diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java
index 6bf7382..9584792 100644
--- a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java
+++ b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java
@@ -39,9 +39,7 @@ public class OperatorController {
     public OperatorController(CommandGamepad g, Robot r) {
         robot = r;
         gamepad = g;
-
         AssignNamedControllerButton();
-
         BindControls();
     }
 
@@ -109,15 +107,17 @@ public void bindKidShampooControls() {
             Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem)
         );
         dumpWrist.whenPressed(
-                Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem)
+            Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem)
         );
         scoopWrist.whenPressed(
-                Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem)
+            Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem)
         );
     }
 
     public void bindArmControls() {
-        armIntake.whenPressed(Command.create(robot.armSubsystem::setArmToIntake, robot.armSubsystem));
+        armIntake.whenPressed(
+            Command.create(robot.armSubsystem::setArmToIntake, robot.armSubsystem)
+        );
         //        armLowNet.whenPressed(Command.create(robot.armSubsystem::lowBasket, robot.armSubsystem));
         //        armLowSpecimen.whenPressed(Command.create(robot.armSubsystem::lowSpecimen, robot.armSubsystem));
         //        armHighSpecimen.whenPressed(Command.create(robot.armSubsystem::highSpecimen, robot.armSubsystem));
@@ -128,12 +128,13 @@ public void bindArmControls() {
         armIncrement.whenPressed(Command.create(robot.armSubsystem::increment, robot.armSubsystem));
         armDecrement.whenPressed(Command.create(robot.armSubsystem::decrement, robot.armSubsystem));
         slideIn.whenPressed(Command.create(robot.armSubsystem::slideDecrement, robot.armSubsystem));
-        slideOut.whenPressed(Command.create(robot.armSubsystem::slideIncrement, robot.armSubsystem));
+        slideOut.whenPressed(
+            Command.create(robot.armSubsystem::slideIncrement, robot.armSubsystem)
+        );
     }
 
     public void bindHangControls() {
         //suspend.whenPressed(Command.create(robot.hangSubsystem::suspend, robot.hangSubsystem));
 
     }
-
 }
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/JustDrivingTeleOp.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/JustDrivingTeleOp.java
index abe2754..f476052 100644
--- a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/JustDrivingTeleOp.java
+++ b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/JustDrivingTeleOp.java
@@ -33,6 +33,7 @@ public void uponInit() {
         if (Setup.Connected.DRIVEBASE) {
             controlsDriver = new DriverController(driverGamepad, robot);
             robot.drivebaseSubsystem.setPoseEstimate(AutoConstants.OBSERVATION_START.toPose());
+
             CommandScheduler.scheduleForState(
                 EZCmd.Drive.ResetGyro(robot.drivebaseSubsystem),
                 OpModeState.INIT
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java
index a0418c6..6f3fd7d 100644
--- a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java
+++ b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java
@@ -42,6 +42,7 @@ public class ArmSubsystem implements Subsystem, Loggable {
     public static double MAX_SLIDE_MOTOR_POWER = 0.5;
     public static double SLIDE_FEEDFORWARD_GRAVITY_VALUE = 0.3;
     public static double SLIDE_FEEDFORWARD_INTAKE_POS = 0;
+
     // This is "5 degrees" if our numbers are correct:
     public static int ARM_POS_CLOSE_ENOUGH = Math.abs(ARM_HORIZONTAL - ARM_VERTICAL) / 18;
 
@@ -82,10 +83,9 @@ private void setArmPos(int e) {
     }
 
     private void setSlidePos(int e) {
-        e = Range.clip(e,0,SLIDE_MAX_POS);
+        e = Range.clip(e, 0, SLIDE_MAX_POS);
         slidePidController.setTargetPosition(e);
         slideTargetPos = e;
-
     }
 
     public ArmSubsystem(Hardware hw) {
@@ -124,9 +124,8 @@ The downward torque due to gravity is cos(T) * Gravity (9.8m/s^2)
              */
 
             (ticks, velocity) -> {
-                armFeedFwdValue = FEEDFORWARD_COEFFICIENT *
-                Math.cos(getArmAngle(ticks)) *
-                getSlideLength();
+                armFeedFwdValue =
+                    FEEDFORWARD_COEFFICIENT * Math.cos(getArmAngle(ticks)) * getSlideLength();
 
                 if (Math.abs(armFeedFwdValue) < 0.1) {
                     armFeedFwdValue = 0.0;
@@ -152,11 +151,13 @@ The downward torque due to gravity is cos(T) * Gravity (9.8m/s^2)
     private static double getArmAngle(double ticks) {
         // our horizontal value starts at ARM_HORIZONTAL, so we need to
         // subtract it
-        return (Math.PI/2.0) * (ticks - ARM_HORIZONTAL) /(ARM_VERTICAL - ARM_HORIZONTAL);
+        return ((Math.PI / 2.0) * (ticks - ARM_HORIZONTAL)) / (ARM_VERTICAL - ARM_HORIZONTAL);
     }
-    private double getSlideLength(){
+
+    private double getSlideLength() {
         return getSlideUnmodifiedPosition() + SLIDE_OFFSET;
     }
+
     private boolean isArmHorizontal() {
         return Math.abs(getArmCurrentPos() - ARM_HORIZONTAL) < ARM_POS_CLOSE_ENOUGH;
     }
@@ -200,13 +201,15 @@ public void slideIncrement() {
     public void slideDecrement() {
         setSlidePos(slideTargetPos - SLIDE_INC_DEC);
     }
+
     private int getCurrentSlidePos() {
         return getSlideUnmodifiedPosition() - slideResetPos;
     }
 
     private int getArmCurrentPos() {
-        if (isHardware)
+        if (isHardware) {
             return -armEncoder.getPosition();
+        }
         return 0;
     }