diff --git a/gantry/core/tasks_proto.cpp b/gantry/core/tasks_proto.cpp
index c059698aa..143c18c12 100644
--- a/gantry/core/tasks_proto.cpp
+++ b/gantry/core/tasks_proto.cpp
@@ -62,11 +62,13 @@ auto gantry::tasks::start_tasks(
     tmc2130::configs::TMC2130DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> interfaces::diag0_handler {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> interfaces::diag0_handler {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
-    auto& motion = mc_task_builder.start(5, "motion controller",
-                                         motion_controller, ::queues, ::queues, ::queues);
+    auto& motion =
+        mc_task_builder.start(5, "motion controller", motion_controller,
+                              ::queues, ::queues, ::queues);
     auto& tmc2130_driver = motor_driver_task_builder.start(
         5, "tmc2130 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -122,7 +124,8 @@ auto gantry::tasks::start_tasks(
 
 void gantry::tasks::call_run_diag0_interrupt() {
     if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks().motion_controller->run_diag0_interrupt();
+        return gantry::tasks::get_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 
diff --git a/gantry/core/tasks_rev1.cpp b/gantry/core/tasks_rev1.cpp
index 4c31ddb72..d7a294a1a 100644
--- a/gantry/core/tasks_rev1.cpp
+++ b/gantry/core/tasks_rev1.cpp
@@ -61,11 +61,13 @@ auto gantry::tasks::start_tasks(
     tmc2160::configs::TMC2160DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> interfaces::diag0_handler {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> interfaces::diag0_handler {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
-    auto& motion = mc_task_builder.start(5, "motion controller",
-                                         motion_controller, ::queues, ::queues, ::queues);
+    auto& motion =
+        mc_task_builder.start(5, "motion controller", motion_controller,
+                              ::queues, ::queues, ::queues);
     auto& tmc2160_driver = motor_driver_task_builder.start(
         5, "tmc2160 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -121,7 +123,8 @@ auto gantry::tasks::start_tasks(
 
 void gantry::tasks::call_run_diag0_interrupt() {
     if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks().motion_controller->run_diag0_interrupt();
+        return gantry::tasks::get_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 
diff --git a/gantry/firmware/interfaces_proto.cpp b/gantry/firmware/interfaces_proto.cpp
index 123f3e835..0c142d197 100644
--- a/gantry/firmware/interfaces_proto.cpp
+++ b/gantry/firmware/interfaces_proto.cpp
@@ -86,11 +86,12 @@ struct motion_controller::HardwareConfig motor_pins_x {
             .port = GPIOB,
             .pin = GPIO_PIN_7,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -130,11 +131,12 @@ struct motion_controller::HardwareConfig motor_pins_y {
             .port = GPIOB,
             .pin = GPIO_PIN_5,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -143,8 +145,7 @@ struct motion_controller::HardwareConfig motor_pins_y {
 };
 
 static tmc2130::configs::TMC2130DriverConfig gantry_x_driver_configs{
-    .registers = {.gconfig = {.en_pwm_mode = 1,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 0x2,
                                  .run_current = 0x18,
                                  .hold_current_delay = 0x7},
@@ -167,8 +168,7 @@ static tmc2130::configs::TMC2130DriverConfig gantry_x_driver_configs{
     }};
 
 static tmc2130::configs::TMC2130DriverConfig gantry_y_driver_configs{
-    .registers = {.gconfig = {.en_pwm_mode = 1,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 0x2,
                                  .run_current = 0x18,
                                  .hold_current_delay = 0x7},
@@ -244,8 +244,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(), motor_hardware_iface, stallcheck,
-    update_position_queue);
+    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
+    motor_hardware_iface, stallcheck, update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -287,7 +287,8 @@ void interfaces::initialize(diag0_handler* call_diag0_handler) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler, enc_overflow_callback);
+    initialize_timer(call_motor_handler, call_diag0_handler,
+                     enc_overflow_callback);
 
     // Start the can bus
     canbus.start(can_bit_timings);
diff --git a/gantry/firmware/interfaces_rev1.cpp b/gantry/firmware/interfaces_rev1.cpp
index cb0f96a22..5a4137b12 100644
--- a/gantry/firmware/interfaces_rev1.cpp
+++ b/gantry/firmware/interfaces_rev1.cpp
@@ -86,11 +86,12 @@ struct motion_controller::HardwareConfig motor_pins_x {
             .port = GPIOB,
             .pin = GPIO_PIN_7,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -130,11 +131,12 @@ struct motion_controller::HardwareConfig motor_pins_y {
             .port = GPIOB,
             .pin = GPIO_PIN_7,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -143,8 +145,7 @@ struct motion_controller::HardwareConfig motor_pins_y {
 };
 
 static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
-    .registers = {.gconfig = {.en_pwm_mode = 0,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 16,
                                  .run_current = 31,
                                  .hold_current_delay = 0x7},
@@ -184,8 +185,7 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
     }};
 
 static tmc2160::configs::TMC2160DriverConfig motor_driver_config_y{
-    .registers = {.gconfig = {.en_pwm_mode = 0,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 16,
                                  .run_current = 31,
                                  .hold_current_delay = 0x7},
@@ -271,8 +271,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(), motor_hardware_iface, stallcheck,
-    update_position_queue);
+    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
+    motor_hardware_iface, stallcheck, update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -315,7 +315,8 @@ void interfaces::initialize(diag0_handler* call_diag0_handler) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler, enc_overflow_callback);
+    initialize_timer(call_motor_handler, call_diag0_handler,
+                     enc_overflow_callback);
 
     // Start the can bus
     canbus.start(can_bit_timings);
diff --git a/gantry/simulator/interfaces.cpp b/gantry/simulator/interfaces.cpp
index e7a8a8f56..a22db5105 100644
--- a/gantry/simulator/interfaces.cpp
+++ b/gantry/simulator/interfaces.cpp
@@ -89,8 +89,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(), motor_interface, stallcheck,
-    update_position_queue);
+    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
+    motor_interface, stallcheck, update_position_queue);
 
 static motor_interrupt_driver::MotorInterruptDriver A(motor_queue,
                                                       motor_interrupt,
diff --git a/gripper/firmware/interfaces_z_motor.cpp b/gripper/firmware/interfaces_z_motor.cpp
index d691d4ad5..2d2416ec9 100644
--- a/gripper/firmware/interfaces_z_motor.cpp
+++ b/gripper/firmware/interfaces_z_motor.cpp
@@ -190,8 +190,9 @@ static motor_class::Motor z_motor{
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gripper_tasks::z_tasks::get_queues(), gripper_tasks::z_tasks::get_queues(), motor_hardware_iface,
-    stallcheck, update_position_queue);
+    motor_queue, gripper_tasks::z_tasks::get_queues(),
+    gripper_tasks::z_tasks::get_queues(), motor_hardware_iface, stallcheck,
+    update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
diff --git a/gripper/simulator/interfaces.cpp b/gripper/simulator/interfaces.cpp
index 13469ba52..dd419450e 100644
--- a/gripper/simulator/interfaces.cpp
+++ b/gripper/simulator/interfaces.cpp
@@ -94,8 +94,9 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gripper_tasks::z_tasks::get_queues(), gripper_tasks::z_tasks::get_queues(), motor_interface,
-    stallcheck, update_position_queue);
+    motor_queue, gripper_tasks::z_tasks::get_queues(),
+    gripper_tasks::z_tasks::get_queues(), motor_interface, stallcheck,
+    update_position_queue);
 
 static motor_interrupt_driver::MotorInterruptDriver A(motor_queue,
                                                       motor_interrupt,
diff --git a/head/core/tasks_proto.cpp b/head/core/tasks_proto.cpp
index 69e52a767..6c3d4efd6 100644
--- a/head/core/tasks_proto.cpp
+++ b/head/core/tasks_proto.cpp
@@ -140,8 +140,9 @@ void head_tasks::start_tasks(
     head_queues.eeprom_queue = &eeprom_task.get_queue();
 
