diff --git a/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
index 5b0efac0ac..60b42468f4 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobot.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
@@ -25,6 +25,11 @@ IterativeRobot::IterativeRobot() {
  * the DS packets.
  */
 void IterativeRobot::StartCompetition() {
+  RobotInit();
+
+  // Tell the DS that the robot is ready to be enabled
+  HAL_ObserveUserProgramStarting();
+
   // Loop forever, calling the appropriate mode-dependent function
   while (true) {
     // wait for driver station data so the loop doesn't hog the CPU
diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 64dc9f6e87..a0b819be10 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -146,13 +146,6 @@ void IterativeRobotBase::TestPeriodic() {
   }
 }
 
-IterativeRobotBase::IterativeRobotBase() {
-  RobotInit();
-
-  // Tell the DS that the robot is ready to be enabled
-  HAL_ObserveUserProgramStarting();
-}
-
 void IterativeRobotBase::LoopFunc() {
   // Call the appropriate function depending upon the current robot mode
   if (IsDisabled()) {
diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp
index 07cc0f665e..f0d8492e0e 100644
--- a/wpilibc/src/main/native/cpp/TimedRobot.cpp
+++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -17,6 +17,11 @@ using namespace frc;
  * Provide an alternate "main loop" via StartCompetition().
  */
 void TimedRobot::StartCompetition() {
+  RobotInit();
+
+  // Tell the DS that the robot is ready to be enabled
+  HAL_ObserveUserProgramStarting();
+
   // Loop forever, calling the appropriate mode-dependent function
   m_startLoop = true;
   m_loop->StartPeriodic(m_period);
diff --git a/wpilibc/src/main/native/include/IterativeRobotBase.h b/wpilibc/src/main/native/include/IterativeRobotBase.h
index f469a7150f..01bfa7e7fa 100644
--- a/wpilibc/src/main/native/include/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/IterativeRobotBase.h
@@ -55,7 +55,6 @@ class IterativeRobotBase : public RobotBase {
   virtual void TestPeriodic();
 
  protected:
-  IterativeRobotBase();
   virtual ~IterativeRobotBase() = default;
 
   void LoopFunc();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
index 6bef66bf6d..fb13579fba 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
@@ -28,7 +28,12 @@ public class IterativeRobot extends IterativeRobotBase {
    * Provide an alternate "main loop" via startCompetition().
    */
   public void startCompetition() {
-    // loop forever, calling the appropriate mode-dependent function
+    robotInit();
+
+    // Tell the DS that the robot is ready to be enabled
+    HAL.observeUserProgramStarting();
+
+    // Loop forever, calling the appropriate mode-dependent function
     while (true) {
       // Wait for new data to arrive
       m_ds.waitForData();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index a1794c873c..6847383dc6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -50,16 +50,6 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   private Mode m_lastMode = Mode.kNone;
 
-  /**
-   * IterativeRobotBase constructor.
-   */
-  public IterativeRobotBase() {
-    robotInit();
-
-    // Tell the DS that the robot is ready to be enabled
-    HAL.observeUserProgramStarting();
-  }
-
   /**
    * Provide an alternate "main loop" via startCompetition().
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
index 9c20f10d55..52eabe5742 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -39,7 +39,12 @@ public class TimedRobot extends IterativeRobotBase {
    * Provide an alternate "main loop" via startCompetition().
    */
   public void startCompetition() {
-    // loop forever, calling the appropriate mode-dependent function
+    robotInit();
+
+    // Tell the DS that the robot is ready to be enabled
+    HAL.observeUserProgramStarting();
+
+    // Loop forever, calling the appropriate mode-dependent function
     m_startLoop = true;
     m_loop.startPeriodic(m_period);
     while (true) {