diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index cfb8a9a..9168b4b 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -35,15 +35,22 @@
 
       chrono::duration_cast<chrono::nanoseconds>(
           chrono::duration<double>(drivetrain::kDt)),
-      drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
+      drivetrain::kRobotRadius,
+      drivetrain::kWheelRadius,
+      drivetrain::kV,
 
-      drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+      drivetrain::kHighGearRatio,
+      drivetrain::kLowGearRatio,
       drivetrain::kJ,
       drivetrain::kMass,
-      kThreeStateDriveShifter, kThreeStateDriveShifter,
-      true /* default_high_gear */, 0 /* down_offset if using constants use
-                                   constants::GetValues().down_error */,
-      0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
+      kThreeStateDriveShifter,
+      kThreeStateDriveShifter,
+      true /* default_high_gear */,
+      0 /* down_offset if using constants use
+     constants::GetValues().down_error */
+      ,
+      0.8 /* wheel_non_linearity */,
+      1.2 /* quickturn_wheel_multiplier */,
       1.5 /* wheel_multiplier */,
   };
 
diff --git a/y2018/control_loops/python/2d_plot.cc b/y2018/control_loops/python/2d_plot.cc
index 9fb1a35..1d2a686 100644
--- a/y2018/control_loops/python/2d_plot.cc
+++ b/y2018/control_loops/python/2d_plot.cc
@@ -8,8 +8,7 @@
 DEFINE_double(yrange, 1.0, "+- y max");
 
 double fx(double x, double yrange) {
-  return 2.0 * ((1.0 / (1.0 + ::std::exp(-x * 2.0 / yrange)) - 0.5)) *
-         yrange;
+  return 2.0 * ((1.0 / (1.0 + ::std::exp(-x * 2.0 / yrange)) - 0.5)) * yrange;
 }
 
 int main(int argc, char **argv) {
@@ -32,5 +31,4 @@
   matplotlibcpp::plot(x, slope_y, {{"label", "slope"}});
   matplotlibcpp::legend();
   matplotlibcpp::show();
-
 }
diff --git a/y2018/control_loops/python/arm_bounds.h b/y2018/control_loops/python/arm_bounds.h
index b69f661..c175616 100644
--- a/y2018/control_loops/python/arm_bounds.h
+++ b/y2018/control_loops/python/arm_bounds.h
@@ -25,7 +25,6 @@
 typedef K::Line_2 Line;
 typedef K::Vector_2 Vector;
 
-
 // Returns true if the point p3 is to the left of the vector from p1 to p2.
 inline bool is_left(Point p1, Point p2, Point p3) {
   switch (CGAL::orientation(p1, p2, p3)) {
@@ -91,9 +90,9 @@
                     {bbox.xmin(), bbox.ymax()}};
 
     return std::vector<Segment>({{points[0], points[1]},
-                                  {points[1], points[2]},
-                                  {points[2], points[3]},
-                                  {points[3], points[0]}});
+                                 {points[1], points[2]},
+                                 {points[2], points[3]},
+                                 {points[3], points[0]}});
   }
 
   static bool check_inside(Point pt, const std::vector<Point> &points) {
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);