     // Start the left motor tasks
-    auto& left_motion = left_mc_task_builder.start(
-        5, "left mc", left_motion_controller, left_queues, left_queues, left_queues);
+    auto& left_motion =
+        left_mc_task_builder.start(5, "left mc", left_motion_controller,
+                                   left_queues, left_queues, left_queues);
     auto& left_tmc2130_driver = left_motor_driver_task_builder.start(
         5, "left motor driver", left_driver_configs, left_queues,
         spi3_task_client);
@@ -169,8 +170,9 @@ void head_tasks::start_tasks(
     left_queues.usage_storage_queue = &left_usage_storage_task.get_queue();
 
     // Start the right motor tasks
-    auto& right_motion = right_mc_task_builder.start(
-        5, "right mc", right_motion_controller, right_queues, right_queues, right_queues);
+    auto& right_motion =
+        right_mc_task_builder.start(5, "right mc", right_motion_controller,
+                                    right_queues, right_queues, right_queues);
     auto& right_tmc2130_driver = right_motor_driver_task_builder.start(
         5, "right motor driver", right_driver_configs, right_queues,
         spi2_task_client);
diff --git a/head/core/tasks_rev1.cpp b/head/core/tasks_rev1.cpp
index e150722cb..c875df463 100644
--- a/head/core/tasks_rev1.cpp
+++ b/head/core/tasks_rev1.cpp
@@ -145,8 +145,9 @@ void head_tasks::start_tasks(
     head_queues.eeprom_queue = &eeprom_task.get_queue();
 #endif
     // Start the left motor tasks
-    auto& left_motion = left_mc_task_builder.start(
-        5, "left mc", left_motion_controller, left_queues, left_queues, left_queues);
+    auto& left_motion =
+        left_mc_task_builder.start(5, "left mc", left_motion_controller,
+                                   left_queues, left_queues, left_queues);
     auto& left_tmc2160_driver = left_motor_driver_task_builder.start(
         5, "left motor driver", left_driver_configs, left_queues,
         spi3_task_client);
@@ -182,8 +183,9 @@ void head_tasks::start_tasks(
 #endif
 
     // Start the right motor tasks
-    auto& right_motion = right_mc_task_builder.start(
-        5, "right mc", right_motion_controller, right_queues, right_queues, right_queues);
+    auto& right_motion =
+        right_mc_task_builder.start(5, "right mc", right_motion_controller,
+                                    right_queues, right_queues, right_queues);
     auto& right_tmc2160_driver = right_motor_driver_task_builder.start(
         5, "right motor driver", right_driver_configs, right_queues,
         spi2_task_client);
diff --git a/head/firmware/main_proto.cpp b/head/firmware/main_proto.cpp
index 7b0948814..c63842b32 100644
--- a/head/firmware/main_proto.cpp
+++ b/head/firmware/main_proto.cpp
@@ -268,8 +268,9 @@ static stall_check::StallCheck stallcheck_right(
 static motor_hardware::MotorHardware motor_hardware_right(
     pin_configurations_right, &htim7, &htim2, right_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_right(
-    motor_queue_right, head_tasks::get_right_queues(), head_tasks::get_right_queues(), motor_hardware_right,
-    stallcheck_right, update_position_queue_right);
+    motor_queue_right, head_tasks::get_right_queues(),
+    head_tasks::get_right_queues(), motor_hardware_right, stallcheck_right,
+    update_position_queue_right);
 
 static auto encoder_background_timer_right =
     motor_encoder::BackgroundTimer(motor_interrupt_right, motor_hardware_right);
@@ -289,8 +290,9 @@ static stall_check::StallCheck stallcheck_left(
 static motor_hardware::MotorHardware motor_hardware_left(
     pin_configurations_left, &htim7, &htim3, left_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_left(
-    motor_queue_left, head_tasks::get_left_queues(), head_tasks::get_left_queues(), motor_hardware_left,
-    stallcheck_left, update_position_queue_left);
+    motor_queue_left, head_tasks::get_left_queues(),
+    head_tasks::get_left_queues(), motor_hardware_left, stallcheck_left,
+    update_position_queue_left);
 
 static auto encoder_background_timer_left =
     motor_encoder::BackgroundTimer(motor_interrupt_left, motor_hardware_left);
diff --git a/head/firmware/main_rev1.cpp b/head/firmware/main_rev1.cpp
index 4d8e27054..008560e77 100644
--- a/head/firmware/main_rev1.cpp
+++ b/head/firmware/main_rev1.cpp
@@ -286,8 +286,9 @@ static stall_check::StallCheck stallcheck_right(
 static motor_hardware::MotorHardware motor_hardware_right(
     pin_configurations_right, &htim7, &htim2, right_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_right(
-    motor_queue_right, head_tasks::get_right_queues(), head_tasks::get_right_queues(), motor_hardware_right,
-    stallcheck_right, update_position_queue_right);
+    motor_queue_right, head_tasks::get_right_queues(),
+    head_tasks::get_right_queues(), motor_hardware_right, stallcheck_right,
+    update_position_queue_right);
 
 static auto encoder_background_timer_right =
     motor_encoder::BackgroundTimer(motor_interrupt_right, motor_hardware_right);
@@ -311,8 +312,9 @@ static stall_check::StallCheck stallcheck_left(
 static motor_hardware::MotorHardware motor_hardware_left(
     pin_configurations_left, &htim7, &htim3, left_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_left(
-    motor_queue_left, head_tasks::get_left_queues(), head_tasks::get_left_queues(), motor_hardware_left,
-    stallcheck_left, update_position_queue_left);
+    motor_queue_left, head_tasks::get_left_queues(),
+    head_tasks::get_left_queues(), motor_hardware_left, stallcheck_left,
+    update_position_queue_left);
 
 static auto encoder_background_timer_left =
     motor_encoder::BackgroundTimer(motor_interrupt_left, motor_hardware_left);
diff --git a/head/simulator/main.cpp b/head/simulator/main.cpp
index bb2c03b63..907f60bdb 100644
--- a/head/simulator/main.cpp
+++ b/head/simulator/main.cpp
@@ -94,8 +94,9 @@ static stall_check::StallCheck stallcheck_right(
     linear_config.get_usteps_per_mm() / 1000.0F, utils::STALL_THRESHOLD_UM);
 
 static motor_handler::MotorInterruptHandler motor_interrupt_right(
-    motor_queue_right, head_tasks::get_right_queues(), head_tasks::get_right_queues(), motor_interface_right,
-    stallcheck_right, update_position_queue_right);
+    motor_queue_right, head_tasks::get_right_queues(),
+    head_tasks::get_right_queues(), motor_interface_right, stallcheck_right,
+    update_position_queue_right);
 
 static stall_check::StallCheck stallcheck_left(
     linear_config.get_encoder_pulses_per_mm() / 1000.0F,
@@ -117,8 +118,9 @@ static motor_class::Motor motor_right{
     motor_queue_right, update_position_queue_right};
 
 static motor_handler::MotorInterruptHandler motor_interrupt_left(
-    motor_queue_left, head_tasks::get_left_queues(), head_tasks::get_left_queues(), motor_interface_left,
-    stallcheck_left, update_position_queue_left);
+    motor_queue_left, head_tasks::get_left_queues(),
+    head_tasks::get_left_queues(), motor_interface_left, stallcheck_left,
+    update_position_queue_left);
 
 static motor_class::Motor motor_left{
     motor_sys_config, motor_interface_left,
diff --git a/include/can/core/message_handlers/motion.hpp b/include/can/core/message_handlers/motion.hpp
index 7434a5fab..b01ad0e9d 100644
--- a/include/can/core/message_handlers/motion.hpp
+++ b/include/can/core/message_handlers/motion.hpp
@@ -17,8 +17,8 @@ class MotionHandler {
         std::variant<std::monostate, DisableMotorRequest, EnableMotorRequest,
                      GetMotionConstraintsRequest, SetMotionConstraints,
                      ReadLimitSwitchRequest, MotorPositionRequest,
-                     UpdateMotorPositionEstimationRequest,
-                     GetMotorUsageRequest, MotorDriverErrorEncountered>;
+                     UpdateMotorPositionEstimationRequest, GetMotorUsageRequest,
+                     MotorDriverErrorEncountered>;
 
