diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 4afde0a..25bfc48 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -56,8 +56,11 @@ public class RobotContainer {
   private final RobotMap m_robotMap = new RobotMap();
 
   /* Subsystems */
-  public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
-    m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
+  public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, 
+                                                                m_robotMap.leftBack, 
+                                                                m_robotMap.rightFront, 
+                                                                m_robotMap.rightBack, 
+                                                                m_robotMap.gyro);
 
   private final TalonFX m_testMotor = new TalonFX(23);
 
@@ -66,18 +69,6 @@ public class RobotContainer {
   private final Hood m_robotHood = new Hood();
   private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
   private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
-  private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFrontSteerMotor, 
-                                                                  m_robotMap.leftFrontWheelMotor, 
-                                                                  m_robotMap.rightFrontSteerMotor, 
-                                                                  m_robotMap.rightFrontWheelMotor, 
-                                                                  m_robotMap.leftBackSteerMotor, 
-                                                                  m_robotMap.leftBackWheelMotor, 
-                                                                  m_robotMap.rightBackSteerMotor, 
-                                                                  m_robotMap.rightBackWheelMotor,
-                                                                  m_robotMap.leftFrontEncoder,
-                                                                  m_robotMap.rightFrontEncoder,
-                                                                  m_robotMap.leftBackEncoder,
-                                                                  m_robotMap.rightBackEncoder);
   /* Controllers */
   private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
   private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 9dfd332..7898e16 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -22,15 +22,12 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.CSV;
 import frc4388.utility.Gains;
-import frc4388.utility.controller.IHandController;
 
 public class BoomBoom extends SubsystemBase {
 public WPI_TalonFX m_shooterFalconLeft;
 public WPI_TalonFX m_shooterFalconRight;
 public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
 public static BoomBoom m_boomBoom;
-public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020
-// BangBangController m_controller = new BangBangController();
 
 double velP;
 double input;
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index 686ef2c..748bcd5 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.networktables.NetworkTableEntry;
 
 import frc4388.robot.Constants.VisionConstants;
-import frc4388.utility.controller.IHandController;
 
 public class Vision extends SubsystemBase {
 //setup
@@ -19,7 +18,6 @@ public class Vision extends SubsystemBase {
   Hood m_hood;
 
 NetworkTableEntry xEntry;
-IHandController m_driverController;
 //Aiming
 double turnAmount = 0;
 double xAngle = 0;