diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000..d30c5da
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,121 @@
+---
+Language:        Cpp
+# BasedOnStyle:  LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: MultiLine
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:   
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:   
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories: 
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+  - Regex:           '.*'
+    Priority:        1
+IncludeIsMainRegex: '(Test)?$'
+IndentCaseLabels: false
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Right
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Cpp11
+StatementMacros: 
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseTab:          Never
+...
+
diff --git a/src/uaspire_controls/main.cc b/src/uaspire_controls/main.cc
index 943724a..d08f2a7 100644
--- a/src/uaspire_controls/main.cc
+++ b/src/uaspire_controls/main.cc
@@ -11,51 +11,43 @@ namespace ros = ::rclcpp;
 using UaspireCommand = ::uaspire_msgs::msg::Command;
 using UaspireSensors = ::uaspire_msgs::msg::Sensors;
 
-class ControlsNode : public ros::Node
-{
+class ControlsNode : public ros::Node {
 private:
-    ros::Subscription<UaspireCommand>::SharedPtr _command_subscription;
-    ros::Publisher<UaspireSensors>::SharedPtr _sensors_publisher;
-    ros::TimerBase::SharedPtr _timer;
+  ros::Subscription<UaspireCommand>::SharedPtr _command_subscription;
+  ros::Publisher<UaspireSensors>::SharedPtr _sensors_publisher;
+  ros::TimerBase::SharedPtr _timer;
 
 public:
-    RCLCPP_SHARED_PTR_DEFINITIONS(ControlsNode)
-
-    ControlsNode()
-        : Node("uaspire_controls")
-    {
-        _command_subscription = create_subscription<UaspireCommand>(
-            "uaspire/commands",
-            ros::QoS(10),
-            std::bind(&ControlsNode::on_message, this, arg::_1)
-        );
-        _sensors_publisher = create_publisher<UaspireSensors>(
-            "uaspire/sensors",
-            ros::QoS(10)
-        );
-        _timer = create_wall_timer(std::chrono::milliseconds(1000),
-            std::bind(&ControlsNode::on_loop, this));
-    }
-
-    void on_message(const UaspireCommand::SharedPtr cmd)
-    {
-        RCLCPP_INFO(get_logger(), "Command received: %s", cmd->data.c_str());
-    }
-
-    void on_loop() {
-		UaspireSensors sensors;
-		sensors.position = ros::Clock(RCL_STEADY_TIME).now().seconds();
-		_sensors_publisher->publish(sensors);
-		RCLCPP_INFO(get_logger(), "loop");
-    }
+  RCLCPP_SHARED_PTR_DEFINITIONS(ControlsNode)
+
+  ControlsNode() : Node("uaspire_controls") {
+    _command_subscription = create_subscription<UaspireCommand>(
+        "uaspire/commands", ros::QoS(10),
+        std::bind(&ControlsNode::on_message, this, arg::_1));
+    _sensors_publisher =
+        create_publisher<UaspireSensors>("uaspire/sensors", ros::QoS(10));
+    _timer = create_wall_timer(std::chrono::milliseconds(1000),
+                               std::bind(&ControlsNode::on_loop, this));
+  }
+
+  void on_message(const UaspireCommand::SharedPtr cmd) {
+    RCLCPP_INFO(get_logger(), "Command received: %s", cmd->data.c_str());
+  }
+
+  void on_loop() {
+    UaspireSensors sensors;
+    sensors.position = ros::Clock(RCL_STEADY_TIME).now().seconds();
+    _sensors_publisher->publish(sensors);
+    RCLCPP_INFO(get_logger(), "loop");
+  }
 };
 
-int main(int argc, char** argv) {
-    ros::init(argc, argv);
-    {
-        auto node = ControlsNode::make_shared();
-		ros::spin(node);
-    }
-    ros::shutdown();
-    return 0;
+int main(int argc, char **argv) {
+  ros::init(argc, argv);
+  {
+    auto node = ControlsNode::make_shared();
+    ros::spin(node);
+  }
+  ros::shutdown();
+  return 0;
 }