diff --git a/RELENTLESS/src/globals.cpp b/RELENTLESS/src/globals.cpp
index 2c3baba..2612f7a 100644
--- a/RELENTLESS/src/globals.cpp
+++ b/RELENTLESS/src/globals.cpp
@@ -1,29 +1,21 @@
 #include "globals.hpp"
 
 namespace globals {
-    std::shared_ptr<okapi::Controller> controller(new Controller(ControllerId::master));
+    pros::Controller master(CONTROLLER_MASTER);
+
+    pros::Motor motor_fl(4, MOTOR_GEARSET_6, true);
+    pros::Motor motor_ml(4, MOTOR_GEARSET_6, true);
+    pros::Motor motor_bl(4, MOTOR_GEARSET_6, true);
+    pros::Motor motor_fr(4, MOTOR_GEARSET_6, false);
+    pros::Motor motor_mr(4, MOTOR_GEARSET_6, false);
+    pros::Motor motor_br(4, MOTOR_GEARSET_6, false);
+
+    pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl });
+    pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
+
+    
 
     // Chassis
-    okapi::Motor motor_fl(1, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
-    okapi::Motor motor_ml(2, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
-    okapi::Motor motor_bl(3, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
-    okapi::Motor motor_fr(4, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
-    okapi::Motor motor_mr(5, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
-    okapi::Motor motor_br(6, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
-
-    std::shared_ptr<okapi::MotorGroup> left_drive(new MotorGroup({motor_fl, motor_ml, motor_bl}));
-    std::shared_ptr<okapi::MotorGroup> right_drive(new MotorGroup({motor_fr, motor_mr, motor_br}));
-
-    std::shared_ptr<okapi::ChassisController> chassis =
-        ChassisControllerBuilder()
-        .withMotors(left_drive, right_drive)
-        .withDimensions({AbstractMotor::gearset::blue, 1.5}, {{3.25_in, 28_cm}, 300 * 1.5})
-        .withGains(
-            {0.45, 0, 5},
-            {11, 0, 20},
-            {0.001, 0, 0.0001}
-        )
-        .build();
 
     // Electronics / Pneumatics / Sensors