diff --git a/y2016/constants.cc b/y2016/constants.cc
index 974a82d..6e33055 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -81,8 +81,7 @@
           5.0,  // drivetrain max speed
 
           // Intake
-          {
-           // Value to add to the pot reading for the 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.
@@ -90,8 +89,7 @@
           },
 
           // Shoulder
-          {
-           // Value to add to the pot reading for the shoulder.
+          {// Value to add to the pot reading for the shoulder.
            -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0 - 0.0323 - 0.1057 +
                0.0035 + 0.0055 - 0.001 - 0.0103 + 0.0032 - 0.0755,
            {Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
@@ -99,10 +97,10 @@
           },
 
           // Wrist
-          {
-           // Value to add to the pot reading for the 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,
+               0.0167 + 0.002 - 0.0026 - 0.1040 - 0.0035 - 0.0012 + 0.0166 -
+               0.017 + 0.148 + 0.004,
            {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
             -0.354946, 2.5},
           },
@@ -116,10 +114,9 @@
           5.0,  // drivetrain max speed
 
           // Intake
-          {
-           // Hard stop is 164.2067247 degrees.
-           -4.2193 + (164.2067247 * M_PI / 180.0 + 0.02 - 0.0235) + 0.0549 -
-               0.104 + 0.019 - 0.938 + 0.660 - 0.002,
+          {// 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},
           },
@@ -135,7 +132,8 @@
           // 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,
+               0.023 + 0.0488 + 0.0120 - 0.0005 - 0.0784 - 0.0010 - 0.080 +
+               0.1245,
            {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
             -0.263227, 1.3},
           },