diff --git a/VOSS@0.1.0.zip b/VOSS@0.1.0.zip
index ec9d125..327aa45 100644
Binary files a/VOSS@0.1.0.zip and b/VOSS@0.1.0.zip differ
diff --git a/include/VOSS/controller/ArcPIDControllerBuilder.hpp b/include/VOSS/controller/ArcPIDControllerBuilder.hpp
index 9edbdec..3df2015 100644
--- a/include/VOSS/controller/ArcPIDControllerBuilder.hpp
+++ b/include/VOSS/controller/ArcPIDControllerBuilder.hpp
@@ -18,7 +18,8 @@ class ArcPIDControllerBuilder {
 
     ArcPIDControllerBuilder& with_linear_constants(double kP, double kI,
                                                    double kD);
-    ArcPIDControllerBuilder& with_angular_constants(double kP, double kI, double kD);
+    ArcPIDControllerBuilder& with_angular_constants(double kP, double kI,
+                                                    double kD);
     /*
      * The track width is measured from your robot.
      * Due to turning scrub, you want to use a track width a few inches larger
diff --git a/src/VOSS/controller/ArcPIDController.cpp b/src/VOSS/controller/ArcPIDController.cpp
index a53bb5a..0d082d9 100644
--- a/src/VOSS/controller/ArcPIDController.cpp
+++ b/src/VOSS/controller/ArcPIDController.cpp
@@ -41,11 +41,8 @@ ArcPIDController::get_command(bool reverse, bool thru,
 
     if (std::isnan(arc_radius)) {
         arc_radius = t;
-        arc_center = {
-            current_pos.x + t * a,
-            current_pos.y + t * d
-        };
-        //printf("arc center: %f %f\n", arc_center.x, arc_center.y);
+        arc_center = {current_pos.x + t * a, current_pos.y + t * d};
+        // printf("arc center: %f %f\n", arc_center.x, arc_center.y);
     }
 
     double distance_error = sqrt(b * b + e * e);
@@ -81,15 +78,18 @@ ArcPIDController::get_command(bool reverse, bool thru,
         // right_speed = (t + track_width / 2) / t * lin_speed;
         left_speed = lin_speed * (2 - track_width / arc_radius) / 2;
         right_speed = lin_speed * (2 + track_width / arc_radius) / 2;
-        double tangent = atan2(current_pos.y - arc_center.y, current_pos.x - arc_center.x);
+        double tangent =
+            atan2(current_pos.y - arc_center.y, current_pos.x - arc_center.x);
         if ((bool)(arc_radius > 0) != reverse) {
             tangent += M_PI_2;
         } else {
             tangent -= M_PI_2;
         }
-        //printf("current %f target %f\n", voss::to_degrees(current_angle), voss::to_degrees(tangent));
+        // printf("current %f target %f\n", voss::to_degrees(current_angle),
+        // voss::to_degrees(tangent));
         printf("x %f y %f\n", current_pos.x, current_pos.y);
-        double ang_speed = angular_pid.update(voss::norm_delta(tangent - current_angle));
+        double ang_speed =
+            angular_pid.update(voss::norm_delta(tangent - current_angle));
         left_speed -= ang_speed;
         right_speed += ang_speed;
     } else {
diff --git a/src/VOSS/controller/ArcPIDControllerBuilder.cpp b/src/VOSS/controller/ArcPIDControllerBuilder.cpp
index 5749c80..e0dfb5d 100644
--- a/src/VOSS/controller/ArcPIDControllerBuilder.cpp
+++ b/src/VOSS/controller/ArcPIDControllerBuilder.cpp
@@ -32,7 +32,8 @@ ArcPIDControllerBuilder::with_linear_constants(double kP, double kI,
 }
 
 ArcPIDControllerBuilder&
-ArcPIDControllerBuilder::with_angular_constants(double kP, double kI, double kD) {
+ArcPIDControllerBuilder::with_angular_constants(double kP, double kI,
+                                                double kD) {
     this->ctrl.angular_pid.set_constants(kP, kI, kD);
     return *this;
 }
diff --git a/src/VOSS/exit_conditions/ToleranceAngularExitCondition.cpp b/src/VOSS/exit_conditions/ToleranceAngularExitCondition.cpp
index 2e06f5d..38ab9a9 100644
--- a/src/VOSS/exit_conditions/ToleranceAngularExitCondition.cpp
+++ b/src/VOSS/exit_conditions/ToleranceAngularExitCondition.cpp
@@ -5,14 +5,15 @@
 
 namespace voss::controller {
 
-ToleranceAngularExitCondition::ToleranceAngularExitCondition(double tolerance, double tolerance_time)
+ToleranceAngularExitCondition::ToleranceAngularExitCondition(
+    double tolerance, double tolerance_time)
     : tolerance(voss::to_radians(tolerance)), tolerance_time(tolerance_time) {
 }
 
 bool ToleranceAngularExitCondition::is_met(Pose current_pose, bool thru) {
     if (std::abs(voss::norm_delta(current_pose.theta.value() -
-                                     this->target_pose.theta.value())) <
-           this->tolerance) {
+                                  this->target_pose.theta.value())) <
+        this->tolerance) {
         if (thru) {
             return true;
         }
diff --git a/src/VOSS/exit_conditions/ToleranceExitCondition.cpp b/src/VOSS/exit_conditions/ToleranceExitCondition.cpp
index f0b9e36..c04d826 100644
--- a/src/VOSS/exit_conditions/ToleranceExitCondition.cpp
+++ b/src/VOSS/exit_conditions/ToleranceExitCondition.cpp
@@ -33,13 +33,15 @@ void ToleranceExitCondition::reset() {
     }
 }
 
-void ToleranceExitCondition::add_ang_exit(double angular_tolerance, double tolerance_time) {
-    this->ang_exit =
-        std::make_shared<ToleranceAngularExitCondition>(angular_tolerance, tolerance_time);
+void ToleranceExitCondition::add_ang_exit(double angular_tolerance,
+                                          double tolerance_time) {
+    this->ang_exit = std::make_shared<ToleranceAngularExitCondition>(
+        angular_tolerance, tolerance_time);
 }
 
-void ToleranceExitCondition::add_lin_exit(double linear_tolerance, double tolerance_time) {
-    this->lin_exit =
-        std::make_shared<ToleranceLinearExitCondition>(linear_tolerance, tolerance_time);
+void ToleranceExitCondition::add_lin_exit(double linear_tolerance,
+                                          double tolerance_time) {
+    this->lin_exit = std::make_shared<ToleranceLinearExitCondition>(
+        linear_tolerance, tolerance_time);
 }
 } // namespace voss::controller
diff --git a/src/VOSS/exit_conditions/ToleranceLinearExitCondition.cpp b/src/VOSS/exit_conditions/ToleranceLinearExitCondition.cpp
index 44ba373..36749ef 100644
--- a/src/VOSS/exit_conditions/ToleranceLinearExitCondition.cpp
+++ b/src/VOSS/exit_conditions/ToleranceLinearExitCondition.cpp
@@ -5,7 +5,8 @@
 
 namespace voss::controller {
 
-ToleranceLinearExitCondition::ToleranceLinearExitCondition(double tolerance, double tolerance_time)
+ToleranceLinearExitCondition::ToleranceLinearExitCondition(
+    double tolerance, double tolerance_time)
     : tolerance(tolerance), tolerance_time(tolerance_time) {
 }