifier();
   void StartSingle(double delay);
   void StartPeriodic(double period);
@@ -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

@@ -59,31 +59,35 @@ class PIDController : public LiveWindowSendable,
 
   virtual void Reset() override;
 
-  virtual void InitTable(ITable *table);
+  virtual void InitTable(ITable *table) override;
 
  private:
   float m_P;              // factor for "proportional" control
   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;
@@ -94,16 +98,16 @@ class PIDController : public LiveWindowSendable,
                   PIDOutput *output, float period = 0.05);
   static void CallCalculate(void *controller);
 
-  virtual ITable *GetTable() const;
-  virtual std::string GetSmartDashboardType() const;
+  virtual ITable *GetTable() const override;
+  virtual std::string GetSmartDashboardType() const override;
   virtual void ValueChanged(ITable *source, const std::string &key,
-                            EntryValue value, bool isNew);
-  virtual void UpdateTable();
-  virtual void StartLiveWindowMode();
-  virtual void StopLiveWindowMode();
+                            EntryValue value, bool isNew) override;
+  virtual void UpdateTable() override;
+  virtual void StartLiveWindowMode() override;
+  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/Utility.h

@@ -14,18 +14,18 @@
 #include <string>
 
 #define wpi_assert(condition) \
-  wpi_assert_impl(condition, #condition, NULL, __FILE__, __LINE__, __FUNCTION__)
+  wpi_assert_impl(condition, #condition, nullptr, __FILE__, __LINE__, __FUNCTION__)
 #define wpi_assertWithMessage(condition, message)                     \
   wpi_assert_impl(condition, #condition, message, __FILE__, __LINE__, \
                   __FUNCTION__)
 
 #define wpi_assertEqual(a, b) \
-  wpi_assertEqual_impl(a, b, #a, #b, NULL, __FILE__, __LINE__, __FUNCTION__)
+  wpi_assertEqual_impl(a, b, #a, #b, nullptr, __FILE__, __LINE__, __FUNCTION__)
 #define wpi_assertEqualWithMessage(a, b, message) \
   wpi_assertEqual_impl(a, b, #a, #b, message, __FILE__, __LINE__, __FUNCTION__)
 
 #define wpi_assertNotEqual(a, b) \
-  wpi_assertNotEqual_impl(a, b, #a, #b, NULL, __FILE__, __LINE__, __FUNCTION__)
+  wpi_assertNotEqual_impl(a, b, #a, #b, nullptr, __FILE__, __LINE__, __FUNCTION__)
 #define wpi_assertNotEqualWithMessage(a, b, message)                 \
   wpi_assertNotEqual_impl(a, b, #a, #b, message, __FILE__, __LINE__, \
                           __FUNCTION__)

wpilibc/wpilibC++/include/WPIErrors.h

@@ -27,7 +27,7 @@ S(ChannelIndexOutOfRange, -1, "Allocating channel that is out of range");
 S(NotAllocated, -2, "Attempting to free unallocated resource");
 S(ResourceAlreadyAllocated, -3, "Attempted to reuse an allocated resource");
 S(NoAvailableResources, -4, "No available resources to allocate");
-S(NullParameter, -5, "A pointer parameter to a method is NULL");
+S(NullParameter, -5, "A pointer parameter to a method is nullptr");
 S(Timeout, -6, "A timeout has been exceeded");
 S(CompassManufacturerError, -7, "Compass manufacturer doesn't match HiTechnic");
 S(CompassTypeError, -8,

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

@@ -13,12 +13,10 @@
 #include "Buttons/ToggleButtonScheduler.h"
 #include "Buttons/CancelButtonScheduler.h"
 
-Trigger::Trigger() { m_table = NULL; }
-
 bool Trigger::Grab() {
   if (Get())
     return true;
-  else if (m_table != NULL) {
+  else if (m_table != nullptr) {
     // if (m_table->isConnected())//TODO is connected on button?
     return m_table->GetBoolean("pressed");
     /*else
@@ -28,29 +26,27 @@ bool Trigger::Grab() {
 }
 
 void Trigger::WhenActive(Command *command) {
-  PressedButtonScheduler *pbs =
-      new PressedButtonScheduler(Grab(), this, command);
+  auto pbs = new PressedButtonScheduler(Grab(), this, command);
   pbs->Start();
 }
 
 void Trigger::WhileActive(Command *command) {
-  HeldButtonScheduler *hbs = new HeldButtonScheduler(Grab(), this, command);
+  auto hbs = new HeldButtonScheduler(Grab(), this, command);
   hbs->Start();
 }
 
 void Trigger::WhenInactive(Command *command) {
-  ReleasedButtonScheduler *rbs =
-      new ReleasedButtonScheduler(Grab(), this, command);
+  auto rbs = new ReleasedButtonScheduler(Grab(), this, command);
   rbs->Start();
 }
 
 void Trigger::CancelWhenActive(Command *command) {
-  CancelButtonScheduler *cbs = new CancelButtonScheduler(Grab(), this, command);
+  auto cbs = new CancelButtonScheduler(Grab(), this, command);
   cbs->Start();
 }
 
 void Trigger::ToggleWhenActive(Command *command) {
-  ToggleButtonScheduler *tbs = new ToggleButtonScheduler(Grab(), this, command);
+  auto tbs = new ToggleButtonScheduler(Grab(), this, command);
   tbs->Start();
 }
 
