diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index 71f9942..02b2b0c 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -35,9 +35,9 @@ public class OI {
     // Print log when button 1 pressed
     //joystickButtons[0][0].whenPressed(new LogEncoder());
     joystickButtons[0][0].whileHeld(new SetShooterState(true));
-    joystickButtons[0][2].whileHeld(new SpinRollers(-0.5,false));
-    joystickButtons[0][3].whileHeld(new SpinRollers(1,false));
-    joystickButtons[0][6].whileHeld(new SpinRollers(1,true));
+    joystickButtons[0][2].whileHeld(new SpinRollers(-0.5, false));
+    joystickButtons[0][3].whileHeld(new SpinRollers(1, false));
+    joystickButtons[0][6].whileHeld(new SpinRollers(1, true));
 //    joystickButtons[0][2].whileHeld(new PIDDrive(400));
     joystickButtons[1][0].whileHeld(new MoveArm(1));
     joystickButtons[1][1].whileHeld(new MoveArm(-1));
diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index 8244317..384a515 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -31,7 +31,7 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
     SmartDashboard.putData("LeftEncoderController", CommandBase.driveBase.getLeftController());
     SmartDashboard.putData("gyroPID", CommandBase.driveBase.getGyroController());
-    SmartDashboard.putNumber("GyroCorrection",0.13);
+    SmartDashboard.putNumber("GyroCorrection", 0.13);
     SmartDashboard.putBoolean("CompressorEnabled", true);
     //Automatically determine if rolling in or rolling out
     SmartDashboard.putBoolean("SmartRollers", false);
@@ -67,7 +67,7 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
     SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
     SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
-    if (Robot.oi.getJoysticks()[1].getRawButton(3)){
+    if (Robot.oi.getJoysticks()[1].getRawButton(3)) {
       CommandBase.pneumatics.setArmStopState(true);
     } else {
       CommandBase.pneumatics.setArmStopState(false);
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java
index 708abcb..f650915 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java
@@ -22,7 +22,7 @@ public class AutoDrive extends CommandBase {
   }
   protected void execute() {
     if (startDriving) {
-      driveBase.pidDrive(distance,SmartDashboard.getNumber("GyroCorrection"));
+      driveBase.pidDrive(distance, SmartDashboard.getNumber("GyroCorrection"));
     }
     startDriving = false;
   }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightDistance.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightDistance.java
index 71dfc33..342569f 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightDistance.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightDistance.java
@@ -7,14 +7,14 @@ public class AutoDriveStraightDistance extends CommandBase {
   public AutoDriveStraightDistance(double distance, double timeout) {
     requires(driveBase);
     setTimeout(timeout);
-    this.distance=distance;
+    this.distance = distance;
   }
   protected void initialize() {
-   driveBase.resetGyro(); 
-   driveBase.getLeftEncoder().reset();
+    driveBase.resetGyro();
+    driveBase.getLeftEncoder().reset();
   }
   protected void execute() {
-    driveBase.pidDrive(distance,SmartDashboard.getNumber("GyroCorrection"));
+    driveBase.pidDrive(distance, SmartDashboard.getNumber("GyroCorrection"));
   }
   protected void end() {
     driveBase.getLeftController().disable();
@@ -24,7 +24,7 @@ public class AutoDriveStraightDistance extends CommandBase {
     end();
   }
   protected boolean isFinished() {
-    return isTimedOut() || Math.abs(distance-driveBase.getLeftRotations()) <= 3;
+    return isTimedOut() || Math.abs(distance - driveBase.getLeftRotations()) <= 3;
   }
 }
 // vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightTime.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightTime.java
index 502f9cf..48172fe 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightTime.java
@@ -7,13 +7,13 @@ public class AutoDriveStraightTime extends CommandBase {
   public AutoDriveStraightTime(double speed, double time) {
     requires(driveBase);
     setTimeout(time);
-    this.speed=speed;
+    this.speed = speed;
   }
   protected void initialize() {
-   driveBase.resetGyro(); 
+    driveBase.resetGyro();
   }
   protected void execute() {
-    driveBase.driveStraight(-speed,SmartDashboard.getNumber("GyroCorrection"));
+    driveBase.driveStraight(-speed, SmartDashboard.getNumber("GyroCorrection"));
   }
   protected void end() {
     driveBase.stopDriving();
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java
index 5d47777..c2b1ed5 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java
@@ -22,7 +22,7 @@ public class AutoResetLower extends CommandBase {
