diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotAuto.java
deleted file mode 100644
index 8cff5c2..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotAuto.java
+++ /dev/null
@@ -1,35 +0,0 @@
-//package org.firstinspires.ftc.teamcode;
-//
-//import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-//
-//import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-//import org.firstinspires.ftc.teamcode.runmodes.Auto;
-//
-//
-//@Autonomous(name = "CometBot Auto", group = "Competition")
-//public class CometBotAuto extends OpMode {
-//    public Auto auto;
-//
-//    @Override
-//    public void init() {
-//        auto = new Auto(hardwareMap, telemetry, new Follower(hardwareMap));
-//    }
-//
-//    @Override
-//    public void start() {
-//        auto.start();
-//    }
-//
-//    @Override
-//    public void loop() {
-//        auto.update();
-//        telemetry.addData("Arm State", auto.arm.getState());
-//        telemetry.addData("Arm Position", auto.arm.getPosition());
-//        telemetry.addData("Claw State", auto.claw.getState());
-//        telemetry.addData("Wrist State", auto.wrist.getState());
-//        telemetry.addData("Wrist Position", auto.wrist.getPosition());
-//        telemetry.update();
-//    }
-//
-//}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
index a5fb934..0f4c7fb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
@@ -1,11 +1,9 @@
 package org.firstinspires.ftc.teamcode;
 
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.runmodes.CometBotTeleopCompetition;
-import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
 
