diff --git a/maths.cpp b/maths.cpp
index 5309b0d..8cef301 100644
--- a/maths.cpp
+++ b/maths.cpp
@@ -1,21 +1,17 @@
 #include "math.h"
 
-//rollH atan((22.5 - 18.5) / 236) ~0.97°
-//rollV ~1°
+// rollH atan((22.5 - 18.5) / 236) ~0.97°
+// rollV ~1°
 
-double degToRad(double deg) {
-  return deg * M_PI / 180.0;
-}
+double degToRad(double deg) { return deg * M_PI / 180.0; }
 
-double radToDeg(double rad) {
-  return rad * 180.0 / M_PI;
-}
+double radToDeg(double rad) { return rad * 180.0 / M_PI; }
 
 void angleToStep(long &stepX, long &stepY, double angleX, double angleY) {
-  //TODO remove magic numbers
-  double stepRatioX = M_PI / ((51.2 / 15.0)  * (100.0 * 64.0));
-  double stepRatioY = M_PI / ((48.0 / 15.0)  * (100.0 * 64.0));
-  
+  // TODO remove magic numbers
+  double stepRatioX = M_PI / ((51.2 / 15.0) * (100.0 * 64.0));
+  double stepRatioY = M_PI / ((48.0 / 15.0) * (100.0 * 64.0));
+
   stepX = angleX / stepRatioX;
   stepY = angleY / stepRatioY;
 }
@@ -25,28 +21,28 @@ double rollCorrection(double x, double max, double width) {
   return x - correction;
 }
 
-void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY, double x, double y, double z) {
-  //TODO remove magic numbers
-  double distance = 166.0; //turret to screen
-  double offsetY = 21.0; //laser to stand
-  double offsetX = 0.0; //unused
+void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
+                      double x, double y, double z) {
+  // TODO remove magic numbers
+  double distance = 166.0; // turret to screen
+  double offsetY = 21.0;   // laser to stand
+  double offsetX = 0.0;    // unused
 
-  x = -x; //natural axis direction
+  x = -x; // natural axis direction
   double dX = x + offsetX;
   double dY = rollCorrection(y + offsetY, 0.2, 400.0);
   double dZ = z + distance;
 
-
   double roll = atan2(4.0, 236.0);
   double rollY = dX * tan(roll);
   double rollX = dY * tan(roll);
 
   double dXr = dX + rollX;
   double dYr = dY + rollY;
-  
+
   double rho = sqrt(pow(dXr, 2.0) + pow(dYr, 2.0) + pow(dZ, 2.0));
   double angleY = M_PI / 2.0 - acos(dYr / rho);
   double angleX = atan2(dXr, dZ);
 
-  angleToStep(stepX, stepY, angleX, angleY);    
+  angleToStep(stepX, stepY, angleX, angleY);
 }
diff --git a/maths.h b/maths.h
index 7bc9e63..9ed3197 100644
--- a/maths.h
+++ b/maths.h
@@ -1,4 +1,5 @@
 double degToRad(double deg);
 double radToDeg(double rad);
 void angleToStep(long &stepX, long &stepY, double angleX, double angleY);
-void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY, double x, double y, double z);
+void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
+                      double x, double y, double z);
diff --git a/turret.cpp b/turret.cpp
index 2ccbad2..fe5d4e3 100644
--- a/turret.cpp
+++ b/turret.cpp
@@ -1,12 +1,13 @@
-#include <kissStepper.h>
-#include "config.h"
 #include "turret.h"
+#include "config.h"
 #include "maths.h"
+#include <kissStepper.h>
 
-Turret::Turret(
-  int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
-  int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
-  int pin_laser) : _stepperX(pin_x_direction, pin_x_pulse, pin_x_enable), _stepperY(pin_y_direction, pin_y_pulse, pin_y_enable) {
+Turret::Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable,
+               int pin_x_home, int pin_y_direction, int pin_y_pulse,
+               int pin_y_enable, int pin_y_home, int pin_laser)
+    : _stepperX(pin_x_direction, pin_x_pulse, pin_x_enable),
+      _stepperY(pin_y_direction, pin_y_pulse, pin_y_enable) {
 
   _pin_x_direction = pin_x_direction;
   _pin_x_pulse = pin_x_pulse;
@@ -21,7 +22,7 @@ Turret::Turret(
   _pin_laser = pin_laser;
 }
 
-Turret& Turret::init() {
+Turret &Turret::init() {
   pinMode(_pin_laser, OUTPUT);
 
   pinMode(_pin_x_direction, OUTPUT);
@@ -40,7 +41,7 @@ Turret& Turret::init() {
   return *this;
 }
 
-Turret& Turret::gotoHome() {
+Turret &Turret::gotoHome() {
   long xStop = 0;
   long yStop = 0;
 