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
     // Stop when bottom limit switch is hit
-    return mainArm.getBottomPressed(); 
+    return mainArm.getBottomPressed();
   }
   // Called once after isFinished returns true
   protected void end() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoRotate.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoRotate.java
index e46e469..87d7b23 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoRotate.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoRotate.java
@@ -6,7 +6,7 @@ public class AutoRotate extends CommandBase {
   double degrees;
   public AutoRotate(double degrees) {
     requires(driveBase);
-    this.degrees=degrees;
+    this.degrees = degrees;
     setTimeout(2.5);
   }
   protected void initialize() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightDistance.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightDistance.java
index f61f480..94d1eaf 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightDistance.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightDistance.java
@@ -6,6 +6,6 @@ public class RoutineDriveStraightDistance extends CommandGroup {
   public RoutineDriveStraightDistance() {
     addSequential(new AutoSetArmStopState(true));
     addSequential(new AutoResetLower(-1));
-    addSequential(new AutoDriveStraightDistance(200,5));
+    addSequential(new AutoDriveStraightDistance(200, 5));
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightTime.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightTime.java
index 3a07f94..4ff218c 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightTime.java
@@ -6,6 +6,6 @@ public class RoutineDriveStraightTime extends CommandGroup {
   public RoutineDriveStraightTime() {
     addSequential(new AutoSetArmStopState(true));
     addSequential(new AutoResetLower(-1));
-    addSequential(new AutoDriveStraightTime(0.5,1));
+    addSequential(new AutoDriveStraightTime(0.5, 1));
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineRaiseArmFire.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineRaiseArmFire.java
index e189c56..870f517 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineRaiseArmFire.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineRaiseArmFire.java
@@ -6,8 +6,10 @@ public class RoutineRaiseArmFire extends CommandGroup {
   public RoutineRaiseArmFire() {
     addSequential(new AutoSetArmPosition(90));
     //Raise the arm a little before spinning rollers
-    try{ wait(2); }catch(Exception e){ }
-    addParallel(new AutoSpinRollers(0.5,5));
+    try {
+      wait(2);
+    } catch (Exception e) { }
+    addParallel(new AutoSpinRollers(0.5, 5));
     addSequential(new AutoSetShooterState(true));
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineShoot.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineShoot.java
index 63e54f7..8c46fc6 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineShoot.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineShoot.java
@@ -6,11 +6,11 @@ public class RoutineShoot extends CommandGroup {
   public RoutineShoot() {
     addSequential(new AutoSetArmStopState(true));
     addSequential(new AutoResetLower(-1));
-    addSequential(new AutoDriveStraightTime(0.5,1));
+    addSequential(new AutoDriveStraightTime(0.5, 1));
     addParallel(new AutoSetArmPosition(90));
     addSequential(new AutoRotate(45));
-    addSequential(new AutoDriveStraightTime(0.4,1.5));
-    addSequential(new AutoSpinRollers(1,2));
+    addSequential(new AutoDriveStraightTime(0.4, 1.5));
+    addSequential(new AutoSpinRollers(1, 2));
     addSequential(new AutoSetShooterState(true));
     addSequential(new AutoSetArmStopState(false));
     addParallel(new AutoSetArmPosition(10));
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineTwoBallDropOff.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineTwoBallDropOff.java
index 7292970..a7c375f 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineTwoBallDropOff.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineTwoBallDropOff.java
@@ -6,19 +6,19 @@ public class RoutineTwoBallDropOff extends CommandGroup {
   public RoutineTwoBallDropOff() {
     addSequential(new AutoSetArmStopState(true));
     addSequential(new AutoResetLower(-1));
-    addSequential(new AutoDriveStraightTime(0.5,2));
-    addSequential(new AutoMoveArm(0.5,1));
-    addSequential(new AutoSpinRollers(1,2));
+    addSequential(new AutoDriveStraightTime(0.5, 2));
+    addSequential(new AutoMoveArm(0.5, 1));
+    addSequential(new AutoSpinRollers(1, 2));
     addSequential(new AutoSetShooterState(true));
     addSequential(new AutoResetLower(-1));
     addSequential(new AutoRotate(180));
     addSequential(new AutoSetShooterState(false));
