diff --git a/ServoMotor.cpp b/ServoMotor.cpp
index 6667fca..b19bda6 100644
--- a/ServoMotor.cpp
+++ b/ServoMotor.cpp
@@ -3,7 +3,7 @@
 #include "LinearAlgebra/FloatSingle.h"
 
 ServoMotor::ServoMotor()
-    : Thing(0) { // for now, id should be set properly later
+    : Thing(0) {  // for now, id should be set properly later
   this->type = Thing::ServoType;
   this->controlMode = ControlMode::Position;
   this->targetAngle = 0;
@@ -18,7 +18,7 @@ void ServoMotor::SetTargetAngle(float angle) {
     this->limitedTargetAngle = angle;
   } else if (angle != this->targetAngle) {
     // if the new target is the same, the limited angle is not overwritten
-    this->limitedTargetAngle = this->targetAngle;
+    // this->limitedTargetAngle = this->targetAngle;
   }
 
   this->controlMode = ControlMode::Position;
@@ -26,7 +26,9 @@ void ServoMotor::SetTargetAngle(float angle) {
   this->hasTargetAngle = true;
 }
 
-float ServoMotor::GetTargetAngle() { return this->targetAngle; }
+float ServoMotor::GetTargetAngle() {
+  return this->targetAngle;
+}
 
 void ServoMotor::SetMaximumVelocity(float maxVelocity) {
   this->maxVelocity = maxVelocity;
@@ -38,16 +40,18 @@ void ServoMotor::SetTargetVelocity(float targetVelocity) {
 
   this->controlMode = ControlMode::Velocity;
   this->targetVelocity = targetVelocity;
-  this->hasTargetAngle = false; // can't we use the controlMode for this?
+  this->hasTargetAngle = false;  // can't we use the controlMode for this?
 }
 
-float ServoMotor::GetTargetVelocity() { return this->targetVelocity; }
+float ServoMotor::GetTargetVelocity() {
+  return this->targetVelocity;
+}
 
 void ServoMotor::Update(unsigned long currentTimeMs) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
-    Thing *child = this->GetChild(childIx);
+    Thing* child = this->GetChild(childIx);
     if (child != nullptr && child->type == Thing::ServoType) {
-      ServoMotor *servo = (ServoMotor *)child;
+      ServoMotor* servo = (ServoMotor*)child;
       servo->Update(currentTimeMs);
     }
   }