diff --git a/y2019/control_loops/drivetrain/drivetrain_replay.cc b/y2019/control_loops/drivetrain/drivetrain_replay.cc
index 26c87e8..d9d928c 100644
--- a/y2019/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_replay.cc
@@ -1,14 +1,15 @@
 #include <iostream>
 
+#include "gflags/gflags.h"
+
 #include "aos/configuration.h"
-#include "aos/events/logging/log_writer.h"
 #include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.h"
 #include "aos/events/simulated_event_loop.h"
 #include "aos/init.h"
 #include "aos/json_to_flatbuffer.h"
 #include "aos/network/team_number.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
-#include "gflags/gflags.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
 #include "y2019/control_loops/drivetrain/event_loop_localizer.h"
 
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.h b/y2019/control_loops/drivetrain/event_loop_localizer.h
index a78f3a2..0847479 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.h
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.h
@@ -66,9 +66,7 @@
 
   Localizer::State Xhat() const override { return localizer_.X_hat(); }
 
-  TargetSelector *target_selector() override {
-    return &target_selector_;
-  }
+  TargetSelector *target_selector() override { return &target_selector_; }
 
  private:
   void HandleFrame(const CameraFrame *frame);
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 4d6f84a..016e3b7 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -1,11 +1,12 @@
 #include <queue>
 
+#include "gtest/gtest.h"
+
 #include "aos/network/team_number.h"
 #include "frc971/control_loops/control_loop_test.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
 #include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
 #include "y2019/control_loops/drivetrain/camera_generated.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
 #include "y2019/control_loops/drivetrain/event_loop_localizer.h"
diff --git a/y2019/control_loops/drivetrain/localizer.h b/y2019/control_loops/drivetrain/localizer.h
index 818e1b9..2e7c3a5 100644
--- a/y2019/control_loops/drivetrain/localizer.h
+++ b/y2019/control_loops/drivetrain/localizer.h
@@ -95,15 +95,13 @@
         dhdx;
     make_h_queue_.CorrectKnownHBuilder(
         z, nullptr,
-        ExpectedObservationBuilder(this, camera, targets, &h_functions,
-                                   &dhdx),
+        ExpectedObservationBuilder(this, camera, targets, &h_functions, &dhdx),
         R, t);
     // Fetch cache:
     for (size_t ii = 1; ii < targets.size(); ++ii) {
       TargetViewToMatrices(targets[ii], &z, &R);
       h_queue_.CorrectKnownH(
-          z, nullptr,
-          ExpectedObservationFunctor(h_functions[ii], dhdx[ii]), R,
+          z, nullptr, ExpectedObservationFunctor(h_functions[ii], dhdx[ii]), R,
           t);
     }
   }
@@ -189,8 +187,8 @@
         const State &state, const StateSquare &P) {
       HFunction h;
       Eigen::Matrix<Scalar, kNOutputs, kNStates> dhdx;
-      localizer_->MakeH(camera_, target_views_, h_functions_, dhdx_,
-                        state, P, &h, &dhdx);
+      localizer_->MakeH(camera_, target_views_, h_functions_, dhdx_, state, P,
+                        &h, &dhdx);
       functor_.emplace(h, dhdx);
       return &functor_.value();
     }
@@ -410,8 +408,7 @@
         if (view_idx >= camera_views.size()) {
           AOS_LOG(ERROR, "Somehow, the view scorer failed.\n");
           h_functions->emplace_back();
-          dhdx->push_back(
-              Eigen::Matrix<Scalar, kNOutputs, kNStates>::Zero());
+          dhdx->push_back(Eigen::Matrix<Scalar, kNOutputs, kNStates>::Zero());
           continue;
         }
         const Eigen::Matrix<Scalar, kNOutputs, kNStates> best_H =
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 1c9485a..28f0235 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -3,15 +3,17 @@
 #include <queue>
 #include <random>
 