     MotionHandler(MotionTaskClient &motion_client)
         : motion_client{motion_client} {}
diff --git a/include/can/core/messages.hpp b/include/can/core/messages.hpp
index 30668c1d7..60c2decb5 100644
--- a/include/can/core/messages.hpp
+++ b/include/can/core/messages.hpp
@@ -198,7 +198,8 @@ using MotorPositionRequest = Empty<MessageId::motor_position_request>;
 using UpdateMotorPositionEstimationRequest =
     Empty<MessageId::update_motor_position_estimation_request>;
 
-using MotorDriverErrorEncountered = Empty<MessageId::motor_driver_error_encountered>;
+using MotorDriverErrorEncountered =
+    Empty<MessageId::motor_driver_error_encountered>;
 
 struct WriteToEEPromRequest : BaseMessage<MessageId::write_eeprom> {
     uint32_t message_index;
diff --git a/include/gantry/core/interfaces_proto.hpp b/include/gantry/core/interfaces_proto.hpp
index d5da7f710..264c3fd6e 100644
--- a/include/gantry/core/interfaces_proto.hpp
+++ b/include/gantry/core/interfaces_proto.hpp
@@ -14,7 +14,7 @@ extern "C" typedef void (*diag0_handler)(void);
 /**
  * Initialize the hardware portability layer.
  */
-void initialize(diag0_handler* call_diag0_handler);
+void initialize(diag0_handler *call_diag0_handler);
 
 /**
  * Get the CAN bus interface.
diff --git a/include/gantry/core/interfaces_rev1.hpp b/include/gantry/core/interfaces_rev1.hpp
index db4aba4af..fd5af0640 100644
--- a/include/gantry/core/interfaces_rev1.hpp
+++ b/include/gantry/core/interfaces_rev1.hpp
@@ -14,7 +14,7 @@ extern "C" typedef void (*diag0_handler)(void);
 /**
  * Initialize the hardware portability layer.
  */
-void initialize(diag0_handler* call_diag0_handler);
+void initialize(diag0_handler *call_diag0_handler);
 
 /**
  * Get the CAN bus interface.
diff --git a/include/gantry/core/tasks_proto.hpp b/include/gantry/core/tasks_proto.hpp
index 0e439b6b3..8fe6846d4 100644
--- a/include/gantry/core/tasks_proto.hpp
+++ b/include/gantry/core/tasks_proto.hpp
@@ -36,7 +36,8 @@ auto start_tasks(
     tmc2130::configs::TMC2130DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> interfaces::diag0_handler;
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> interfaces::diag0_handler;
 
 void call_run_diag0_interrupt();
 
diff --git a/include/gantry/core/tasks_rev1.hpp b/include/gantry/core/tasks_rev1.hpp
index 567e2f181..ea086c412 100644
--- a/include/gantry/core/tasks_rev1.hpp
+++ b/include/gantry/core/tasks_rev1.hpp
@@ -36,7 +36,8 @@ auto start_tasks(
     tmc2160::configs::TMC2160DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> interfaces::diag0_handler;
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> interfaces::diag0_handler;
 
 void call_run_diag0_interrupt();
 
diff --git a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
index 449965b92..0c57df98f 100644
--- a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
+++ b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
@@ -101,7 +101,8 @@ class MotionController {
         enabled = false;
     }
 
-    void stop(can::ids::ErrorSeverity error_severity = can::ids::ErrorSeverity::warning) {
+    void stop(can::ids::ErrorSeverity error_severity =
+                  can::ids::ErrorSeverity::warning) {
         queue.reset();
         // if we're gripping something we need to flag this so we don't drop it
         if (!hardware.get_stay_enabled()) {
diff --git a/include/motor-control/core/stepper_motor/motion_controller.hpp b/include/motor-control/core/stepper_motor/motion_controller.hpp
index c49ff0353..75badedf8 100644
--- a/include/motor-control/core/stepper_motor/motion_controller.hpp
+++ b/include/motor-control/core/stepper_motor/motion_controller.hpp
@@ -107,7 +107,8 @@ class MotionController {
         return update_queue.try_write(can_msg);
     }
 
-    void stop(can::ids::ErrorSeverity error_severity = can::ids::ErrorSeverity::warning) {
+    void stop(can::ids::ErrorSeverity error_severity =
+                  can::ids::ErrorSeverity::warning) {
         queue.reset();
         if (hardware.is_timer_interrupt_running()) {
             hardware.request_cancel(static_cast<uint8_t>(error_severity));
@@ -262,7 +263,8 @@ class PipetteMotionController {
         return false;
     }
 
-    void stop(can::ids::ErrorSeverity error_severity = can::ids::ErrorSeverity::warning) {
+    void stop(can::ids::ErrorSeverity error_severity =
+                  can::ids::ErrorSeverity::warning) {
         queue.reset();
         // if the timer interrupt is running, cancel it. if it isn't running,
         // don't submit a cancel because then the cancel won't be read until
diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
index 0906849f2..cf870597a 100644
--- a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
+++ b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -42,8 +42,8 @@ using namespace motor_messages;
  * Note: The position tracker should never be allowed to go below zero.
  */
 
-template <template <class> class QueueImpl, class StatusClient, class DriverClient,
-          typename MotorMoveMessage, typename MotorHardware>
+template <template <class> class QueueImpl, class StatusClient,
+          class DriverClient, typename MotorMoveMessage, typename MotorHardware>
 requires MessageQueue<QueueImpl<MotorMoveMessage>, MotorMoveMessage> &&
     std::is_base_of_v<motor_hardware::MotorHardwareIface, MotorHardware>
 class MotorInterruptHandler {
@@ -207,10 +207,12 @@ class MotorInterruptHandler {
             cancel_and_clear_moves(can::ids::ErrorCode::estop_detected);
             in_estop = true;
         } else if (has_cancel_request) {
-            if (has_cancel_request == static_cast<uint8_t>(can::ids::ErrorSeverity::unrecoverable)) {
+            if (has_cancel_request ==
+                static_cast<uint8_t>(can::ids::ErrorSeverity::unrecoverable)) {
                 cancel_and_clear_moves();
             } else {
-                cancel_and_clear_moves(can::ids::ErrorCode::stop_requested, can::ids::ErrorSeverity::warning);
+                cancel_and_clear_moves(can::ids::ErrorCode::stop_requested,
+                                       can::ids::ErrorSeverity::warning);
             }
         } else {
             // Normal Move logic
@@ -431,7 +433,8 @@ class MotorInterruptHandler {
                                         .error_code = err_code});
         if (err_code == can::ids::ErrorCode::hardware) {
             driver_client.send_motor_driver_queue(
-                can::messages::ReadMotorDriverErrorStatus{.message_index = message_index});
+                can::messages::ReadMotorDriverErrorStatus{.message_index =
+                                                              message_index});
         }
         if (err_code == can::ids::ErrorCode::collision_detected) {
             build_and_send_ack(AckMessageId::position_error);
diff --git a/include/motor-control/core/stepper_motor/tmc2130_driver.hpp b/include/motor-control/core/stepper_motor/tmc2130_driver.hpp
index 12e920752..5e28596fe 100644
--- a/include/motor-control/core/stepper_motor/tmc2130_driver.hpp
+++ b/include/motor-control/core/stepper_motor/tmc2130_driver.hpp
@@ -54,7 +54,8 @@ class TMC2130 {
 
     auto read(uint32_t token, uint32_t command_data, uint32_t message_index)
         -> void {
-        _spi_manager.read(token, command_data, _task_queue, _cs_intf, message_index);
+        _spi_manager.read(token, command_data, _task_queue, _cs_intf,
+                          message_index);
     }
 
     auto write(Registers addr, uint32_t command_data) -> bool {
diff --git a/include/motor-control/core/stepper_motor/tmc2160_driver.hpp b/include/motor-control/core/stepper_motor/tmc2160_driver.hpp
index b15f850e9..bc78efbbb 100644
--- a/include/motor-control/core/stepper_motor/tmc2160_driver.hpp
+++ b/include/motor-control/core/stepper_motor/tmc2160_driver.hpp
@@ -55,7 +55,8 @@ class TMC2160 {
 
     auto read(uint32_t token, uint32_t command_data, uint32_t message_index)
         -> void {
-        _spi_manager.read(token, command_data, _task_queue, _cs_intf, message_index);
+        _spi_manager.read(token, command_data, _task_queue, _cs_intf,
+                          message_index);
     }
 
     auto write(Registers addr, uint32_t command_data) -> bool {
diff --git a/include/motor-control/core/tasks/gear_tmc2160_motor_driver_task.hpp b/include/motor-control/core/tasks/gear_tmc2160_motor_driver_task.hpp
index ed6db0362..56230e1cd 100644
--- a/include/motor-control/core/tasks/gear_tmc2160_motor_driver_task.hpp
+++ b/include/motor-control/core/tasks/gear_tmc2160_motor_driver_task.hpp
@@ -91,9 +91,11 @@ class MotorDriverMessageHandler {
     void handle(const can::messages::ReadMotorDriverErrorStatus& m) {
         LOG("Received read motor driver error register request");
         uint32_t data = 0;
-        auto converted_addr = static_cast<uint8_t>(tmc2160::registers::Registers::DRVSTATUS);
+        auto converted_addr =
+            static_cast<uint8_t>(tmc2160::registers::Registers::DRVSTATUS);
         std::array tags{spi::utils::ResponseTag::IS_ERROR_RESPONSE};
-        uint32_t token = spi::utils::build_token(converted_addr, spi::utils::byte_from_tags(tags));
+        uint32_t token = spi::utils::build_token(
+            converted_addr, spi::utils::byte_from_tags(tags));
         driver.read(token, data, m.message_index);
     }
 
diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
index c1acd2aaa..073e21b6c 100644
--- a/include/motor-control/core/tasks/motion_controller_task.hpp
+++ b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -147,13 +147,18 @@ class MotionControllerMessageHandler {
     void handle(const can::messages::MotorDriverErrorEncountered& m) {
         // check if gpio is low before making controller calls
         controller.stop(can::ids::ErrorSeverity::unrecoverable);
-        if (!controller.is_timer_interrupt_running()){
-            can_client.send_can_message(can::ids::NodeId::host,
-                can::messages::ErrorMessage{.message_index = m.message_index,
-                                            .severity = can::ids::ErrorSeverity::unrecoverable,
-                                            .error_code = can::ids::ErrorCode::hardware}); // make this motor_driver_error instead of hardware?
+        if (!controller.is_timer_interrupt_running()) {
+            can_client.send_can_message(
+                can::ids::NodeId::host,
+                can::messages::ErrorMessage{
+                    .message_index = m.message_index,
+                    .severity = can::ids::ErrorSeverity::unrecoverable,
+                    .error_code = can::ids::ErrorCode::
+                        hardware});  // make this motor_driver_error instead of
+                                     // hardware?
             driver_client.send_motor_driver_queue(
-                can::messages::ReadMotorDriverErrorStatus{.message_index = m.message_index});
+                can::messages::ReadMotorDriverErrorStatus{.message_index =
+                                                              m.message_index});
         }
     }
 
@@ -188,9 +193,10 @@ class MotionControllerTask {
               tmc::tasks::TaskClient DriverClient>
     [[noreturn]] void operator()(
         motion_controller::MotionController<MEConfig>* controller,
-        CanClient* can_client, UsageClient* usage_client, DriverClient* driver_client) {
-        auto handler = MotionControllerMessageHandler{*controller, *can_client,
-                                                      *usage_client, *driver_client};
+        CanClient* can_client, UsageClient* usage_client,
+        DriverClient* driver_client) {
+        auto handler = MotionControllerMessageHandler{
+            *controller, *can_client, *usage_client, *driver_client};
         TaskMessage message{};
         bool first_run = true;
         for (;;) {
@@ -209,11 +215,15 @@ class MotionControllerTask {
     // also create top level query msg
     void run_diag0_interrupt(void) {
         if (!driver_error_handled()) {
-            static_cast<void>(queue.try_write_isr(can::messages::MotorDriverErrorEncountered{.message_index = 0}));
+            static_cast<void>(
+                queue.try_write_isr(can::messages::MotorDriverErrorEncountered{
+                    .message_index = 0}));
         }
     }
 
-    bool driver_error_handled() { return driver_error_handled_flag.exchange(true); }
+    bool driver_error_handled() {
+        return driver_error_handled_flag.exchange(true);
+    }
 
   private:
     QueueType& queue;
diff --git a/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp
index c8450b1b5..19d87c05b 100644
--- a/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp
+++ b/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp
@@ -90,9 +90,11 @@ class MotorDriverMessageHandler {
     void handle(const can::messages::ReadMotorDriverErrorStatus& m) {
         LOG("Received read motor driver error register request");
         uint32_t data = 0;
-        auto converted_addr = static_cast<uint8_t>(tmc2130::registers::Registers::DRVSTATUS);
+        auto converted_addr =
+            static_cast<uint8_t>(tmc2130::registers::Registers::DRVSTATUS);
         std::array tags{spi::utils::ResponseTag::IS_ERROR_RESPONSE};
-        uint32_t token = spi::utils::build_token(converted_addr, spi::utils::byte_from_tags(tags));
+        uint32_t token = spi::utils::build_token(
+            converted_addr, spi::utils::byte_from_tags(tags));
         driver.read(token, data, m.message_index);
     }
 
diff --git a/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp
index 933fca708..4c4edb2bd 100644
--- a/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp
+++ b/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp
@@ -58,20 +58,24 @@ class MotorDriverMessageHandler {
             auto data = driver.handle_spi_read(
                 tmc2160::registers::Registers(static_cast<uint8_t>(m.id.token)),
                 m.rxBuffer);
-            if (spi::utils::tag_in_token(m.id.token, spi::utils::ResponseTag::IS_ERROR_RESPONSE)) {
-                can::messages::ReadMotorDriverErrorRegisterResponse response_msg{
-                    .message_index = m.id.message_index,
-                    .reg_address = static_cast<uint8_t>(m.id.token),
-                    .data = data,
-                };
-                can_client.send_can_message(can::ids::NodeId::host, response_msg);
+            if (spi::utils::tag_in_token(
+                    m.id.token, spi::utils::ResponseTag::IS_ERROR_RESPONSE)) {
+                can::messages::ReadMotorDriverErrorRegisterResponse
+                    response_msg{
+                        .message_index = m.id.message_index,
+                        .reg_address = static_cast<uint8_t>(m.id.token),
+                        .data = data,
+                    };
+                can_client.send_can_message(can::ids::NodeId::host,
+                                            response_msg);
             } else {
                 can::messages::ReadMotorDriverRegisterResponse response_msg{
                     .message_index = m.id.message_index,
                     .reg_address = static_cast<uint8_t>(m.id.token),
                     .data = data,
                 };
-                can_client.send_can_message(can::ids::NodeId::host, response_msg);
+                can_client.send_can_message(can::ids::NodeId::host,
+                                            response_msg);
             }
         }
     }
@@ -99,9 +103,11 @@ class MotorDriverMessageHandler {
     void handle(const can::messages::ReadMotorDriverErrorStatus& m) {
         LOG("Received read motor driver error register request");
         uint32_t data = 0;
-        auto converted_addr = static_cast<uint8_t>(tmc2160::registers::Registers::DRVSTATUS);
+        auto converted_addr =
+            static_cast<uint8_t>(tmc2160::registers::Registers::DRVSTATUS);
         std::array tags{spi::utils::ResponseTag::IS_ERROR_RESPONSE};
-        uint32_t token = spi::utils::build_token(converted_addr, spi::utils::byte_from_tags(tags));
+        uint32_t token = spi::utils::build_token(
+            converted_addr, spi::utils::byte_from_tags(tags));
         driver.read(token, data, m.message_index);
     }
 
diff --git a/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp b/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp
index 93b8cee08..dde450562 100644
--- a/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp
+++ b/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp
@@ -81,7 +81,9 @@ class BrushedMotorHardware : public BrushedMotorHardwareIface {
     auto has_cancel_request() -> uint8_t final {
         return cancel_request.exchange(0);
     }
-    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
+    void request_cancel(uint8_t error_severity) final {
+        cancel_request.store(error_severity);
+    }
     auto get_usage_eeprom_config() -> const UsageEEpromConfig& final {
         return eeprom_config;
     }
diff --git a/include/motor-control/firmware/stepper_motor/motor_hardware.hpp b/include/motor-control/firmware/stepper_motor/motor_hardware.hpp
index bdd228095..245588afa 100644
--- a/include/motor-control/firmware/stepper_motor/motor_hardware.hpp
+++ b/include/motor-control/firmware/stepper_motor/motor_hardware.hpp
@@ -60,7 +60,9 @@ class MotorHardware : public StepperMotorHardwareIface {
     void disable_encoder() final;
     void enable_encoder() final;
 