 @TeleOp(name = "ComeBot Drive", group = "Competition")
 public class CometBotDrive extends OpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemix.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemix.java
deleted file mode 100644
index e70c269..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemix.java
+++ /dev/null
@@ -1,97 +0,0 @@
-//package org.firstinspires.ftc.teamcode;
-//
-//import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-//import com.qualcomm.robotcore.hardware.Gamepad;
-//
-//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-//
-//@TeleOp(name = "Dev Teleop Remix", group = "Debug")
-//@Disabled
-//public class DevTeleOpRemix extends OpMode {
-//
-//    public ClawSubsystem claw;
-//    public ArmSubsystem arm;
-//    public WristSubsystem wrist;
-//    public LiftSubsystem lift;
-//    public MotorsSubsystem motors;
-//
-//    public Gamepad currentGamepad1;
-//    public Gamepad previousGamepad1;
-//    public Gamepad currentGamepad2;
-//    public Gamepad previousGamepad2;
-//
-//    public double power = .6;
-//
-//    @Override
-//    public void init() {
-//
-//        claw = new ClawSubsystem(hardwareMap, telemetry);
-//        arm = new ArmSubsystem(hardwareMap, telemetry);
-//        wrist = new WristSubsystem(hardwareMap, telemetry);
-//        lift = new LiftSubsystem(hardwareMap, telemetry);
-//        motors = new MotorsSubsystem(hardwareMap, telemetry, power);
-//
-//        claw.init();
-//        arm.init();
-//        wrist.init();
-//        lift.init();
-//        motors.init();
-//
-//        currentGamepad1 = new Gamepad();
-//        previousGamepad1 = new Gamepad();
-//        currentGamepad2 = new Gamepad();
-//        previousGamepad2 = new Gamepad();
-//    }
-//
-//    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
-//        if (currentGamepad1.a && !previousGamepad1.a) {
-//            wrist.toFloorPosition();
-//            arm.toFloorPosition();
-//        }
-//    }
-//
-//    public void thePickup(ClawSubsystem claw) {
-//        if (currentGamepad1.x && !previousGamepad1.x) {
-//            claw.switchState();
-//        }
-//    }
-//
-//    public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
-//        if (currentGamepad1.b && !previousGamepad1.b) {
-//            arm.toParkPosition();
-//            wrist.toBucketPosition();
-//        }
-//    }
-//
-//    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-//        if (currentGamepad1.y && !previousGamepad1.y) {
-//            lift.toLowBucket();
-//            wrist.toBucketPosition();
-//        }
-//    }
-//
-//    @Override
-//    public void loop() {
-//
-//        previousGamepad1.copy(currentGamepad1);
-//        currentGamepad1.copy(gamepad1);
-//
-//        previousGamepad2.copy(currentGamepad2);
-//        currentGamepad2.copy(gamepad2);
-//
-//        theDrop(arm, wrist);
-//        thePickup(claw);
-//        theLift(arm, wrist);
-//        theLowBucketScore(lift, wrist, arm);
-//
-//        motors.calculateTrajectory(gamepad1);
-//
-//    }
-//
-//}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemixDeux.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemixDeux.java
deleted file mode 100644
index 4a61659..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemixDeux.java
+++ /dev/null
@@ -1,107 +0,0 @@
-//package org.firstinspires.ftc.teamcode;
-//
-//import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-//import com.qualcomm.robotcore.hardware.Gamepad;
-//
-//import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-//
-//@TeleOp(name = "Dev Teleop Remix Deux", group = "Debug")
-//@Disabled
-//public class DevTeleOpRemixDeux extends OpMode {
-//
-//    private Follower follower;
-//
-//    public ClawSubsystem claw;
-//    public ArmSubsystem arm;
-//    public WristSubsystem wrist;
-//    public LiftSubsystem lift;
-//    public MotorsSubsystem motors;
-//
-//    public Gamepad currentGamepad1;
-//    public Gamepad previousGamepad1;
-//    public Gamepad currentGamepad2;
-//    public Gamepad previousGamepad2;
-//
-//    public double power = .6;
-//
-//    @Override
-//    public void init() {
-//
-//        follower = new Follower(hardwareMap);
-//
-//        claw = new ClawSubsystem(hardwareMap, telemetry);
-//        arm = new ArmSubsystem(hardwareMap, telemetry);
-//        wrist = new WristSubsystem(hardwareMap, telemetry);
-//        motors = new MotorsSubsystem(hardwareMap, telemetry);
-//        lift = new LiftSubsystem(hardwareMap, telemetry);
-//
-//        claw.init();
-//        arm.init();
-//        wrist.init();
-//        lift.init();
-//        motors.init();
-//
-//        currentGamepad1 = new Gamepad();
-//        previousGamepad1 = new Gamepad();
-//        currentGamepad2 = new Gamepad();
-//        previousGamepad2 = new Gamepad();
-//
-//        follower.setMaxPower(this.power);
-//        follower.startTeleopDrive();
-//
-//    }
-//
-//    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
-//        if (currentGamepad1.a && !previousGamepad1.a) {
-//            wrist.toFloorPosition();
-//            arm.toFloorPosition();
-//        }
-//    }
-//
-//    public void thePickup(ClawSubsystem claw) {
-//        if (currentGamepad1.x && !previousGamepad1.x) {
-//            claw.switchState();
-//        }
-//    }
-//
-//    public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
-//        if (currentGamepad1.b && !previousGamepad1.b) {
-//            arm.toParkPosition();
-//            wrist.toBucketPosition();
-//        }
-//    }
-//
-//    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-//        if (currentGamepad1.y && !previousGamepad1.y) {
-//            lift.toLowBucket();
-//            wrist.toBucketPosition();
-//        }
-//    }
-//
-//    @Override
-//    public void loop() {
-//
-//        previousGamepad1.copy(currentGamepad1);
-//        currentGamepad1.copy(gamepad1);
-//
-//        previousGamepad2.copy(currentGamepad2);
-//        currentGamepad2.copy(gamepad2);
-//
-//        theDrop(arm, wrist);
-//        thePickup(claw);
-//        theLift(arm, wrist);
-//        theLowBucketScore(lift, wrist, arm);
-//
-//        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
-//        follower.update();
-//
-//    }
-//
-//}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
index cd47905..a87465f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
@@ -3,16 +3,16 @@ package org.firstinspires.ftc.teamcode;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
+import org.firstinspires.ftc.teamcode.runmodes.CometBotAutoDevelopment;
 
 @TeleOp(name = "Dev Teleop RR Actions", group = "Debug")
 public class DevTeleop extends OpMode {
 
-    public DevTeleopRunModeCompetition runMode;
+    public CometBotAutoDevelopment runMode;
 
     @Override
     public void init() {
-        this.runMode = new DevTeleopRunModeCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
+        this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
         this.runMode.init();
     }
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Auto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoCompetition.java
similarity index 97%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Auto.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoCompetition.java
index 9338f21..73a35f6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Auto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoCompetition.java
@@ -1,5 +1,10 @@
-//package org.firstinspires.ftc.teamcode.runmodes;
-//
+package org.firstinspires.ftc.teamcode.runmodes;
+
+public class CometBotAutoCompetition {
+
+}
+
+
 //import com.qualcomm.robotcore.hardware.HardwareMap;
 //
 //import org.firstinspires.ftc.robotcore.external.Telemetry;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunModeCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoDevelopment.java
similarity index 97%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunModeCompetition.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoDevelopment.java
index a4ee7bd..08b82ce 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunModeCompetition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoDevelopment.java
@@ -15,7 +15,7 @@ import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
 import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
 import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
 
