diff --git a/.github/zip_content.txt b/.github/zip_content.txt
index 04b3afc0..9488994e 100644
--- a/.github/zip_content.txt
+++ b/.github/zip_content.txt
@@ -10,4 +10,4 @@ flash.py
 monitor.py
 README.md
 requirements.txt
-LICENSE
\ No newline at end of file
+LICENSE
diff --git a/.gitignore b/.gitignore
index 7dfcb42a..2aa95566 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,4 +8,4 @@ sdkconfig
 owl_executable
 config.txt
 *.lock
-.venv
\ No newline at end of file
+.venv
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 00000000..74384c8e
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,12 @@
+default_install_hook_types:
+  - pre-commit
+  - pre-push
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-merge-conflict
+      - id: double-quote-string-fixer
diff --git a/.syncignore b/.syncignore
index 74fb5d05..a1d3ec32 100644
--- a/.syncignore
+++ b/.syncignore
@@ -3,4 +3,4 @@ __pycache__/
 .DS_Store
 *.tmp
 .env
-.venv
\ No newline at end of file
+.venv
diff --git a/backtrace.sh b/backtrace.sh
index 4f1492db..203fe0fe 100755
--- a/backtrace.sh
+++ b/backtrace.sh
@@ -7,6 +7,6 @@ then
     exit
 fi
 
-addr2line=~/esp/esp-tools_4.2/tools/xtensa-esp32-elf/esp-2020r3-8.4.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-addr2line 
+addr2line=~/esp/esp-tools_4.2/tools/xtensa-esp32-elf/esp-2020r3-8.4.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-addr2line
 addresses=$@
 $addr2line -e build/lizard.elf $addresses
diff --git a/examples/ota_example/main.py b/examples/ota_example/main.py
index b31071a0..a1b9ab68 100755
--- a/examples/ota_example/main.py
+++ b/examples/ota_example/main.py
@@ -26,10 +26,10 @@ def ota_binary_verify(request: Request) -> Response:
         verify_bin_str = os.path.basename(verify_bin).replace('.bin', '').replace('lizard', '').replace('-', '')
         if verify_bin_str is None:
             log.push('No "Lizard" binary found. But connection established')
-            return Response("No Lizard")
-        if verify_bin_str == "":
+            return Response('No Lizard')
+        if verify_bin_str == '':
             log.push('Binary without version found')
-            return Response("Unknown version")
+            return Response('Unknown version')
         response = Response(verify_bin_str)
         log.push(f'Send response: {verify_bin_str}')
         return response
diff --git a/examples/ros/docker.sh b/examples/ros/docker.sh
index 0eaceeef..5c93ae8f 100755
--- a/examples/ros/docker.sh
+++ b/examples/ros/docker.sh
@@ -26,7 +26,7 @@ do
             docker build --tag $name . || exit ;;
         r | run)
             docker run -it $args $name || exit ;;
-        s | shell)                     
+        s | shell)
             docker run -it $args $name /bin/bash || exit ;;
         l | log | logs)
             docker logs -f --tail 100 $name || exit ;;
diff --git a/main/.gitignore b/main/.gitignore
index da2eeb3e..98a97ff8 100644
--- a/main/.gitignore
+++ b/main/.gitignore
@@ -1 +1 @@
-parser.h
\ No newline at end of file
+parser.h
diff --git a/main/compilation/action.h b/main/compilation/action.h
index 962756ca..47f2a59f 100644
--- a/main/compilation/action.h
+++ b/main/compilation/action.h
@@ -8,4 +8,4 @@ using Action_ptr = std::shared_ptr<Action>;
 class Action {
 public:
     virtual bool run() = 0;
-};
\ No newline at end of file
+};
diff --git a/main/compilation/await_condition.cpp b/main/compilation/await_condition.cpp
index 3b1d4ffa..3ebb1341 100644
--- a/main/compilation/await_condition.cpp
+++ b/main/compilation/await_condition.cpp
@@ -6,4 +6,4 @@ AwaitCondition::AwaitCondition(const ConstExpression_ptr condition)
 
 bool AwaitCondition::run() {
     return this->condition->evaluate_boolean();
-}
\ No newline at end of file
+}
diff --git a/main/compilation/await_condition.h b/main/compilation/await_condition.h
index 35131ae5..23aae0c6 100644
--- a/main/compilation/await_condition.h
+++ b/main/compilation/await_condition.h
@@ -9,4 +9,4 @@ class AwaitCondition : public Action {
 
