diff --git a/Sensing.cpp b/Sensing.cpp
index 0f797a2..acc9e27 100644
--- a/Sensing.cpp
+++ b/Sensing.cpp
@@ -1,15 +1,12 @@
-#include "DistanceSensor.h"
 #include "Sensing.h"
-//#include <Switch.h>
+#include "DistanceSensor.h"
+// #include <Switch.h>
 
 #include <math.h>
 #include <algorithm>
 
-extern "C" {
-    #include "debug.h"
-}
-
-SensorPlacement::SensorPlacement(DistanceSensor* distanceSensor, Vector2 direction) {
+SensorPlacement::SensorPlacement(DistanceSensor* distanceSensor,
+                                 Vector2 direction) {
   this->distanceSensor = distanceSensor;
   this->switchSensor = nullptr;
   this->direction = direction;
@@ -22,7 +19,8 @@ SensorPlacement::SensorPlacement(Switch* switchSensor, Vector2 direction) {
 
 Sensing::Sensing() {}
 
-// void Sensing::AddSensors(SensorPlacement* sensors, unsigned int sensorCount) {
+// void Sensing::AddSensors(SensorPlacement* sensors, unsigned int sensorCount)
+// {
 //   this->sensors = sensors;
 //   this->sensorCount = sensorCount;
 // }
@@ -46,18 +44,18 @@ void Sensing::AddSensors(Placement* things, unsigned int thingCount) {
 }
 
 unsigned int Sensing::GetSensorCount() {
-    return this->sensorCount;
+  return this->sensorCount;
 }
 
 Sensor* Sensing::GetSensor(unsigned int sensorId) {
-    if (sensorId >= this->sensorCount)
-        return nullptr;
-
-    Thing* thing = this->sensorPlacements[sensorId].thing;
-    if (thing->isSensor)
-        return (Sensor*)thing;
-
+  if (sensorId >= this->sensorCount)
     return nullptr;
+
+  Thing* thing = this->sensorPlacements[sensorId].thing;
+  if (thing->isSensor)
+    return (Sensor*)thing;
+
+  return nullptr;
 }
 
 float Sensing::DistanceForward(float angle) {
@@ -114,37 +112,37 @@ float Sensing::DistanceRight(float angle) {
 }
 
 float Sensing::DistanceUp(float angle) {
-    float minDistance = INFINITY;
-    for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
-        Placement placement = sensorPlacements[sensorIx];
-        Sensor* sensor = (Sensor*)placement.thing;
-        if (sensor->isDistanceSensor == false)
-            continue;
-    
-        DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
-        float sensorAngle = placement.direction.y; // not correct!
-        if (sensorAngle > 0 && sensorAngle < angle) {
-            minDistance = fmin(minDistance, distanceSensor->GetDistance());
-        }
+  float minDistance = INFINITY;
+  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
+    Placement placement = sensorPlacements[sensorIx];
+    Sensor* sensor = (Sensor*)placement.thing;
+    if (sensor->isDistanceSensor == false)
+      continue;
+
+    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
+    float sensorAngle = placement.direction.y;  // not correct!
+    if (sensorAngle > 0 && sensorAngle < angle) {
+      minDistance = fmin(minDistance, distanceSensor->GetDistance());
     }
-    return minDistance;
+  }
+  return minDistance;
 }
 
 float Sensing::DistanceDown(float angle) {
-    float minDistance = INFINITY;
-    for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
-        Placement placement = sensorPlacements[sensorIx];
-        Sensor* sensor = (Sensor*)placement.thing;
-        if (sensor->isDistanceSensor == false)
-            continue;
+  float minDistance = INFINITY;
+  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
+    Placement placement = sensorPlacements[sensorIx];
+    Sensor* sensor = (Sensor*)placement.thing;
+    if (sensor->isDistanceSensor == false)
+      continue;
 
-        DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
-        float sensorAngle = placement.direction.y; // not correct!
-        if (sensorAngle < 0 && sensorAngle > -angle) {
-            minDistance = fmin(minDistance, distanceSensor->GetDistance());
-        }
+    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
+    float sensorAngle = placement.direction.y;  // not correct!
+    if (sensorAngle < 0 && sensorAngle > -angle) {
+      minDistance = fmin(minDistance, distanceSensor->GetDistance());
     }
-    return minDistance;
+  }
+  return minDistance;
 }
 
 bool Sensing::SwitchOn(float fromAngle, float toAngle) {
@@ -157,7 +155,8 @@ bool Sensing::SwitchOn(float fromAngle, float toAngle) {
     if (angle > fromAngle && angle < toAngle) {
       DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
 
-      // if (placement.switchSensor != nullptr && placement.switchSensor->IsOn())
+      // if (placement.switchSensor != nullptr &&
+      // placement.switchSensor->IsOn())
       //   return true;
       // else
       if (distanceSensor != nullptr && distanceSensor->IsOn())