Change usage of robotInit to Robot Constructor (#2841)

* Change usage of robotInit to Robot Constructor

Fixes #2679
Supersedes #2689
Does not touch RobotBuilder docs, as those are generated and need to be
updated by regenerating the code
Does not touch stacktraces article, as the code and stacktraces need to
be updated together
Does not touch Python. robotpy/examples#120

* Remove bad Override

* Remove additional reference

source/docs/networking/networking-utilities/portforwarding.rst

@@ -9,14 +9,13 @@ Often teams may wish to connect directly to the roboRIO for controlling their ro
 .. tab-set-code::
 
    ```java
-   @Override
-   public void robotInit() {
+   public Robot() {
       PortForwarder.add(8888, "wpilibpi.local", 80);
    }
    ```
 
    ```c++
-   void Robot::RobotInit {
+   Robot::Robot() {
       wpi::PortForwarder::GetInstance().Add(8888, "wpilibpi.local", 80);
    }
    ```
@@ -34,14 +33,13 @@ To stop forwarding on a specified port, simply call ``remove(int port)`` with po
 .. tab-set-code::
 
    ```java
-   @Override
-   public void robotInit() {
+   public Robot() {
       PortForwarder.remove(8888);
    }
    ```
 
    ```c++
-   void Robot::RobotInit {
+   Robot::Robot() {
       wpi::PortForwarder::GetInstance().Remove(8888);
    }
    ```

source/docs/software/advanced-controls/trajectories/trajectory-generation.rst

@@ -63,7 +63,7 @@ Here is an example of generating a trajectory using clamped cubic splines for th
 
 .. note:: The Java code utilizes the [Units](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/util/Units.html) utility, for easy unit conversions.
 
-.. note:: Generating a typical trajectory takes about 10 ms to 25 ms. This isn't long, but it's still highly recommended to generate all trajectories on startup (``robotInit``).
+.. note:: Generating a typical trajectory takes about 10 ms to 25 ms. This isn't long, but it's still highly recommended to generate all trajectories on startup in the ``Robot`` constructor.
 
