diff --git a/y2016/constants.cc b/y2016/constants.cc
index 2b75345..1f4ae9e 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -1,8 +1,8 @@
 #include "y2016/constants.h"
 
+#include <inttypes.h>
 #include <math.h>
 #include <stdint.h>
-#include <inttypes.h>
 
 #include <map>
 
@@ -10,13 +10,13 @@
 #include "sanitizer/lsan_interface.h"
 #endif
 
-#include "aos/logging/logging.h"
-#include "aos/mutex/mutex.h"
-#include "aos/network/team_number.h"
 #include "absl/base/call_once.h"
+#include "aos/logging/logging.h"
+#include "aos/network/team_number.h"
+#include "aos/stl_mutex/stl_mutex.h"
 
-#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
 #include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
@@ -52,23 +52,23 @@
 
           // Intake
           {
-           0.0,
-           {Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
-            0.0, 0.3},
+              0.0,
+              {Values::kZeroingSampleSize,
+               Values::kIntakeEncoderIndexDifference, 0.0, 0.3},
           },
 
           // Shoulder
           {
-           0.0,
-           {Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
-            0.0, 0.3},
+              0.0,
+              {Values::kZeroingSampleSize,
+               Values::kShoulderEncoderIndexDifference, 0.0, 0.3},
           },
 
           // Wrist
           {
-           0.0,
-           {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
-            0.0, 0.3},
+              0.0,
+              {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
+               0.0, 0.3},
           },
 
           0.0,
@@ -81,27 +81,32 @@
           5.0,  // drivetrain max speed
 
           // Intake
-          {// Value to add to the pot reading for the intake.
-           -4.550531 + 150.40906362 * M_PI / 180.0 + 0.5098 - 0.0178 - 0.0725,
-           {Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
-            // Location of an index pulse.
-            0.018008, 2.5},
+          {
+              // Value to add to the pot reading for the intake.
+              -4.550531 + 150.40906362 * M_PI / 180.0 + 0.5098 - 0.0178 -
+                  0.0725,
+              {Values::kZeroingSampleSize,
+               Values::kIntakeEncoderIndexDifference,
+               // Location of an index pulse.
+               0.018008, 2.5},
           },
 
           // Shoulder
-          {// Value to add to the pot reading for the shoulder.
-           -2.86275657117,
-           {Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
-            0.097312, 2.5},
+          {
+              // Value to add to the pot reading for the shoulder.
+              -2.86275657117,
+              {Values::kZeroingSampleSize,
+               Values::kShoulderEncoderIndexDifference, 0.097312, 2.5},
           },
 
           // Wrist
-          {// Value to add to the pot reading for the wrist.
-           3.2390714288298668 + -0.06138835 * M_PI / 180.0 + 0.0078 - 0.0548 -
-               0.0167 + 0.002 - 0.0026 - 0.1040 - 0.0035 - 0.0012 + 0.0166 -
-               0.017 + 0.148 + 0.004 + 0.024701 - 0.0741,
-           {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
-            0.000820, 2.5},
+          {
+              // Value to add to the pot reading for the wrist.
+              3.2390714288298668 + -0.06138835 * M_PI / 180.0 + 0.0078 -
+                  0.0548 - 0.0167 + 0.002 - 0.0026 - 0.1040 - 0.0035 - 0.0012 +
+                  0.0166 - 0.017 + 0.148 + 0.004 + 0.024701 - 0.0741,
+              {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
+               0.000820, 2.5},
           },
 
           0.0,
@@ -113,28 +118,29 @@
           5.0,  // drivetrain max speed
 
           // Intake
-          {// Hard stop is 160.0185751389329 degrees.
-           -4.2193 + (160.0185751389329 * M_PI / 180.0 + 0.02 - 0.0235) +
-               0.0549 - 0.104 + 0.019 - 0.938 + 0.660 - 0.002 - 0.2081,
-           {Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
-            0.332370, 1.3},
+          {
+              // Hard stop is 160.0185751389329 degrees.
+              -4.2193 + (160.0185751389329 * M_PI / 180.0 + 0.02 - 0.0235) +
+                  0.0549 - 0.104 + 0.019 - 0.938 + 0.660 - 0.002 - 0.2081,
+              {Values::kZeroingSampleSize,
+               Values::kIntakeEncoderIndexDifference, 0.332370, 1.3},
           },
 
           // Shoulder (Now calibrated at 0)
           {
-           -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0 + 1.07838 - 1.0441 +
-               0.0034 + 0.0065 - 0.0505,
-           {Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
-            0.027180, 1.3},
+              -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0 + 1.07838 - 1.0441 +
+                  0.0034 + 0.0065 - 0.0505,
+              {Values::kZeroingSampleSize,
+               Values::kShoulderEncoderIndexDifference, 0.027180, 1.3},
           },
 
           // Wrist
           {
-           3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323 -
-               0.023 + 0.0488 + 0.0120 - 0.0005 - 0.0784 - 0.0010 - 0.080 +
-               0.1245,
-           {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
-            -0.263227, 1.3},
+              3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323 -
+                  0.023 + 0.0488 + 0.0120 - 0.0005 - 0.0784 - 0.0010 - 0.080 +
+                  0.1245,
+              {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
+               -0.263227, 1.3},
           },
 
           0.011,
@@ -163,8 +169,8 @@
 }
 
 const Values &GetValuesForTeam(uint16_t team_number) {
-  static ::aos::Mutex mutex;
-  ::aos::MutexLocker locker(&mutex);
+  static aos::stl_mutex mutex;
+  std::unique_lock<aos::stl_mutex> locker(mutex);
 
   // IMPORTANT: This declaration has to stay after the mutex is locked to avoid
   // race conditions.