diff --git a/components/config/ConfigManager.cpp b/components/config/ConfigManager.cpp
index 5f7b63d..d1271b2 100644
--- a/components/config/ConfigManager.cpp
+++ b/components/config/ConfigManager.cpp
@@ -4,8 +4,8 @@
 
 
 #include <mutex>
-#include <esp_log.h>
 
+#include "esp_log.h"
 #include "nvs_flash.h"
 #include "constants/config.h"
 #include "ConfigManager.h"
diff --git a/components/config/include/ConfigManager.h b/components/config/include/ConfigManager.h
index 603b5ba..137a6a0 100644
--- a/components/config/include/ConfigManager.h
+++ b/components/config/include/ConfigManager.h
@@ -8,9 +8,9 @@
 #include <variant>
 #include <unordered_map>
 #include <shared_mutex>
-#include <esp_check.h>
-#include <nvs.h>
 
+#include "esp_check.h"
+#include "nvs.h"
 #include "flatbuffers_generated/RobotModule_generated.h"
 
 // Singleton to r/w config from the ESP32 nvs (thread safe and cached)
diff --git a/components/dataLink/DataLinkManager.cpp b/components/dataLink/DataLinkManager.cpp
index 6c2393c..7a687c2 100644
--- a/components/dataLink/DataLinkManager.cpp
+++ b/components/dataLink/DataLinkManager.cpp
@@ -1,6 +1,6 @@
+#include "esp_log.h"
 #include "DataLinkManager.h"
 #include "RMTManager.h"
-#include "esp_log.h"
 
 /**
  * @brief Construct a new Data Link Manager:: Data Link Manager object
diff --git a/components/dataLink/include/DataLinkManager.h b/components/dataLink/include/DataLinkManager.h
index 118da53..f545f41 100644
--- a/components/dataLink/include/DataLinkManager.h
+++ b/components/dataLink/include/DataLinkManager.h
@@ -1,18 +1,16 @@
 #ifndef DATA_LINK
 #define DATA_LINK
 
-#include "Frames.h"
-#include "Tables.h"
+#include <queue>
+#include <memory>
+#include <unordered_map>
 
 #include "esp_event.h"
-
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
-
-#include <queue> //c++ priority queue
-#include <memory>
+#include "Frames.h"
+#include "Tables.h"
 #include "RMTManager.h"
-#include <unordered_map>
 
 #define DEBUG_LINK_TAG "LinkLayer"
 
diff --git a/components/dataLink/include/Frames.h b/components/dataLink/include/Frames.h
index 163a457..5790478 100644
--- a/components/dataLink/include/Frames.h
+++ b/components/dataLink/include/Frames.h
@@ -1,9 +1,5 @@
 #ifdef DATA_LINK
 
-#include "freertos/FreeRTOS.h"
-#include <variant>
-#include <cstdint>
-
 #define BROADCAST_ADDR 0xFF //used for discovery (finding the board's neighbours). this will mean the board ids will have 2^8-2 = 254 unique IDs that could be assigned
 #define PC_ADDR 0x0 //setting 0 to be the PC
 
diff --git a/components/flatbuffers/MPIMessageBuilder.cpp b/components/flatbuffers/MPIMessageBuilder.cpp
index 22ffc04..ce66507 100644
--- a/components/flatbuffers/MPIMessageBuilder.cpp
+++ b/components/flatbuffers/MPIMessageBuilder.cpp
@@ -3,7 +3,6 @@
 //
 
 #include "MPIMessageBuilder.h"
-
 #include "SerializedMessage.h"
 
 namespace Flatbuffers {
diff --git a/components/flatbuffers/TopologyMessageBuilder.cpp b/components/flatbuffers/TopologyMessageBuilder.cpp
index 9a933da..51b59f1 100644
--- a/components/flatbuffers/TopologyMessageBuilder.cpp
+++ b/components/flatbuffers/TopologyMessageBuilder.cpp
@@ -3,7 +3,6 @@
 //
 
 #include "TopologyMessageBuilder.h"
-
 #include "SerializedMessage.h"
 
 namespace Flatbuffers {
diff --git a/components/flatbuffers/include/AngleControlMessageBuilder.h b/components/flatbuffers/include/AngleControlMessageBuilder.h
index 6f830ba..49eba61 100644
--- a/components/flatbuffers/include/AngleControlMessageBuilder.h
+++ b/components/flatbuffers/include/AngleControlMessageBuilder.h
@@ -5,10 +5,6 @@
 #ifndef ANGLECONTROLMESSAGEBUILDER_H_
 #define ANGLECONTROLMESSAGEBUILDER_H_
 