     AwaitCondition(const ConstExpression_ptr condition);
     bool run() override;
-};
\ No newline at end of file
+};
diff --git a/main/compilation/await_routine.cpp b/main/compilation/await_routine.cpp
index ae056193..fc2fe2a5 100644
--- a/main/compilation/await_routine.cpp
+++ b/main/compilation/await_routine.cpp
@@ -14,4 +14,4 @@ bool AwaitRoutine::run() {
         this->is_waiting = false;
     }
     return can_proceed;
-}
\ No newline at end of file
+}
diff --git a/main/compilation/await_routine.h b/main/compilation/await_routine.h
index 1425cfc6..31accc06 100644
--- a/main/compilation/await_routine.h
+++ b/main/compilation/await_routine.h
@@ -12,4 +12,4 @@ class AwaitRoutine : public Action {
 
     AwaitRoutine(const Routine_ptr routine);
     bool run() override;
-};
\ No newline at end of file
+};
diff --git a/main/compilation/method_call.cpp b/main/compilation/method_call.cpp
index 272bc98f..428e2cd9 100644
--- a/main/compilation/method_call.cpp
+++ b/main/compilation/method_call.cpp
@@ -7,4 +7,4 @@ MethodCall::MethodCall(const Module_ptr module, const std::string method_name, c
 bool MethodCall::run() {
     this->module->call_with_shadows(this->method_name, this->arguments);
     return true;
-}
\ No newline at end of file
+}
diff --git a/main/compilation/method_call.h b/main/compilation/method_call.h
index f8090a85..d5e01a42 100644
--- a/main/compilation/method_call.h
+++ b/main/compilation/method_call.h
@@ -14,4 +14,4 @@ class MethodCall : public Action {
 
     MethodCall(const Module_ptr module, const std::string method_name, const std::vector<ConstExpression_ptr> arguments);
     bool run() override;
-};
\ No newline at end of file
+};
diff --git a/main/compilation/property_assignment.cpp b/main/compilation/property_assignment.cpp
index dca5d790..96dbf9b1 100644
--- a/main/compilation/property_assignment.cpp
+++ b/main/compilation/property_assignment.cpp
@@ -7,4 +7,4 @@ PropertyAssignment::PropertyAssignment(const Module_ptr module, const std::strin
 bool PropertyAssignment::run() {
     this->module->write_property(this->property_name, this->expression);
     return true;
-}
\ No newline at end of file
+}
diff --git a/main/compilation/property_assignment.h b/main/compilation/property_assignment.h
index 0b3123ec..9cab7981 100644
--- a/main/compilation/property_assignment.h
+++ b/main/compilation/property_assignment.h
@@ -12,4 +12,4 @@ class PropertyAssignment : public Action {
 
     PropertyAssignment(const Module_ptr module, const std::string property_name, const ConstExpression_ptr expression);
     bool run() override;
-};
\ No newline at end of file
+};
diff --git a/main/compilation/routine.h b/main/compilation/routine.h
index 687498c8..5923a8d0 100644
--- a/main/compilation/routine.h
+++ b/main/compilation/routine.h
@@ -17,4 +17,4 @@ class Routine {
     bool is_running() const;
     void start();
     void step();
-};
\ No newline at end of file
+};
diff --git a/main/compilation/routine_call.cpp b/main/compilation/routine_call.cpp
index a71d7957..3a00544f 100644
--- a/main/compilation/routine_call.cpp
+++ b/main/compilation/routine_call.cpp
@@ -6,4 +6,4 @@ RoutineCall::RoutineCall(const Routine_ptr routine) : routine(routine) {
 bool RoutineCall::run() {
     this->routine->start();
     return true;
-}
\ No newline at end of file
+}
diff --git a/main/compilation/routine_call.h b/main/compilation/routine_call.h
index ac220baf..ee5b4298 100644
--- a/main/compilation/routine_call.h
+++ b/main/compilation/routine_call.h
@@ -9,4 +9,4 @@ class RoutineCall : public Action {
 
     RoutineCall(const Routine_ptr routine);
     bool run() override;
-};
\ No newline at end of file
+};
diff --git a/main/compilation/rule.h b/main/compilation/rule.h
index e0f14696..6cb21645 100644
--- a/main/compilation/rule.h
+++ b/main/compilation/rule.h
@@ -13,4 +13,4 @@ class Rule {
     const ConstExpression_ptr condition;
     const Routine_ptr routine;
     Rule(const ConstExpression_ptr condition, const Routine_ptr routine);
-};
\ No newline at end of file
+};
diff --git a/main/compilation/variable_assignment.cpp b/main/compilation/variable_assignment.cpp
index 01c94263..c8eee597 100644
--- a/main/compilation/variable_assignment.cpp
+++ b/main/compilation/variable_assignment.cpp
@@ -7,4 +7,4 @@ VariableAssignment::VariableAssignment(const Variable_ptr variable, const ConstE
 bool VariableAssignment::run() {
     this->variable->assign(this->expression);
     return true;
-}
\ No newline at end of file
+}
diff --git a/main/compilation/variable_assignment.h b/main/compilation/variable_assignment.h
index 27c1c79c..e6a33579 100644
--- a/main/compilation/variable_assignment.h
+++ b/main/compilation/variable_assignment.h
@@ -11,4 +11,4 @@ class VariableAssignment : public Action {
 