@@ -58,7 +54,7 @@ std::string Trigger::GetSmartDashboardType() const { return "Button"; }
 
 void Trigger::InitTable(ITable *table) {
   m_table = table;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutBoolean("pressed", Get());
   }
 }

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

@@ -19,46 +19,24 @@ 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 = NULL;
-  m_name = name == NULL ? std::string() : name;
-  m_table = NULL;
-}
-
 /**
  * Creates a new command.
  * The name of this command will be default.
  */
-Command::Command() { InitCommand(NULL, -1.0); }
+Command::Command() : Command(nullptr, -1.0) {}
 
 /**
  * Creates a new command with the given name and no timeout.
  * @param name the name for this command
  */
-Command::Command(const char *name) {
-  if (name == NULL) wpi_setWPIErrorWithContext(NullParameter, "name");
-  InitCommand(name, -1.0);
-}
+Command::Command(const char *name) : Command(name, -1.0) {}
 
 /**
  * Creates a new command with the given timeout and a default name.
  * @param timeout the time (in seconds) before this command "times out"
  * @see Command#isTimedOut() isTimedOut()
  */
-Command::Command(double timeout) {
-  if (timeout < 0.0)
-    wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
-  InitCommand(NULL, timeout);
-}
+Command::Command(double timeout) : Command(nullptr, timeout) {}
 
 /**
  * Creates a new command with the given name and timeout.
@@ -67,14 +45,16 @@ Command::Command(double timeout) {
  * @see Command#isTimedOut() isTimedOut()
  */
 Command::Command(const char *name, double timeout) {
-  if (name == NULL) wpi_setWPIErrorWithContext(NullParameter, "name");
+  if (name == nullptr) wpi_setWPIErrorWithContext(NullParameter, "name");
   if (timeout < 0.0)
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
-  InitCommand(name, timeout);
+
+  m_timeout = timeout;
+  m_name = name == nullptr ? std::string() : name;
 }
 
 Command::~Command() {  // TODO deal with cleaning up all listeners
-  /*if (m_table != NULL){
+  /*if (m_table != nullptr){
           m_table->RemoveChangeListener(kRunning, this);
   }*/
 }
@@ -124,7 +104,7 @@ double Command::TimeSinceInitialized() const {
 void Command::Requires(Subsystem *subsystem) {
   if (!AssertUnlocked("Can not add new requirement to command")) return;
 
-  if (subsystem != NULL)
+  if (subsystem != nullptr)
     m_requirements.insert(subsystem);
   else
     wpi_setWPIErrorWithContext(NullParameter, "subsystem");
@@ -148,7 +128,7 @@ void Command::Removed() {
   m_initialized = false;
   m_canceled = false;
   m_running = false;
-  if (m_table != NULL) m_table->PutBoolean(kRunning, false);
+  if (m_table != nullptr) m_table->PutBoolean(kRunning, false);
 }
 
 /**
@@ -160,7 +140,7 @@ void Command::Removed() {
  */
 void Command::Start() {
   LockChanges();
-  if (m_parent != NULL)
+  if (m_parent != nullptr)
     wpi_setWPIErrorWithContext(
         CommandIllegalUse,
         "Can not start a command that is part of a command group");
@@ -173,7 +153,7 @@ void Command::Start() {
  * @return whether or not the command should stay within the {@link Scheduler}.
  */
 bool Command::Run() {
-  if (!m_runWhenDisabled && m_parent == NULL && RobotState::IsDisabled())
+  if (!m_runWhenDisabled && m_parent == nullptr && RobotState::IsDisabled())
     Cancel();
 
   if (IsCanceled()) return false;
@@ -255,16 +235,16 @@ bool Command::AssertUnlocked(const char *message) {
  * @param parent the parent
  */
 void Command::SetParent(CommandGroup *parent) {
-  if (parent == NULL) {
+  if (parent == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "parent");
-  } else if (m_parent != NULL) {
+  } else if (m_parent != nullptr) {
     wpi_setWPIErrorWithContext(CommandIllegalUse,
                                "Can not give command to a command group after "
                                "already being put in a command group");
   } else {
     LockChanges();
     m_parent = parent;
-    if (m_table != NULL) {
+    if (m_table != nullptr) {
       m_table->PutBoolean(kIsParented, true);
     }
   }
@@ -285,7 +265,7 @@ void Command::SetParent(CommandGroup *parent) {
 void Command::StartRunning() {
   m_running = true;
   m_startTime = -1;
-  if (m_table != NULL) m_table->PutBoolean(kRunning, true);
+  if (m_table != nullptr) m_table->PutBoolean(kRunning, true);
 }
 
 /**
@@ -308,7 +288,7 @@ bool Command::IsRunning() const { return m_running; }
  * instead.</p>
  */
 void Command::Cancel() {
-  if (m_parent != NULL)
+  if (m_parent != nullptr)
     wpi_setWPIErrorWithContext(
         CommandIllegalUse,
         "Can not cancel a command that is part of a command group");
@@ -348,7 +328,7 @@ void Command::SetInterruptible(bool interruptible) {
 /**
  * Checks if the command requires the given {@link Subsystem}.
  * @param system the system
- * @return whether or not the subsystem is required (false if given NULL)
+ * @return whether or not the subsystem is required (false if given nullptr)
  */
 bool Command::DoesRequire(Subsystem *system) const {
   return m_requirements.count(system) > 0;
@@ -390,12 +370,12 @@ std::string Command::GetName() {
 std::string Command::GetSmartDashboardType() const { return "Command"; }
 
 void Command::InitTable(ITable *table) {
-  if (m_table != NULL) m_table->RemoveTableListener(this);
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
   m_table = table;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutString(kName, GetName());
     m_table->PutBoolean(kRunning, IsRunning());
-    m_table->PutBoolean(kIsParented, m_parent != NULL);
+    m_table->PutBoolean(kIsParented, m_parent != nullptr);
     m_table->AddTableListener(kRunning, this, false);
   }
 }

