diff --git a/CommandBase.cpp b/CommandBase.cpp
index ef64dae..72a2ffc 100644
--- a/CommandBase.cpp
+++ b/CommandBase.cpp
@@ -10,9 +10,9 @@ Elevator* CommandBase::elevator = NULL;
 BinElevator* CommandBase::binElevator = NULL;
 Pneumatics* CommandBase::pneumatics=NULL;
 OI* CommandBase::oi = NULL;
-CommandBase::CommandBase(char const *name) : Command(name) {
+CommandBase::CommandBase(char const *name): Command(name){
 }
-CommandBase::CommandBase() : Command() {
+CommandBase::CommandBase(): Command(){
 }
 void CommandBase::init(){
   drivetrain = new Drivetrain();
diff --git a/CommandBase.h b/CommandBase.h
index cb7453b..d0a855f 100644
--- a/CommandBase.h
+++ b/CommandBase.h
@@ -10,7 +10,7 @@
 #include "OI.h"
 #include "WPILib.h"
 
-class CommandBase: public Command {
+class CommandBase: public Command{
   public:
     CommandBase(char const *name);
     CommandBase();
diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index 4f8dea5..2525eb8 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -1,7 +1,7 @@
 #include "AutoDrive.h"
 #include "../../DentRobot.h"
 // Drive for a short while then stop. Just for testing
-AutoDrive::AutoDrive(double duration, double xtmp, double ytmp) : Command("AutoDrive"){
+AutoDrive::AutoDrive(double duration, double xtmp, double ytmp): Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
   SetTimeout(duration);
   x=xtmp;
diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp
index d9a68d7..b44dab9 100644
--- a/Commands/Autonomous/Turn.cpp
+++ b/Commands/Autonomous/Turn.cpp
@@ -1,6 +1,6 @@
 #include "Turn.h"
 #include "../../DentRobot.h"
-Turn::Turn(double timeout) : Command("Turn"){
+Turn::Turn(double timeout): Command("Turn"){
   Requires(DentRobot::drivetrain);
   SetTimeout(timeout);
 }
diff --git a/Commands/BinElevator/BinCloseArms.cpp b/Commands/BinElevator/BinCloseArms.cpp
index f16cab0..45cd81b 100644
--- a/Commands/BinElevator/BinCloseArms.cpp
+++ b/Commands/BinElevator/BinCloseArms.cpp
@@ -1,7 +1,7 @@
 #include "BinCloseArms.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinCloseArms::BinCloseArms(double timeout) : Command("BinCloseArms"){
+BinCloseArms::BinCloseArms(double timeout): Command("BinCloseArms"){
   SetTimeout(timeout);
 }
 void BinCloseArms::Initialize(){
diff --git a/Commands/BinElevator/BinLower.cpp b/Commands/BinElevator/BinLower.cpp
index fe781ed..e8373bd 100644
--- a/Commands/BinElevator/BinLower.cpp
+++ b/Commands/BinElevator/BinLower.cpp
@@ -1,7 +1,7 @@
 #include "BinLower.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinLower::BinLower(float timeout) : Command("BinLower"){
+BinLower::BinLower(float timeout): Command("BinLower"){
   SetTimeout(timeout);
 }
 void BinLower::Initialize(){
@@ -10,7 +10,7 @@ void BinLower::Execute(){
   DentRobot::binElevator->Run(-1.0);
 }
 bool BinLower::IsFinished(){
-  if (/*!DentRobot::binElevator->GetElevatorBottom()||*/IsTimedOut()){
+  if(/*!DentRobot::binElevator->GetElevatorBottom()||*/IsTimedOut()){
     printf("Robot stoped BinLowering. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorBottom());
     return true;
   }else{
diff --git a/Commands/BinElevator/BinOpenArms.cpp b/Commands/BinElevator/BinOpenArms.cpp
index 694f357..91f9bb1 100644
--- a/Commands/BinElevator/BinOpenArms.cpp
+++ b/Commands/BinElevator/BinOpenArms.cpp
@@ -1,7 +1,7 @@
 #include "BinOpenArms.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinOpenArms::BinOpenArms(double timeout) : Command("BinOpenArms"){
+BinOpenArms::BinOpenArms(double timeout): Command("BinOpenArms"){
   SetTimeout(timeout);
 }
 void BinOpenArms::Initialize(){
diff --git a/Commands/BinElevator/BinRaise.cpp b/Commands/BinElevator/BinRaise.cpp
index 8ac189f..0f89c78 100644
--- a/Commands/BinElevator/BinRaise.cpp
+++ b/Commands/BinElevator/BinRaise.cpp
@@ -1,7 +1,7 @@
 #include "BinRaise.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinRaise::BinRaise(double timeout) : Command("BinRaise"){
+BinRaise::BinRaise(double timeout): Command("BinRaise"){
   SetTimeout(timeout);
 }
 void BinRaise::Initialize(){
@@ -10,7 +10,7 @@ void BinRaise::Execute(){
   DentRobot::binElevator->Run(1.0);
 }
 bool BinRaise::IsFinished(){
-  if (/*!DentRobot::binElevator->GetElevatorTop()||*/IsTimedOut()){
