diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 53c33be..bc9e910 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -7,12 +7,10 @@ package frc4388.robot;
 import java.io.File;
 import java.nio.file.Files;
 import java.nio.file.Path;
-import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.Map;
 import java.util.logging.Level;
 import java.util.logging.Logger;
-import java.util.stream.IntStream;
 
 import com.diffplug.common.base.Errors;
 
diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java
index 9602267..bc6a2b9 100644
--- a/src/main/java/frc4388/robot/commands/Shoot.java
+++ b/src/main/java/frc4388/robot/commands/Shoot.java
@@ -4,9 +4,6 @@
 
 package frc4388.robot.commands;
 
-import edu.wpi.first.hal.simulation.SimulatorJNI;
-import edu.wpi.first.wpilibj.simulation.LinearSystemSim;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.Constants.ShooterConstants;
@@ -109,7 +106,6 @@ public class Shoot extends CommandBase {
   public void initialize() {
     m_odoX = 0;//m_swerve.getOdometry().getX();
     m_odoY = -1;//m_swerve.getOdometry().getY();
-    m_distance = Math.hypot(m_odoX, m_odoY);//Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2));
 
     m_gyroAngle = m_swerve.getRegGyro().getDegrees();
 
diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java
index b205c39..4cd9945 100644
--- a/src/main/java/frc4388/robot/commands/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/TrackTarget.java
@@ -4,15 +4,13 @@
 
 package frc4388.robot.commands;
 
-import java.io.IOException;
 import java.util.ArrayList;
-import java.util.List;
 
 import org.opencv.core.Point;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.Constants.ShooterConstants;
+
 import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.BoomBoom;
 import frc4388.robot.subsystems.Hood;
diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index 58c1e3d..9f2d765 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -4,20 +4,15 @@
 
 package frc4388.robot.subsystems;
 
-import javax.sql.rowset.WebRowSet;
-
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
 import com.revrobotics.SparkMaxLimitSwitch;
 import com.revrobotics.CANSparkMax.ControlType;
-import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMax.SoftLimitDirection;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.Gains;
 
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index a0d2201..fa11c34 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -6,15 +6,12 @@ package frc4388.robot.subsystems;
 
 //Imported Limit switch ONLY
 import com.revrobotics.SparkMaxLimitSwitch;
-import com.revrobotics.SparkMaxLimitSwitch.Type;
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMax.IdleMode;
 
 public class Intake extends SubsystemBase {
 
diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java
index 5263fb8..e3f2468 100644
--- a/src/main/java/frc4388/robot/subsystems/Serializer.java
+++ b/src/main/java/frc4388/robot/subsystems/Serializer.java
@@ -1,8 +1,6 @@
 package frc4388.robot.subsystems;
 
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.robot.Constants;
 import frc4388.robot.Constants.SerializerConstants;
 import edu.wpi.first.wpilibj.DigitalInput;
 import com.revrobotics.CANSparkMax;
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
index 1e3126a..3977f5a 100644
--- a/src/main/java/frc4388/robot/subsystems/Storage.java
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -6,9 +6,7 @@ package frc4388.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.DigitalInput;
-import frc4388.robot.Constants.StorageConstants;
 
 public class Storage extends SubsystemBase {
   public CANSparkMax m_storageMotor;
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index db28170..09fe7a0 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -17,14 +17,12 @@ 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.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.OIConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
-import frc4388.utility.VisionObscuredException;
 
 public class SwerveDrive extends SubsystemBase {
 
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index 43057c8..e9dafcc 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -8,8 +8,6 @@ import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMax.SoftLimitDirection;
 
-import java.util.concurrent.TimeoutException;
-
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxLimitSwitch;
@@ -20,7 +18,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc4388.robot.Constants.ShooterConstants;
-import frc4388.robot.commands.Shoot;
 import frc4388.utility.Gains;
 
 public class Turret extends SubsystemBase {