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}
@@ -39,7 +30,7 @@ CommandGroup::~CommandGroup() {}
  * @param command The {@link Command Command} to be added
  */
 void CommandGroup::AddSequential(Command *command) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -52,7 +43,7 @@ void CommandGroup::AddSequential(Command *command) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -79,7 +70,7 @@ void CommandGroup::AddSequential(Command *command) {
  * @param timeout The timeout (in seconds)
  */
 void CommandGroup::AddSequential(Command *command, double timeout) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -96,7 +87,7 @@ void CommandGroup::AddSequential(Command *command, double timeout) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -126,7 +117,7 @@ void CommandGroup::AddSequential(Command *command, double timeout) {
  * @param command The command to be added
  */
 void CommandGroup::AddParallel(Command *command) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -139,7 +130,7 @@ void CommandGroup::AddParallel(Command *command) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -177,7 +168,7 @@ void CommandGroup::AddParallel(Command *command) {
  * @param timeout The timeout (in seconds)
  */
 void CommandGroup::AddParallel(Command *command, double timeout) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -194,7 +185,7 @@ void CommandGroup::AddParallel(Command *command, double timeout) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -202,7 +193,7 @@ void CommandGroup::_Initialize() { m_currentCommandIndex = -1; }
 
 void CommandGroup::_Execute() {
   CommandGroupEntry entry;
-  Command *cmd = NULL;
+  Command *cmd = nullptr;
   bool firstRun = false;
 
   if (m_currentCommandIndex == -1) {
@@ -211,7 +202,7 @@ void CommandGroup::_Execute() {
   }
 
   while ((unsigned)m_currentCommandIndex < m_commands.size()) {
-    if (cmd != NULL) {
+    if (cmd != nullptr) {
       if (entry.IsTimedOut()) cmd->_Cancel();
 
       if (cmd->Run()) {
@@ -220,13 +211,13 @@ void CommandGroup::_Execute() {
         cmd->Removed();
         m_currentCommandIndex++;
         firstRun = true;
-        cmd = NULL;
+        cmd = nullptr;
         continue;
       }
     }
 
     entry = m_commands[m_currentCommandIndex];
-    cmd = NULL;
+    cmd = nullptr;
 
     switch (entry.m_state) {
       case CommandGroupEntry::kSequence_InSequence:
@@ -253,7 +244,7 @@ void CommandGroup::_Execute() {
   }
 
   // Run Children
-  CommandList::iterator iter = m_children.begin();
+  auto iter = m_children.begin();
   for (; iter != m_children.end();) {
     entry = *iter;
     Command *child = entry.m_command;
@@ -278,7 +269,7 @@ void CommandGroup::_End() {
     cmd->Removed();
   }
 
-  CommandList::iterator iter = m_children.begin();
+  auto iter = m_children.begin();
   for (; iter != m_children.end(); iter++) {
     Command *cmd = iter->m_command;
     cmd->_Cancel();
@@ -315,7 +306,7 @@ bool CommandGroup::IsInterruptible() const {
     if (!cmd->IsInterruptible()) return false;
   }
 
-  CommandList::const_iterator iter = m_children.cbegin();
+  auto iter = m_children.cbegin();
   for (; iter != m_children.cend(); iter++) {
     if (!iter->m_command->IsInterruptible()) return false;
   }
@@ -324,13 +315,13 @@ bool CommandGroup::IsInterruptible() const {
 }
 
 void CommandGroup::CancelConflicts(Command *command) {
-  CommandList::iterator childIter = m_children.begin();
+  auto childIter = m_children.begin();
   for (; childIter != m_children.end();) {
     Command *child = childIter->m_command;
     bool erased = false;
 
     Command::SubsystemSet requirements = command->GetRequirements();
-    Command::SubsystemSet::iterator requirementIter = requirements.begin();
+    auto requirementIter = requirements.begin();
     for (; requirementIter != requirements.end(); requirementIter++) {
       if (child->DoesRequire(*requirementIter)) {
         child->_Cancel();

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

@@ -9,12 +9,6 @@
 
 #include "Commands/Command.h"
 
-CommandGroupEntry::CommandGroupEntry()
-    : m_timeout(-1.0), m_command(NULL), 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

@@ -16,21 +16,11 @@
 #include <set>
 #include <algorithm>
 
-Scheduler *Scheduler::_instance = NULL;
-
-Scheduler::Scheduler()
-    : m_buttonsLock(NULL), m_additionsLock(NULL), m_adding(false) {
+Scheduler::Scheduler() {
   m_buttonsLock = initializeMutexNormal();
   m_additionsLock = initializeMutexNormal();
 