 ## Concatenating Trajectories
 

source/docs/software/basic-programming/java-gc.rst

@@ -130,7 +130,7 @@ Sometimes the garbage collector won't run frequently enough to keep up with the
 
 ```java
 Timer m_gcTimer = new Timer();
-public void robotInit() {
+public Robot() {
   m_gcTimer.start();
 }
 public void periodic() {

source/docs/software/basic-programming/robot-preferences.rst

@@ -44,7 +44,7 @@ This example shows how to utilize Preferences to change the setpoint of a PID co
 
 Preferences are stored using a name, the key. It's helpful to store the key in a constant, like ``kArmPositionKey`` and ``kArmPKey`` in the code above to avoid typing it multiple times and avoid typos. We also declare variables, ``kArmKp`` and ``armPositionDeg`` to hold the data retrieved from preferences.
 
-In ``robotInit``, each key is checked to see if it already exists in the Preferences database. The ``containsKey`` method takes one parameter, the key to check if data for that key already exists in the preferences database. If it doesn't exist, a default value is written. The ``setDouble`` method takes two parameters, the key to write and the data to write. There are similar methods for other data types like booleans, ints, and strings.
+In ``Arm`` constructor, each key is checked to see if it already exists in the Preferences database. The ``containsKey`` method takes one parameter, the key to check if data for that key already exists in the preferences database. If it doesn't exist, a default value is written. The ``setDouble`` method takes two parameters, the key to write and the data to write. There are similar methods for other data types like booleans, ints, and strings.
 
 If using the Command Framework, this type of code could be placed in the constructor of a Subsystem or Command.
 

source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst

@@ -34,7 +34,7 @@ In the following examples, you'll see what the screen would look like when there
    SmartDashboard.putData(CommandScheduler.getInstance())
    ```
 
-You can display the status of the Scheduler (the code that schedules your commands to run). This is easily done by adding a single line to the ``RobotInit`` method in your RobotProgram as shown here. In this example the Scheduler instance is written using the ``putData`` method to SmartDashboard. This line of code produces the display in the previous image.
+You can display the status of the Scheduler (the code that schedules your commands to run). This is easily done by adding a single line to the ``Robot`` constructor in your Robot program as shown here. In this example the Scheduler instance is written using the ``putData`` method to SmartDashboard. This line of code produces the display in the previous image.
 
 .. image:: images/displaying-status-of-commands-and-subsystems/commands-running.png
    :alt: The schedulers is showing which commands are being run.

source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst

@@ -12,14 +12,13 @@ To run LiveWindow in Test Mode, the following code is needed in the ``Robot`` cl
 .. tab-set-code::
 
    ```java
-   @Override
-   public void robotInit() {
+   public Robot() {
       enableLiveWindowInTest(true);
    }
    ```
 
    ```c++
-   void Robot::RobotInit() {
+   Robot::Robot() {
       EnableLiveWindowInTest(true);
    }
    ```
@@ -38,8 +37,8 @@ To run LiveWindow in Test Mode, the following code is needed in the ``Robot`` cl
    PWMSparkMax rightDrive;
    PWMVictorSPX arm;
    BuiltInAccelerometer accel;
-   @Override
-   public void robotInit() {
+
+   public Robot() {
       leftDrive = new PWMSparkMax(0);
       rightDrive = new PWMSparkMax(1);
       arm = new PWMVictorSPX(2);
@@ -54,7 +53,7 @@ To run LiveWindow in Test Mode, the following code is needed in the ``Robot`` cl
    frc::PWMSparkMax rigthDrive{1};
    frc::BuiltInAccelerometer accel{};
    frc::PWMVictorSPX arm{3};
-   void Robot::RobotInit() {
+   Robot::Robot() {
       wpi::SendableRegistry::SetName(&arm, "SomeSubsystem", "Arm");
       wpi::SendableRegistry::SetName(&accel, "SomeSubsystem", "Accelerometer");
    }

source/docs/software/hardware-apis/motors/wpi-drive-classes.rst

@@ -32,16 +32,16 @@ It is the responsibility of the user to manage proper inversions for their drive
 
    ```java
    PWMSparkMax m_motorRight = new PWMSparkMax(0);
-   @Override
-   public void robotInit() {
+
+   public Robot() {
       m_motorRight.setInverted(true);
    }
    ```
 
    ```c++
    frc::PWMSparkMax m_motorLeft{0};
    public:
-    void RobotInit() override {
+    Robot::Robot() {
       m_motorRight.SetInverted(true);
     }
    ```
@@ -159,7 +159,7 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. Classes derived
             :language: java
             :lines: 19-25
 
-        In robotInit or Subsystem constructor:
+        In Robot or Subsystem constructor:
 
         .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
             :language: java
@@ -175,7 +175,7 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. Classes derived
     .. tab-item:: C++ (Source)
      :sync: C++ (Source)
 
-        In robotInit or Subsystem constructor:
+        In Robot or Subsystem constructor:
 
         .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
             :language: c++

source/docs/software/hardware-apis/sensors/counters.rst

@@ -31,8 +31,8 @@ In two-pulse mode, the :code:`Counter` will count up for every edge/pulse on the
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.k2Pulse);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         // Set up the input channels for the counter
         counter.setUpSource(1);
         counter.setDownSource(2);
@@ -45,7 +45,7 @@ In two-pulse mode, the :code:`Counter` will count up for every edge/pulse on the
     ```c++
     // Create a new Counter object in two-pulse mode
     frc::Counter counter{frc::Counter::Mode::k2Pulse};
-    void Robot::RobotInit() {
+    Robot::Robot() {
         // Set up the input channels for the counter
         counter.SetUpSource(1);
         counter.SetDownSource(2);
@@ -63,8 +63,8 @@ In semi-period mode, the :code:`Counter` will count the duration of the pulses o
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.kSemiperiod);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         // Set up the input channel for the counter
         counter.setUpSource(1);
         // Set the encoder to count pulse duration from rising edge to falling edge
@@ -105,8 +105,8 @@ In pulse-length mode, the counter will count either up or down depending on the
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.kPulseLength);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         // Set up the input channel for the counter
         counter.setUpSource(1);
         // Set the decoding type to 2X
@@ -119,7 +119,7 @@ In pulse-length mode, the counter will count either up or down depending on the
     ```c++
     // Create a new Counter object in two-pulse mode
     frc::Counter counter{frc::Counter::Mode::kPulseLength};
-    void Robot::RobotInit() {
+    Robot::Robot() {
         // Set up the input channel for the counter
         counter.SetUpSource(1);
         // Set the decoding type to 2X
@@ -137,8 +137,8 @@ In external direction mode, the counter counts either up or down depending on th
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.kExternalDirection);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         // Set up the input channels for the counter
