diff --git a/examples/motor2040/motor2040_motor_wave.cpp b/examples/motor2040/motor2040_motor_wave.cpp
index 14ab9cbd..0ba4e4be 100644
--- a/examples/motor2040/motor2040_motor_wave.cpp
+++ b/examples/motor2040/motor2040_motor_wave.cpp
@@ -61,9 +61,9 @@ int main() {
     led.set_hsv(0, offset / 2.0f, 1.0f, BRIGHTNESS);
 
     // Update all the motors
-      for(auto m = 0u; m < NUM_MOTORS; m++) {
-        float angle = (((float)m / (float)NUM_MOTORS) + offset) * (float)M_PI;
-        motors[m]->speed(sin(angle) * SPEED_EXTENT);
+    for(auto m = 0u; m < NUM_MOTORS; m++) {
+      float angle = (((float)m / (float)NUM_MOTORS) + offset) * (float)M_PI;
+      motors[m]->speed(sin(angle) * SPEED_EXTENT);
     }
 
     sleep_ms(1000 / UPDATES);
diff --git a/examples/motor2040/motor2040_position_control.cpp b/examples/motor2040/motor2040_position_control.cpp
index 3eac307d..99e94a0c 100644
--- a/examples/motor2040/motor2040_position_control.cpp
+++ b/examples/motor2040/motor2040_position_control.cpp
@@ -101,20 +101,20 @@ int main() {
     float percent_along = (float)update / (float)UPDATES_PER_MOVE;
 
     switch(INTERP_MODE) {
-      case 0:
-        // Move the motor instantly to the end value
-        pos_pid.setpoint = end_value;
-        break;
+    case 0:
+      // Move the motor instantly to the end value
+      pos_pid.setpoint = end_value;
+      break;
 
-      case 2:
-        // Move the motor between values using cosine
-        pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
-        break;
+    case 2:
+      // Move the motor between values using cosine
+      pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
+      break;
 
-      case 1:
-      default:
-        // Move the motor linearly between values
-        pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
+    case 1:
+    default:
+      // Move the motor linearly between values
+      pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
     }
 
     // Calculate the velocity to move the motor closer to the position setpoint
@@ -125,9 +125,9 @@ int main() {
 
     // Print out the current motor values and their setpoints, but only on every multiple
     if(print_count == 0) {
-        printf("Pos = %f, ", capture.degrees());
-        printf("Pos SP = %f, ", pos_pid.setpoint);
-        printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
+      printf("Pos = %f, ", capture.degrees());
+      printf("Pos SP = %f, ", pos_pid.setpoint);
+      printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
     }
 
     // Increment the print count, and wrap it
@@ -137,11 +137,11 @@ int main() {
 
     // Have we reached the end of this movement?
     if(update >= UPDATES_PER_MOVE) {
-        update = 0;  // Reset the counter
+      update = 0;  // Reset the counter
 
-        // Set the start as the last end and create a new random end value
-        start_value = end_value;
-        end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
+      // Set the start as the last end and create a new random end value
+      start_value = end_value;
+      end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
     }
 
     sleep_ms(UPDATE_RATE * 1000.0f);
diff --git a/examples/motor2040/motor2040_position_on_velocity_control.cpp b/examples/motor2040/motor2040_position_on_velocity_control.cpp
index f53c91e9..43c76a6b 100644
--- a/examples/motor2040/motor2040_position_on_velocity_control.cpp
+++ b/examples/motor2040/motor2040_position_on_velocity_control.cpp
@@ -109,20 +109,20 @@ int main() {
     float percent_along = (float)update / (float)UPDATES_PER_MOVE;
 
     switch(INTERP_MODE) {
-      case 0:
-        // Move the motor instantly to the end value
-        pos_pid.setpoint = end_value;
-        break;
+    case 0:
+      // Move the motor instantly to the end value
+      pos_pid.setpoint = end_value;
+      break;
 
-      case 2:
-        // Move the motor between values using cosine
-        pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
-        break;
+    case 2:
+      // Move the motor between values using cosine
+      pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
+      break;
 
-      case 1:
-      default:
-        // Move the motor linearly between values
-        pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
+    case 1:
+    default:
+      // Move the motor linearly between values
+      pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
     }
 
     // Calculate the velocity to move the motor closer to the position setpoint
@@ -154,11 +154,11 @@ int main() {
 
     // Have we reached the end of this movement?
     if(update >= UPDATES_PER_MOVE) {
-        update = 0;  // Reset the counter
+      update = 0;  // Reset the counter
 
-        // Set the start as the last end and create a new random end value
-        start_value = end_value;
-        end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
+      // Set the start as the last end and create a new random end value
+      start_value = end_value;
+      end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
     }
 
     sleep_ms(UPDATE_RATE * 1000.0f);
diff --git a/examples/motor2040/motor2040_position_on_velocity_tuning.cpp b/examples/motor2040/motor2040_position_on_velocity_tuning.cpp
index c97c4bf6..c2db35a4 100644
--- a/examples/motor2040/motor2040_position_on_velocity_tuning.cpp
+++ b/examples/motor2040/motor2040_position_on_velocity_tuning.cpp
@@ -120,12 +120,12 @@ int main() {
     // Print out the current motor values and their setpoints,
     // but only for the first few updates and only every multiple
     if(update < (uint)(PRINT_WINDOW * UPDATES) && print_count == 0) {
-        printf("Pos = %f, ", capture.degrees());
-        printf("Pos SP = %f, ", pos_pid.setpoint);
-        printf("Vel = %f, ", capture.revolutions_per_second() * SPD_PRINT_SCALE);
-        printf("Vel SP = %f, ", vel_pid.setpoint * SPD_PRINT_SCALE);
-        printf("Accel = %f, ", accel * ACC_PRINT_SCALE);
-        printf("Speed = %f\n", m.speed());
+      printf("Pos = %f, ", capture.degrees());
+      printf("Pos SP = %f, ", pos_pid.setpoint);
+      printf("Vel = %f, ", capture.revolutions_per_second() * SPD_PRINT_SCALE);
+      printf("Vel SP = %f, ", vel_pid.setpoint * SPD_PRINT_SCALE);
+      printf("Accel = %f, ", accel * ACC_PRINT_SCALE);
+      printf("Speed = %f\n", m.speed());
     }
 