-#include <string>
-#include <vector>
-
-#include "SerializedMessage.h"
 #include "flatbuffers_generated/AngleControlMessage_generated.h"
 #include "flatbuffers/flatbuffers.h"
 
diff --git a/components/flatbuffers/include/MPIMessageBuilder.h b/components/flatbuffers/include/MPIMessageBuilder.h
index 9bf5d27..6c18b3b 100644
--- a/components/flatbuffers/include/MPIMessageBuilder.h
+++ b/components/flatbuffers/include/MPIMessageBuilder.h
@@ -5,7 +5,6 @@
 #ifndef MPIMESSAGEBUILDER_H
 #define MPIMESSAGEBUILDER_H
 
-#include <string>
 #include <vector>
 
 #include "SerializedMessage.h"
diff --git a/components/flatbuffers/include/TopologyMessageBuilder.h b/components/flatbuffers/include/TopologyMessageBuilder.h
index 07fb34c..e6ed55e 100644
--- a/components/flatbuffers/include/TopologyMessageBuilder.h
+++ b/components/flatbuffers/include/TopologyMessageBuilder.h
@@ -5,7 +5,6 @@
 #ifndef TOPOLOGYMESSAGEBUILDER_H
 #define TOPOLOGYMESSAGEBUILDER_H
 
-#include <string>
 #include <vector>
 
 #include "SerializedMessage.h"
diff --git a/components/rmt/RMTManager.cpp b/components/rmt/RMTManager.cpp
index b944c14..e494134 100644
--- a/components/rmt/RMTManager.cpp
+++ b/components/rmt/RMTManager.cpp
@@ -1,8 +1,7 @@
 #include "RMTManager.h"
-
+#include "RMTSymbols.h"
 #include "driver/rmt_tx.h"
 #include "driver/rmt_rx.h"
-
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
 #include "esp_log.h"
diff --git a/components/rmt/include/RMTManager.h b/components/rmt/include/RMTManager.h
index 6ad2265..d148234 100644
--- a/components/rmt/include/RMTManager.h
+++ b/components/rmt/include/RMTManager.h
@@ -1,17 +1,14 @@
 #ifndef RMT_COMMUNICATIONS
 #define RMT_COMMUNICATIONS
 
-#include "esp_event.h"
+#include <cstring>
 
+#include "esp_event.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
 #include "driver/rmt_tx.h"
 #include "driver/rmt_rx.h"
-
 #include "soc/gpio_num.h"
-#include "RMTSymbols.h"
-
-#include <cstring>
 
 #define MAX_CHANNELS 4
 #define RMT_SYMBOL_BLOCK_SIZE 48
diff --git a/components/rpc/MessagingInterface.cpp b/components/rpc/MessagingInterface.cpp
index c89a05d..dcac8e2 100644
--- a/components/rpc/MessagingInterface.cpp
+++ b/components/rpc/MessagingInterface.cpp
@@ -3,12 +3,10 @@
 //
 
 #include "MessagingInterface.h"
-
-#include <AngleControlMessageBuilder.h>
-#include <ConfigManager.h>
-#include <freertos/queue.h>
-#include <freertos/semphr.h>
-
+#include "AngleControlMessageBuilder.h"
+#include "ConfigManager.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
 #include "MPIMessageBuilder.h"
 
 MessagingInterface::~MessagingInterface() {
diff --git a/components/rpc/TCPServer.cpp b/components/rpc/TCPServer.cpp
index d6cfe7e..d9f4229 100644
--- a/components/rpc/TCPServer.cpp
+++ b/components/rpc/TCPServer.cpp
@@ -1,8 +1,8 @@
 #include <iostream>
 #include <memory>
-#include <esp_log.h>
-#include <sys/param.h>
 
+#include "esp_log.h"
+#include "sys/param.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_event.h"
diff --git a/components/rpc/include/CommunicationRouter.h b/components/rpc/include/CommunicationRouter.h
index 5504b6d..ce06633 100644
--- a/components/rpc/include/CommunicationRouter.h
+++ b/components/rpc/include/CommunicationRouter.h
@@ -5,22 +5,18 @@
 #ifndef COMMUNICATIONROUTER_H
 #define COMMUNICATIONROUTER_H
 
-#include <ConfigManager.h>
 #include <functional>
 #include <memory>
 #include <chrono>
-#include <OrientationDetection.h>
-#include <WifiManager.h>
 