-public class DevTeleopRunModeCompetition {
+public class CometBotAutoDevelopment {
 
     /*
     Subsystems
@@ -40,7 +40,7 @@ public class DevTeleopRunModeCompetition {
 
     private Follower follower;
 
-    public DevTeleopRunModeCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
+    public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
         this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
         this.claw = new ClawActionsSubsystem(hardwareMap);
         this.arm = new ArmActionsSubsystem(hardwareMap);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopDevelopment.java
similarity index 98%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopDevelopment.java
index aa2bc46..ccbed58 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopDevelopment.java
@@ -1,5 +1,9 @@
-//package org.firstinspires.ftc.teamcode.runmodes;
-//
+package org.firstinspires.ftc.teamcode.runmodes;
+
+public class CometBotTeleopDevelopment {
+
+}
+
 //import com.qualcomm.robotcore.hardware.Gamepad;
 //import com.qualcomm.robotcore.hardware.HardwareMap;
 //
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java
deleted file mode 100644
index cf1cdc1..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java
+++ /dev/null
@@ -1,89 +0,0 @@
-//package org.firstinspires.ftc.teamcode.runmodes;
-//
-//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
-//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
-//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
-//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
-//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
-//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
-//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
-//
-//import com.qualcomm.robotcore.hardware.DcMotor;
-//import com.qualcomm.robotcore.hardware.DcMotorEx;
-//import com.qualcomm.robotcore.hardware.Gamepad;
-//import com.qualcomm.robotcore.hardware.HardwareMap;
-//
-//import org.firstinspires.ftc.robotcore.external.Telemetry;
-//import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-//import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-//import org.firstinspires.ftc.teamcode.util.action.RunAction;
-//
-//public class Teleop {
-//
-//    private ClawSubsystem claw;
-//    private Follower follower;
-//    private DcMotorEx leftFront;
-//    private DcMotorEx leftRear;
-//    private DcMotorEx rightFront;
-//    private DcMotorEx rightRear;
-//    private Telemetry telemetry;
-//
-//    private Gamepad gamepad1;
-//    private Gamepad currentGamepad1;
-//    private Gamepad previousGamepad1;
-//
-//    public Teleop(HardwareMap hardwareMap, Telemetry telemetry, Follower follower, Gamepad gamepad1) {
-//
-//        claw = new ClawSubsystem(hardwareMap, telemetry);
-//        initMotors(hardwareMap);
-//
-//        this.follower = follower;
-//
-//        this.telemetry = telemetry;
-//        this.gamepad1 = gamepad1;
-//
-//        this.currentGamepad1 = new Gamepad();
-//        this.previousGamepad1 = new Gamepad();
-//    }
-//
-//    public void start() {
-//        claw.start();
-//        follower.startTeleopDrive();
-//    }
-//
-//    public void update() {
-//        previousGamepad1.copy(currentGamepad1);
-//        currentGamepad1.copy(gamepad1);
-//
-//        if (currentGamepad1.a && !previousGamepad1.a)
-//            claw.switchState();
-//
-//        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
-//        follower.update();
-//
-//        telemetry.addData("X", follower.getPose().getX());
-//        telemetry.addData("Y", follower.getPose().getY());
-//        telemetry.addData("Heading", Math.toDegrees(follower.getPose().getHeading()));
-//        telemetry.addData("Claw State", claw.getState());
-//        telemetry.update();
-//    }
-//
-//    private void initMotors(HardwareMap hardwareMap) {
-//        rightFront = hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR);
-//        rightRear = hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR);
-//        leftFront = hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR);
-//        leftRear = hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR);
-//
-//        rightFront.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-//        rightRear.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-//        leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-//        leftRear.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-//
-//        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-//        leftRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-//        rightRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-//        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-//    }
-//}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Action.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Action.java
deleted file mode 100644
index ee19186..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Action.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-public interface Action {
-    boolean run(TelemetryPacket p);
-
-    default void preview(Canvas fieldOverlay) {
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Actions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Actions.java
deleted file mode 100644
index d6203de..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Actions.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-public class Actions {
