diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 338864e..ac88cec 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -74,7 +74,8 @@
   // elevator is below kElevatorClearHeight.
   static constexpr double kWristElevatorCollisionMinAngle = -M_PI / 4.0;
   static constexpr double kWristElevatorCollisionMaxAngle = M_PI / 4.0;
-  static constexpr double kWristElevatorCollisionMaxAngleWithoutObject = M_PI / 6.0;
+  static constexpr double kWristElevatorCollisionMaxAngleWithoutObject =
+      M_PI / 6.0;
 
   // Tolerance for the elevator.
   static constexpr double kEps = 0.02;
diff --git a/y2019/control_loops/superstructure/collision_avoidance_tests.cc b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
index 9ea373e..68449d6 100644
--- a/y2019/control_loops/superstructure/collision_avoidance_tests.cc
+++ b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
@@ -1,8 +1,8 @@
-#include "y2019/control_loops/superstructure/collision_avoidance.h"
+#include "gtest/gtest.h"
 
 #include "aos/commonmath.h"
 #include "aos/flatbuffers.h"
-#include "gtest/gtest.h"
+#include "y2019/control_loops/superstructure/collision_avoidance.h"
 #include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2019/control_loops/superstructure/superstructure_status_generated.h"
 
@@ -81,8 +81,7 @@
     wrist_offset = wrist_builder.Finish();
   }
 
-  flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
-      elevator_offset;
+  flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus> elevator_offset;
   {
     PotAndAbsoluteEncoderProfiledJointStatus::Builder elevator_builder(fbb);
 
@@ -90,8 +89,7 @@
     elevator_offset = elevator_builder.Finish();
   }
 
-  flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus>
-      intake_offset;
+  flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus> intake_offset;
   {
     AbsoluteEncoderProfiledJointStatus::Builder intake_builder(fbb);
 
@@ -462,15 +460,15 @@
 // Fix Collision Wrist Above Elevator
 TEST_P(CollisionAvoidanceTests, FixWristElevatorCollision) {
   // changes the goals
-  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal ( 0.0);
-  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal ( 0.0);
-  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal (
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
       avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   // sets the status position messgaes
-  status_.mutable_message()->mutable_wrist()->mutate_position ( 0.0);
-  status_.mutable_message()->mutable_elevator()->mutate_position ( 0.0);
-  status_.mutable_message()->mutable_intake()->mutate_position (
+  status_.mutable_message()->mutable_wrist()->mutate_position(0.0);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position(
       avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   Iterate();
@@ -484,7 +482,7 @@
 }
 
 INSTANTIATE_TEST_SUITE_P(CollisionAvoidancePieceTest, CollisionAvoidanceTests,
-                        ::testing::Bool());
+                         ::testing::Bool());
 
 }  // namespace testing
 }  // namespace superstructure
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index f86d64c..f8ad0fd 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -1,8 +1,8 @@
 #ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 
-#include "frc971/control_loops/control_loop.h"
 #include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
 #include "y2019/constants.h"
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 4e51086..a09913b 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,12 +3,13 @@
 #include <chrono>
 #include <memory>
 
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
 #include "frc971/control_loops/capped_test_plant.h"
 #include "frc971/control_loops/control_loop_test.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
 #include "y2019/constants.h"
 #include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
 #include "y2019/control_loops/superstructure/intake/intake_plant.h"
@@ -503,8 +504,7 @@
     goal_builder.add_intake(intake_offset);
     goal_builder.add_stilts(stilts_offset);
 
-    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();
@@ -553,8 +553,7 @@
     goal_builder.add_intake(intake_offset);
     goal_builder.add_stilts(stilts_offset);
 
-    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.
@@ -597,8 +596,7 @@
     goal_builder.add_intake(intake_offset);
     goal_builder.add_stilts(stilts_offset);
 
-    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(8));
   VerifyNearGoal();
@@ -635,8 +633,7 @@
     goal_builder.add_intake(intake_offset);
     goal_builder.add_stilts(stilts_offset);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   superstructure_plant_.set_peak_elevator_velocity(23.0);
   superstructure_plant_.set_peak_elevator_acceleration(0.2);
@@ -688,8 +685,7 @@
     goal_builder.add_intake(intake_offset);
     goal_builder.add_stilts(stilts_offset);
 
-    ASSERT_EQ(builder.Send(goal_builder.Finish()),
-              aos::RawSender::Error::kOk);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
   WaitUntilZeroed();
   VerifyNearGoal();
@@ -750,8 +746,7 @@
     goal_builder.add_intake(intake_offset);
     goal_builder.add_stilts(stilts_offset);
 
-    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.
@@ -791,8 +786,7 @@
     goal_builder.add_stilts(stilts_offset);
     goal_builder.add_roller_voltage(6.0);
 
-    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(5));
@@ -827,8 +821,7 @@
     goal_builder.add_stilts(stilts_offset);
     goal_builder.add_roller_voltage(6.0);
 
-    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(5));
@@ -870,8 +863,7 @@
     goal_builder.add_stilts(stilts_offset);
     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);
   }
 
   RunFor(Vacuum::kTimeAtHigherVoltage - chrono::milliseconds(10));
@@ -915,8 +907,7 @@
     goal_builder.add_stilts(stilts_offset);
     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);
   }
 
   // Verify that at 0 pressure after short time voltage is still high
@@ -966,8 +957,7 @@
     goal_builder.add_stilts(stilts_offset);
     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);
   }
 
   // Get a Gamepiece
@@ -1004,8 +994,7 @@
     goal_builder.add_stilts(stilts_offset);
     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);
   }
 
   superstructure_plant_.set_simulated_pressure(1.0);
diff --git a/y2019/control_loops/superstructure/superstructure_main.cc b/y2019/control_loops/superstructure/superstructure_main.cc
index 5dc1542..35c140c 100644
--- a/y2019/control_loops/superstructure/superstructure_main.cc
+++ b/y2019/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2019/control_loops/superstructure/superstructure.h"
-
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
+#include "y2019/control_loops/superstructure/superstructure.h"
 
 int main(int argc, char **argv) {
   ::aos::InitGoogle(&argc, &argv);
diff --git a/y2019/control_loops/superstructure/vacuum.cc b/y2019/control_loops/superstructure/vacuum.cc
index 6d4696b..fda123e 100644
--- a/y2019/control_loops/superstructure/vacuum.cc
+++ b/y2019/control_loops/superstructure/vacuum.cc
@@ -44,7 +44,6 @@
     last_disable_has_piece_time_ = monotonic_now;
   }
 
-
   // If we've had the piece for enough time, go to lower pump_voltage
   low_pump_voltage = *has_piece && filtered_pressure_ < kVacuumOnThreshold;
 
@@ -64,7 +63,8 @@
     if (unsafe_goal->grab_piece() && unsafe_goal->gamepiece_mode() == 0) {
       output->intake_suction_top = false;
       output->intake_suction_bottom = true;
-    } else if (unsafe_goal->grab_piece() && unsafe_goal->gamepiece_mode() == 1) {
+    } else if (unsafe_goal->grab_piece() &&
+               unsafe_goal->gamepiece_mode() == 1) {
       output->intake_suction_top = true;
       output->intake_suction_bottom = true;
     } else {