-    addParallel(new AutoSpinRollers(-0.5,3));
-    addSequential(new AutoDriveStraightTime(0.5,2));
+    addParallel(new AutoSpinRollers(-0.5, 3));
+    addSequential(new AutoDriveStraightTime(0.5, 2));
     addSequential(new AutoRotate(180));
-    addSequential(new AutoDriveStraightTime(0.5,2));
-    addSequential(new AutoMoveArm(0.5,1));
-    addSequential(new AutoSpinRollers(1,2));
+    addSequential(new AutoDriveStraightTime(0.5, 2));
+    addSequential(new AutoMoveArm(0.5, 1));
+    addSequential(new AutoSpinRollers(1, 2));
     addSequential(new AutoSetShooterState(true));
     addSequential(new AutoRotate(180));
     addSequential(new AutoSetShooterState(false));
diff --git a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java
index 4340c42..9d4c177 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java
@@ -16,7 +16,7 @@ public class PIDDrive extends CommandBase {
   }
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
-    driveBase.pidDrive(count,SmartDashboard.getNumber("GyroCorrection"));
+    driveBase.pidDrive(count, SmartDashboard.getNumber("GyroCorrection"));
   }
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
index 3fd6907..2fef2b5 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -17,9 +17,9 @@ public class DriveBase extends Subsystem {
   CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorTwo);
   Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA, RobotMap.driveLeftEncoderB, false, Encoder.EncodingType.k4X);
   AnalogGyro gyro = new AnalogGyro(RobotMap.gyro);
-  PIDController gyroController = new PIDController(0.07,0.002,0.08, new GyroPIDSource(), new MotorsPIDOutputReversed());
+  PIDController gyroController = new PIDController(0.07, 0.002, 0.08, new GyroPIDSource(), new MotorsPIDOutputReversed());
   PIDController leftEncoderController = new PIDController(0.02, 0.002, 0.017, leftEncoder, new MotorsPIDOutput());
-  double encoderGyroCorrection=1;
+  double encoderGyroCorrection = 1;
   public void initDefaultCommand() {
     setDefaultCommand(new Drive());
   }
@@ -35,40 +35,40 @@ public class DriveBase extends Subsystem {
     rightMotorOne.set((y + (x + z)) * sensitivity);
     rightMotorTwo.set((y + (x + z)) * sensitivity);
   }
-  public void driveStraight(double y, double correction){
-    SmartDashboard.putNumber("GyroAngle",gyro.getAngle());
-    leftMotorOne.set((-y + -gyro.getAngle()*correction));
-    leftMotorTwo.set((-y + -gyro.getAngle()*correction));
-    rightMotorOne.set((y + -gyro.getAngle()*correction));
-    rightMotorTwo.set((y + -gyro.getAngle()*correction));
+  public void driveStraight(double y, double correction) {
+    SmartDashboard.putNumber("GyroAngle", gyro.getAngle());
+    leftMotorOne.set((-y + -gyro.getAngle() * correction));
+    leftMotorTwo.set((-y + -gyro.getAngle() * correction));
+    rightMotorOne.set((y + -gyro.getAngle() * correction));
+    rightMotorTwo.set((y + -gyro.getAngle() * correction));
   }
   public void pidDrive(double setpoint, double correction) {
     leftEncoder.reset();
     leftEncoderController.enable();
     leftEncoderController.setSetpoint(setpoint);
-    encoderGyroCorrection=-gyro.getAngle()*correction;
+    encoderGyroCorrection = -gyro.getAngle() * correction;
   }
-  public void rotateAngle(double angle){
-    SmartDashboard.putNumber("GyroAngle",gyro.getAngle());
+  public void rotateAngle(double angle) {
+    SmartDashboard.putNumber("GyroAngle", gyro.getAngle());
     gyroController.enable();
     gyroController.setSetpoint(angle);
   }
   public PIDController getLeftController() {
     return leftEncoderController;
   }
-  public PIDController getGyroController(){
+  public PIDController getGyroController() {
     return gyroController;
   }
   public double getLeftRotations() {
     return leftEncoder.get();
   }
-  public void resetGyro(){
+  public void resetGyro() {
     gyro.reset();
   }
-  public Encoder getLeftEncoder(){
+  public Encoder getLeftEncoder() {
     return leftEncoder;
   }
-  public AnalogGyro getGyro(){
+  public AnalogGyro getGyro() {
     return gyro;
   }
   public class MotorsPIDOutput implements PIDOutput {
@@ -89,14 +89,14 @@ public class DriveBase extends Subsystem {
       rightMotorTwo.pidWrite(output);
     }
   }
-  public class GyroPIDSource implements PIDSource{
-    public double pidGet(){
+  public class GyroPIDSource implements PIDSource {
+    public double pidGet() {
       return gyro.getAngle();
     }
-    public PIDSourceType getPIDSourceType(){
+    public PIDSourceType getPIDSourceType() {
       return PIDSourceType.kDisplacement;
     }
-    public void setPIDSourceType(PIDSourceType type){
+    public void setPIDSourceType(PIDSourceType type) {
     }
   }
 }