diff --git a/RELENTLESS/include/autons.hpp b/RELENTLESS/include/autons.hpp
index 07d05af..355ba9c 100644
--- a/RELENTLESS/include/autons.hpp
+++ b/RELENTLESS/include/autons.hpp
@@ -2,7 +2,8 @@
 
 #include "ary-lib/drive/drive.hpp"
 
-void test_auton();
+void near_side();
+void far_side();
 
 void default_constants();
 void exit_condition_defaults();
\ No newline at end of file
diff --git a/RELENTLESS/src/autons.cpp b/RELENTLESS/src/autons.cpp
index 330616e..1528533 100644
--- a/RELENTLESS/src/autons.cpp
+++ b/RELENTLESS/src/autons.cpp
@@ -18,7 +18,7 @@ using namespace superstruct;
   chassis.wait_until(double measurement) -> Waits for the drivetrain to reach a certain measurement before performing the next task.
 */
 
-void test_auton() {
+void near_side() {
   // Score the triball preload
   driveSync(107, true); // Go forward
   
@@ -42,4 +42,7 @@ void test_auton() {
   // chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
   // chassis.wait_drive();
 }
-  //pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor");
+
+void far_side() {
+
+}
diff --git a/RELENTLESS/src/globals.cpp b/RELENTLESS/src/globals.cpp
index 12f3efb..6624dfb 100644
--- a/RELENTLESS/src/globals.cpp
+++ b/RELENTLESS/src/globals.cpp
@@ -1,3 +1,10 @@
+/*
+    globals.cpp
+    
+    Contains all devices and electronics used for the robot
+    Holds other mechanicsm classes.
+*/
+
 #include "globals.hpp"
 
 using namespace ary;
@@ -18,8 +25,7 @@ namespace globals {
     pros::Motor_Group right_drive({ motor_trf, motor_trb, motor_brf, motor_brb });
 
     // Electronics / Pneumatics / Sensors
-    pros::Rotation rot_vert(0);
-    pros::Rotation rot_horiz(1);
+    pros::Distance intake_dist_sens(21);
 
     pros::ADIDigitalOut pto_piston('A');
 
@@ -32,17 +38,6 @@ namespace globals {
 
     Wings wings;
 
-    lemlib::Drivetrain_t chassis_odom {
-        &left_drive,
-        &right_drive,
-        TRACK_WIDTH,
-        WHEEL_SIZE, 
-        DRIVE_RPM
-    };
-
-    lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset
-    lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1); 
-
     Drive chassis(
         {-2, -6, 12, 5},
         {-16, 1, 4, -3},
diff --git a/RELENTLESS/src/main.cpp b/RELENTLESS/src/main.cpp
index f591bd9..5183345 100644
--- a/RELENTLESS/src/main.cpp
+++ b/RELENTLESS/src/main.cpp
@@ -22,10 +22,11 @@ void initialize() {
 	configureExitConditions();
 
 	ary::autonselector::auton_selector.add_autons({
-		Auton("Exhibit One\n\nyo mama", test_auton) // TODO: Change this before putting this in the notebook LOL
+		Auton("Near side (close to alliance goal) \n\nTo run when near alliance goal", near_side), // TODO: Change this before putting this in the notebook LOL
+		Auton("Far side (far from alliance goal) \n\nTo run hwhen far from alliance goal", far_side)
 	});
 
-	motorsCoast();
+	motorsCoast(); // Allow the motors to coast initially
 
 	chassis.initialize();
 	ary::autonselector::initialize();