   HLUsageReporting::ReportScheduler();
-
-  m_table = NULL;
-  m_enabled = true;
-  m_runningCommandsChanged = false;
-  toCancel = NULL;
-  commands = NULL;
-  ids = NULL;
 }
 
 Scheduler::~Scheduler() {
@@ -46,8 +36,8 @@ Scheduler::~Scheduler() {
  * @return the {@link Scheduler}
  */
 Scheduler *Scheduler::GetInstance() {
-  if (_instance == NULL) _instance = new Scheduler();
-  return _instance;
+  static Scheduler instance;
+  return &instance;
 }
 
 void Scheduler::SetEnabled(bool enabled) { m_enabled = enabled; }
@@ -73,7 +63,7 @@ void Scheduler::AddButton(ButtonScheduler *button) {
 }
 
 void Scheduler::ProcessCommandAddition(Command *command) {
-  if (command == NULL) return;
+  if (command == nullptr) return;
 
   // Check to make sure no adding during adding
   if (m_adding) {
@@ -83,14 +73,14 @@ void Scheduler::ProcessCommandAddition(Command *command) {
   }
 
   // Only add if not already in
-  CommandSet::iterator found = m_commands.find(command);
+  auto found = m_commands.find(command);
   if (found == m_commands.end()) {
     // Check that the requirements can be had
     Command::SubsystemSet requirements = command->GetRequirements();
     Command::SubsystemSet::iterator iter;
     for (iter = requirements.begin(); iter != requirements.end(); iter++) {
       Subsystem *lock = *iter;
-      if (lock->GetCurrentCommand() != NULL &&
+      if (lock->GetCurrentCommand() != nullptr &&
           !lock->GetCurrentCommand()->IsInterruptible())
         return;
     }
@@ -99,7 +89,7 @@ void Scheduler::ProcessCommandAddition(Command *command) {
     m_adding = true;
     for (iter = requirements.begin(); iter != requirements.end(); iter++) {
       Subsystem *lock = *iter;
-      if (lock->GetCurrentCommand() != NULL) {
+      if (lock->GetCurrentCommand() != nullptr) {
         lock->GetCurrentCommand()->Cancel();
         Remove(lock->GetCurrentCommand());
       }
@@ -133,7 +123,7 @@ void Scheduler::Run() {
     if (!m_enabled) return;
 
     Synchronized sync(m_buttonsLock);
-    ButtonVector::reverse_iterator rButtonIter = m_buttons.rbegin();
+    auto rButtonIter = m_buttons.rbegin();
     for (; rButtonIter != m_buttons.rend(); rButtonIter++) {
       (*rButtonIter)->Execute();
     }
@@ -142,7 +132,7 @@ void Scheduler::Run() {
   m_runningCommandsChanged = false;
 
   // Loop through the commands
-  CommandSet::iterator commandIter = m_commands.begin();
+  auto commandIter = m_commands.begin();
   for (; commandIter != m_commands.end();) {
     Command *command = *commandIter;
     // Increment before potentially removing to keep the iterator valid
@@ -156,7 +146,7 @@ void Scheduler::Run() {
   // Add the new things
   {
     Synchronized sync(m_additionsLock);
-    CommandVector::iterator additionsIter = m_additions.begin();
+    auto additionsIter = m_additions.begin();
     for (; additionsIter != m_additions.end(); additionsIter++) {
       ProcessCommandAddition(*additionsIter);
     }
@@ -164,10 +154,10 @@ void Scheduler::Run() {
   }
 
   // Add in the defaults
-  Command::SubsystemSet::iterator subsystemIter = m_subsystems.begin();
+  auto subsystemIter = m_subsystems.begin();
   for (; subsystemIter != m_subsystems.end(); subsystemIter++) {
     Subsystem *lock = *subsystemIter;
-    if (lock->GetCurrentCommand() == NULL) {
+    if (lock->GetCurrentCommand() == nullptr) {
       ProcessCommandAddition(lock->GetDefaultCommand());
     }
     lock->ConfirmCommand();
@@ -184,7 +174,7 @@ void Scheduler::Run() {
  * @param system the system
  */
 void Scheduler::RegisterSubsystem(Subsystem *subsystem) {
-  if (subsystem == NULL) {
+  if (subsystem == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "subsystem");
     return;
   }
@@ -196,7 +186,7 @@ void Scheduler::RegisterSubsystem(Subsystem *subsystem) {
  * @param command the command to remove
  */
 void Scheduler::Remove(Command *command) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -204,10 +194,10 @@ void Scheduler::Remove(Command *command) {
   if (!m_commands.erase(command)) return;
 
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) {
     Subsystem *lock = *iter;
-    lock->SetCurrentCommand(NULL);
+    lock->SetCurrentCommand(nullptr);
   }
 
   command->Removed();
@@ -228,7 +218,7 @@ void Scheduler::ResetAll() {
   m_buttons.clear();
   m_additions.clear();
   m_commands.clear();
-  m_table = NULL;
+  m_table = nullptr;
 }
 
 /**
@@ -237,7 +227,7 @@ void Scheduler::ResetAll() {
  */
 void Scheduler::UpdateTable() {
   CommandSet::iterator commandIter;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     // Get the list of possible commands to cancel
     m_table->RetrieveValue("Cancel", *toCancel);
     //		m_table->RetrieveValue("Ids", *ids);

