diff --git a/src/main/java/frc4388/robot/commands/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/JoystickPlayback.java
index 7b3fedc..a15eb24 100644
--- a/src/main/java/frc4388/robot/commands/JoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/JoystickPlayback.java
@@ -9,69 +9,36 @@ import java.io.FileNotFoundException;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
-import java.sql.Time;
-import java.util.ArrayList;
 import java.util.Scanner;
 import java.util.function.Supplier;
 
-import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.utility.controller.DeadbandedXboxController;
 
 public class JoystickPlayback extends CommandBase {
-  private static class TimedOutput {
-    public double leftX  = 0d;
-    public double leftY  = 0d;
-    public double rightX = 0d;
-    public double rightY = 0d;
 
-    public long timed_offset = 0l;
-  }
-
-  private final SwerveDrive            m_swerve;
-  private       Scanner                m_input;
-  private final ArrayList<TimedOutput> m_outputs;
-  private       long                   m_playback_time;
-  private       int                    m_last_index;
-  private       boolean                m_finished = false; // ! find a better way
+  SwerveDrive swerve;
+  Scanner input;
 
   /** Creates a new JoystickPlayback. */
   public JoystickPlayback(SwerveDrive swerve) {
     // Use addRequirements() here to declare subsystem dependencies.
-    this.m_swerve = swerve;
-    m_outputs = new ArrayList<>();
+    this.swerve = swerve;
 
-    try {
-      m_input = new Scanner(new File("/home/lvuser/JoystickInputs.txt"));
-
-      String line = "";
-      while (m_input.hasNextLine()) {
-        line = m_input.nextLine();
-      
-        String[] values = line.split(",");
-
-        var out = new TimedOutput();
-        out.leftX  = Double.parseDouble(values[0]);
-        out.leftY  = Double.parseDouble(values[1]);
-        out.rightX = Double.parseDouble(values[2]);
-        out.rightY = Double.parseDouble(values[3]);
-
-        out.timed_offset = Long.MAX_VALUE;
-
-        m_outputs.add(out);
-      }
-    } catch (FileNotFoundException e) {
-      e.printStackTrace();
-    }
-
-    addRequirements(this.m_swerve);
+    addRequirements(this.swerve);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    try {
+      input = new Scanner(new File("/home/lvuser/JoystickInputs.txt"));
+    } catch (FileNotFoundException e) {
+      e.printStackTrace();
+    }
+
     System.out.println("STARTING PLAYBACK");
     System.out.println("STARTING PLAYBACK");
     System.out.println("STARTING PLAYBACK");
@@ -81,39 +48,33 @@ public class JoystickPlayback extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // skip to reasonable time frame
-    // too tired to write comment: ask daniel thomas; it goes to the thing until it's bigger than the other thing
-    {
-      int i = m_last_index + 1;
-      while (i < m_outputs.size() && m_outputs.get(i).timed_offset < m_playback_time) {
-        i++;
-      }
 
-      if (i >= m_outputs.size()) {
-        m_finished = true; // ! kind of a hack
-        return;
-      }
-      m_last_index = i;
+    String line = "";
+    if (input.hasNextLine()) {
+      line = input.nextLine();
     }
 
-    TimedOutput out = m_outputs.get(m_last_index);
+    String[] values = line.split(",");
+
+    double leftX = Double.parseDouble(values[0]);
+    double leftY = Double.parseDouble(values[1]);
+    double rightX = Double.parseDouble(values[2]);
+    double rightY = Double.parseDouble(values[3]);
+
+    this.swerve.driveWithInput(new Translation2d(leftX, leftY), new Translation2d(-rightX, rightY), true);
 
-    this.m_swerve.driveWithInput(new Translation2d(out.leftX,   out.leftY),
-                                 new Translation2d(-out.rightX, out.rightY),
-                                 true);
     System.out.println("PLAYING");
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    m_input.close();
-    m_swerve.stopModules();
+    input.close();
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return m_finished;
+    return false;
   }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 9d73542..17bdd5b 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -156,12 +156,6 @@ public class SwerveDrive extends SubsystemBase {
     );
   }
 
-  public void stopModules() {
-    for (SwerveModule module : this.modules) {
-      module.stop();
-    }
-  }
-
   /**
    * Resets the odometry of the SwerveDrive to 0.
    * *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions.