diff --git a/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt b/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt
index f4ae8c6..c74898d 100644
--- a/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt
+++ b/src/main/kotlin/frc/team449/subsystems/drive/DriveSubsystem.kt
@@ -9,15 +9,16 @@ 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)
+    get()=PIDController(10.0, 0.0, 0.0)
   private val headingController: PIDController
-    get() = PIDController(7.5, 0.0, 0.0)
+    get()= PIDController(7.5, 0.0, 0.0)
 
   var heading: Rotation2d
     get() = Rotation2d(MathUtil.angleModulus(this.pose.rotation.radians))
@@ -27,12 +28,12 @@ interface DriveSubsystem : Subsystem {
 
   var pose: Pose2d
 
-  fun getPos(): Pose2d {
-    return Pose2d(pose.x, pose.y, heading)
+  fun getPose(): Pose2d {
+    return Pose2d(pose.x , pose.y , heading)
   }
   fun followTrajectory(sample: SwerveSample) {
     // Get the current pose of the robot
-    val pose: Pose2d = getPos()
+    val pose: Pose2d = getPose();
 
     // Generate the next speeds for the robot
     val speeds: ChassisSpeeds = ChassisSpeeds(
@@ -47,15 +48,12 @@ interface DriveSubsystem : Subsystem {
 
   fun driveFieldRelative(speeds: ChassisSpeeds)
 
-  /** Sets the drivetrain's desired speeds. */
-  fun set(desiredSpeeds: ChassisSpeeds){
 
-  }
+  /** Sets the drivetrain's desired speeds. */
+  fun set(desiredSpeeds: ChassisSpeeds)
 
   /** Sets all the robot's drive motors to 0. */
-  fun stop(){
-
-  }
+  fun stop()
 
   /**
    * Used to simulate a drivetrain. Only one instance of this class should be made per drivetrain.
diff --git a/src/main/kotlin/frc/team449/subsystems/drive/differential/DifferentialDrive.kt b/src/main/kotlin/frc/team449/subsystems/drive/differential/DifferentialDrive.kt
index 65978b4..5dbec4d 100644
--- a/src/main/kotlin/frc/team449/subsystems/drive/differential/DifferentialDrive.kt
+++ b/src/main/kotlin/frc/team449/subsystems/drive/differential/DifferentialDrive.kt
@@ -105,10 +105,6 @@ open class DifferentialDrive(
       this.poseEstimator.resetPosition(ahrs.heading, leftEncoder.position, rightEncoder.position, pose)
     }
 
-  override fun driveFieldRelative(speeds: ChassisSpeeds) {
-    TODO("Not yet implemented")
-  }
-
   override fun stop() {
     this.set(ChassisSpeeds(0.0, 0.0, 0.0))
   }
diff --git a/vendordeps/ChoreoLib2025.json b/vendordeps/ChoreoLib2025.json
deleted file mode 100644
index 16de3a6..0000000
--- a/vendordeps/ChoreoLib2025.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  "fileName": "ChoreoLib2025.json",
-  "name": "ChoreoLib",
-  "version": "2025.0.0",
-  "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
-  "frcYear": "2025",
-  "mavenUrls": [
-    "https://lib.choreo.autos/dep",
-    "https://repo1.maven.org/maven2"
-  ],
-  "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json",
-  "javaDependencies": [
-    {
-      "groupId": "choreo",
-      "artifactId": "ChoreoLib-java",
-      "version": "2025.0.0"
-    },
-    {
-      "groupId": "com.google.code.gson",
-      "artifactId": "gson",
-      "version": "2.11.0"
-    }
-  ],
-  "jniDependencies": [],
-  "cppDependencies": [
-    {
-      "groupId": "choreo",
-      "artifactId": "ChoreoLib-cpp",
-      "version": "2025.0.0",
-      "libName": "ChoreoLib",
-      "headerClassifier": "headers",
-      "sharedLibrary": false,
-      "skipInvalidPlatforms": true,
-      "binaryPlatforms": [
-        "windowsx86-64",
-        "linuxx86-64",
-        "osxuniversal",
-        "linuxathena",
-        "linuxarm32",
-        "linuxarm64"
-      ]
-    }
-  ]
-}