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(NULL),
-      m_defaultCommand(NULL),
-      m_initializedDefaultCommand(false) {
+Subsystem::Subsystem(const char *name) {
   m_name = name;
   Scheduler::GetInstance()->RegisterSubsystem(this);
-  m_table = NULL;
-  m_currentCommandChanged = true;
 }
 /**
  * Initialize the default command for this subsystem
@@ -47,12 +42,12 @@ void Subsystem::InitDefaultCommand() {}
  * @param command the default command (or null if there should be none)
  */
 void Subsystem::SetDefaultCommand(Command *command) {
-  if (command == NULL) {
-    m_defaultCommand = NULL;
+  if (command == nullptr) {
+    m_defaultCommand = nullptr;
   } else {
     bool found = false;
     Command::SubsystemSet requirements = command->GetRequirements();
-    Command::SubsystemSet::iterator iter = requirements.begin();
+    auto iter = requirements.begin();
     for (; iter != requirements.end(); iter++) {
       if (*iter == this) {
         found = true;
@@ -68,8 +63,8 @@ void Subsystem::SetDefaultCommand(Command *command) {
 
     m_defaultCommand = command;
   }
-  if (m_table != NULL) {
-    if (m_defaultCommand != NULL) {
+  if (m_table != nullptr) {
+    if (m_defaultCommand != nullptr) {
       m_table->PutBoolean("hasDefault", true);
       m_table->PutString("default", m_defaultCommand->GetName());
     } else {
@@ -115,8 +110,8 @@ Command *Subsystem::GetCurrentCommand() const { return m_currentCommand; }
  */
 void Subsystem::ConfirmCommand() {
   if (m_currentCommandChanged) {
-    if (m_table != NULL) {
-      if (m_currentCommand != NULL) {
+    if (m_table != nullptr) {
+      if (m_currentCommand != nullptr) {
         m_table->PutBoolean("hasCommand", true);
         m_table->PutString("command", m_currentCommand->GetName());
       } else {
@@ -133,14 +128,14 @@ std::string Subsystem::GetSmartDashboardType() const { return "Subsystem"; }
 
 void Subsystem::InitTable(ITable *table) {
   m_table = table;
-  if (m_table != NULL) {
-    if (m_defaultCommand != NULL) {
+  if (m_table != nullptr) {
+    if (m_defaultCommand != nullptr) {
       m_table->PutBoolean("hasDefault", true);
       m_table->PutString("default", m_defaultCommand->GetName());
     } else {
       m_table->PutBoolean("hasDefault", false);
     }
-    if (m_currentCommand != NULL) {
+    if (m_currentCommand != nullptr) {
       m_table->PutBoolean("hasCommand", true);
       m_table->PutString("command", m_currentCommand->GetName());
     } else {

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

@@ -23,5 +23,5 @@ void WaitForChildren::End() {}
 void WaitForChildren::Interrupted() {}
 
 bool WaitForChildren::IsFinished() {
-  return GetGroup() == NULL || GetGroup()->GetSize() == 0;
+  return GetGroup() == nullptr || GetGroup()->GetSize() == 0;
 }

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(NULL), m_timestamp(0.0) {}
-
-Error::~Error() {}
+Error::Error() {}
 
 void Error::Clone(Error& error) {
   m_code = error.m_code;
@@ -71,7 +68,7 @@ void Error::Set(Code code, const char* contextMessage, const char* filename,
     Report();
   }
 
-  if (m_suspendOnErrorEnabled) suspendTask(0);
+  if (m_suspendOnErrorEnabled) suspendTask(nullptr);
 }
 
 void Error::Report() {
@@ -93,6 +90,6 @@ void Error::Clear() {
   m_filename = "";
   m_function = "";
   m_lineNumber = 0;
-  m_originatingObject = NULL;
+  m_originatingObject = nullptr;
   m_timestamp = 0.0;
 }

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.
@@ -165,7 +163,7 @@ void ErrorBase::SetGlobalError(Error::Code code, const char* contextMessage,
 
     //  Set the current error information for this object.
     _globalError.Set(code, contextMessage, filename, function, lineNumber,
-                     NULL);
+                     nullptr);
   }
 }
 
@@ -180,7 +178,7 @@ void ErrorBase::SetGlobalWPIError(const char* errorMessage,
   if (_globalError.GetCode() != 0) {
     _globalError.Clear();
   }
-  _globalError.Set(-1, err, filename, function, lineNumber, NULL);
+  _globalError.Set(-1, err, filename, function, lineNumber, nullptr);
 }
 
 /**

wpilibc/wpilibC++/src/HLUsageReporting.cpp

@@ -1,20 +1,20 @@
 
 #include "HLUsageReporting.h"
 
-HLUsageReportingInterface* HLUsageReporting::impl = 0;
+HLUsageReportingInterface* HLUsageReporting::impl = nullptr;
 
 void HLUsageReporting::SetImplementation(HLUsageReportingInterface* i) {
   impl = i;
 }
 
 void HLUsageReporting::ReportScheduler() {
-  if (impl != 0) {
+  if (impl != nullptr) {
     impl->ReportScheduler();
   }
 }
 
 void HLUsageReporting::ReportSmartDashboard() {
-  if (impl != 0) {
+  if (impl != nullptr) {
     impl->ReportSmartDashboard();
   }
 }

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

@@ -10,9 +10,8 @@
  * how many times GetInstance is called.
  */
 LiveWindow *LiveWindow::GetInstance() {
-  static LiveWindow *instance = new LiveWindow();
-
-  return instance;
+  static LiveWindow instance;
+  return &instance;
 }
 
