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Clean up of code style.#4

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AhmedSamara wants to merge 5 commits intocharlesrwest:masterfrom
IEEERobotics:master
Open

Clean up of code style.#4
AhmedSamara wants to merge 5 commits intocharlesrwest:masterfrom
IEEERobotics:master

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@AhmedSamara
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I thought the code could use some cleanup. Superficial changes only.

I tried to clean up my commit messages but accidentally doubled them.

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