-    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
+    void request_cancel(uint8_t error_severity) final {
+        cancel_request.store(error_severity);
+    }
 
     auto get_usage_eeprom_config() -> const UsageEEpromConfig& final {
         return eeprom_config;
diff --git a/include/motor-control/simulation/motor_interrupt_driver.hpp b/include/motor-control/simulation/motor_interrupt_driver.hpp
index a649252bf..6fef39218 100644
--- a/include/motor-control/simulation/motor_interrupt_driver.hpp
+++ b/include/motor-control/simulation/motor_interrupt_driver.hpp
@@ -9,7 +9,8 @@
 
 namespace motor_interrupt_driver {
 
-template <class StatusClient, class DriverClient, typename MotorMoveMessage, class MotorHardware>
+template <class StatusClient, class DriverClient, typename MotorMoveMessage,
+          class MotorHardware>
 class MotorInterruptDriver {
     using InterruptQueue =
         freertos_message_queue::FreeRTOSMessageQueue<MotorMoveMessage>;
@@ -17,8 +18,8 @@ class MotorInterruptDriver {
         freertos_message_queue::FreeRTOSMessageQueue<
             can::messages::UpdateMotorPositionEstimationRequest>;
     using InterruptHandler = motor_handler::MotorInterruptHandler<
-        freertos_message_queue::FreeRTOSMessageQueue, StatusClient, DriverClient,
-        MotorMoveMessage, MotorHardware>;
+        freertos_message_queue::FreeRTOSMessageQueue, StatusClient,
+        DriverClient, MotorMoveMessage, MotorHardware>;
 
   public:
     MotorInterruptDriver(InterruptQueue& q, InterruptHandler& h,
diff --git a/include/motor-control/simulation/sim_motor_hardware_iface.hpp b/include/motor-control/simulation/sim_motor_hardware_iface.hpp
index 43fa1812a..c858d6fa3 100644
--- a/include/motor-control/simulation/sim_motor_hardware_iface.hpp
+++ b/include/motor-control/simulation/sim_motor_hardware_iface.hpp
@@ -90,7 +90,9 @@ class SimMotorHardwareIface : public motor_hardware::StepperMotorHardwareIface {
     auto has_cancel_request() -> uint8_t final {
         return cancel_request.exchange(0);
     }
-    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
+    void request_cancel(uint8_t error_severity) final {
+        cancel_request.store(error_severity);
+    }
     auto get_usage_eeprom_config()
         -> motor_hardware::UsageEEpromConfig & final {
         return eeprom_config;
@@ -180,7 +182,9 @@ class SimBrushedMotorHardwareIface
     auto has_cancel_request() -> uint8_t final {
         return cancel_request.exchange(0);
     }
-    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
+    void request_cancel(uint8_t error_severity) final {
+        cancel_request.store(error_severity);
+    }
 
     void disable_encoder() final {}
     void enable_encoder() final {}
@@ -270,7 +274,9 @@ class SimGearMotorHardwareIface
     auto has_cancel_request() -> uint8_t final {
         return cancel_request.exchange(0);
     }
-    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
+    void request_cancel(uint8_t error_severity) final {
+        cancel_request.store(error_severity);
+    }
 
     auto get_usage_eeprom_config()
         -> motor_hardware::UsageEEpromConfig & final {
diff --git a/include/motor-control/tests/mock_brushed_motor_components.hpp b/include/motor-control/tests/mock_brushed_motor_components.hpp
index a5d6f7143..a62522d7e 100644
--- a/include/motor-control/tests/mock_brushed_motor_components.hpp
+++ b/include/motor-control/tests/mock_brushed_motor_components.hpp
@@ -76,7 +76,9 @@ class MockBrushedMotorHardware : public BrushedMotorHardwareIface {
         cancel_request = 0;
         return old_request;
     }
-    void request_cancel(uint8_t error_severity) final { cancel_request = error_severity; }
+    void request_cancel(uint8_t error_severity) final {
+        cancel_request = error_severity;
+    }
     void set_timer_interrupt_running(bool is_running) {
         timer_interrupt_running = is_running;
     }
diff --git a/include/motor-control/tests/mock_motor_driver_client.hpp b/include/motor-control/tests/mock_motor_driver_client.hpp
index 787d87d7e..ac760bc14 100644
--- a/include/motor-control/tests/mock_motor_driver_client.hpp
+++ b/include/motor-control/tests/mock_motor_driver_client.hpp
@@ -7,8 +7,7 @@
 namespace test_mocks {
 
 struct MockMotorDriverClient {
-    void send_motor_driver_queue(
-        const tmc::tasks::TaskMessage& m) {
+    void send_motor_driver_queue(const tmc::tasks::TaskMessage& m) {
         messages.push_back(m);
     }
 
diff --git a/include/motor-control/tests/mock_motor_hardware.hpp b/include/motor-control/tests/mock_motor_hardware.hpp
index f4d855487..7eeb361e1 100644
--- a/include/motor-control/tests/mock_motor_hardware.hpp
+++ b/include/motor-control/tests/mock_motor_hardware.hpp
@@ -44,7 +44,9 @@ class MockMotorHardware : public motor_hardware::StepperMotorHardwareIface {
         cancel_request = 0;
         return old_request;
     }
-    void request_cancel(uint8_t error_severity) final { cancel_request = error_severity; }
+    void request_cancel(uint8_t error_severity) final {
+        cancel_request = error_severity;
+    }
     void sim_set_timer_interrupt_running(bool is_running) {
         mock_timer_interrupt_running = is_running;
     }
diff --git a/include/pipettes/firmware/interfaces.hpp b/include/pipettes/firmware/interfaces.hpp
index e9586c78b..d58f56f5d 100644
--- a/include/pipettes/firmware/interfaces.hpp
+++ b/include/pipettes/firmware/interfaces.hpp
@@ -20,8 +20,8 @@ namespace interfaces {
 
 template <typename Client, typename DriverClient>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient, motor_messages::Move,
-    motor_hardware::MotorHardware>;
+    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient,
+    motor_messages::Move, motor_hardware::MotorHardware>;
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client, Client,
@@ -67,11 +67,15 @@ namespace linear_motor {
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    LowThroughputInterruptQueues& queues,
                    stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>;
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2130_driver::QueueClient>;
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    HighThroughputInterruptQueues& queues,
                    stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>;
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2160_driver::QueueClient>;
 auto get_motor_hardware(motor_configs::LowThroughputPipetteMotorHardware pins)
     -> motor_hardware::MotorHardware;
 auto get_motor_hardware(motor_configs::HighThroughputPipetteMotorHardware pins)
diff --git a/include/pipettes/firmware/interfaces_g4.hpp b/include/pipettes/firmware/interfaces_g4.hpp
index cc31615e6..63d63b183 100644
--- a/include/pipettes/firmware/interfaces_g4.hpp
+++ b/include/pipettes/firmware/interfaces_g4.hpp
@@ -29,8 +29,8 @@ namespace interfaces {
 
 template <typename Client, typename DriverClient>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient, motor_messages::Move,
-    motor_hardware::MotorHardware>;
+    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient,
+    motor_messages::Move, motor_hardware::MotorHardware>;
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client, Client,
@@ -76,11 +76,15 @@ namespace linear_motor {
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    LowThroughputInterruptQueues& queues,
                    stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>;
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2130_driver::QueueClient>;
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    HighThroughputInterruptQueues& queues,
                    stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>;
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2160_driver::QueueClient>;
 auto get_motor_hardware(motor_hardware::HardwareConfig pins)
     -> motor_hardware::MotorHardware;
 auto get_motion_control(motor_hardware::MotorHardware& hw,
diff --git a/include/pipettes/simulator/interfaces.hpp b/include/pipettes/simulator/interfaces.hpp
index 5826db532..369c65f0e 100644
--- a/include/pipettes/simulator/interfaces.hpp
+++ b/include/pipettes/simulator/interfaces.hpp
@@ -14,8 +14,8 @@ namespace interfaces {
 
 template <typename Client, typename DriverClient>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient, motor_messages::Move,
-    sim_motor_hardware_iface::SimMotorHardwareIface>;
+    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient,
+    motor_messages::Move, sim_motor_hardware_iface::SimMotorHardwareIface>;
 