 /**
@@ -20,7 +19,6 @@ 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();
@@ -39,16 +37,12 @@ void LiveWindow::SetEnabled(bool enabled) {
     }
     m_scheduler->SetEnabled(false);
     m_scheduler->RemoveAll();
-    for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
-             m_components.begin();
-         it != m_components.end(); ++it) {
-      it->first->StartLiveWindowMode();
+    for (auto& elem : m_components) {
+      elem.first->StartLiveWindowMode();
     }
   } else {
-    for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
-             m_components.begin();
-         it != m_components.end(); ++it) {
-      it->first->StopLiveWindowMode();
+    for (auto& elem : m_components) {
+      elem.first->StopLiveWindowMode();
     }
     m_scheduler->SetEnabled(true);
   }
@@ -56,8 +50,6 @@ 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.
@@ -94,7 +86,7 @@ void LiveWindow::AddSensor(std::string type, int channel,
   std::ostringstream oss;
   oss << type << "[" << channel << "]";
   std::string types(oss.str());
-  char *cc = new char[types.size() + 1];
+  auto cc = new char[types.size() + 1];
   types.copy(cc, types.size());
   cc[types.size()] = '\0';
   AddSensor("Ungrouped", cc, component);
@@ -111,7 +103,7 @@ void LiveWindow::AddActuator(std::string type, int channel,
   std::ostringstream oss;
   oss << type << "[" << channel << "]";
   std::string types(oss.str());
-  char *cc = new char[types.size() + 1];
+  auto cc = new char[types.size() + 1];
   types.copy(cc, types.size());
   cc[types.size()] = '\0';
   AddActuator("Ungrouped", cc, component);
@@ -125,7 +117,7 @@ void LiveWindow::AddActuator(std::string type, int module, int channel,
   std::ostringstream oss;
   oss << type << "[" << module << "," << channel << "]";
   std::string types(oss.str());
-  char *cc = new char[types.size() + 1];
+  auto cc = new char[types.size() + 1];
   types.copy(cc, types.size());
   cc[types.size()] = '\0';
   AddActuator("Ungrouped", cc, component);
@@ -137,8 +129,8 @@ void LiveWindow::AddActuator(std::string type, int module, int channel,
  * SmartDashboard widgets.
  */
 void LiveWindow::UpdateValues() {
-  for (unsigned int i = 0; i < m_sensors.size(); i++) {
-    m_sensors[i]->UpdateTable();
+  for (auto& elem : m_sensors) {
+    elem->UpdateTable();
   }
 }
 
@@ -164,11 +156,9 @@ void LiveWindow::Run() {
  * addActuator and addSensor.
  */
 void LiveWindow::InitializeLiveWindowComponents() {
-  for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
-           m_components.begin();
-       it != m_components.end(); ++it) {
-    LiveWindowSendable *component = it->first;
-    LiveWindowComponent c = it->second;
+  for (auto& elem : m_components) {
+    LiveWindowSendable *component = elem.first;
+    LiveWindowComponent c = elem.second;
     std::string subsystem = c.subsystem;
     std::string name = c.name;
     m_liveWindowTable->GetSubTable(subsystem)

wpilibc/wpilibC++/src/Resource.cpp

@@ -30,8 +30,8 @@ Resource::Resource(uint32_t elements) {
 /**
  * Factory method to create a Resource allocation-tracker *if* needed.
  *
- * @param r -- address of the caller's Resource pointer. If *r == NULL, this
- *    will construct a Resource and make *r point to it. If *r != NULL, i.e.
+ * @param r -- address of the caller's Resource pointer. If *r == nullptr, this
+ *    will construct a Resource and make *r point to it. If *r != nullptr, i.e.
  *    the caller already has a Resource instance, this won't do anything.
  * @param elements -- the number of elements for this Resource allocator to
  *    track, that is, it will allocate resource numbers in the range
@@ -40,7 +40,7 @@ Resource::Resource(uint32_t elements) {
 /*static*/ void Resource::CreateResourceObject(Resource **r,
                                                uint32_t elements) {
   Synchronized sync(m_createLock);
-  if (*r == NULL) {
+  if (*r == nullptr) {
     *r = new Resource(elements);
   }
 }

wpilibc/wpilibC++/src/RobotState.cpp

@@ -1,6 +1,6 @@
 #include "RobotState.h"
 
-RobotStateInterface* RobotState::impl = 0;
+RobotStateInterface* RobotState::impl = nullptr;
 
 void RobotState::SetImplementation(RobotStateInterface* i) { impl = i; }
 

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,
@@ -44,13 +42,13 @@ void SendableChooser::AddDefault(const char *name, void *object) {
 /**
  * Returns the selected option.  If there is none selected, it will return the
  * default.  If there is none selected
- * and no default, then it will return {@code NULL}.
+ * and no default, then it will return {@code nullptr}.
  * @return the option selected
  */
 void *SendableChooser::GetSelected() {
   std::string selected = m_table->GetString(kSelected, m_defaultChoice);
   if (selected == "")
-    return NULL;
+    return nullptr;
   else
     return m_choices[selected];
 }
@@ -58,7 +56,7 @@ void *SendableChooser::GetSelected() {
 void SendableChooser::InitTable(ITable *subtable) {
   StringArray keys;
   m_table = subtable;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     std::map<std::string, void *>::iterator iter;
     for (iter = m_choices.begin(); iter != m_choices.end(); iter++) {
       keys.add(iter->first);

