diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index c9c51d8..0b57bab 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -35,7 +35,6 @@ public class OI {
     joystickButtons[0][0].whileHeld(new SpinRollers(1));
     joystickButtons[0][1].whileHeld(new SetShooterState(true));
 //    joystickButtons[0][2].whileHeld(new PIDDrive(400));
-
     joystickButtons[1][0].whileHeld(new MoveArm(0.5));
     joystickButtons[1][1].whileHeld(new MoveArm(-0.5));
     joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));
diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index e1d1b62..3fc9394 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -15,11 +15,11 @@ public class Robot extends IterativeRobot {
     oi = new OI();
     chooser = new SendableChooser();
     SmartDashboard.putData("Auto mode", chooser);
-    SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController());
-    SmartDashboard.putData("LeftEncoderController",CommandBase.driveBase.getLeftController());
-    SmartDashboard.putBoolean("CompressorEnabled",true); 
+    SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
+    SmartDashboard.putData("LeftEncoderController", CommandBase.driveBase.getLeftController());
+    SmartDashboard.putBoolean("CompressorEnabled", true);
     //Automatically determine if rolling in or rolling out
-    SmartDashboard.putBoolean("SmartRollers",true);
+    SmartDashboard.putBoolean("SmartRollers", true);
   }
   public void disabledInit() {
   }
@@ -44,9 +44,9 @@ public class Robot extends IterativeRobot {
   }
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-    SmartDashboard.putNumber("ArmAngleRaw",CommandBase.mainArm.getRaw()); 
-    SmartDashboard.putNumber("ArmAngleDegrees",CommandBase.mainArm.getDegrees()); 
-    SmartDashboard.putNumber("tmpRotations",CommandBase.driveBase.getLeftRotations());
+    SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
+    SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
+    SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
     CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled"));
     System.out.println(CommandBase.mainArm.getDegrees());
   }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java b/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
index 7064ae6..9f1cace 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
@@ -8,7 +8,7 @@ public class MoveArm extends CommandBase {
   double speed;
   public MoveArm(double s) {
     requires(mainArm);
-    speed=s;
+    speed = s;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java b/src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java
index b930527..a00a5c7 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java
@@ -8,7 +8,7 @@ public class PIDDrive extends CommandBase {
   double count;
   public PIDDrive(double c) {
     requires(driveBase);
-    count=c;
+    count = c;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java b/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
index c7b7ad3..93ff018 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
@@ -9,7 +9,7 @@ public class SetArmPosition extends CommandBase {
   double pos;
   public SetArmPosition(double p) {
     requires(mainArm);
-    pos=p;
+    pos = p;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
@@ -17,9 +17,9 @@ public class SetArmPosition extends CommandBase {
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
     //Move the arm stop
-    if(pos==RobotMap.mainArmPresetCollect){
+    if (pos == RobotMap.mainArmPresetCollect) {
       pneumatics.setArmStopState(true);
-    }else if((pos!=RobotMap.mainArmPresetCollect)&&(mainArm.getDegrees()>2)){
+    } else if ((pos != RobotMap.mainArmPresetCollect) && (mainArm.getDegrees() > 2)) {
       pneumatics.setArmStopState(false);
     }
     mainArm.enable();
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java b/src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java
index e8b2ae3..b3e2bc2 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java
@@ -7,7 +7,7 @@ import org.usfirst.frc.team2059.robot.Robot;
 public class SetArmStopState extends CommandBase {
   boolean state;
   public SetArmStopState(boolean s) {
-    state=s;
+    state = s;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java b/src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java
index c737abc..e9f4307 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java
@@ -7,7 +7,7 @@ import org.usfirst.frc.team2059.robot.Robot;
 public class SetShooterState extends CommandBase {
   boolean state;
   public SetShooterState(boolean s) {
-    state=s;
+    state = s;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java b/src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java
index 713d921..c5320af 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java
@@ -8,7 +8,7 @@ import org.usfirst.frc.team2059.robot.RobotMap;
 public class ShootAtSpeed extends CommandBase {
   double speed;
   public ShootAtSpeed(double s) {
-    speed=s;
+    speed = s;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java b/src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
index 0806efa..3cd0370 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
@@ -8,16 +8,16 @@ import org.usfirst.frc.team2059.robot.Robot;
 public class SpinRollers extends CommandBase {
   double speed;
   public SpinRollers(double s) {
-    speed=s;
+    speed = s;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
   }
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
-    if(SmartDashboard.getBoolean("SmartRollers") && mainArm.getDegrees()<5){
+    if (SmartDashboard.getBoolean("SmartRollers") && mainArm.getDegrees() < 5) {
