diff --git a/y2014/BUILD b/y2014/BUILD
index dfd2325..e4ad2ed 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -11,8 +11,8 @@
     visibility = ["//visibility:public"],
     deps = [
         "//aos:once",
-        "//aos/mutex:mutex",
         "//aos/logging",
+        "//aos/mutex",
         "//aos/network:team_number",
         "//frc971:shifter_hall_effect",
         "//frc971/control_loops:state_feedback_loop",
@@ -27,12 +27,12 @@
     ],
     deps = [
         ":constants",
-        "//aos/time:time",
-        "//aos/actions:action_lib",
-        "//aos/logging",
-        "//aos/util:log_interval",
-        "//aos/input:joystick_input",
         "//aos:init",
+        "//aos/actions:action_lib",
+        "//aos/input:joystick_input",
+        "//aos/logging",
+        "//aos/time",
+        "//aos/util:log_interval",
         "//frc971/autonomous:auto_queue",
         "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//frc971/queues:gyro",
@@ -61,10 +61,10 @@
         "hot_goal_reader.cc",
     ],
     deps = [
-        "//aos/time:time",
+        "//aos:init",
         "//aos/logging",
         "//aos/logging:queue_logging",
-        "//aos:init",
+        "//aos/time",
         "//y2014/queues:hot_goal",
     ],
 )
@@ -77,16 +77,17 @@
     restricted_to = ["//tools:roborio"],
     deps = [
         ":constants",
-        "//aos/stl_mutex:stl_mutex",
-        "//aos/time:time",
+        "//aos:init",
+        "//aos:make_unique",
         "//aos/controls:control_loop",
         "//aos/logging",
         "//aos/logging:queue_logging",
-        "//aos/robot_state:robot_state",
+        "//aos/robot_state",
+        "//aos/stl_mutex",
+        "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//aos:init",
         "//frc971/control_loops:queues",
         "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//frc971/wpilib:buffered_pcm",
diff --git a/y2014/wpilib_interface.cc b/y2014/wpilib_interface.cc
index 2cd9b50..af28012 100644
--- a/y2014/wpilib_interface.cc
+++ b/y2014/wpilib_interface.cc
@@ -18,15 +18,16 @@
 #include "frc971/wpilib/wpilib_robot_base.h"
 #undef ERROR
 
+#include "aos/init.h"
 #include "aos/logging/logging.h"
 #include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
+#include "aos/robot_state/robot_state.q.h"
+#include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/phased_loop.h"
 #include "aos/util/wrapping_counter.h"
-#include "aos/stl_mutex/stl_mutex.h"
-#include "aos/init.h"
-#include "aos/robot_state/robot_state.q.h"
 
 #include "frc971/shifter_hall_effect.h"
 
@@ -57,6 +58,7 @@
 using ::y2014::control_loops::claw_queue;
 using ::y2014::control_loops::shooter_queue;
 using namespace frc;
+using aos::make_unique;
 
 namespace y2014 {
 namespace wpilib {
@@ -65,13 +67,6 @@
 // DMA stuff and then removing the * 2.0 in *_translate.
 // The low bit is direction.
 
-// TODO(brian): Replace this with ::std::make_unique once all our toolchains
-// have support.
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
-  return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
 double drivetrain_translate(int32_t in) {
   return -static_cast<double>(in) /
          (256.0 /*cpr*/ * 4.0 /*4x*/) *