+#include "ConfigManager.h"
+#include "OrientationDetection.h"
+#include "WifiManager.h"
 #include "freertos/FreeRTOS.h"
-
 #include "TCPServer.h"
 #include "DataLinkManager.h"
 #include "constants/tcp.h"
 #include "constants/module.h"
-
-#include "flatbuffers_generated/TopologyMessage_generated.h"
-
 #include "PtrQueue.h"
 
 class CommunicationRouter {
diff --git a/components/rpc/include/MessagingInterface.h b/components/rpc/include/MessagingInterface.h
index 54315ff..607f8e2 100644
--- a/components/rpc/include/MessagingInterface.h
+++ b/components/rpc/include/MessagingInterface.h
@@ -7,8 +7,8 @@
 
 #include <memory>
 #include <unordered_map>
-#include <constants/app_comms.h>
 
+#include "constants/app_comms.h"
 #include "CommunicationRouter.h"
 
 class MessagingInterface {
diff --git a/components/rpc/include/OrientationDetection.h b/components/rpc/include/OrientationDetection.h
index c4ac2fa..421a85a 100644
--- a/components/rpc/include/OrientationDetection.h
+++ b/components/rpc/include/OrientationDetection.h
@@ -4,7 +4,8 @@
 
 #ifndef ORIENTATIONDETECTION_H
 #define ORIENTATIONDETECTION_H
-#include <flatbuffers_generated/RobotModule_generated.h>
+
+#include "flatbuffers_generated/RobotModule_generated.h"
 #include "driver/gpio.h"
 
 class OrientationDetection {
diff --git a/components/rpc/include/TCPServer.h b/components/rpc/include/TCPServer.h
index 7a9cd03..7d9a555 100644
--- a/components/rpc/include/TCPServer.h
+++ b/components/rpc/include/TCPServer.h
@@ -10,16 +10,14 @@
 #include <unordered_set>
 
 #include "freertos/FreeRTOS.h"
-
 #include "IRPCServer.h"
-
 #include "PtrQueue.h"
 
-class TCPServer : IRPCServer {
+class TCPServer final : IRPCServer {
 public:
     TCPServer(int port, const std::shared_ptr<PtrQueue<std::vector<uint8_t>>>& rx_queue);
-    ~TCPServer();
-    int send_msg(char* buffer, uint32_t length) const;
+    ~TCPServer() override;
+    int send_msg(char* buffer, uint32_t length) const override;
 
 private:
     bool authenticate_client(int client_sock);
diff --git a/components/rpc/include/WifiManager.h b/components/rpc/include/WifiManager.h
index 93ed3c8..bae3d7f 100644
--- a/components/rpc/include/WifiManager.h
+++ b/components/rpc/include/WifiManager.h
@@ -1,13 +1,12 @@
 #ifndef NETWORKMANAGER_H
 #define NETWORKMANAGER_H
 
-#include <esp_netif_types.h>
-#include <esp_event.h>
-#include <esp_netif.h>
-#include <esp_wifi.h>
-#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
-
+#include "esp_netif_types.h"
+#include "esp_event.h"
+#include "esp_netif.h"
+#include "esp_wifi.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
 #include "ConfigManager.h"
 #include "IWifiManager.h"
 
diff --git a/components/rpc/mDNSDiscoveryService.cpp b/components/rpc/mDNSDiscoveryService.cpp
index dfe235c..b5f9598 100644
--- a/components/rpc/mDNSDiscoveryService.cpp
+++ b/components/rpc/mDNSDiscoveryService.cpp
@@ -2,20 +2,16 @@
 // Created by Johnathon Slightham on 2025-05-25.
 //
 
-#include "mdns.h"
-
-#include "ConfigManager.h"
-
-#include "mDNSDiscoveryService.h"
-
-#include "constants/tcp.h"
 
 #include <string>
 #include <format>
-#include <iostream>
 #include <sstream>
 
-// todo: clean this up (strange to be a constructor) also need to add more details, need to add to routing table
+#include "mdns.h"
+#include "ConfigManager.h"
+#include "mDNSDiscoveryService.h"
+#include "constants/tcp.h"
+
 void mDNSDiscoveryService::setup() {
     mdns_init();
 
diff --git a/main/LoopManager.cpp b/main/LoopManager.cpp
index 66f70d0..4474651 100644
--- a/main/LoopManager.cpp
+++ b/main/LoopManager.cpp
@@ -2,13 +2,14 @@
 // Created by Johnathon Slightham on 2025-07-05.
 //
 
-#include "LoopManager.h"
 
 #include <iostream>
 #include <memory>
-#include <MessagingInterface.h>
-#include <TopologyMessageBuilder.h>
 
+#include "LoopManager.h"
+#include "MessagingInterface.h"
+#include "TopologyMessageBuilder.h"
+#include "control/ActuatorFactory.h"
 #include "esp_log.h"
 
