diff --git a/src/main/java/frc/lib/config/MotionProfileConfig.java b/src/main/java/frc/lib/config/MotionProfileConfig.java
index 3263522..ffdf644 100644
--- a/src/main/java/frc/lib/config/MotionProfileConfig.java
+++ b/src/main/java/frc/lib/config/MotionProfileConfig.java
@@ -1,11 +1,10 @@
 package frc.lib.config;
 
-import java.util.function.Function;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
+import java.util.function.Function;
 
 /** Motion profile config. */
 public class MotionProfileConfig {
@@ -70,7 +69,7 @@ public double maximumAcceleration() {
 
   /**
    * Creates a new velocity clamper using this motion profile config.
-   * 
+   *
    * @return a new velocity clamper using this motion profile config.
    */
   public Function<Double, Double> createVelocityClamper() {
diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java
index d9f1e05..f95eb91 100644
--- a/src/main/java/frc/robot/shooter/Shooter.java
+++ b/src/main/java/frc/robot/shooter/Shooter.java
@@ -98,7 +98,8 @@ private Shooter() {
 
     serializerValues = new VelocityControllerIOValues();
 
-    serializerAccelerationLimiter = serializerConfig.motionProfileConfig().createAccelerationLimiter();
+    serializerAccelerationLimiter =
+        serializerConfig.motionProfileConfig().createAccelerationLimiter();
 
     setpoint = ShooterState.IDLING;
     goal = ShooterState.IDLING;
diff --git a/src/main/java/frc/robot/swerve/DriveCommand.java b/src/main/java/frc/robot/swerve/DriveCommand.java
index 011792d..a887bba 100644
--- a/src/main/java/frc/robot/swerve/DriveCommand.java
+++ b/src/main/java/frc/robot/swerve/DriveCommand.java
@@ -1,13 +1,12 @@
 package frc.robot.swerve;
 
-import java.util.function.Function;
-
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.odometry.Odometry;
+import java.util.function.Function;
 
 /** Drives the swerve using driver input. */
 public class DriveCommand extends Command {
@@ -22,7 +21,7 @@ public class DriveCommand extends Command {
 
   /** Translation acceleration limiter. */
   private final SlewRateLimiter xAccelerationLimiter;
-  
+
   /** Translation acceleration limiter. */
   private final SlewRateLimiter yAccelerationLimiter;
 
@@ -86,9 +85,13 @@ public boolean isFinished() {
    * @return the clamped chassis speeds.
    */
   private ChassisSpeeds clampChassisSpeeds(ChassisSpeeds desiredChassisSpeeds) {
-    double vxMetersPerSecond = xAccelerationLimiter.calculate(desiredChassisSpeeds.vxMetersPerSecond);
-    double vyMetersPerSecond = yAccelerationLimiter.calculate(desiredChassisSpeeds.vyMetersPerSecond);
-    double omegaRadiansPerSecond = rotationVelocityClamper.apply(Units.radiansToRotations(desiredChassisSpeeds.omegaRadiansPerSecond));
+    double vxMetersPerSecond =
+        xAccelerationLimiter.calculate(desiredChassisSpeeds.vxMetersPerSecond);
+    double vyMetersPerSecond =
+        yAccelerationLimiter.calculate(desiredChassisSpeeds.vyMetersPerSecond);
+    double omegaRadiansPerSecond =
+        rotationVelocityClamper.apply(
+            Units.radiansToRotations(desiredChassisSpeeds.omegaRadiansPerSecond));
 
     return new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
   }
diff --git a/src/main/java/frc/robot/swerve/DriveRequest.java b/src/main/java/frc/robot/swerve/DriveRequest.java
index d9ee296..8968836 100644
--- a/src/main/java/frc/robot/swerve/DriveRequest.java
+++ b/src/main/java/frc/robot/swerve/DriveRequest.java
@@ -75,8 +75,7 @@ public static DriveRequest fromController(CommandXboxController controller) {
 
     TranslationMode translationMode = TranslationMode.FIELD_CENTRIC;
 
-    Translation2d headingAxis =
-        new Translation2d(-controller.getRightY(), -controller.getRightX());
+    Translation2d headingAxis = new Translation2d(-controller.getRightY(), -controller.getRightX());
 
     RotationMode rotationMode;
 
@@ -94,6 +93,7 @@ public static DriveRequest fromController(CommandXboxController controller) {
       rotationVelocityAxis = headingAxis.getY();
     }
 
-    return new DriveRequest(translationMode, rotationMode, translationAxis, headingAxis, rotationVelocityAxis);
+    return new DriveRequest(
+        translationMode, rotationMode, translationAxis, headingAxis, rotationVelocityAxis);
   }
 }
diff --git a/src/main/java/frc/robot/swerve/Swerve.java b/src/main/java/frc/robot/swerve/Swerve.java
index e20946e..8ceb7ef 100644
--- a/src/main/java/frc/robot/swerve/Swerve.java
+++ b/src/main/java/frc/robot/swerve/Swerve.java
@@ -28,10 +28,14 @@ public class Swerve extends Subsystem {
   private final SwerveDriveKinematics swerveKinematics;
 
   /** Translation motion profile config. */
-  private final MotionProfileConfig translationMotionProfileConfig = new MotionProfileConfig().withMaximumVelocity(4.5).withMaximumAcceleration(18);
+  private final MotionProfileConfig translationMotionProfileConfig =
+      new MotionProfileConfig()
+        .withMaximumVelocity(4.5) // meters per second
+        .withMaximumAcceleration(18); // meters per second per second
 
   /** Rotation motion profile config. */
-  private final MotionProfileConfig rotationMotionProfileConfig = new MotionProfileConfig().withMaximumVelocity(0.25);
+  private final MotionProfileConfig rotationMotionProfileConfig =
+      new MotionProfileConfig().withMaximumVelocity(0.25); // rotations per second
 
   /** Initializes the swerve subsystem and configures swerve hardware. */
   private Swerve() {
@@ -188,7 +192,7 @@ public void setSetpoints(SwerveModuleState[] setpoints, boolean lazy) {
 
   /**
    * Returns the motion profile config.
-   * 
+   *
    * @return the motion profile config.
    */
   public MotionProfileConfig translationMotionProfileConfig() {
@@ -197,7 +201,7 @@ public MotionProfileConfig translationMotionProfileConfig() {
 
   /**
    * Returns the maximum translation velocity.
-   * 
+   *
    * @return the maximum translation velocity.
    */
   public double maximumTranslationVelocity() {
@@ -206,7 +210,7 @@ public double maximumTranslationVelocity() {
 
   /**
    * Returns the maximum translation acceleration.
-   * 
+   *
    * @return the maximum translation acceleration.
    */
   public double maximumTranslationAcceleration() {
@@ -215,7 +219,7 @@ public double maximumTranslationAcceleration() {
 
   /**
    * Returns the rotation motion profile config.
-   * 
+   *
    * @return the rotation motion profile config.
    */
   public MotionProfileConfig rotationMotionProfileConfig() {
@@ -224,7 +228,7 @@ public MotionProfileConfig rotationMotionProfileConfig() {
 
   /**
    * Returns the maximum rotation velocity.
-   * 
+   *
    * @return the maximum rotation velocity.
    */
   public Rotation2d maximumRotationVelocity() {