         counter.setUpSource(1);
         counter.setDownSource(2);

source/docs/software/hardware-apis/sensors/encoders-software.rst

@@ -430,8 +430,8 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
     Spark rightLeader = new Spark(2);
     Spark rightFollower = new Spark(3);
     DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         // Configures the encoder's distance-per-pulse
         // The robot moves forward 1 foot per encoder rotation
         // There are 256 pulses per encoder rotation
@@ -442,6 +442,7 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
         leftLeader.addFollower(leftFollower);
         rightLeader.addFollower(rightFollower);
     }
+
     @Override
     public void autonomousPeriodic() {
         // Drives forward at half speed until the robot has moved 5 feet, then stops:
@@ -463,7 +464,7 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
     frc::Spark rightFollower{3};
     frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
                                  [&](double output) { rightLeader.Set(output); }};
-        void Robot::RobotInit() {
+        Robot::Robot() {
         // Configures the encoder's distance-per-pulse
         // The robot moves forward 1 foot per encoder rotation
         // There are 256 pulses per encoder rotation

source/docs/software/hardware-apis/sensors/gyros-software.rst

@@ -162,15 +162,15 @@ Gyros are extremely useful in FRC for both measuring and controlling robot headi
 
     ```java
     // Use gyro declaration from above here
-    public void robotInit() {
+    public Robot() {
         // Places a compass indicator for the gyro heading on the dashboard
         Shuffleboard.getTab("Example tab").add(gyro);
     }
     ```
 
     ```c++
     // Use gyro declaration from above here
-    void Robot::RobotInit() {
+    Robot::Robot() {
         // Places a compass indicator for the gyro heading on the dashboard
         frc::Shuffleboard.GetTab("Example tab").Add(gyro);
     }
@@ -208,8 +208,8 @@ The following example shows how to stabilize heading using a simple P loop close
     Spark rightLeader = new Spark(2);
     Spark rightFollower = new Spark(3);
     DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         // Configures the encoder's distance-per-pulse
         // The robot moves forward 1 foot per encoder rotation
         // There are 256 pulses per encoder rotation
@@ -220,6 +220,7 @@ The following example shows how to stabilize heading using a simple P loop close
         leftLeader.addFollower(leftFollower);
         rightLeader.addFollower(rightFollower);
     }
+
     @Override
     public void autonomousPeriodic() {
         // Setpoint is implicitly 0, since we don't want the heading to change
@@ -240,7 +241,7 @@ The following example shows how to stabilize heading using a simple P loop close
     frc::Spark rightFollower{3};
     frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
                                  [&](double output) { rightLeader.Set(output); }};
-    void Robot::RobotInit() {
+    Robot::Robot() {
         // Invert the right side of the drivetrain. You might have to invert the other side
         rightLeader.SetInverted(true);
         // Configure the followers to follow the leaders
@@ -303,15 +304,17 @@ The following example shows how to stabilize heading using a simple P loop close
     MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
     MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
     DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         rightMotors.setInverted(true);
     }
+
     @Override
     public void autonomousInit() {
         // Set setpoint to current heading at start of auto
         heading = gyro.getAngle();
     }
+
     @Override
     public void autonomousPeriodic() {
         double error = heading - gyro.getAngle();
@@ -334,7 +337,7 @@ The following example shows how to stabilize heading using a simple P loop close
     frc::MotorControllerGroup leftMotors{left1, left2};
     frc::MotorControllerGroup rightMotors{right1, right2};
     frc::DifferentialDrive drive{leftMotors, rightMotors};
-    void Robot::RobotInit() {
+    Robot::Robot() {
       rightMotors.SetInverted(true);
     }
     void Robot::AutonomousInit() {
@@ -396,10 +399,11 @@ Much like with heading stabilization, this is often accomplished with a PID loop
     MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
     MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
     DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-    @Override
-    public void robotInit() {
+
+    public Robot() {
         rightMotors.setInverted(true);
     }
+
     @Override
     public void autonomousPeriodic() {
         // Find the heading error; setpoint is 90
@@ -421,7 +425,7 @@ Much like with heading stabilization, this is often accomplished with a PID loop
     frc::MotorControllerGroup leftMotors{left1, left2};
     frc::MotorControllerGroup rightMotors{right1, right2};
     frc::DifferentialDrive drive{leftMotors, rightMotors};
-    void Robot::RobotInit() {
+    Robot::Robot() {
       rightMotors.SetInverted(true);
     }
     void Robot::AutonomousPeriodic() {

source/docs/software/networktables/reading-array-values-published-by-networktables.rst

@@ -20,11 +20,12 @@ Both of the following examples are extremely simplified programs that just illus
 
    ```java
    DoubleArraySubscriber areasSub;
-   @Override
-   public void robotInit() {
+
+   public Robot() {
      NetworkTable table = NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport");
      areasSub = table.getDoubleArrayTopic("area").subscribe(new double[] {});
    }
+
    @Override
    public void teleopPeriodic() {
      double[] areas = areasSub.get();
@@ -38,7 +39,7 @@ Both of the following examples are extremely simplified programs that just illus
 
    ```c++
    nt::DoubleArraySubscriber areasSub;
-   void Robot::RobotInit() override {
+   Robot::Robot() {
      auto table = nt::NetworkTableInstance::GetDefault().GetTable("GRIP/myContoursReport");
      areasSub = table->GetDoubleArrayTopic("area").Subscribe({});
    }

source/docs/software/networktables/robot-program.rst

@@ -15,7 +15,8 @@ The example robot program below publishes incrementing X and Y values to a table
     public class EasyNetworkTableExample extends TimedRobot {
       DoublePublisher xPub;
       DoublePublisher yPub;
-      public void robotInit() {
+
+      public Robot() {
         // Get the default instance of NetworkTables that was created automatically
         // when the robot program starts
         NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -29,6 +30,7 @@ The example robot program below publishes incrementing X and Y values to a table
         xPub = table.getDoubleTopic("x").publish();
         yPub = table.getDoubleTopic("y").publish();
       }
+
       double x = 0;
       double y = 0;
       public void teleopPeriodic() {
@@ -50,7 +52,7 @@ The example robot program below publishes incrementing X and Y values to a table
      public:
       nt::DoublePublisher xPub;
       nt::DoublePublisher yPub;
-      void RobotInit() {
+      Robot() {
         // Get the default instance of NetworkTables that was created automatically
         // when the robot program starts
         auto inst = nt::NetworkTableInstance::GetDefault();