@@ -71,8 +72,8 @@ Turret& Turret::gotoHome() {
   return *this;
 }
 
-Turret& Turret::gotoZero() {
-  //TODO remove magic numbers
+Turret &Turret::gotoZero() {
+  // TODO remove magic numbers
   _stepperX.prepareMove(_homeX + 9300);
   _stepperY.prepareMove(_homeY + 3500);
 
@@ -80,9 +81,12 @@ Turret& Turret::gotoZero() {
   bool yStop = false;
 
   while (true) {
-    if (xStop && yStop) break;
-    if (!xStop) xStop = _stepperY.move() == STATE_STOPPED;
-    if (!yStop) yStop = _stepperX.move() == STATE_STOPPED;
+    if (xStop && yStop)
+      break;
+    if (!xStop)
+      xStop = _stepperY.move() == STATE_STOPPED;
+    if (!yStop)
+      yStop = _stepperX.move() == STATE_STOPPED;
   }
 
   _zeroX = _stepperX.getPos();
@@ -91,18 +95,19 @@ Turret& Turret::gotoZero() {
   return *this;
 }
 
-Turret& Turret::calibrate() {
+Turret &Turret::calibrate() {
   gotoHome();
   gotoZero();
   return *this;
 }
 
-Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
+Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
   long stepX;
   long stepY;
 
   if (unit == Unit::MM) {
-    cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x / 10.0, y / 10.0, z / 10.0);
+    cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x / 10.0, y / 10.0,
+                     z / 10.0);
   }
 
   if (unit == Unit::CM) {
@@ -110,7 +115,8 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
   }
 
   if (unit == Unit::M) {
-    cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x * 100.0, y * 100.0, z * 100.0);
+    cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x * 100.0, y * 100.0,
+                     z * 100.0);
   }
 
   if (unit == Unit::STEP) {
@@ -126,7 +132,7 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
     angleToStep(stepX, stepY, degToRad(x), degToRad(y));
   }
 
-  //TODO min(valueI, -_homeI);
+  // TODO min(valueI, -_homeI);
   _stepperX.prepareMove(_zeroX + stepX);
   _stepperY.prepareMove(_zeroY + stepY);
 
@@ -134,11 +140,14 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
   bool yStop = false;
 
   while (true) {
-    if (xStop && yStop) break;
-    if (!xStop) xStop = _stepperX.move() == STATE_STOPPED;
-    if (!yStop) yStop = _stepperY.move() == STATE_STOPPED;
+    if (xStop && yStop)
+      break;
+    if (!xStop)
+      xStop = _stepperX.move() == STATE_STOPPED;
+    if (!yStop)
+      yStop = _stepperY.move() == STATE_STOPPED;
   }
-  
+
   _currentX = x;
   _currentY = y;
   _currentZ = z;
@@ -146,7 +155,7 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
   return *this;
 }
 
-Turret& Turret::moveBy(double x, double y, double z, Unit unit) {
+Turret &Turret::moveBy(double x, double y, double z, Unit unit) {
   long zeroXStored = _zeroX;
   long zeroYStored = _zeroY;
 
@@ -165,51 +174,45 @@ Turret& Turret::moveBy(double x, double y, double z, Unit unit) {
   return *this;
 }
 
-Turret& Turret::moveToX(double x, Unit unit) {
+Turret &Turret::moveToX(double x, Unit unit) {
   return moveTo(x, _currentY, _currentZ, unit);
 }
 
-Turret& Turret::moveToY(double y, Unit unit) {
+Turret &Turret::moveToY(double y, Unit unit) {
   return moveTo(_currentX, y, _currentZ, unit);
 }
 
-Turret& Turret::moveToZ(double z, Unit unit) {
+Turret &Turret::moveToZ(double z, Unit unit) {
   return moveTo(_currentX, _currentY, z, unit);
 }
 
-Turret& Turret::moveByX(double x, Unit unit) {
-  return moveBy(x, 0, 0, unit);
-}
+Turret &Turret::moveByX(double x, Unit unit) { return moveBy(x, 0, 0, unit); }
 
-Turret& Turret::moveByY(double y, Unit unit) {
-  return moveTo(0, y, 0, unit);
-}
+Turret &Turret::moveByY(double y, Unit unit) { return moveTo(0, y, 0, unit); }
 
-Turret& Turret::moveByZ(double z, Unit unit) {
-  return moveTo(0, 0, z, unit);
-}
+Turret &Turret::moveByZ(double z, Unit unit) { return moveTo(0, 0, z, unit); }
 
-Turret& Turret::getPosition(double &x, double &y, double &z, Unit unit) {
-  //TODO implement
+Turret &Turret::getPosition(double &x, double &y, double &z, Unit unit) {
+  // TODO implement
   return *this;
 }
 
