diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
index 70a0ea4..7e8d8e7 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
@@ -15,7 +15,6 @@ import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 
-import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -30,10 +29,6 @@ public class Arm extends Subsystem implements Loop
 	public static final double ENCODER_TICKS_TO_DEGREES = (36.0 / 12.0) * (36.0 / 24.0) * (34.0 / 24.0) * 4096.0 / (1.88 * Math.PI);   
 	
 	// Defined speeds
-	public static final double CLIMB_SPEED = -1.0;
-	public static final double TEST_SPEED_UP = 0.3;
-	public static final double TEST_SPEED_DOWN = -0.3;
-	public static final double AUTO_ZERO_SPEED = -0.3;
 	public static final double JOYSTICK_INCHES_PER_MS_HI = 0.75;
 	
 	// Defined positions
@@ -63,8 +58,6 @@ public class Arm extends Subsystem implements Loop
 	public static int MP_SLOT = 1;
 
 	private PIDParams mpPIDParams = new PIDParams(0.2, 0.0, 0.0, 0.0, 0.005, 0.0);  
-	private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);  
-	private PIDParams pidPIDParamsLoGear = new PIDParams(0.45, 0.0, 0.0, 0.0, 0.0, 0.0);  
 	public static final double KF_UP = 0.005;
 	public static final double KF_DOWN = 0.0;
 	public static final double PID_ERROR_INCHES = 1.0;
@@ -79,7 +72,7 @@ public class Arm extends Subsystem implements Loop
 	private boolean firstMpPoint;
 	
 	
-	private Arm() {
+	public Arm() {
 		try {
 			motor1 = new CANTalonEncoder(RobotMap.ARM_MOTOR1_ID, ENCODER_TICKS_TO_DEGREES, FeedbackDevice.QuadEncoder);
 			//motor2 = CANTallon.createPermanentSlaveTalon(RobotMap.ARM_MOTOR_2_CAN_ID, RobotMap.ELEVATOR_MOTOR_1_CAN_ID);
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/utility/Loop.java b/2019robot/src/main/java/org/usfirst/frc4388/utility/Loop.java
index 429ee7f..4e88da6 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/utility/Loop.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/utility/Loop.java
@@ -1,44 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package org.usfirst.frc4388.utility;
 
-import edu.wpi.first.wpilibj.command.Command;
+/**
+ * Interface for loops, which are routine that run periodically in the robot code (such as periodic gyroscope
+ * calibration, etc.)
+ */
+public interface Loop {
 
-public class Loop extends Command {
-  public Loop() {
-    // Use requires() here to declare subsystem dependencies
-    // eg. requires(chassis);
-  }
+    public void onStart(double timestamp);
 
-  // Called just before this Command runs the first time
-  @Override
-  protected void initialize() {
-  }
+    public void onLoop(double timestamp);
 
-  // Called repeatedly when this Command is scheduled to run
-  @Override
-  protected void execute() {
-  }
-
-  // Make this return true when this Command no longer needs to run execute()
-  @Override
-  protected boolean isFinished() {
-    return false;
-  }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
-  }
-}
+    public void onStop(double timestamp);
+}
\ No newline at end of file