     VariableAssignment(const Variable_ptr variable, const ConstExpression_ptr expression);
     bool run() override;
-};
\ No newline at end of file
+};
diff --git a/main/component.mk b/main/component.mk
index 73c5a52d..125eedf9 100644
--- a/main/component.mk
+++ b/main/component.mk
@@ -5,4 +5,4 @@
 
 CXXFLAGS += -std=c++17
 
-COMPONENT_SRCDIRS := . compilation modules utils
\ No newline at end of file
+COMPONENT_SRCDIRS := . compilation modules utils
diff --git a/main/modules/BNO055ESP32.cpp b/main/modules/BNO055ESP32.cpp
index 68a0177c..91c1db55 100644
--- a/main/modules/BNO055ESP32.cpp
+++ b/main/modules/BNO055ESP32.cpp
@@ -845,4 +845,4 @@ void BNO055::stop() {
 #ifndef BNO055_DEBUG_OFF
     ESP_LOGD(BNO055_LOG_TAG, "Destroyed");
 #endif
-}
\ No newline at end of file
+}
diff --git a/main/modules/BNO055ESP32.h b/main/modules/BNO055ESP32.h
index 39795a69..581f5c02 100644
--- a/main/modules/BNO055ESP32.h
+++ b/main/modules/BNO055ESP32.h
@@ -729,4 +729,4 @@ class BNO055 {
     void disableInterrupt(uint8_t flag);
 };
 
-#endif
\ No newline at end of file
+#endif
diff --git a/main/modules/core.cpp b/main/modules/core.cpp
index 858d31c2..0027f80b 100644
--- a/main/modules/core.cpp
+++ b/main/modules/core.cpp
@@ -199,4 +199,4 @@ std::string Core::get_output() const {
 
 void Core::keep_alive() {
     this->last_message_millis = millis();
-}
\ No newline at end of file
+}
diff --git a/main/modules/core.h b/main/modules/core.h
index 9a4f7f9e..5fdb86c5 100644
--- a/main/modules/core.h
+++ b/main/modules/core.h
@@ -26,4 +26,4 @@ class Core : public Module {
     void set(std::string property_name, double value);
     std::string get_output() const override;
     void keep_alive();
-};
\ No newline at end of file
+};
diff --git a/main/modules/d1_motor.h b/main/modules/d1_motor.h
index a5c2c59c..756f3294 100644
--- a/main/modules/d1_motor.h
+++ b/main/modules/d1_motor.h
@@ -32,4 +32,4 @@ class D1Motor : public Module, public std::enable_shared_from_this<D1Motor> {
     void profile_position(const int32_t position);
     void profile_velocity(const int32_t velocity);
     void stop();
-};
\ No newline at end of file
+};
diff --git a/main/modules/dunker_motor.cpp b/main/modules/dunker_motor.cpp
index d67cea2e..993d303d 100644
--- a/main/modules/dunker_motor.cpp
+++ b/main/modules/dunker_motor.cpp
@@ -145,4 +145,4 @@ void DunkerMotor::speed(const double speed) {
 
 double DunkerMotor::get_speed() {
     return this->properties.at("speed")->number_value;
-}
\ No newline at end of file
+}
diff --git a/main/modules/input.h b/main/modules/input.h
index 6a4b128f..71d1bb06 100644
--- a/main/modules/input.h
+++ b/main/modules/input.h
@@ -42,4 +42,4 @@ class McpInput : public Input {
 public:
     McpInput(const std::string name, const Mcp23017_ptr mcp, const uint8_t number);
     bool get_level() const override;
-};
\ No newline at end of file
+};
diff --git a/main/modules/linear_motor.h b/main/modules/linear_motor.h
index cac6e866..a465f44b 100644
--- a/main/modules/linear_motor.h
+++ b/main/modules/linear_motor.h
@@ -58,4 +58,4 @@ class McpLinearMotor : public LinearMotor {
                    const uint8_t move_out,
                    const uint8_t end_in,
                    const uint8_t end_out);
-};
\ No newline at end of file
+};
diff --git a/main/modules/odrive_motor.h b/main/modules/odrive_motor.h
index fc004b56..64bc2217 100644
--- a/main/modules/odrive_motor.h
+++ b/main/modules/odrive_motor.h
@@ -38,4 +38,4 @@ class ODriveMotor : public Module, public std::enable_shared_from_this<ODriveMot
     void position(const double position, const double speed, const double acceleration) override;
     double get_speed() override;
     void speed(const double speed, const double acceleration) override;
-};
\ No newline at end of file
+};
diff --git a/main/modules/output.h b/main/modules/output.h
index 3302475c..f3f8ea71 100644
--- a/main/modules/output.h
+++ b/main/modules/output.h
@@ -37,4 +37,4 @@ class McpOutput : public Output {
 