-
-    public static void runBlocking(Action a) {
-        FtcDashboard dash = FtcDashboard.getInstance();
-        Canvas c = new Canvas();
-        a.preview(c);
-
-        boolean b = true;
-        while (b && !Thread.currentThread().isInterrupted()) {
-            TelemetryPacket p = new TelemetryPacket();
-            p.fieldOverlay().getOperations().addAll(c.getOperations());
-            b = a.run(p);
-            dash.sendTelemetryPacket(p);
-        }
-    }
-}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/FieldConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/FieldConstants.java
deleted file mode 100644
index 5e425cc..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/FieldConstants.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.config.Config;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-
-@Config
-public class FieldConstants {
-
-    public enum RobotStart {
-        BLUE_BUCKET,
-        BLUE_OBSERVATION,
-        RED_BUCKET,
-        RED_OBSERVATION
-    }
-
-    public static final Pose blueBucketStartPose = new Pose(8, 79.5, Math.toRadians(180));
-    public static final Pose blueObservationStartPose = new Pose(8, 36, Math.toRadians(180));
-    public static final Pose redBucketStartPose = new Pose(144-8, 79.5, 0);
-    public static final Pose redObservationStartPose = new Pose(144-8, 36, 0);
-
-    // Blue Preload Poses
-    public static final Pose blueBucketPreloadPose = new Pose(34.5, 79.5, Math.toRadians(180));
-
-    // Blue Bucket Sample Poses
-    public static final Pose blueBucketLeftSamplePose = new Pose(34.75, 113.5, Math.toRadians(66));
-    public static final Pose blueBucketLeftSampleControlPose = new Pose(32, 108);
-    public static final Pose blueBucketMidSamplePose = new Pose(33, 125.5, Math.toRadians(73));
-    public static final Pose blueBucketMidSampleControlPose = new Pose(47.5, 110);
-    public static final Pose blueBucketRightSamplePose = new Pose(33, 133, Math.toRadians(74));
-    public static final Pose blueBucketRightSampleControlPose = new Pose(46, 101);
-
-    public static final Pose blueBucketScorePose = new Pose(16, 128, Math.toRadians(-45));
-
-    public static final Pose blueBucketParkPose = new Pose(65, 97.75, Math.toRadians(90));
-    public static final Pose blueBucketParkControlPose = new Pose(60.25, 123.5);
-
-
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/RunAction.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/RunAction.java
deleted file mode 100644
index 207dd65..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/RunAction.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-public class RunAction implements Action {
-
-    private final Runnable runnable;
-    private Runnable callback;
-
-    public RunAction(Runnable runnable) {
-        this.runnable = runnable;
-    }
-
-    public void runAction() {
-        runnable.run();
-        if (callback != null) {
-            callback.run();
-        }
-    }
-
-    public void setCallback(Runnable callback) {
-        this.callback = callback;
-    }
-
-    // Adapter to make Action compatible with the Action interface
-    public boolean run(TelemetryPacket p) {
-        runAction();
-        return false; // Regular actions complete after one execution
-    }
-}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SequentialAction.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SequentialAction.java
deleted file mode 100644
index 948887c..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SequentialAction.java
+++ /dev/null
@@ -1,43 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-public class SequentialAction implements Action {
-    private List<Action> actions;
-
-    public SequentialAction(List<Action> actions) {
-        this.actions = new ArrayList<>(actions);
-    }
-
-    public SequentialAction(Action... actions) {
-        this(Arrays.asList(actions));
-    }
-
-    @Override
-    public boolean run(TelemetryPacket p) {
-        if (actions.isEmpty()) {
-            return false;
-        }
-
-        if (actions.get(0).run(p)) {
-            return true;
-        } else {
-            actions.remove(0);
-            return run(p);
-        }
-    }
-
-    @Override
-    public void preview(Canvas fieldOverlay) {
-        for (Action a : actions) {
-            a.preview(fieldOverlay);
-        }
-    }
-
-
-}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SleepAction.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SleepAction.java
deleted file mode 100644
index 6ee3fcd..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SleepAction.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-public class SleepAction implements Action {
-    private double dt;
-    private double beginTs = -1.0;
-
-    public SleepAction(double dt) {
-        this.dt = dt;
-    }
-
-    public static double now() {
-        return System.nanoTime() * 1e-9;
-    }
-
-    @Override
-    public boolean run(TelemetryPacket p) {
-        double t;
-        if (beginTs < 0) {
-            beginTs = now();
-            t = 0.0;
-        } else {
-            t = now() - beginTs;
-        }
-        boolean output = t < dt;
-        System.out.println(t + ":" + now() + ":" + beginTs + ":" + output);
-
-        return t < dt;
-    }
-}
\ No newline at end of file