+  if(/*!DentRobot::binElevator->GetElevatorTop()||*/IsTimedOut()){
     printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorTop());
     return true;
   }else{
diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index 87ec0f9..f87de00 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -1,5 +1,5 @@
 #include "RollIn.h"
-RollIn::RollIn(double speed) : Command("RollIn"){
+RollIn::RollIn(double speed): Command("RollIn"){
   rawSpeed=speed;
 }
 void RollIn::Initialize(){
diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp
index eb07ad6..d9a696a 100644
--- a/Commands/Collector/RollOut.cpp
+++ b/Commands/Collector/RollOut.cpp
@@ -1,5 +1,5 @@
 #include "RollOut.h"
-RollOut::RollOut(double timeout) : Command("RollOut"){
+RollOut::RollOut(double timeout): Command("RollOut"){
   Requires(DentRobot::collector);
   SetTimeout(timeout);
 }
@@ -9,7 +9,7 @@ void RollOut::Execute(){
   //TODO check this value to move the motors in the right direction
   // Devide by 2 twice because this speed should be half the collector speed
   DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
-  SmartDashboard::PutNumber("DriveThrottle",-DentRobot::oi->GetLeftThrottle());
+  SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle());
 }
 bool RollOut::IsFinished(){
   return IsTimedOut();
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 4354717..71470eb 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -1,6 +1,6 @@
 #include "Drive.h"
 #include "../../DentRobot.h"
-Drive::Drive() : Command("Drive"){
+Drive::Drive(): Command("Drive"){
   Requires(DentRobot::drivetrain);
 }
 void Drive::Initialize(){
@@ -11,10 +11,10 @@ void Drive::Execute(){
   y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1);
   z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
   // Lock the x axis when not holding button 1
-  //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
+  //if(DentRobot::oi->GetLeftStick()->GetRawButton(1)){
   //  x=0;
   //}
-  //if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){
+  //if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){
   //  y=0;
   //}
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index 3b11e4f..54f26f2 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -1,7 +1,7 @@
 #include "Lower.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-Lower::Lower(double timeout) : Command("Lower"){
+Lower::Lower(double timeout): Command("Lower"){
   SetTimeout(timeout);
 }
 void Lower::Initialize(){
@@ -10,7 +10,7 @@ void Lower::Execute(){
   DentRobot::elevator->Run(-1.0);
 }
 bool Lower::IsFinished(){
-  if (!DentRobot::elevator->GetElevatorBottom()||IsTimedOut()){
+  if(!DentRobot::elevator->GetElevatorBottom()||IsTimedOut()){
     printf("Robot stoped lowering. Sensor based? %d\n", !DentRobot::elevator->GetElevatorBottom());
     return true;
   }else{
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index 48286c7..feaa933 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -1,7 +1,7 @@
 #include "Raise.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-Raise::Raise(double timeout) : Command("Raise"){
+Raise::Raise(double timeout): Command("Raise"){
   SetTimeout(timeout);
 }
 void Raise::Initialize(){
@@ -13,12 +13,12 @@ bool Raise::IsFinished(){
   //if(!DentRobot::elevator->GetElevatorMiddle()){
   //  DentRobot::elevator->stoppedAtSensor=true;
   //}
-  //if ((DentRobot::elevator->stoppedAtSensor)){
+  //if((DentRobot::elevator->stoppedAtSensor)){
   //  printf("Stopped at the middle sensor\n");
   //  DentRobot::elevator->stoppedAtSensor=false;
   //  return true;
-  //}else if (!DentRobot::elevator->GetElevatorTop()) {
-  if (!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){
+  //}else if(!DentRobot::elevator->GetElevatorTop()){
+  if(!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){
     printf("Robot stopped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle());
     return true;
   }else{
diff --git a/Commands/Test/CheckDrive.cpp b/Commands/Test/CheckDrive.cpp
index 8ce3b65..8a114b7 100644
--- a/Commands/Test/CheckDrive.cpp
+++ b/Commands/Test/CheckDrive.cpp
@@ -3,7 +3,7 @@
 #include "Commands/CommandGroup.h"