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
@@ -61,29 +61,39 @@ auto get_interrupt_queues<PipetteType::THREE_EIGHTY_FOUR_CHANNEL>()
 namespace linear_motor {
 
 auto get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
-                                 LowThroughputInterruptQueues& queues,
-                                 stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>;
+                   LowThroughputInterruptQueues& queues,
+                   stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2130_driver::QueueClient>;
 
 auto get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
-                                 HighThroughputInterruptQueues& queues,
-                                 stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>;
+                   HighThroughputInterruptQueues& queues,
+                   stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2160_driver::QueueClient>;
 
 auto get_interrupt_driver(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw,
     LowThroughputInterruptQueues& queues,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>& handler)
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient,
+                              linear_motor_tasks::tmc2130_driver::QueueClient>&
+        handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
-        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient, motor_messages::Move,
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2130_driver::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface>;
 
 auto get_interrupt_driver(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw,
     HighThroughputInterruptQueues& queues,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>& handler)
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient,
+                              linear_motor_tasks::tmc2160_driver::QueueClient>&
+        handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
-        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient, motor_messages::Move,
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2160_driver::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface>;
 
 auto get_motor_hardware() -> sim_motor_hardware_iface::SimMotorHardwareIface;
@@ -106,11 +116,13 @@ struct GearInterruptHandlers {
 
 struct GearInterruptDrivers {
     motor_interrupt_driver::MotorInterruptDriver<
-        gear_motor_tasks::QueueClient, gear_motor_tasks::QueueClient, motor_messages::GearMotorMove,
+        gear_motor_tasks::QueueClient, gear_motor_tasks::QueueClient,
+        motor_messages::GearMotorMove,
         sim_motor_hardware_iface::SimGearMotorHardwareIface>
         left;
     motor_interrupt_driver::MotorInterruptDriver<
-        gear_motor_tasks::QueueClient, gear_motor_tasks::QueueClient, motor_messages::GearMotorMove,
+        gear_motor_tasks::QueueClient, gear_motor_tasks::QueueClient,
+        motor_messages::GearMotorMove,
         sim_motor_hardware_iface::SimGearMotorHardwareIface>
         right;
 };
diff --git a/include/spi/core/utils.hpp b/include/spi/core/utils.hpp
index 47f8e6784..eed939ef9 100644
--- a/include/spi/core/utils.hpp
+++ b/include/spi/core/utils.hpp
@@ -34,16 +34,21 @@ template <std::ranges::range Tags>
     return result;
 }
 
-[[nodiscard]] inline constexpr auto tag_in_token(uint32_t token, ResponseTag tag) -> bool { // utilize
-    return bool(token & (1 << (static_cast<size_t>(tag) + static_cast<size_t>(8))));
+[[nodiscard]] inline constexpr auto tag_in_token(uint32_t token,
+                                                 ResponseTag tag)
+    -> bool {  // utilize
+    return bool(token &
+                (1 << (static_cast<size_t>(tag) + static_cast<size_t>(8))));
 }
 
-[[nodiscard]] inline constexpr auto build_token(uint8_t reg, uint8_t tags = 0) -> uint32_t {
+[[nodiscard]] inline constexpr auto build_token(uint8_t reg, uint8_t tags = 0)
+    -> uint32_t {
     return (static_cast<uint32_t>(tags) << 8) | (reg);
 }
 
 template <typename RegType>
-[[nodiscard]] inline constexpr auto reg_from_token(uint32_t id) -> RegType { // utilize? If not, discard
+[[nodiscard]] inline constexpr auto reg_from_token(uint32_t id)
+    -> RegType {  // utilize? If not, discard
     return static_cast<RegType>(static_cast<uint8_t>(id & 0xff));
 }
 }  // namespace utils
diff --git a/include/spi/core/writer.hpp b/include/spi/core/writer.hpp
index 0fd6661c1..cf887f4b6 100644
--- a/include/spi/core/writer.hpp
+++ b/include/spi/core/writer.hpp
@@ -46,11 +46,11 @@ class Writer {
      * @return A success boolean
      */
     template <OriginatingResponseQueue RQType>
-    auto read(uint32_t token, uint32_t command_data,
-              RQType& response_queue, utils::ChipSelectInterface cs_intf,
-              uint32_t message_index) -> bool {
-        auto txBuffer = build_message(utils::reg_from_token<uint8_t>(token), spi::hardware::Mode::READ,
-                                      command_data);
+    auto read(uint32_t token, uint32_t command_data, RQType& response_queue,
+              utils::ChipSelectInterface cs_intf, uint32_t message_index)
+        -> bool {
+        auto txBuffer = build_message(utils::reg_from_token<uint8_t>(token),
+                                      spi::hardware::Mode::READ, command_data);
         TransactionIdentifier _transaction_id{
             .token = token,
             .command_type = static_cast<uint8_t>(spi::hardware::Mode::READ),
diff --git a/motor-control/tests/test_limit_switch.cpp b/motor-control/tests/test_limit_switch.cpp
index 4800a25d1..962874bee 100644
--- a/motor-control/tests/test_limit_switch.cpp
+++ b/motor-control/tests/test_limit_switch.cpp
@@ -2,9 +2,9 @@
 #include "common/tests/mock_message_queue.hpp"
 #include "motor-control/core/motor_messages.hpp"
 #include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
+#include "motor-control/tests/mock_motor_driver_client.hpp"
 #include "motor-control/tests/mock_motor_hardware.hpp"
 #include "motor-control/tests/mock_move_status_reporter_client.hpp"
-#include "motor-control/tests/mock_motor_driver_client.hpp"
 
 using namespace motor_handler;
 
@@ -19,10 +19,9 @@ struct HandlerContainer {
     test_mocks::MockMoveStatusReporterClient reporter{};
     test_mocks::MockMotorDriverClient driver{};
     stall_check::StallCheck stall{10, 10, 10};
-    MotorInterruptHandler<test_mocks::MockMessageQueue,
-                          test_mocks::MockMoveStatusReporterClient, 
-                          test_mocks::MockMotorDriverClient, Move,
-                          test_mocks::MockMotorHardware>
+    MotorInterruptHandler<
+        test_mocks::MockMessageQueue, test_mocks::MockMoveStatusReporterClient,
+        test_mocks::MockMotorDriverClient, Move, test_mocks::MockMotorHardware>
         handler{queue, reporter, driver, hw, stall, update_position_queue};
 };
 
diff --git a/motor-control/tests/test_limit_switch_backoff.cpp b/motor-control/tests/test_limit_switch_backoff.cpp
index 16c6d3166..df1e462a1 100644
--- a/motor-control/tests/test_limit_switch_backoff.cpp
+++ b/motor-control/tests/test_limit_switch_backoff.cpp
@@ -2,9 +2,9 @@
 #include "common/tests/mock_message_queue.hpp"
 #include "motor-control/core/motor_messages.hpp"
 #include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
+#include "motor-control/tests/mock_motor_driver_client.hpp"
 #include "motor-control/tests/mock_motor_hardware.hpp"
 #include "motor-control/tests/mock_move_status_reporter_client.hpp"
-#include "motor-control/tests/mock_motor_driver_client.hpp"
 
 using namespace motor_handler;
 
@@ -19,10 +19,9 @@ struct HandlerContainer {
     test_mocks::MockMoveStatusReporterClient reporter{};
     test_mocks::MockMotorDriverClient driver{};
     stall_check::StallCheck stall{10, 10, 10};
-    MotorInterruptHandler<test_mocks::MockMessageQueue,
-                          test_mocks::MockMoveStatusReporterClient, 
-                          test_mocks::MockMotorDriverClient, Move,
-                          test_mocks::MockMotorHardware>
+    MotorInterruptHandler<
+        test_mocks::MockMessageQueue, test_mocks::MockMoveStatusReporterClient,
+        test_mocks::MockMotorDriverClient, Move, test_mocks::MockMotorHardware>
         handler{queue, reporter, driver, hw, stall, update_position_queue};
 };
 
diff --git a/motor-control/tests/test_motor_interrupt_handler.cpp b/motor-control/tests/test_motor_interrupt_handler.cpp
index f0eb679d2..b0f2bd75c 100644
--- a/motor-control/tests/test_motor_interrupt_handler.cpp
+++ b/motor-control/tests/test_motor_interrupt_handler.cpp
@@ -3,9 +3,9 @@
 #include "common/tests/mock_message_queue.hpp"
 #include "motor-control/core/motor_messages.hpp"
 #include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
+#include "motor-control/tests/mock_motor_driver_client.hpp"
 #include "motor-control/tests/mock_motor_hardware.hpp"
 #include "motor-control/tests/mock_move_status_reporter_client.hpp"
-#include "motor-control/tests/mock_motor_driver_client.hpp"
 
 using namespace motor_handler;
 
diff --git a/motor-control/tests/test_motor_interrupt_queue.cpp b/motor-control/tests/test_motor_interrupt_queue.cpp
index c16254c46..906da0ebd 100644
--- a/motor-control/tests/test_motor_interrupt_queue.cpp
+++ b/motor-control/tests/test_motor_interrupt_queue.cpp
@@ -2,9 +2,9 @@
 #include "catch2/catch.hpp"
 #include "common/tests/mock_message_queue.hpp"
 #include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
+#include "motor-control/tests/mock_motor_driver_client.hpp"
 #include "motor-control/tests/mock_motor_hardware.hpp"
 #include "motor-control/tests/mock_move_status_reporter_client.hpp"
-#include "motor-control/tests/mock_motor_driver_client.hpp"
 
 using namespace motor_handler;
 
@@ -19,8 +19,8 @@ TEST_CASE("motor interrupt handler queue functionality") {
         test_mocks::MockMotorDriverClient driver{};
         test_mocks::MockMotorHardware hardware;
         stall_check::StallCheck stall(10, 10, 10);
-        auto handler = MotorInterruptHandler(queue, reporter, driver, hardware, stall,
-                                             update_position_queue);
+        auto handler = MotorInterruptHandler(queue, reporter, driver, hardware,
+                                             stall, update_position_queue);
 
         WHEN("add multiple moves to the queue") {
             THEN("all the moves should exist in order") {
diff --git a/motor-control/tests/test_motor_pulse.cpp b/motor-control/tests/test_motor_pulse.cpp
index b625a9a24..312aa86d2 100644
--- a/motor-control/tests/test_motor_pulse.cpp
+++ b/motor-control/tests/test_motor_pulse.cpp
@@ -1,9 +1,9 @@
 #include "catch2/catch.hpp"
 #include "common/tests/mock_message_queue.hpp"
 #include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
+#include "motor-control/tests/mock_motor_driver_client.hpp"
 #include "motor-control/tests/mock_motor_hardware.hpp"
 #include "motor-control/tests/mock_move_status_reporter_client.hpp"
-#include "motor-control/tests/mock_motor_driver_client.hpp"
 
 using namespace motor_handler;
 
@@ -24,10 +24,9 @@ struct HandlerContainer {
     test_mocks::MockMoveStatusReporterClient reporter{};
     test_mocks::MockMotorDriverClient driver{};
     stall_check::StallCheck stall{tick_per_um, tick_per_um, stall_threshold_um};
-    MotorInterruptHandler<test_mocks::MockMessageQueue,
-                          test_mocks::MockMoveStatusReporterClient, 
-                          test_mocks::MockMotorDriverClient, Move,
-                          test_mocks::MockMotorHardware>
+    MotorInterruptHandler<
+        test_mocks::MockMessageQueue, test_mocks::MockMoveStatusReporterClient,
+        test_mocks::MockMotorDriverClient, Move, test_mocks::MockMotorHardware>
         handler{queue, reporter, driver, hw, stall, update_position_queue};
 };
 
diff --git a/motor-control/tests/test_motor_stall_handling.cpp b/motor-control/tests/test_motor_stall_handling.cpp
index c2893e763..f75b2db23 100644
--- a/motor-control/tests/test_motor_stall_handling.cpp
+++ b/motor-control/tests/test_motor_stall_handling.cpp
@@ -2,9 +2,9 @@
 #include "common/tests/mock_message_queue.hpp"
 #include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
 #include "motor-control/core/usage_messages.hpp"
+#include "motor-control/tests/mock_motor_driver_client.hpp"
 #include "motor-control/tests/mock_motor_hardware.hpp"
 #include "motor-control/tests/mock_move_status_reporter_client.hpp"
-#include "motor-control/tests/mock_motor_driver_client.hpp"
 
 using namespace motor_handler;
 
@@ -24,10 +24,9 @@ struct HandlerContainer {
     test_mocks::MockMoveStatusReporterClient reporter{};
     test_mocks::MockMotorDriverClient driver{};
     stall_check::StallCheck stall{tick_per_um, tick_per_um, stall_threshold_um};
-    MotorInterruptHandler<test_mocks::MockMessageQueue,
-                          test_mocks::MockMoveStatusReporterClient, 
-                          test_mocks::MockMotorDriverClient, Move,
-                          test_mocks::MockMotorHardware>
+    MotorInterruptHandler<
+        test_mocks::MockMessageQueue, test_mocks::MockMoveStatusReporterClient,
+        test_mocks::MockMotorDriverClient, Move, test_mocks::MockMotorHardware>
         handler{queue, reporter, driver, hw, stall, update_position_queue};
 };
 
diff --git a/motor-control/tests/test_sync_handling.cpp b/motor-control/tests/test_sync_handling.cpp
index 37d4a65dc..f35e21d0c 100644
--- a/motor-control/tests/test_sync_handling.cpp
+++ b/motor-control/tests/test_sync_handling.cpp
@@ -2,9 +2,9 @@
 #include "common/tests/mock_message_queue.hpp"
 #include "motor-control/core/motor_messages.hpp"
 #include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
+#include "motor-control/tests/mock_motor_driver_client.hpp"
 #include "motor-control/tests/mock_motor_hardware.hpp"
 #include "motor-control/tests/mock_move_status_reporter_client.hpp"
-#include "motor-control/tests/mock_motor_driver_client.hpp"
 
 using namespace motor_handler;
 
@@ -19,10 +19,9 @@ struct HandlerContainer {
     test_mocks::MockMoveStatusReporterClient reporter{};
     test_mocks::MockMotorDriverClient driver{};
     stall_check::StallCheck stall{10, 10, 10};
-    MotorInterruptHandler<test_mocks::MockMessageQueue,
-                          test_mocks::MockMoveStatusReporterClient, 
-                          test_mocks::MockMotorDriverClient, Move,
-                          test_mocks::MockMotorHardware>
+    MotorInterruptHandler<
+        test_mocks::MockMessageQueue, test_mocks::MockMoveStatusReporterClient,
+        test_mocks::MockMotorDriverClient, Move, test_mocks::MockMotorHardware>
         handler{queue, reporter, driver, hw, stall, update_position_queue};
 };
 
diff --git a/pipettes/core/linear_motor_tasks.cpp b/pipettes/core/linear_motor_tasks.cpp
index e9939b5b6..5674238ec 100644
--- a/pipettes/core/linear_motor_tasks.cpp
+++ b/pipettes/core/linear_motor_tasks.cpp
@@ -49,8 +49,9 @@ void linear_motor_tasks::start_tasks(
     auto& motion_tasks = linear_motor_tasks::get_tasks();
 
