diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index c42cad8..3bfe1d4 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -175,25 +175,6 @@ public final class Constants {
             public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
         }
     
-        public static final class Conversions {
-            public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22;
-            public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.5;
-        
-            public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
-            public static final double MOTOR_REV_PER_STEER_REV = 12.8;
-        
-            public static final double TICKS_PER_MOTOR_REV = 0.5;
-            public static final double WHEEL_DIAMETER_INCHES = 3.9;
-            public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
-        
-            public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
-            public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
-            public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
-            public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
-        
-            public static final double TICK_TIME_TO_SECONDS = 10;
-            public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
-        }
     
         public static final class Configurations {
             public static final double OPEN_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help.
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index f127a84..c685f23 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -26,7 +26,6 @@ import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 // import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc4388.robot.Constants.SwerveDriveConstants;
-import frc4388.robot.Constants.SwerveDriveConstants.Conversions;
 
 import frc4388.utility.Status;
 import frc4388.utility.Subsystem;
@@ -200,7 +199,7 @@ public class SwerveDrive extends Subsystem {
   }
 
   public void setPercentOutput(double speed) {
-    speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * speed;
+    speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
     gear_index = -1;
   }