diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
index 6733a94..2c2c452 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
@@ -51,9 +51,10 @@ public class PedroConstants {
     // Arm config
     public static final String LIFT_SLIDE_LEFT_MOTOR = "lift-slide-left";
     public static final String LIFT_SLIDE_RIGHT_MOTOR = "lift-slide-right";
-    public static final String Claw_Servo = "ClawServo";
-    public static final String Wrist_Servo = "WristServo";
-    public static final String Arm_Servo = "ArmServo";
+    public static final String CLAW_SERVO = "claw-servo";
+    public static final String WRIST_SERVO = "wrist-servo";
+    public static final String ARM_SERVO = "arm-servo";
+    public static final String THUMB_SERVO = "thumb-servo";
 
     /*
         Pedro's parameters
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
index ce2a8f2..94428cd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
@@ -5,9 +5,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelIMULocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelLocalizer;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.TwoWheelLocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;