 #define ACTUATOR_CMD_TAG 5
diff --git a/main/control/ActuatorFactory.cpp b/main/control/ActuatorFactory.cpp
index e4358db..ca0cc6d 100644
--- a/main/control/ActuatorFactory.cpp
+++ b/main/control/ActuatorFactory.cpp
@@ -5,10 +5,8 @@
 #include <memory>
 
 #include "control/ActuatorFactory.h"
-
 #include "control/DCMotorActuator.h"
 #include "control/Servo1Actuator.h"
-
 #include "flatbuffers_generated/RobotModule_generated.h"
 
 std::unique_ptr<IActuator> ActuatorFactory::create_actuator(const ModuleType type) {
diff --git a/main/control/DCMotorActuator.cpp b/main/control/DCMotorActuator.cpp
index 476e43a..587cb2b 100644
--- a/main/control/DCMotorActuator.cpp
+++ b/main/control/DCMotorActuator.cpp
@@ -1,13 +1,8 @@
 #include "control/DCMotorActuator.h"
-
-
-#include <esp_attr.h>
-
+#include "esp_attr.h"
 #include "util/number_utils.h"
-
 #include "driver/ledc.h"
 #include "constants/module.h"
-
 #include "AngleControlMessageBuilder.h"
 
 #define LOW_DUTY 200
diff --git a/main/control/Servo1Actuator.cpp b/main/control/Servo1Actuator.cpp
index 25e6e1f..1a702c9 100644
--- a/main/control/Servo1Actuator.cpp
+++ b/main/control/Servo1Actuator.cpp
@@ -3,14 +3,9 @@
 //
 
 #include "control/Servo1Actuator.h"
-
-#include <esp_attr.h>
-
 #include "util/number_utils.h"
-
 #include "driver/ledc.h"
 #include "constants/module.h"
-
 #include "AngleControlMessageBuilder.h"
 
 #define LOW_DUTY 200
diff --git a/main/include/LoopManager.h b/main/include/LoopManager.h
index 3d6ff44..15c38bb 100644
--- a/main/include/LoopManager.h
+++ b/main/include/LoopManager.h
@@ -7,10 +7,7 @@
 
 #include <memory>
 
-#include <MessagingInterface.h>
-
-#include "control/IActuator.h"
-#include "control/ActuatorFactory.h"
+#include "MessagingInterface.h"
 
 class LoopManager {
 public:
diff --git a/main/include/control/DCMotorActuator.h b/main/include/control/DCMotorActuator.h
index cf512d6..5dc4d9b 100644
--- a/main/include/control/DCMotorActuator.h
+++ b/main/include/control/DCMotorActuator.h
@@ -4,9 +4,7 @@
 #define DCMOTORACTUATOR_H
 
 #include "freertos/FreeRTOS.h"
-#include <freertos/task.h>
-
-
+#include "freertos/task.h"
 #include "IActuator.h"
 
 class DCMotorActuator final : public IActuator {
diff --git a/main/include/control/IActuator.h b/main/include/control/IActuator.h
index acea6e0..da459fa 100644
--- a/main/include/control/IActuator.h
+++ b/main/include/control/IActuator.h
@@ -4,7 +4,6 @@
 
 #ifndef IACTUATOR_H
 #define IACTUATOR_H
-#include <cstdint>
 
 class IActuator {
 public:
diff --git a/main/include/control/Servo1Actuator.h b/main/include/control/Servo1Actuator.h
index 1c23d8b..2c10820 100644
--- a/main/include/control/Servo1Actuator.h
+++ b/main/include/control/Servo1Actuator.h
@@ -7,12 +7,13 @@
 #ifndef SERVO1ACTUATOR_H
 #define SERVO1ACTUATOR_H
 
+#include <cstdint>
 #include "IActuator.h"
 
 class Servo1Actuator final : public IActuator {
 public:
     Servo1Actuator();
-    void actuate(uint8_t *cmd) override;
+    void actuate(std::uint8_t *cmd) override;
 };
 
 #endif //SERVO1ACTUATOR_H
diff --git a/main/main.cpp b/main/main.cpp
index 8d30a8f..ad303c7 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -3,13 +3,11 @@
 
 #include "freertos/FreeRTOS.h"
 #include "sdkconfig.h"
-
 #include "ConfigManager.h"
 #include "LoopManager.h"
 #include "TCPServer.h"
 #include "WifiManager.h"
 #include "esp_log.h"
-#include "mDNSDiscoveryService.h"
 
 extern "C" [[noreturn]] void app_main(void) {
     ESP_LOGI("MEM", "Free internal RAM: %d",