+#include "gflags/gflags.h"
+
 #include "aos/testing/random_seed.h"
 #include "aos/testing/test_shm.h"
 #include "frc971/control_loops/drivetrain/splinedrivetrain.h"
 #include "frc971/control_loops/drivetrain/trajectory.h"
-#include "gflags/gflags.h"
 #if defined(SUPPORT_PLOT)
 #include "third_party/matplotlib-cpp/matplotlibcpp.h"
 #endif
 #include "gtest/gtest.h"
+
 #include "y2019/constants.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
 
@@ -490,9 +492,9 @@
     const double left_enc = state(StateIdx::kLeftEncoder, 0);
     const double right_enc = state(StateIdx::kRightEncoder, 0);
 
-    const double gyro = (state(StateIdx::kRightVelocity) -
-                         state(StateIdx::kLeftVelocity)) /
-                        dt_config_.robot_radius / 2.0;
+    const double gyro =
+        (state(StateIdx::kRightVelocity) - state(StateIdx::kLeftVelocity)) /
+        dt_config_.robot_radius / 2.0;
     const TestLocalizer::State xdot = DiffEq(state, U);
     const Eigen::Vector3d accel(
         localizer_.CalcLongitudinalVelocity(xdot) -
diff --git a/y2019/control_loops/drivetrain/replay_localizer.cc b/y2019/control_loops/drivetrain/replay_localizer.cc
index 3687e3d..b7d269b 100644
--- a/y2019/control_loops/drivetrain/replay_localizer.cc
+++ b/y2019/control_loops/drivetrain/replay_localizer.cc
@@ -1,5 +1,7 @@
 #include <fcntl.h>
 
+#include "gflags/gflags.h"
+
 #include "aos/init.h"
 #include "aos/logging/implementations.h"
 #include "aos/logging/replay.h"
@@ -8,7 +10,6 @@
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/localizer.q.h"
 #include "frc971/wpilib/imu.q.h"
-#include "gflags/gflags.h"
 #include "y2019/constants.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
 #include "y2019/control_loops/drivetrain/event_loop_localizer.h"
@@ -29,9 +30,10 @@
 namespace drivetrain {
 using ::y2019::constants::Field;
 
-typedef TypedLocalizer<
-    constants::Values::kNumCameras, Field::kNumTargets, Field::kNumObstacles,
-    EventLoopLocalizer::kMaxTargetsPerFrame, double> TestLocalizer;
+typedef TypedLocalizer<constants::Values::kNumCameras, Field::kNumTargets,
+                       Field::kNumObstacles,
+                       EventLoopLocalizer::kMaxTargetsPerFrame, double>
+    TestLocalizer;
 typedef typename TestLocalizer::Camera TestCamera;
 typedef typename TestCamera::Pose Pose;
 typedef typename TestCamera::LineSegment Obstacle;
@@ -42,7 +44,7 @@
                  const ::std::map<::std::string, ::std::string> &kwargs) {
   ::std::vector<double> x;
   ::std::vector<double> y;
-  for (const Pose & p : poses) {
+  for (const Pose &p : poses) {
     x.push_back(p.abs_pos().x());
     y.push_back(p.abs_pos().y());
   }
@@ -336,8 +338,8 @@
   // Whether the robot has been enabled yet.
   bool has_been_enabled_ = false;
   // Cache of last gyro value to forward to the localizer.
-  double latest_gyro_ = 0.0;      // rad/sec
-  double battery_voltage_ = 12.0; // volts
+  double latest_gyro_ = 0.0;       // rad/sec
+  double battery_voltage_ = 12.0;  // volts
   ::Eigen::Matrix<double, 2, 1> last_U_{0, 0};
   ::Eigen::Matrix<double, 2, 1> last_last_U_{0, 0};
 
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index b60085c..d4ef6da 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -1,7 +1,8 @@
 #include "y2019/control_loops/drivetrain/target_selector.h"
 
-#include "aos/events/simulated_event_loop.h"
 #include "gtest/gtest.h"
+
+#include "aos/events/simulated_event_loop.h"
 #include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
 
 namespace y2019 {
@@ -81,8 +82,7 @@
         builder.MakeBuilder<superstructure::Goal>();
 
     goal_builder.add_suction(suction_offset);
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   {
     auto builder = target_selector_hint_sender_.MakeBuilder();