diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index ab5deea..0749e3f 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -4,9 +4,9 @@
 #include <iostream>
 
 #include "aos/logging/logging.h"
-#include "y2018/constants.h"
 #include "frc971/control_loops/double_jointed_arm/demo_path.h"
 #include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/arm/arm_constants.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
 
@@ -172,7 +172,7 @@
         break;
       }
     }
-    [[fallthrough]];
+      [[fallthrough]];
 
     case State::GOTO_PATH:
       if (outputs_disabled) {
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 51d6c4d..0b0a6a4 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -2,18 +2,18 @@
 #define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
 
 #include "aos/time/time.h"
-#include "frc971/zeroing/zeroing.h"
-#include "y2018/constants.h"
 #include "frc971/control_loops/double_jointed_arm/dynamics.h"
 #include "frc971/control_loops/double_jointed_arm/ekf.h"
-#include "y2018/control_loops/superstructure/arm/generated_graph.h"
 #include "frc971/control_loops/double_jointed_arm/graph.h"
 #include "frc971/control_loops/double_jointed_arm/trajectory.h"
+#include "frc971/zeroing/zeroing.h"
+#include "y2018/constants.h"
+#include "y2018/control_loops/superstructure/arm/generated_graph.h"
 #include "y2018/control_loops/superstructure/superstructure_position_generated.h"
 #include "y2018/control_loops/superstructure/superstructure_status_generated.h"
 
-using frc971::control_loops::arm::TrajectoryFollower;
 using frc971::control_loops::arm::EKF;
+using frc971::control_loops::arm::TrajectoryFollower;
 
 namespace y2018 {
 namespace control_loops {
diff --git a/y2018/control_loops/superstructure/arm/arm_constants.h b/y2018/control_loops/superstructure/arm/arm_constants.h
index 1697a8e..932da7a 100644
--- a/y2018/control_loops/superstructure/arm/arm_constants.h
+++ b/y2018/control_loops/superstructure/arm/arm_constants.h
@@ -44,10 +44,9 @@
     .num_distal_motors = 2.0,
 };
 
+}  // namespace arm
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2018
 
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
-
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+#endif  // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
diff --git a/y2018/control_loops/superstructure/arm/trajectory_plot.cc b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
index 0cee664..7fdde3f 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
@@ -1,9 +1,10 @@
+#include "gflags/gflags.h"
+
 #include "aos/init.h"
 #include "frc971/analysis/in_process_plotter.h"
 #include "frc971/control_loops/double_jointed_arm/dynamics.h"
 #include "frc971/control_loops/double_jointed_arm/ekf.h"
 #include "frc971/control_loops/double_jointed_arm/trajectory.h"
-#include "gflags/gflags.h"
 #include "y2018/control_loops/superstructure/arm/arm_constants.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
 
diff --git a/y2018/control_loops/superstructure/superstructure.h b/y2018/control_loops/superstructure/superstructure.h
index 63adbb2..6621794 100644
--- a/y2018/control_loops/superstructure/superstructure.h
+++ b/y2018/control_loops/superstructure/superstructure.h
@@ -3,9 +3,9 @@
 
 #include <memory>
 
-#include "frc971/control_loops/control_loop.h"
 #include "aos/events/event_loop.h"
 #include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "y2018/control_loops/superstructure/arm/arm.h"
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 54342c5..b142420 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,12 +3,13 @@
 #include <chrono>
 #include <memory>
 
+#include "gtest/gtest.h"
+
 #include "frc971/control_loops/control_loop_test.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
 #include "y2018/constants.h"
-#include "frc971/control_loops/double_jointed_arm/dynamics.h"
 #include "y2018/control_loops/superstructure/arm/arm_constants.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
 #include "y2018/control_loops/superstructure/intake/intake_plant.h"
@@ -414,8 +415,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   // Give it a lot of time to get there.
@@ -446,8 +446,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   // Give it a lot of time to get there.
@@ -476,8 +475,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   RunFor(chrono::seconds(10));
 
@@ -516,8 +514,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   RunFor(chrono::seconds(10));
@@ -561,8 +558,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   RunFor(chrono::seconds(10));
   {
@@ -580,8 +576,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   RunFor(chrono::seconds(10));
   VerifyNearGoal();
@@ -609,8 +604,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   RunFor(chrono::seconds(10));
 
@@ -639,8 +633,7 @@
     goal_builder.add_arm_goal_position(arm::UpIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   RunFor(chrono::seconds(10));
 
@@ -688,8 +681,7 @@
     goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   EXPECT_EQ(arm::Arm::State::RUNNING, superstructure_.arm().state());
@@ -713,8 +705,7 @@
     goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   RunFor(chrono::seconds(10));
@@ -736,8 +727,7 @@
     goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   RunFor(chrono::seconds(10));
@@ -764,8 +754,7 @@
     goal_builder.add_arm_goal_position(arm::BackLowBoxIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   RunFor(chrono::seconds(10));
@@ -787,8 +776,7 @@
     goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
     goal_builder.add_open_claw(true);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
   RunFor(chrono::seconds(10));
diff --git a/y2018/control_loops/superstructure/superstructure_main.cc b/y2018/control_loops/superstructure/superstructure_main.cc
index 108cbdf..5bf15ad 100644
--- a/y2018/control_loops/superstructure/superstructure_main.cc
+++ b/y2018/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2018/control_loops/superstructure/superstructure.h"
-
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
+#include "y2018/control_loops/superstructure/superstructure.h"
 
 int main(int argc, char **argv) {
   ::aos::InitGoogle(&argc, &argv);