 public:
     McpOutput(const std::string name, const Mcp23017_ptr mcp, const uint8_t number);
-};
\ No newline at end of file
+};
diff --git a/main/modules/proxy.h b/main/modules/proxy.h
index 8bb0f7cc..0ff90b50 100644
--- a/main/modules/proxy.h
+++ b/main/modules/proxy.h
@@ -15,4 +15,4 @@ class Proxy : public Module {
           const std::vector<ConstExpression_ptr> arguments);
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
     void write_property(const std::string property_name, const ConstExpression_ptr expression, const bool from_expander) override;
-};
\ No newline at end of file
+};
diff --git a/main/modules/rmd_motor.h b/main/modules/rmd_motor.h
index 5992374e..241a3e1e 100644
--- a/main/modules/rmd_motor.h
+++ b/main/modules/rmd_motor.h
@@ -42,4 +42,4 @@ class RmdMotor : public Module, public std::enable_shared_from_this<RmdMotor> {
     double get_position() const;
     double get_speed() const;
     bool set_acceleration(const uint8_t index, const uint32_t acceleration);
-};
\ No newline at end of file
+};
diff --git a/main/modules/roboclaw.h b/main/modules/roboclaw.h
index 49e44f90..032ed8ea 100644
--- a/main/modules/roboclaw.h
+++ b/main/modules/roboclaw.h
@@ -221,4 +221,4 @@ class RoboClaw : public Module {
     uint32_t Read4(uint8_t cmd, bool *valid);
     uint16_t Read2(uint8_t cmd, bool *valid);
     uint8_t Read1(uint8_t cmd, bool *valid);
-};
\ No newline at end of file
+};
diff --git a/main/parser.h b/main/parser.h
index eed64daa..a9c21ed5 100644
--- a/main/parser.h
+++ b/main/parser.h
@@ -8194,4 +8194,3 @@ static void left_right_operand_slots_lookup(uint32_t rule, uint32_t *left, uint3
     }
 }
 #endif
-
diff --git a/main/storage.h b/main/storage.h
index b246e261..b1d73930 100644
--- a/main/storage.h
+++ b/main/storage.h
@@ -16,4 +16,4 @@ class Storage {
     static void print_startup(const std::string substring = "");
     static void save_startup();
     static void clear_nvs();
-};
\ No newline at end of file
+};
diff --git a/main/utils/string_utils.cpp b/main/utils/string_utils.cpp
index 4ef552b5..6c1b27fe 100644
--- a/main/utils/string_utils.cpp
+++ b/main/utils/string_utils.cpp
@@ -27,4 +27,4 @@ int csprintf(char *buffer, size_t buffer_len, const char *format, ...) {
         throw std::runtime_error("buffer too small");
 
     return num_chars;
-}
\ No newline at end of file
+}
diff --git a/main/utils/string_utils.h b/main/utils/string_utils.h
index 16e71db9..6c481fb1 100644
--- a/main/utils/string_utils.h
+++ b/main/utils/string_utils.h
@@ -6,4 +6,4 @@ std::string cut_first_word(std::string &msg, char delimiter = ' ');
 
 bool starts_with(const std::string haystack, const std::string needle);
 
-int csprintf(char *buffer, size_t buffer_len, const char *format, ...);
\ No newline at end of file
+int csprintf(char *buffer, size_t buffer_len, const char *format, ...);
diff --git a/main/utils/timing.cpp b/main/utils/timing.cpp
index d88c1bba..f01cee1b 100644
--- a/main/utils/timing.cpp
+++ b/main/utils/timing.cpp
@@ -21,4 +21,4 @@ unsigned long millis_since(const unsigned long time) {
 
 unsigned long micros_since(const unsigned long time) {
     return micros() - time;
-}
\ No newline at end of file
+}
diff --git a/main/utils/timing.h b/main/utils/timing.h
index 5996bc19..e7b747fe 100644
--- a/main/utils/timing.h
+++ b/main/utils/timing.h
@@ -8,4 +8,4 @@ unsigned long int micros();
 unsigned long int millis();
 
 unsigned long millis_since(const unsigned long time);
-unsigned long micros_since(const unsigned long time);
\ No newline at end of file
+unsigned long micros_since(const unsigned long time);