diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 355c44f..938890a 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -4,20 +4,19 @@
 
 package frc4388.robot;
 
-import edu.wpi.first.hal.HAL;
+
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
 import frc4388.robot.Constants.*;
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
-import frc4388.utility.controller.XboxControllerRaw;
-import frc4388.utility.controller.XboxControllerRawButton;
 
 /**
  * This class is where the bulk of the robot should be declared. Since
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index c55fae8..4b41fa7 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -8,8 +8,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_PigeonIMU;
 
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 23165a3..ae7f81b 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -4,14 +4,10 @@
 
 package frc4388.robot.subsystems;
 
-import java.nio.ByteBuffer;
-import java.util.Arrays;
-
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_PigeonIMU;
 
-import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.StateSpaceUtil;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
@@ -20,16 +16,13 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
-import frc4388.utility.controller.XboxController;
 
 public class SwerveDrive extends SubsystemBase {
   SwerveDriveKinematics m_kinematics;