 #include "../../DentRobot.h"
 #include "../../RobotMap.h"
-CheckDrive::CheckDrive(int motorID) : CommandGroup("CheckDrive"){
+CheckDrive::CheckDrive(int motorID): CommandGroup("CheckDrive"){
   Requires(DentRobot::drivetrain);
   motor = motorID;
 }
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 5bdb235..be86154 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -43,7 +43,7 @@ void DentRobot::RobotInit(){
   SmartDashboard::PutBoolean("Elevator Bottom", false);
   SmartDashboard::PutBoolean("Elevator Top", false);
   //Drive speed
-  SmartDashboard::PutNumber("DriveSpeedReductionThresh",2);
+  SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2);
 }
 void DentRobot::DisabledPeriodic(){
   Scheduler::GetInstance()->Run();
@@ -60,7 +60,7 @@ void DentRobot::AutonomousPeriodic(){
   Scheduler::GetInstance()->Run();
 }
 void DentRobot::TeleopInit(){
-  if (aut != NULL){
+  if(aut != NULL){
     aut->Cancel();
   }
 }
diff --git a/DentRobot.h b/DentRobot.h
index 43759bd..5519df6 100644
--- a/DentRobot.h
+++ b/DentRobot.h
@@ -13,7 +13,7 @@
  *
  * Features a 4-motor collector, 4-motor mecanum drivetrain, two one-motor elevators
  */
-class DentRobot: public IterativeRobot {
+class DentRobot: public IterativeRobot{
   private:
     /**
      * @brief The default driving command
diff --git a/OI.cpp b/OI.cpp
index 3bea98f..f3d07f9 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -10,7 +10,7 @@
 #include "Commands/Autonomous/CollectTote.h"
 #include "Commands/Autonomous/ReleaseTote.h"
 #include "Commands/Test/CheckRobot.h"
-OI::OI() {
+OI::OI(){
   // Joysticks
   leftStick=new Joystick(0);
   rightStick=new Joystick(1);
diff --git a/OI.h b/OI.h
index 369ea2b..13fb16a 100644
--- a/OI.h
+++ b/OI.h
@@ -7,8 +7,7 @@
 /**
  * @brief Controls the robot with joysticks
  */
-class OI
-{
+class OI{
   private:
     Joystick *leftStick, *rightStick;
   public:
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index 7e5296a..ddae882 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -1,7 +1,7 @@
 #include "Collector.h"
 #include "../RobotMap.h"
 
-Collector::Collector() : Subsystem("Collector"){
+Collector::Collector(): Subsystem("Collector"){
   collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
   collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
   collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index 7698f82..19afdfb 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -7,8 +7,7 @@
  * 
  * Uses four motors, two on the sides, one on the bottom, and one on the ramp to collect and eject totes
  */
-class Collector: public Subsystem
-{
+class Collector: public Subsystem{
   private:
     CANTalon *collectorMotorLeft,   //<! Left collector motor
              *collectorMotorBottom, //<! Bottom collctor motor
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index 2eff667..fa546b7 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -2,7 +2,7 @@
 #include "../RobotMap.h"
 #include "../Commands/Drivetrain/Drive.h"
 
-Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
+Drivetrain::Drivetrain(): Subsystem("Drivetrain"){
   rightFront = new CANTalon(DRIVE_FRONT_RIGHT_CAN);
   leftFront = new CANTalon(DRIVE_FRONT_LEFT_CAN);
   rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN);
@@ -15,7 +15,7 @@ void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity,
   double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
   double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
   double correctZ = -z * 0.5;
-  if (DentRobot::oi->GetLeftStick()->GetRawButton(9)){
+  if(DentRobot::oi->GetLeftStick()->GetRawButton(9)){
     correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
   }
   rightFront->Set((-correctX + correctY - correctZ));
diff --git a/Subsystems/Pneumatics.cpp b/Subsystems/Pneumatics.cpp
index 93dab86..ef040af 100644
--- a/Subsystems/Pneumatics.cpp
+++ b/Subsystems/Pneumatics.cpp
@@ -1,7 +1,7 @@
 #include "Pneumatics.h"
 #include "../RobotMap.h"
 
-Pneumatics::Pneumatics() : Subsystem("Pneumatics"){
+Pneumatics::Pneumatics(): Subsystem("Pneumatics"){
   solenoid1 = new Solenoid(BINELEVATOR_SOLDENOID_ONE);
   solenoid2 = new Solenoid(BINELEVATOR_SOLDENOID_TWO);
 }