diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 57eee61..fa604d7 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -20,7 +20,6 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.robot.constants.BuildConstants;
 import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.utility.DeferredBlock;
-import frc4388.utility.DeferredBlockMulti;
 import frc4388.utility.Trim;
 import frc4388.utility.compute.RobotTime;
 import frc4388.utility.status.FaultReporter;
@@ -95,7 +94,6 @@ public class Robot extends LoggedRobot {
   @Override
   public void disabledExit() {
     DeferredBlock.execute();
-    DeferredBlockMulti.execute();
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index ae0ae64..bb500ab 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -60,7 +60,6 @@ import frc4388.robot.subsystems.SwerveDrive;
 
 // Utilites
 import frc4388.utility.DeferredBlock;
-import frc4388.utility.DeferredBlockMulti;
 import frc4388.utility.compute.TimesNegativeOne;
 import frc4388.utility.compute.ReefPositionHelper.Side;
 
@@ -590,12 +589,14 @@ public class RobotContainer {
 
         configureButtonBindings();        
         configureVirtualButtonBindings();
-        new DeferredBlock(() -> { // Called on first robot enable
+        
+        DeferredBlock.addBlock(() -> { // Called on first robot enable
             m_robotSwerveDrive.resetGyro();
-        });
-        new DeferredBlockMulti(() -> { // Called on every robot enable
+        }, false);
+        DeferredBlock.addBlock(() -> { // Called on every robot enable
             TimesNegativeOne.update();
-        });
+        }, true);
+
         DriverStation.silenceJoystickConnectionWarning(true);
         // CameraServer.startAutomaticCapture();
 
diff --git a/src/main/java/frc4388/robot/subsystems/DiffDrive.java b/src/main/java/frc4388/robot/subsystems/DiffDrive.java
index d6dfebe..d70356d 100644
--- a/src/main/java/frc4388/robot/subsystems/DiffDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/DiffDrive.java
@@ -34,7 +34,7 @@ public class DiffDrive extends SubsystemBase implements Queryable {
   private TalonFX m_leftBackMotor;
   private TalonFX m_rightBackMotor;
   private DifferentialDrive m_driveTrain;
-  private Pigeon2 m_gyro;
+  // private Pigeon2 m_gyro;
 
   /**
    * Add your docs here.
@@ -51,7 +51,7 @@ public class DiffDrive extends SubsystemBase implements Queryable {
     m_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), false));
     m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), false));
     m_driveTrain = driveTrain;
-    m_gyro = gyro;
+    // m_gyro = gyro;
   }
 
   @Override
diff --git a/src/main/java/frc4388/utility/DeferredBlock.java b/src/main/java/frc4388/utility/DeferredBlock.java
index 20d3c57..c5a558e 100644
--- a/src/main/java/frc4388/utility/DeferredBlock.java
+++ b/src/main/java/frc4388/utility/DeferredBlock.java
@@ -2,22 +2,40 @@ package frc4388.utility;
 
 import java.util.ArrayList;
 
+// Class for running code snippets whenever the robot is enabled.
 public class DeferredBlock {
-    private static ArrayList<Runnable> m_blocks = new ArrayList<>();
+    private static ArrayList<Runnable> m_blocks_norerun = new ArrayList<>();
+    private static ArrayList<Runnable> m_blocks_rerun = new ArrayList<>();
     private static boolean             m_hasRun = false;
 
-    public DeferredBlock(Runnable block) {
-        m_blocks.add(block);
+    public static void addBlock(Runnable block) {
+        addBlock(block, false);
+    }
+
+
+    public static void addBlock(Runnable block, boolean rerun) {
+        if(rerun) {
+            m_blocks_rerun.add(block);
+        } else {
+            m_blocks_norerun.add(block);
+        }
     }
 
     public static void execute() {
-        if (m_hasRun) return;
 
-        for (Runnable block : m_blocks) {
+        // Run blocks that run multiple times.
+        for (Runnable block : m_blocks_rerun) {
             block.run();
         }
 
-        m_blocks.clear(); // for garbage collection
+        // Run blocks that only run once
+        if (m_hasRun) return;
+
+        for (Runnable block : m_blocks_norerun) {
+            block.run();
+        }
+
+        m_blocks_norerun.clear(); // for garbage collection
         m_hasRun = true;
     }
 }
diff --git a/src/main/java/frc4388/utility/DeferredBlockMulti.java b/src/main/java/frc4388/utility/DeferredBlockMulti.java
deleted file mode 100644
index 9e8b284..0000000
--- a/src/main/java/frc4388/utility/DeferredBlockMulti.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package frc4388.utility;
-
-import java.util.ArrayList;
-
-public class DeferredBlockMulti {
-    private static ArrayList<Runnable> m_blocks = new ArrayList<>();
-
-    public DeferredBlockMulti(Runnable block) {
-        m_blocks.add(block);
-    }
-
-    public static void execute() {
-
-        for (Runnable block : m_blocks) {
-            block.run();
-        }
-    }
-}