       shooter.shootAtSpeed(-.5);
-    }else{
+    } else {
       shooter.shootAtSpeed(speed);
     }
   }
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
index 0497449..2077b5e 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -11,10 +11,8 @@ public class DriveBase extends Subsystem {
   CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
   CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
   CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorTwo);
-  Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA,RobotMap.driveLeftEncoderB,false,Encoder.EncodingType.k2X);
-
-  PIDController leftEncoderController = new PIDController(0.02,0.002,0.017,leftEncoder,new MotorsPIDOutput());
-
+  Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA, RobotMap.driveLeftEncoderB, false, Encoder.EncodingType.k2X);
+  PIDController leftEncoderController = new PIDController(0.02, 0.002, 0.017, leftEncoder, new MotorsPIDOutput());
   public void initDefaultCommand() {
     setDefaultCommand(new Drive());
   }
@@ -24,21 +22,20 @@ public class DriveBase extends Subsystem {
     rightMotorOne.set(y + (x + z));
     rightMotorTwo.set(y + (x + z));
   }
-  public void pidDrive(double setpoint){
+  public void pidDrive(double setpoint) {
     leftEncoder.reset();
     leftEncoderController.enable();
     leftEncoderController.setSetpoint(setpoint);
   }
-  public PIDController getLeftController(){
+  public PIDController getLeftController() {
     return leftEncoderController;
   }
-  public double getLeftRotations(){
+  public double getLeftRotations() {
     return leftEncoder.get();
   }
-
-  public class MotorsPIDOutput implements PIDOutput{
+  public class MotorsPIDOutput implements PIDOutput {
     @Override
-    public void pidWrite(double output){
+    public void pidWrite(double output) {
       leftMotorOne.pidWrite(output);
       leftMotorTwo.pidWrite(output);
       rightMotorOne.pidWrite(-output);
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 89e858b..e2bae37 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -8,36 +8,36 @@ public class MainArm extends PIDSubsystem {
   CANTalon armMotorLeft = new CANTalon(RobotMap.armLeftMotor);
   CANTalon armMotorRight = new CANTalon(RobotMap.armRightMotor);
   AnalogInput pot = new AnalogInput(RobotMap.armPot);
-  public MainArm(){
-    super("MainArm",0.06,0.0,0.002);
+  public MainArm() {
+    super("MainArm", 0.06, 0.0, 0.002);
     getPIDController().setContinuous(false);
     setSetpoint(RobotMap.mainArmPresetTraverse);
     enable();
   }
   public void initDefaultCommand() {
   }
-  public void moveArm(double speed){
+  public void moveArm(double speed) {
     armMotorLeft.set(-speed);
     armMotorRight.set(speed);
   }
-  protected double returnPIDInput(){
+  protected double returnPIDInput() {
     return getDegrees();
   }
-  protected void usePIDOutput(double output){
+  protected void usePIDOutput(double output) {
     armMotorLeft.set(-output);
     armMotorRight.set(output);
   }
-  public double getRaw(){
+  public double getRaw() {
     return pot.getAverageVoltage();
   }
-  public double getDegrees(){
+  public double getDegrees() {
     return potToDegrees(getRaw());
   }
-  private double potToDegrees(double pot){
+  private double potToDegrees(double pot) {
     double min = RobotMap.zeroDegrees;
     double max = RobotMap.ninetyDegrees;
-    System.out.println((pot-min)/(Math.abs(min-max)/90));
-    return (pot-min)/(Math.abs(min-max)/90);
+    System.out.println((pot - min) / (Math.abs(min - max) / 90));
+    return (pot - min) / (Math.abs(min - max) / 90);
   }
 }
 // vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java b/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
index d039f56..26b650e 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
@@ -11,32 +11,32 @@ public class Pneumatics extends Subsystem {
   boolean shooterState, armStopState;
   public void initDefaultCommand() {
   }
-  public void setCompressorEnabled(boolean state){
+  public void setCompressorEnabled(boolean state) {
     compressor.setClosedLoopControl(state);
   }
-  public void setShooterState(boolean state){
-    if(state){
+  public void setShooterState(boolean state) {
+    if (state) {
       shooterSolenoid.set(DoubleSolenoid.Value.kForward);
-    }else{
+    } else {
       shooterSolenoid.set(DoubleSolenoid.Value.kReverse);
     }
-    shooterState=state;
+    shooterState = state;
   }
-  public void setArmStopState(boolean state){
-    if(state){
+  public void setArmStopState(boolean state) {
+    if (state) {
       armStopSolenoid.set(DoubleSolenoid.Value.kForward);
-    }else{
+    } else {
       armStopSolenoid.set(DoubleSolenoid.Value.kReverse);
     }
-    armStopState=state;
+    armStopState = state;
   }
-  public boolean getShooterState(){
+  public boolean getShooterState() {
     return shooterState;
   }
-  public boolean getArmStopState(){
+  public boolean getArmStopState() {
     return armStopState;
   }
-  public boolean getCompressorEnabled(){
+  public boolean getCompressorEnabled() {
     return compressor.enabled();
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team2059/robot/subsystems/Shooter.java
index 8cf6e4e..bb58221 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/Shooter.java
@@ -7,7 +7,7 @@ public class Shooter extends Subsystem {
   CANTalon shooterMotorRight = new CANTalon(RobotMap.shooterRightMotor);
   public void initDefaultCommand() {
   }
-  public void shootAtSpeed(double speed){
+  public void shootAtSpeed(double speed) {
     shooterMotorRight.set(speed);
     shooterMotorLeft.set(speed);
   }