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

@@ -13,7 +13,7 @@
 #include "networktables/NetworkTable.h"
 #include "HLUsageReporting.h"
 
-ITable *SmartDashboard::m_table = NULL;
+ITable *SmartDashboard::m_table = nullptr;
 std::map<ITable *, Sendable *> SmartDashboard::m_tablesToData;
 
 void SmartDashboard::init() {
@@ -24,14 +24,14 @@ void SmartDashboard::init() {
 
 /**
  * Maps the specified key to the specified value in this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key
  * @param value the value
  */
 void SmartDashboard::PutData(std::string key, Sendable *data) {
-  if (data == NULL) {
+  if (data == nullptr) {
     wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
     return;
   }
@@ -50,7 +50,7 @@ void SmartDashboard::PutData(std::string key, Sendable *data) {
  * @param value the value
  */
 void SmartDashboard::PutData(NamedSendable *value) {
-  if (value == NULL) {
+  if (value == nullptr) {
     wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
     return;
   }
@@ -65,9 +65,9 @@ void SmartDashboard::PutData(NamedSendable *value) {
 Sendable *SmartDashboard::GetData(std::string key) {
   ITable *subtable = m_table->GetSubTable(key);
   Sendable *data = m_tablesToData[subtable];
-  if (data == NULL) {
+  if (data == nullptr) {
     wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key.c_str());
-    return NULL;
+    return nullptr;
   }
   return data;
 }
@@ -75,7 +75,7 @@ Sendable *SmartDashboard::GetData(std::string key) {
 /**
  * Maps the specified key to the specified complex value (such as an array) in
  * this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the RetrieveValue method with a key
  * that is equal to the original key.
  * @param keyName the key
@@ -88,7 +88,7 @@ void SmartDashboard::PutValue(std::string keyName, ComplexData &value) {
 /**
  * Retrieves the complex value (such as an array) in this table into the complex
  * data object
- * The key can not be NULL.
+ * The key can not be nullptr.
  * @param keyName the key
  * @param value the object to retrieve the value into
  */
@@ -98,7 +98,7 @@ void SmartDashboard::RetrieveValue(std::string keyName, ComplexData &value) {
 
 /**
  * Maps the specified key to the specified value in this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key
@@ -130,7 +130,7 @@ bool SmartDashboard::GetBoolean(std::string keyName, bool defaultValue) {
 
 /**
  * Maps the specified key to the specified value in this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key
@@ -162,7 +162,7 @@ double SmartDashboard::GetNumber(std::string keyName, double defaultValue) {
 
 /**
  * Maps the specified key to the specified value in this table.
- * Neither the key nor the value can be NULL.
+ * Neither the key nor the value can be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key

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

@@ -75,10 +75,9 @@ class AnalogInput : public SensorBase,
   ITable *GetTable() const override;
 
  private:
-  void InitAnalogInput(uint32_t channel);
   uint32_t m_channel;
   void *m_port;
   int64_t m_accumulatorOffset;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -30,9 +30,8 @@ class AnalogOutput : public SensorBase, public LiveWindowSendable {
   ITable *GetTable() const override;
 
  protected:
-  void InitAnalogOutput(uint32_t channel);
   uint32_t m_channel;
   void *m_port;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

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

wpilibc/wpilibC++Devices/include/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

@@ -66,7 +66,7 @@ class CANTalon : public MotorSafety,
   virtual void SetSetpoint(float value) override;
   virtual void Disable() override;
   virtual void EnableControl();
-  virtual void Enable();
+  virtual void Enable() override;
   virtual void SetP(double p) override;
   virtual void SetI(double i) override;
   virtual void SetD(double d) override;
@@ -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/CameraServer.h

@@ -55,8 +55,6 @@ class CameraServer : public ErrorBase {
     uint32_t size;
   };
 
-  static CameraServer* s_instance;
-
  public:
   static CameraServer* GetInstance();
   void SetImage(Image const* image);

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();
@@ -49,16 +49,15 @@ class Compressor : public SensorBase,
   void InitTable(ITable *subTable) override;
   ITable *GetTable() const override;
   void ValueChanged(ITable *source, const std::string &key, EntryValue value,
-                    bool isNew);
+                    bool isNew) override;
 
  protected:
   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

@@ -27,7 +27,7 @@ class Counter : public SensorBase,
                 public CounterBase,
                 public LiveWindowSendable {
  public:
-  Counter();
+  explicit Counter(Mode mode = kTwoPulse);
   explicit Counter(int32_t channel);
   explicit Counter(DigitalSource *source);
   explicit Counter(DigitalSource &source);
@@ -83,15 +83,13 @@ 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 = 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.
 
