diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java
index ae70cb4..b205c39 100644
--- a/src/main/java/frc4388/robot/commands/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/TrackTarget.java
@@ -85,29 +85,6 @@ public class TrackTarget extends CommandBase {
     //m_turret.runshooterRotatePID(m_targetAngle);
   }
 
- /* public static double angleToCenter(double x, double y, double gyro) {
-    double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0)
-    return angle;
-  }*/
-
-  /**
-   * Checks if in hardware deadzone (due to mechanical limitations).
-   * @param angle Angle to check.
-   * @return True if in hardware deadzone.
-   */
-  public static boolean isHardwareDeadzone(double angle) {
-    return ((ShooterConstants.HARD_DEADZONE_LEFT > angle) || (angle > ShooterConstants.HARD_DEADZONE_RIGHT));
-  }
-
-  /**
-   * Checks if in digital deadzone (due to climber).
-   * @param angle Angle to check.
-   * @return True if in digital deadzone.
-   */
-  public static boolean isDigitalDeadzone(double angle) {
-    return ((ShooterConstants.DIG_DEADZONE_LEFT < angle) && (angle < ShooterConstants.DIG_DEADZONE_RIGHT));
-  }
-
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 3a33474..db28170 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -184,34 +184,6 @@ public class SwerveDrive extends SubsystemBase {
     SmartDashboard.putNumber("Chassis Vel: ω", chassisSpeeds.omegaRadiansPerSecond);
   }
 
-  /**
-   * Gets the distance between two given poses.
-   * 
-   * @param p1 The first pose.
-   * @param p2 The second pose.
-   * @return Absolute distance between p1 and p2.
-   */
-  public double distBtwPoses(Pose2d p1, Pose2d p2) {
-    return Math.sqrt(Math.pow(p1.getX() - p2.getX(), 2) + Math.pow(p1.getY() - p2.getY(), 2));
-  }
-
-  /**
-   * Returns a scalar from your distance to the hub to your target distance.
-   * 
-   * @param target_dist The target distance.
-   * @return A scalar that multiplies your distance from the hub to get your
-   *         target distance.
-   */
-  public Pose2d poseGivenDist(double target_dist) {
-    Pose2d p1 = m_poseEstimator.getEstimatedPosition();
-    Pose2d p2 = SwerveDriveConstants.HUB_POSE;
-
-    double scalar = target_dist / distBtwPoses(p1, p2);
-    Pose2d new_pose = new Pose2d(p1.getX() * scalar, p1.getY() * scalar, p1.getRotation());
-
-    return new_pose;
-  }
-
   /**
    * Gets the current pose of the robot.
    *