diff --git a/build.gradle b/build.gradle
index 60929d5..bf581d4 100644
--- a/build.gradle
+++ b/build.gradle
@@ -118,7 +118,11 @@ wpi.sim.addDriverstation()
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from {
+        configurations.runtimeClasspath.collect {
+            it.isDirectory() ? it : zipTree(it)
+        }
+    }
     from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 0371513..4b517aa 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -50,12 +50,14 @@ public final class Constants {
    * etc.) and the operating modes of the code (REAL, SIM, or REPLAY)
    */
   public static boolean disableHAL = false;
+
   /** Enumerate the robot types (add additional bots here) */
   public static enum RobotType {
     DEVBOT, // Development / Alpha / Practice Bot
     COMPBOT, // Competition robot
     SIMBOT // Simulated robot
   }
+
   /** Enumerate the robot operation modes */
   public static enum Mode {
     REAL, // REAL == Running on a real robot
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 77054c4..2f89da4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -191,13 +191,14 @@ public static class VisionConstants {
 
     public static final Pose3d[] cameraPoses =
         switch (Constants.getRobot()) {
-          case COMPBOT -> new Pose3d[] {
-            new Pose3d(
-                Units.inchesToMeters(-1.0),
-                Units.inchesToMeters(0),
-                Units.inchesToMeters(23.5),
-                new Rotation3d(0.0, Units.degreesToRadians(-20), 0.0)),
-          };
+          case COMPBOT ->
+              new Pose3d[] {
+                new Pose3d(
+                    Units.inchesToMeters(-1.0),
+                    Units.inchesToMeters(0),
+                    Units.inchesToMeters(23.5),
+                    new Rotation3d(0.0, Units.degreesToRadians(-20), 0.0)),
+              };
           case DEVBOT -> new Pose3d[] {};
           default -> new Pose3d[] {};
         };
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
index 5ec6264..6596044 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -62,8 +62,10 @@ public class SwerveSubsystem extends SubsystemBase {
 
   /** Swerve drive object */
   private final SwerveDrive swerveDrive;
+
   /** PhotonVision class to keep an accurate odometry */
   private Vision vision;
+
   /** Enable vision odometry updates while driving */
   private final boolean visionDriveTest = false;
 
diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java
index 8e96598..7aa450e 100644
--- a/src/main/java/frc/robot/subsystems/vision/Vision.java
+++ b/src/main/java/frc/robot/subsystems/vision/Vision.java
@@ -62,12 +62,16 @@ public class Vision {
 
   /** Photon Vision Simulation */
   public VisionSystemSim visionSim;
+
   /** Count of times that the odom thinks we're more than 10meters away from the april tag. */
   private double longDistangePoseEstimationCount = 0;
+
   /** Current pose from the pose estimator using wheel odometry. */
   private Supplier<Pose2d> currentPose;
+
   /** Ambiguity defined as a value between (0,1). Used in {@link Vision#filterPose}. */
   private final double maximumAmbiguity = 0.25;
+
   /** Field from {@link swervelib.SwerveDrive#field} */
   private Field2d field2d;
 
@@ -364,15 +368,19 @@ enum Cameras {
 
     /** Latency alert to use when high latency is detected. */
     public final Alert latencyAlert;
+
     /** Camera instance for comms. */
     public final PhotonCamera camera;
+
     /** Pose estimator for camera. */
     public final PhotonPoseEstimator poseEstimator;
 
     public final Matrix<N3, N1> singleTagStdDevs;
     public final Matrix<N3, N1> multiTagStdDevs;
+
     /** Transform of the camera rotation and translation relative to the center of the robot */
     private final Transform3d robotToCamTransform;
+
     /** Simulated camera instance which only exists during simulations. */
     public PhotonCameraSim cameraSim;