diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 5f17853..a6578c4 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -7,13 +7,11 @@
 
 package frc4388.robot;
 
-import com.ctre.phoenix.motorcontrol.InvertType;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
-import com.ctre.phoenix.sensors.PigeonIMU;
+import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix.sensors.WPI_Pigeon2;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.RobotGyro;
 
@@ -22,19 +20,19 @@ import frc4388.utility.RobotGyro;
  * testing and modularization.
  */
 public class RobotMap {
+  public RobotMap() {
+    configureLEDMotorControllers();
+    configureDriveMotors();
+  }
 
-    public RobotMap() {
-        configureLEDMotorControllers();
-        configureDriveMotorControllers();
-    }
+  /* LED Subsystem */
+  public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
 
-    /* LED Subsystem */
-    public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
-
-    void configureLEDMotorControllers() {
+  void configureLEDMotorControllers() {
         
-    }
+  }
 
-    void configureDriveMotorControllers() {
-    }
+  void configureDriveMotors() {
+    // config factory default
+  }
 }
diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
index e263633..a1af2dc 100644
--- a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
@@ -1,6 +1,7 @@
 package frc4388.utility.controller;
 
 import edu.wpi.first.wpilibj2.command.button.Button;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc4388.utility.controller.XboxController;
 
 /**
@@ -8,7 +9,7 @@ import frc4388.utility.controller.XboxController;
  * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger 
  * exceeds a tolerance defined in {@link XboxController}.
  */
-public class XboxTriggerButton extends Button {
+public class XboxTriggerButton extends Trigger {
 	public static final int RIGHT_TRIGGER = 0;
 	public static final int LEFT_TRIGGER = 1;
 	public static final int RIGHT_AXIS_UP_TRIGGER = 2;
@@ -20,49 +21,48 @@ public class XboxTriggerButton extends Button {
 	public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
 	public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
 
-	private XboxController m_controller;
-	private int m_trigger;
+	// private XboxController m_controller;
+	// private int m_trigger;
 
 	/**
 	 * Creates a Trigger-Button mapped to a specific Xbox controller and trigger
 	 */
 	public XboxTriggerButton(XboxController controller, int trigger) {
-		m_controller = controller;
-		m_trigger = trigger;
+		super(() -> get(trigger, controller));
+		// m_controller = controller;
+		// m_trigger = trigger;
 	}
 
-	/** {@inheritDoc} */
-	// @Override
-	public boolean get() {
-		if (m_trigger == RIGHT_TRIGGER) {
-			return m_controller.getRightTrigger();
+	public static boolean get(int trigger, XboxController controller) {
+		if (trigger == RIGHT_TRIGGER) {
+			return controller.getRightTrigger();
 		}
-		else if (m_trigger == LEFT_TRIGGER) {
-			return m_controller.getLeftTrigger();
+		else if (trigger == LEFT_TRIGGER) {
+			return controller.getLeftTrigger();
 		}
-		else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) {
-			return m_controller.getRightAxisUpTrigger();
+		else if (trigger == RIGHT_AXIS_UP_TRIGGER) {
+			return controller.getRightAxisUpTrigger();
 		}
-		else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) {
-			return m_controller.getRightAxisDownTrigger();
+		else if (trigger == RIGHT_AXIS_DOWN_TRIGGER) {
+			return controller.getRightAxisDownTrigger();
 		}
-		else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
-			return m_controller.getRightAxisRightTrigger();
+		else if (trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
+			return controller.getRightAxisRightTrigger();
 		}
-		else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) {
-			return m_controller.getRightAxisLeftTrigger();
+		else if (trigger == RIGHT_AXIS_LEFT_TRIGGER) {
+			return controller.getRightAxisLeftTrigger();
 		}
-		else if (m_trigger == LEFT_AXIS_UP_TRIGGER) {
-			return m_controller.getLeftAxisUpTrigger();
+		else if (trigger == LEFT_AXIS_UP_TRIGGER) {
+			return controller.getLeftAxisUpTrigger();
 		}
-		else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) {
-			return m_controller.getLeftAxisDownTrigger();
+		else if (trigger == LEFT_AXIS_DOWN_TRIGGER) {
+			return controller.getLeftAxisDownTrigger();
 		}
-		else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) {
-			return m_controller.getLeftAxisRightTrigger();
+		else if (trigger == LEFT_AXIS_RIGHT_TRIGGER) {
+			return controller.getLeftAxisRightTrigger();
 		}
-		else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) {
-			return m_controller.getLeftAxisLeftTrigger();
+		else if (trigger == LEFT_AXIS_LEFT_TRIGGER) {
+			return controller.getLeftAxisLeftTrigger();
 		}
 		return false;
 	}