diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1998ef5..eb47e81 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -26,6 +26,11 @@ public class RobotContainer {
     configureBindings();
   }
 
+  // The objective should be to have the subsystems expose methods that return commands
+  // that can be bound to the triggers provided by the CommandXboxController class.
+  // This mindset should help keep RobotContainer a little cleaner this year. 
+  // This is not to say you can't trigger or command chain here (see driveCardnial drivetrain example),
+  // but generally avoid any situation where the keyword "new" is involved
   private void configureBindings() {
     drivetrain.setDefaultCommand(drivetrain.teleopCommand(
       primary::getLeftX, 
diff --git a/src/main/java/frc/robot/utilities/SwerveUtils.java b/src/main/java/frc/robot/utilities/SwerveUtils.java
index 48fe870..18d2ab7 100644
--- a/src/main/java/frc/robot/utilities/SwerveUtils.java
+++ b/src/main/java/frc/robot/utilities/SwerveUtils.java
@@ -12,11 +12,9 @@ public class SwerveUtils {
     public static double StepTowards(double _current, double _target, double _stepsize) {
         if (Math.abs(_current - _target) <= _stepsize) {
             return _target;
-        }
-        else if (_target < _current) {
+        } else if (_target < _current) {
             return _current - _stepsize;
-        }
-        else {
+        } else {
             return _current + _stepsize;
         }
     }
@@ -38,18 +36,15 @@ public class SwerveUtils {
         
         if (difference <= _stepsize) {
             return _target;
-        }
-        else if (difference > Math.PI) { //does the system need to wrap over eventually?
+        } else if (difference > Math.PI) { //does the system need to wrap over eventually?
             //handle the special case where you can reach the target in one step while also wrapping
             if (_current + 2*Math.PI - _target < _stepsize || _target + 2*Math.PI - _current < _stepsize) {
                 return _target;
-            }
-            else {
+            } else {
                 return WrapAngle(_current - stepDirection * _stepsize); //this will handle wrapping gracefully
             }
 
-        }
-        else {
+        } else {
             return _current + stepDirection * _stepsize;
         }
     }
@@ -75,14 +70,11 @@ public class SwerveUtils {
 
         if (_angle == twoPi) { // Handle this case separately to avoid floating point errors with the floor after the division in the case below
             return 0.0;
-        }
-        else if (_angle > twoPi) {
+        } else if (_angle > twoPi) {
             return _angle - twoPi*Math.floor(_angle / twoPi);
-        }
-        else if (_angle < 0.0) {
+        } else if (_angle < 0.0) {
             return _angle + twoPi*(Math.floor((-_angle) / twoPi)+1);
-        }
-        else {
+        } else {
             return _angle;
         }
     }