diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 07805f6..99507a5 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -6,26 +6,14 @@ package frc4388.robot;
 
 
 import com.pathplanner.lib.PathPlanner;
-import com.pathplanner.lib.PathPlannerTrajectory;
-import com.pathplanner.lib.commands.PPSwerveControllerCommand;
-
-import edu.wpi.first.math.controller.HolonomicDriveController;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -34,7 +22,6 @@ import frc4388.robot.Constants.*;
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.utility.LEDPatterns;
-import frc4388.utility.controller.DeadbandedRawXboxController;
 import frc4388.utility.controller.DeadbandedXboxController;
 
 /**
@@ -120,8 +107,6 @@ public class RobotContainer {
   public Command getAutonomousCommand() {
     // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki
 
-    TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0);
-
     // PATH PLANNER TRAJECTORY IMPLEMENTATION
     
     // PathPlannerTrajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); 
@@ -137,20 +122,20 @@ public class RobotContainer {
     // );
 
     // WPILIB TRAJECTORY IMPLEMENTATION
-    Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0);
+    Trajectory testFirstPath = PathPlanner.loadPath("Move Forward", 1.0, 1.0);
     SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
-      testFirstPath,
+      testFirstPath, 
       m_robotSwerveDrive::getOdometry,
       m_robotSwerveDrive.m_kinematics, 
-      new PIDController(0.5, 1.0, 1.0), 
-      new PIDController(0.5, 1.0, 1.0), 
-      new ProfiledPIDController(0.5, 1.0, 1.0, new TrapezoidProfile.Constraints(1.0, 1.0)), 
+      new PIDController(0.0, 0.0, 0.0), 
+      new PIDController(0.0, 0.0, 0.0), 
+      new ProfiledPIDController(0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)), 
       m_robotSwerveDrive::setModuleStates, 
       m_robotSwerveDrive
     );
 
     m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose());
-    return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, true));
+    return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true));
 
     //return new InstantCommand();
   }
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index e891d19..8880af7 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -4,9 +4,6 @@
 
 package frc4388.robot.subsystems;
 
-import com.ctre.phoenix.sensors.PigeonIMU;
-import com.ctre.phoenix.sensors.PigeonIMUConfiguration;
-import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 import com.ctre.phoenix.sensors.WPI_PigeonIMU;
 import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus;
 
@@ -20,8 +17,6 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.OIConstants;
diff --git a/src/main/java/frc4388/utility/DataLogging.java b/src/main/java/frc4388/utility/DataLogging.java
new file mode 100644
index 0000000..730da4c
--- /dev/null
+++ b/src/main/java/frc4388/utility/DataLogging.java
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.utility;
+
+/** Add your docs here. */
+public class DataLogging {
+    public DataLogging() {
+        
+    }
+}