diff --git a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
index c4feece..890c429 100644
--- a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+++ b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
@@ -21,9 +21,9 @@ class GaitState {
   public:
     virtual float getDefaultHeight() const { return 0.5f; }
 
-    virtual void begin() { ESP_LOGI("Gait Planner", "Starting %s", name()) }
+    virtual void begin() { ESP_LOGI("Gait Planner", "Starting %s", name()); }
 
-    virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()) }
+    virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()); }
 
     virtual void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) {}
 };
diff --git a/esp32/lib/ESP32-sveltekit/MotionService.h b/esp32/lib/ESP32-sveltekit/MotionService.h
index 72902fe..a7c4928 100644
--- a/esp32/lib/ESP32-sveltekit/MotionService.h
+++ b/esp32/lib/ESP32-sveltekit/MotionService.h
@@ -146,8 +146,7 @@ class MotionService {
     };
 
     float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
-    float default_feet_positions[4][4] = {
-        {1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}};
+    float default_feet_positions[4][4] = {{1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}};
 
     float angles[12] = {
         0,