-  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.
-
-  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

@@ -39,9 +39,8 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
   ITable *GetTable() const;
 
  private:
-  void InitDigitalInput(uint32_t channel);
   uint32_t m_channel;
   bool m_lastValue;
 
-  ITable *m_table;
+  ITable *m_table = nullptr;
 };

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

@@ -46,10 +46,8 @@ class DigitalOutput : public DigitalSource,
   ITable *GetTable() const;
 
  private:
-  void InitDigitalOutput(uint32_t channel);
-
   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

@@ -42,12 +42,10 @@ class DoubleSolenoid : public SolenoidBase,
   ITable* GetTable() const;
 
  private:
-  virtual void InitSolenoid();
-
   uint32_t m_forwardChannel;  ///< The forward channel on the module to control.
   uint32_t m_reverseChannel;  ///< The reverse channel on the module to control.
   uint8_t m_forwardMask;      ///< The mask for the forward channel.
   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

@@ -16,16 +16,15 @@
 class Jaguar : public SafePWM, public SpeedController {
  public:
   explicit Jaguar(uint32_t channel);
-  virtual ~Jaguar();
-  virtual void Set(float value, uint8_t syncGroup = 0);
-  virtual float Get() const;
-  virtual void Disable();
+  virtual ~Jaguar() = default;
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
 
   virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
   virtual bool GetInverted() const override;
 
  private:
-  void InitJaguar();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };

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

@@ -102,15 +102,14 @@ class Joystick : public GenericHID, public ErrorBase {
 
  private:
   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/NetworkCommunication/CANInterfacePlugin.h

@@ -31,7 +31,7 @@ class CANInterfacePlugin {
    * @param messageID The 29-bit CAN message ID in the lsbs.  The msb can
    * indicate a remote frame.
    * @param data A pointer to a buffer containing between 0 and 8 bytes to send
-   * with the message.  May be NULL if dataSize is 0.
+   * with the message.  May be nullptr if dataSize is 0.
    * @param dataSize The number of bytes to send with the message.
    * @return Return any error code.  On success return 0.
    */
@@ -101,7 +101,7 @@ class CANInterfacePlugin {
  *
  * @param interface A pointer to an object that inherits from CANInterfacePlugin
  * and implements
- * the pure virtual interface.  If NULL, unregister the current plugin.
+ * the pure virtual interface.  If nullptr, unregister the current plugin.
  */
 void FRC_NetworkCommunication_CANSessionMux_registerInterface(
     CANInterfacePlugin *interface);

wpilibc/wpilibC++Devices/include/NetworkCommunication/UsageReporting.h

@@ -128,7 +128,7 @@ typedef enum {
  * change the feature string.
  */
 uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber,
-                            uint8_t context = 0, const char *feature = NULL);
+                            uint8_t context = 0, const char *feature = nullptr);
 }
 
 #ifdef __cplusplus

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

@@ -106,10 +106,9 @@ 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);
   uint32_t m_channel;
   int32_t GetMaxPositivePwm() const { return m_maxPwm; }
   int32_t GetMinPositivePwm() const {

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

@@ -82,14 +82,12 @@ class Preferences : public ErrorBase, public ITableListener {
     return 0;
   }
 
-  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

@@ -47,11 +47,9 @@ class Relay : public SensorBase,
   void InitTable(ITable* subTable) override;
   ITable* GetTable() const override;
 
-  ITable* m_table;
+  ITable* m_table = nullptr;
 
  private:
-  void InitRelay();
-
   uint32_t m_channel;
   Direction m_direction;
 };

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/SafePWM.h

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

wpilibc/wpilibC++Devices/include/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

@@ -37,10 +37,9 @@ class Servo : public SafePWM {
   void InitTable(ITable* subTable) override;
   ITable* GetTable() const override;
 
-  ITable* m_table;
+  ITable* m_table = nullptr;
 
  private:
-  void InitServo();
   float GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }
 
   static constexpr float kMaxServoAngle = 180.0;

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

@@ -38,8 +38,6 @@ class Solenoid : public SolenoidBase,
   ITable* GetTable() const;
 
  private:
-  void InitSolenoid();
-
   uint32_t m_channel;  ///< The channel on the module to control.
-  ITable* m_table;
+  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;
@@ -29,7 +29,6 @@ class SolenoidBase : public SensorBase {
  protected:
   explicit SolenoidBase(uint8_t pcmID);
   void Set(uint8_t value, uint8_t mask, int module);
-  virtual void InitSolenoid() = 0;
   const static int m_maxModules = 63;
   const static int m_maxPorts = 8;
   static void* m_ports[m_maxModules][m_maxPorts];

wpilibc/wpilibC++Devices/include/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

@@ -16,16 +16,15 @@
 class Talon : public SafePWM, public SpeedController {
  public:
   explicit Talon(uint32_t channel);
-  virtual ~Talon();
-  virtual void Set(float value, uint8_t syncGroup = 0);
-  virtual float Get() const;
-  virtual void Disable();
+  virtual ~Talon() = default;
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
 
   virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
   virtual bool GetInverted() const override;
 
  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;
@@ -27,6 +27,5 @@ class TalonSRX : public SafePWM, public SpeedController {
   virtual bool GetInverted() const override;
 
  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

@@ -19,10 +19,10 @@
 class Victor : public SafePWM, public SpeedController {
  public:
   explicit Victor(uint32_t channel);
-  virtual ~Victor();
-  virtual void Set(float value, uint8_t syncGroup = 0);
-  virtual float Get() const;
-  virtual void Disable();
+  virtual ~Victor() = default;
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
 
   virtual void PIDWrite(float output) override;
 
@@ -30,6 +30,5 @@ class Victor : public SafePWM, public SpeedController {
   virtual bool GetInverted() const override;
 
  private:
-  void InitVictor();
-  bool m_isInverted;
+  bool m_isInverted = false;
 };