diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ca2835c..2ded123 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -133,11 +133,16 @@ public void testPeriodic() {}
   public void testExit() {}
 
   private void configureBindings() {
-    swerve.setDefaultCommand(swerve.run(() -> {
-      if (DriverStation.isTeleop()) {
-        swerve.driveTeleop(hardware.driverController.getLeftX(),hardware.driverController.getLeftY() , hardware.driverController.getRightX());
-      }
-    }));
+    swerve.setDefaultCommand(
+        swerve.run(
+            () -> {
+              if (DriverStation.isTeleop()) {
+                swerve.driveTeleop(
+                    hardware.driverController.getLeftX(),
+                    hardware.driverController.getLeftY(),
+                    hardware.driverController.getRightX());
+              }
+            }));
 
     hardware
         .driverController
diff --git a/src/main/java/frc/robot/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/swerve/SwerveSubsystem.java
index 3d75b27..7135c5f 100644
--- a/src/main/java/frc/robot/swerve/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/swerve/SwerveSubsystem.java
@@ -10,7 +10,6 @@
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.config.RobotConfig;
 import frc.robot.fms.FmsSubsystem;
 import frc.robot.util.ControllerHelpers;
@@ -120,14 +119,11 @@ public void setFieldRelativeAutoSpeeds(ChassisSpeeds speeds) {
   public void driveTeleop(double x, double y, double theta) {
     double leftY =
         -1.0
-            * ControllerHelpers.getExponent(
-                ControllerHelpers.getDeadbanded(x, leftYDeadband), 1.5);
+            * ControllerHelpers.getExponent(ControllerHelpers.getDeadbanded(x, leftYDeadband), 1.5);
     double leftX =
-        ControllerHelpers.getExponent(
-            ControllerHelpers.getDeadbanded(y, leftXDeadband), 1.5);
+        ControllerHelpers.getExponent(ControllerHelpers.getDeadbanded(y, leftXDeadband), 1.5);
     double rightX =
-        ControllerHelpers.getExponent(
-            ControllerHelpers.getDeadbanded(theta, rightXDeadband), 2);
+        ControllerHelpers.getExponent(ControllerHelpers.getDeadbanded(theta, rightXDeadband), 2);
 
     if (RobotConfig.get().swerve().invertRotation()) {
       rightX *= -1.0;