     // Increment the print count, and wrap it
@@ -135,10 +135,10 @@ int main() {
 
     // Have we reached the end of this time window?
     if(update >= (uint)(MOVEMENT_WINDOW * UPDATES)) {
-        update = 0;  // Reset the counter
+      update = 0;  // Reset the counter
 
-        // Set the new position setpoint to be the inverse of the current setpoint
-        pos_pid.setpoint = 0.0 - pos_pid.setpoint;
+      // Set the new position setpoint to be the inverse of the current setpoint
+      pos_pid.setpoint = 0.0 - pos_pid.setpoint;
     }
 
     sleep_ms(UPDATE_RATE * 1000.0f);
diff --git a/examples/motor2040/motor2040_position_tuning.cpp b/examples/motor2040/motor2040_position_tuning.cpp
index 4710a359..28358262 100644
--- a/examples/motor2040/motor2040_position_tuning.cpp
+++ b/examples/motor2040/motor2040_position_tuning.cpp
@@ -105,9 +105,9 @@ int main() {
     // Print out the current motor values and their setpoints,
     // but only for the first few updates and only every multiple
     if(update < (uint)(PRINT_WINDOW * UPDATES) && print_count == 0) {
-        printf("Pos = %f, ", capture.degrees());
-        printf("Pos SP = %f, ", pos_pid.setpoint);
-        printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
+      printf("Pos = %f, ", capture.degrees());
+      printf("Pos SP = %f, ", pos_pid.setpoint);
+      printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
     }
 
     // Increment the print count, and wrap it
@@ -117,10 +117,10 @@ int main() {
 
     // Have we reached the end of this time window?
     if(update >= (uint)(MOVEMENT_WINDOW * UPDATES)) {
-        update = 0;  // Reset the counter
+      update = 0;  // Reset the counter
 
-        // Set the new position setpoint to be the inverse of the current setpoint
-        pos_pid.setpoint = 0.0f - pos_pid.setpoint;
+      // Set the new position setpoint to be the inverse of the current setpoint
+      pos_pid.setpoint = 0.0f - pos_pid.setpoint;
     }
 
     sleep_ms(UPDATE_RATE * 1000.0f);
diff --git a/examples/motor2040/motor2040_quad_position_wave.cpp b/examples/motor2040/motor2040_quad_position_wave.cpp
index 67895d2c..8fa2428c 100644
--- a/examples/motor2040/motor2040_quad_position_wave.cpp
+++ b/examples/motor2040/motor2040_quad_position_wave.cpp
@@ -145,12 +145,12 @@ int main() {
 
     // Have we reached the end of this movement?
     if(update >= UPDATES_PER_MOVE) {
-        update = 0;  // Reset the counter
+      update = 0;  // Reset the counter
 
-        // Swap the start and end values
-        float temp = start_value;
-        start_value = end_value;
-        end_value = temp;
+      // Swap the start and end values
+      float temp = start_value;
+      start_value = end_value;
+      end_value = temp;
     }
 
     sleep_ms(UPDATE_RATE * 1000.0f);
diff --git a/examples/motor2040/motor2040_quad_velocity_sequence.cpp b/examples/motor2040/motor2040_quad_velocity_sequence.cpp
index 5b3825f0..dd4598c3 100644
--- a/examples/motor2040/motor2040_quad_velocity_sequence.cpp
+++ b/examples/motor2040/motor2040_quad_velocity_sequence.cpp
@@ -163,40 +163,40 @@ int main() {
 
     // Have we reached the end of this movement?
     if(update >= UPDATES_PER_MOVE) {
-        update = 0;  // Reset the counter
+      update = 0;  // Reset the counter
 
-        // Move on to the next part of the sequence
-        sequence += 1;
+      // Move on to the next part of the sequence
+      sequence += 1;
 
-        // Loop the sequence back around
-        if(sequence >= 7) {
-          sequence = 0;
-        }
+      // Loop the sequence back around
+      if(sequence >= 7) {
+        sequence = 0;
+      }
     }
 
     // Set the motor speeds, based on the sequence
     switch(sequence) {
-      case 0:
-        drive_forward(DRIVING_SPEED);
-        break;
-      case 1:
-        drive_forward(-DRIVING_SPEED);
-        break;
-      case 2:
-        turn_right(DRIVING_SPEED);
-        break;
-      case 3:
-        turn_right(-DRIVING_SPEED);
-        break;
-      case 4:
-        strafe_right(DRIVING_SPEED);
-        break;
-      case 5:
-        strafe_right(-DRIVING_SPEED);
-        break;
-      default:
-        stop();
-        break;
+    case 0:
+      drive_forward(DRIVING_SPEED);
+      break;
+    case 1:
+      drive_forward(-DRIVING_SPEED);
+      break;
+    case 2:
+      turn_right(DRIVING_SPEED);
+      break;
+    case 3:
+      turn_right(-DRIVING_SPEED);
+      break;
+    case 4:
+      strafe_right(DRIVING_SPEED);
+      break;
+    case 5:
+      strafe_right(-DRIVING_SPEED);
+      break;
+    default:
+      stop();
+      break;
     }
 
     sleep_ms(UPDATE_RATE * 1000.0f);