diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java
deleted file mode 100644
index a42e8c8..0000000
--- a/src/main/java/frc4388/utility/RobotGyro.java
+++ /dev/null
@@ -1,180 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-import com.ctre.phoenix.sensors.PigeonIMU;
-import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
-import com.kauailabs.navx.frc.AHRS;
-
-import edu.wpi.first.wpilibj.GyroBase;
-import edu.wpi.first.wpiutil.math.MathUtil;
-
-/**
- * Gyro class that allows for interchangeable use between a pigeon and a navX
- */
-public class RobotGyro extends GyroBase {
-    private RobotTime m_robotTime = RobotTime.getInstance();
-
-    private PigeonIMU m_pigeon = null;
-    private AHRS m_navX = null;
-    public boolean m_isGyroAPigeon; //true if pigeon, false if navX
-
-    private double m_lastPigeonAngle;
-    private double m_deltaPigeonAngle;
-
-    /**
-     * Creates a Gyro based on a pigeon
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(PigeonIMU gyro) {
-        m_pigeon = gyro;
-        m_isGyroAPigeon = true;
-    }
-
-    /**
-     * Creates a Gyro based on a navX
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(AHRS gyro){
-        m_navX = gyro;
-        m_isGyroAPigeon = false;
-    }
-
-    /**
-     * Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
-     * that the getRate() method for a navX will likely be much more accurate than for a pigeon.
-     */
-    public void updatePigeonDeltas() {
-        double currentPigeonAngle = getAngle();
-        m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle;
-        m_lastPigeonAngle = currentPigeonAngle;
-    }
-
-    /**
-     * <p>NavX:
-     * <p>Calibrate the gyro by running for a number of samples and computing the center value. Then use
-     * the center value as the Accumulator center value for subsequent measurements. It's important to
-     * make sure that the robot is not moving while the centering calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     * 
-     * <p>Pigeon:
-     * <p>Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot
-     * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon
-     * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to
-     * make sure that the robot is not moving while the tempurature calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     */
-    @Override
-    public void calibrate() {
-        if (m_isGyroAPigeon) {
-            m_pigeon.enterCalibrationMode(CalibrationMode.Temperature);
-        } else {
-            m_navX.calibrate();
-        }
-    }
-
-    @Override
-    public void reset() {
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(0);
-        } else {
-            m_navX.reset();
-        }
-    }
-
-    /**
-	 * Get Yaw, Pitch, and Roll data.
-	 *
-	 * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data.
-	 *					Yaw is within [-368,640, +368,640] degrees.
-	 *					Pitch is within [-90,+90] degrees.
-	 *					Roll is within [-90,+90] degrees.
-     */
-    private double[] getPigeonAngles() {
-        double[] angles = new double[3];
-        m_pigeon.getYawPitchRoll(angles);
-        return angles;
-    }
-
-    @Override
-    public double getAngle() {
-        if (m_isGyroAPigeon) {
-            return getPigeonAngles()[0];
-        } else {
-            return m_navX.getAngle();
-        }
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading() {
-        return getHeading(getAngle());
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading(double angle) {
-        return Math.IEEEremainder(angle, 360);
-    }
-
-    /**
-     * Returns the current pitch value (in degrees, from -90 to 90)
-     * reported by the sensor.  Pitch is a measure of rotation around
-     * the Y Axis.
-     * @return The current pitch value in degrees (-90 to 90).
-     */
-    public double getPitch() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getPitch(), -90, 90);
-        }
-    }
-
-    /**
-     * Returns the current roll value (in degrees, from -90 to 90)
-     * reported by the sensor.  Roll is a measure of rotation around
-     * the X Axis.
-     * @return The current roll value in degrees (-90 to 90).
-     */
-    public double getRoll() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getRoll(), -90, 90);
-        }
-    }
-
-    @Override
-    public double getRate() {
-        if (m_isGyroAPigeon) {
-            return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
-        } else {
-            return m_navX.getRate();
-        }
-    }
-
-    public PigeonIMU getPigeon(){
-        return m_pigeon;
-    }
-
-    public AHRS getNavX(){
-        return m_navX;
-    }
-
-    @Override
-    public void close() throws Exception {
-
-    }
-}