     // Linear Motor Tasks
-    auto& motion = mc_task_builder.start(5, "motion controller",
-                                         motion_controller, queues, queues, tmc2130_queues);
+    auto& motion =
+        mc_task_builder.start(5, "motion controller", motion_controller, queues,
+                              queues, tmc2130_queues);
     auto& tmc2130_driver = tmc2130_driver_task_builder.start(
         5, "tmc2130 driver", linear_driver_configs, queues, spi_writer);
     auto& move_group =
@@ -100,8 +101,9 @@ void linear_motor_tasks::start_tasks(
     auto& motion_tasks = linear_motor_tasks::get_tasks();
 
     // Linear Motor Tasks
-    auto& motion = mc_task_builder.start(5, "motion controller",
-                                         motion_controller, queues, queues, tmc2160_queues);
+    auto& motion =
+        mc_task_builder.start(5, "motion controller", motion_controller, queues,
+                              queues, tmc2160_queues);
     auto& tmc2160_driver = tmc2160_driver_task_builder.start(
         5, "tmc2160 driver", linear_driver_configs, queues, spi_writer);
     auto& move_group =
diff --git a/pipettes/firmware/interfaces.cpp b/pipettes/firmware/interfaces.cpp
index 5a8a22a43..909fa809d 100644
--- a/pipettes/firmware/interfaces.cpp
+++ b/pipettes/firmware/interfaces.cpp
@@ -58,18 +58,24 @@ void linear_motor::encoder_interrupt(motor_hardware::MotorHardware& hw,
 auto linear_motor::get_interrupt(motor_hardware::MotorHardware& hw,
                                  LowThroughputInterruptQueues& queues,
                                  stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient> {
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2130_driver::QueueClient> {
     return motor_handler::MotorInterruptHandler(
-        queues.plunger_queue, linear_motor_tasks::get_queues(), linear_motor_tasks::tmc2130_driver::get_queues(), hw, stall,
+        queues.plunger_queue, linear_motor_tasks::get_queues(),
+        linear_motor_tasks::tmc2130_driver::get_queues(), hw, stall,
         queues.plunger_update_queue);
 }
 
 auto linear_motor::get_interrupt(motor_hardware::MotorHardware& hw,
                                  HighThroughputInterruptQueues& queues,
                                  stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient> {
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2160_driver::QueueClient> {
     return motor_handler::MotorInterruptHandler(
-        queues.plunger_queue, linear_motor_tasks::get_queues(), linear_motor_tasks::tmc2160_driver::get_queues(), hw, stall,
+        queues.plunger_queue, linear_motor_tasks::get_queues(),
+        linear_motor_tasks::tmc2160_driver::get_queues(), hw, stall,
         queues.plunger_update_queue);
 }
 
@@ -130,11 +136,13 @@ auto gear_motor::get_interrupts(gear_motor::GearHardware& hw,
     -> gear_motor::GearInterruptHandlers {
     return gear_motor::GearInterruptHandlers{
         .left = motor_handler::MotorInterruptHandler(
-            queues.left_motor_queue, gear_motor_tasks::get_left_gear_queues(), gear_motor_tasks::get_left_gear_queues(),
-            hw.left, stall.left, queues.left_update_queue),
+            queues.left_motor_queue, gear_motor_tasks::get_left_gear_queues(),
+            gear_motor_tasks::get_left_gear_queues(), hw.left, stall.left,
+            queues.left_update_queue),
         .right = motor_handler::MotorInterruptHandler(
-            queues.right_motor_queue, gear_motor_tasks::get_right_gear_queues(), gear_motor_tasks::get_left_gear_queues(),
-            hw.right, stall.right, queues.right_update_queue)};
+            queues.right_motor_queue, gear_motor_tasks::get_right_gear_queues(),
+            gear_motor_tasks::get_left_gear_queues(), hw.right, stall.right,
+            queues.right_update_queue)};
 }
 
 auto gear_motor::get_interrupts(gear_motor::UnavailableGearHardware&,
diff --git a/pipettes/simulator/interfaces.cpp b/pipettes/simulator/interfaces.cpp
index 960dd9c69..a0029b4bc 100644
--- a/pipettes/simulator/interfaces.cpp
+++ b/pipettes/simulator/interfaces.cpp
@@ -44,44 +44,56 @@ auto interfaces::get_interrupt_queues<PipetteType::THREE_EIGHTY_FOUR_CHANNEL>()
         .left_update_queue = UpdatePositionQueue{"Left PUpdate Queue"}};
 }
 
-auto linear_motor::get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
-                                 LowThroughputInterruptQueues& queues,
-                                 stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient> {
+auto linear_motor::get_interrupt(
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    LowThroughputInterruptQueues& queues, stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2130_driver::QueueClient> {
     return motor_handler::MotorInterruptHandler(
-        queues.plunger_queue, linear_motor_tasks::get_queues(), linear_motor_tasks::tmc2130_driver::get_queues(), hw, stall,
+        queues.plunger_queue, linear_motor_tasks::get_queues(),
+        linear_motor_tasks::tmc2130_driver::get_queues(), hw, stall,
         queues.plunger_update_queue);
 }
 
-auto linear_motor::get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
-                                 HighThroughputInterruptQueues& queues,
-                                 stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient> {
+auto linear_motor::get_interrupt(
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    HighThroughputInterruptQueues& queues, stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2160_driver::QueueClient> {
     return motor_handler::MotorInterruptHandler(
-        queues.plunger_queue, linear_motor_tasks::get_queues(), linear_motor_tasks::tmc2160_driver::get_queues(), hw, stall,
+        queues.plunger_queue, linear_motor_tasks::get_queues(),
+        linear_motor_tasks::tmc2160_driver::get_queues(), hw, stall,
         queues.plunger_update_queue);
 }
 
 auto linear_motor::get_interrupt_driver(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw,
     LowThroughputInterruptQueues& queues,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>& handler)
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient,
+                              linear_motor_tasks::tmc2130_driver::QueueClient>&
+        handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
-        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient, motor_messages::Move,
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2130_driver::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface> {
-    return motor_interrupt_driver::MotorInterruptDriver(queues.plunger_queue, handler, hw,
-                                                        queues.plunger_update_queue);
+    return motor_interrupt_driver::MotorInterruptDriver(
+        queues.plunger_queue, handler, hw, queues.plunger_update_queue);
 }
 
 auto linear_motor::get_interrupt_driver(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw,
     HighThroughputInterruptQueues& queues,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>& handler)
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient,
+                              linear_motor_tasks::tmc2160_driver::QueueClient>&
+        handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
-        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient, motor_messages::Move,
+        linear_motor_tasks::QueueClient,
+        linear_motor_tasks::tmc2160_driver::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface> {
-    return motor_interrupt_driver::MotorInterruptDriver(queues.plunger_queue, handler, hw,
-                                                        queues.plunger_update_queue);
+    return motor_interrupt_driver::MotorInterruptDriver(
+        queues.plunger_queue, handler, hw, queues.plunger_update_queue);
 }
 
 auto linear_motor::get_motor_hardware()
@@ -124,10 +136,12 @@ auto gear_motor::get_interrupts(gear_motor::GearHardware& hw,
     return gear_motor::GearInterruptHandlers{
         .left = motor_handler::MotorInterruptHandler(
             queues.left_motor_queue, gear_motor_tasks::get_left_gear_queues(),
-            gear_motor_tasks::get_left_gear_queues(), hw.left, stall.left, queues.left_update_queue),
+            gear_motor_tasks::get_left_gear_queues(), hw.left, stall.left,
+            queues.left_update_queue),
         .right = motor_handler::MotorInterruptHandler(
             queues.right_motor_queue, gear_motor_tasks::get_right_gear_queues(),
-            gear_motor_tasks::get_right_gear_queues(), hw.right, stall.right, queues.right_update_queue),
+            gear_motor_tasks::get_right_gear_queues(), hw.right, stall.right,
+            queues.right_update_queue),
     };
 }