diff --git a/RELENTLESS/src/autons.cpp b/RELENTLESS/src/autons.cpp
index 02c098e..32a8b29 100644
--- a/RELENTLESS/src/autons.cpp
+++ b/RELENTLESS/src/autons.cpp
@@ -7,37 +7,7 @@
 using namespace globals;
 using namespace superstruct;
 
-// **CONSTANTS** //
-
-void default_constants() {
-  chassis.set_slew_min_power(80, 80);
-  chassis.set_slew_distance(7, 7);
-  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
-  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(&chassis.turnPID, 4, 0.003, 35, 15);
-  chassis.set_pid_constants(&chassis.swingPID, 6, 0, 40, 0);
-}
-
-void exit_condition_defaults() {
-  chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
-  chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
-  chassis.set_exit_condition(chassis.drive_exit, 80, 50, 300, 150, 500, 500);
-}
-
-// ** other stufff** //
-
-// ** AUTONS ** //
-
 void test_auton() {
-    chassis.set_drive_pid(5, DRIVE_SPEED, false, true);
-    chassis.set_swing_pid(e_swing::LEFT_SWING, 50, TURN_SPEED);
-    chassis.set_drive_pid(36, DRIVE_SPEED, true, true);
-    chassis.wait_until(24);
     
-    /* RUN THE INTAKE */
-    pros::delay(500);
-    chassis.set_drive_pid(-2, DRIVE_SPEED, false, false);
-    chassis.set_turn_pid(130, TURN_SPEED);
 }
   //pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor");
diff --git a/RELENTLESS/src/superstructure.cpp b/RELENTLESS/src/superstructure.cpp
index b6e578d..971f9c9 100644
--- a/RELENTLESS/src/superstructure.cpp
+++ b/RELENTLESS/src/superstructure.cpp
@@ -34,18 +34,22 @@ namespace superstruct {
 
   // motion and stuff
   void driveChassis(double dist, double speedScale, bool useHeadingCorrection) {
+    //chassis.set_mode(ary::DRIVE);
     chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 
   }
 
   void turnChassis(double theta, double turnSpeedScale) {
+    //chassis.set_mode(ary::TURN);
     chassis.set_turn(theta, TURN_SPEED * turnSpeedScale);
   }
 
   void leftSwing(double theta, double swingSpeedScale) {
+    //chassis.set_mode(SWING);
     chassis.set_swing(LEFT_SWING, theta, SWING_SPEED * swingSpeedScale);
   }
 
   void rightSwing(double theta, double swingSpeedScale) {
+    //chassis.set_mode(SWING);
     chassis.set_swing(RIGHT_SWING, theta, SWING_SPEED * swingSpeedScale);
   }
 }
\ No newline at end of file