diff --git a/gradlew b/gradlew
old mode 100755
new mode 100644
diff --git a/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt b/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt
index c74898d..04ddc6a 100644
--- a/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt
+++ b/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt
@@ -1,25 +1,14 @@
 package frc.team449.subsystems.drive
 
-import choreo.trajectory.SwerveSample
 import edu.wpi.first.math.MathUtil
-import edu.wpi.first.math.controller.PIDController
 import edu.wpi.first.math.geometry.Pose2d
 import edu.wpi.first.math.geometry.Rotation2d
 import edu.wpi.first.math.geometry.Translation2d
 import edu.wpi.first.math.kinematics.ChassisSpeeds
 import edu.wpi.first.wpilibj2.command.Subsystem
 
-
 /** A drivetrain that uses closed-loop velocity control. */
 interface DriveSubsystem : Subsystem {
-
-  private val xController: PIDController
-    get() = PIDController(10.0, 0.0, 0.0)
-  private val yController: PIDController
-    get()=PIDController(10.0, 0.0, 0.0)
-  private val headingController: PIDController
-    get()= PIDController(7.5, 0.0, 0.0)
-
   var heading: Rotation2d
     get() = Rotation2d(MathUtil.angleModulus(this.pose.rotation.radians))
     set(value) {
@@ -28,27 +17,6 @@ interface DriveSubsystem : Subsystem {
 
   var pose: Pose2d
 
-  fun getPose(): Pose2d {
-    return Pose2d(pose.x , pose.y , heading)
-  }
-  fun followTrajectory(sample: SwerveSample) {
-    // Get the current pose of the robot
-    val pose: Pose2d = getPose();
-
-    // Generate the next speeds for the robot
-    val speeds: ChassisSpeeds = ChassisSpeeds(
-      sample.vx + xController.calculate(pose.x, sample.x),
-      sample.vy + yController.calculate(pose.y, sample.y),
-      sample.omega + headingController.calculate(pose.rotation.radians, sample.heading)
-    )
-
-    // Apply the generated speeds
-    driveFieldRelative(speeds)
-  }
-
-  fun driveFieldRelative(speeds: ChassisSpeeds)
-
-
   /** Sets the drivetrain's desired speeds. */
   fun set(desiredSpeeds: ChassisSpeeds)