-Turret& Turret::getHome(double &x, double &y, double &z, Unit unit) {
-  //TODO implement
+Turret &Turret::getHome(double &x, double &y, double &z, Unit unit) {
+  // TODO implement
   return *this;
 }
 
-Turret& Turret::getZero(double &x, double &y, double &z, Unit unit) {
-  //TODO implement
+Turret &Turret::getZero(double &x, double &y, double &z, Unit unit) {
+  // TODO implement
   return *this;
 }
 
-Turret& Turret::laserOn() {
+Turret &Turret::laserOn() {
   digitalWrite(_pin_laser, HIGH);
   return *this;
 }
 
-Turret& Turret::laserOff() {
+Turret &Turret::laserOff() {
   digitalWrite(_pin_laser, LOW);
   return *this;
 }
diff --git a/turret.h b/turret.h
index 8271913..d2547df 100644
--- a/turret.h
+++ b/turret.h
@@ -4,49 +4,38 @@
 #include <kissStepper.h>
 
 class Turret {
-  public:
+public:
+  enum Unit { MM, CM, M, RAD, DEG, STEP };
 
-  enum Unit {
-    MM,
-    CM,
-    M,
-    RAD,
-    DEG,
-    STEP
-  };
+  Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
+         int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
+         int pin_laser);
 
-  Turret(
-    int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
-    int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
-    int pin_laser
-  );
+  Turret &init();
+  Turret &gotoHome();
+  Turret &gotoZero();
 
-  Turret& init();
-  Turret& gotoHome();
-  Turret& gotoZero();
+  Turret &moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM);
+  Turret &moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM);
 
-  Turret& moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM);
-  Turret& moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM);
+  Turret &moveToX(double x, Unit unit = Turret::Unit::CM);
+  Turret &moveToY(double y, Unit unit = Turret::Unit::CM);
+  Turret &moveToZ(double z, Unit unit = Turret::Unit::CM);
 
-  Turret& moveToX(double x, Unit unit = Turret::Unit::CM);
-  Turret& moveToY(double y, Unit unit = Turret::Unit::CM);
-  Turret& moveToZ(double z, Unit unit = Turret::Unit::CM);
+  Turret &moveByX(double x, Unit unit = Turret::Unit::CM);
+  Turret &moveByY(double y, Unit unit = Turret::Unit::CM);
+  Turret &moveByZ(double z, Unit unit = Turret::Unit::CM);
 
-  Turret& moveByX(double x, Unit unit = Turret::Unit::CM);
-  Turret& moveByY(double y, Unit unit = Turret::Unit::CM);
-  Turret& moveByZ(double z, Unit unit = Turret::Unit::CM);
+  Turret &getPosition(double &x, double &y, double &z, Unit unit);
+  Turret &getHome(double &x, double &y, double &z, Unit unit);
+  Turret &getZero(double &x, double &y, double &z, Unit unit);
 
-  Turret& getPosition(double &x, double &y, double &z, Unit unit);
-  Turret& getHome(double &x, double &y, double &z, Unit unit);
-  Turret& getZero(double &x, double &y, double &z, Unit unit);
+  Turret &calibrate();
 
-  Turret& calibrate();
-
-  Turret& laserOn();
-  Turret& laserOff();
-
-  private:
+  Turret &laserOn();
+  Turret &laserOff();
 
+private:
   kissStepper _stepperX;
   kissStepper _stepperY;
 
diff --git a/turret_debug.ino b/turret_debug.ino
index 528fc7f..f3bcad0 100644
--- a/turret_debug.ino
+++ b/turret_debug.ino
@@ -1,11 +1,9 @@
 #include "config.h"
 #include "turret.h"
 
-Turret turret(
-  PIN_X_DIRECTION, PIN_X_PULSE, PIN_X_ENABLE, PIN_X_HOME,
-  PIN_Y_DIRECTION, PIN_Y_PULSE, PIN_Y_ENABLE, PIN_Y_HOME,
-  PIN_LASER
-);
+Turret turret(PIN_X_DIRECTION, PIN_X_PULSE, PIN_X_ENABLE, PIN_X_HOME,
+              PIN_Y_DIRECTION, PIN_Y_PULSE, PIN_Y_ENABLE, PIN_Y_HOME,
+              PIN_LASER);
 
 void setup() {
   turret.init();
@@ -70,7 +68,7 @@ void setup() {
   turret.moveTo(0, panelVCount * panelHeight + zeroOffsetV, 0);
   delay(5000);
   turret.gotoZero();
-  
+
   // Test align to panels
   for (double panelH = 0; panelH < panelHCount + 1; panelH += 0.5) {
     for (double panelV = 0; panelV < panelVCount + 1; panelV += 0.5) {
@@ -95,6 +93,4 @@ void setup() {
   turret.gotoZero();
 }
 
-void loop() {
-
-}
+void loop() {}