diff --git a/2072X-lets-try-that-again/.vscode/c_cpp_properties.json b/2072X-lets-try-that-again/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..4eafdc7
--- /dev/null
+++ b/2072X-lets-try-that-again/.vscode/c_cpp_properties.json
@@ -0,0 +1,29 @@
+{
+  "configurations": [
+    {
+      "name": "PROS Project",
+      "includePath": [
+        "${workspaceFolder}/**",
+        "c:\\Users\\cjans\\OneDrive\\Documents\\GitHub\\ary-over-under\\2072X-lets-try-that-again\\include"
+      ],
+      "defines": [
+        "_DEBUG",
+        "UNICODE",
+        "_UNICODE"
+      ],
+      "compilerPath": "c:\\Users\\cjans\\AppData\\Roaming\\Code\\User\\globalStorage\\sigbots.pros\\install\\pros-toolchain-windows\\usr\\bin\\arm-none-eabi-g++",
+      "cStandard": "c17",
+      "cppStandard": "c++17",
+      "intelliSenseMode": "gcc-arm",
+      "compileCommands": "c:\\Users\\cjans\\OneDrive\\Documents\\GitHub\\ary-over-under\\2072X-lets-try-that-again\\compile_commands.json",
+      "browse": {
+        "path": [
+          "c:\\Users\\cjans\\OneDrive\\Documents\\GitHub\\ary-over-under\\2072X-lets-try-that-again"
+        ],
+        "limitSymbolsToIncludedHeaders": true,
+        "databaseFilename": ""
+      }
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/2072X-lets-try-that-again/project.pros b/2072X-lets-try-that-again/project.pros
new file mode 100644
index 0000000..ee1a794
--- /dev/null
+++ b/2072X-lets-try-that-again/project.pros
@@ -0,0 +1,9 @@
+{
+    "py/object": "pros.conductor.project.Project",
+    "py/state": {
+        "project_name": null,
+        "target": "cortex",
+        "templates": {},
+        "upload_options": {}
+    }
+}
\ No newline at end of file
diff --git a/RELENTLESS-Lite/include/globals.hpp b/RELENTLESS-Lite/include/globals.hpp
index 2ff5184..3302d75 100644
--- a/RELENTLESS-Lite/include/globals.hpp
+++ b/RELENTLESS-Lite/include/globals.hpp
@@ -20,14 +20,10 @@ namespace globals {
     extern pros::Motor_Group left_drive;
     extern pros::Motor_Group right_drive;
 
-    extern lemlib::Drivetrain_t chassis_odom;
+    extern lemlib::Drivetrain drivetrain;
+    extern lemlib::linearController;
+    extern lemlib::angularController;
+    extern lemlib::sensors;
+    extern lemlib::Chassis chassis;
     extern Drive chassisRight;
-    extern Drive chassisLeft;
-
-    extern pros::Motor cata_left;
-    extern pros::Motor cata_right;
-
-    extern pros::Rotation enc_left;
-    extern pros::Rotation enc_right;
-    extern pros::Rotation enc_theta;
-}
\ No newline at end of file
+    extern Drive chassisLeft;
\ No newline at end of file
diff --git a/RELENTLESS-Lite/src/globals.cpp b/RELENTLESS-Lite/src/globals.cpp
index 23878ae..338ce73 100644
--- a/RELENTLESS-Lite/src/globals.cpp
+++ b/RELENTLESS-Lite/src/globals.cpp
@@ -19,14 +19,6 @@ namespace globals {
         Two seperate drivetrains, chassis 
     */
 
-    lemlib::Drivetrain_t chassis_odom {
-        &left_drive,
-        &right_drive,
-        TRACK_WIDTH,
-        WHEEL_SIZE, 
-        DRIVE_RPM
-    };
-
     Drive chassisLeft(
         {-20, -17, 8},
         {12, 1, -4},
@@ -45,15 +37,43 @@ namespace globals {
         0.75
     );
 
-    // pros::Motor cata_left(15, MOTOR_GEAR_100, true);
-    // pros::Motor cata_right(13, MOTOR_GEAR_100, false);
+    lemlib::Drivetrain drivetrain(&leftMotors, // left motor group
+        &rightMotors, // right motor group
+        10, // 10 inch track width
+        lemlib::Omniwheel::NEW_325, // using new 3.25" omnis
+        360, // drivetrain rpm is 360
+        2 // chase power is 2. If we had traction wheels, it would have been 8
+    );
 
-    
-    // Electronics / Pneumatics / Sensors
-    // pros::Rotation enc_left();
-    // pros::Rotation enc_right();
-    // pros::Rotation enc_theta();
+    // lateral motion controller
+    lemlib::ControllerSettings linearController(10, // proportional gain (kP)
+        30, // derivative gain (kD)
+        1, // small error range, in inches
+        100, // small error range timeout, in milliseconds
+        3, // large error range, in inches
+        500, // large error range timeout, in milliseconds
+        20 // maximum acceleration (slew)
+    );
 
-    // Misc
+    // angular motion controller
+    lemlib::ControllerSettings angularController(2, // proportional gain (kP)
+        10, // derivative gain (kD)
+        1, // small error range, in degrees
+        100, // small error range timeout, in milliseconds
+        3, // large error range, in degrees
+        500, // large error range timeout, in milliseconds
+        20 // maximum acceleration (slew)
+    );
 
+// sensors for odometry
+// note that in this example we use internal motor encoders, so we don't pass vertical tracking wheels
+    lemlib::OdomSensors sensors(nullptr, // vertical tracking wheel 1, set to nullptr as we don't have one
+        nullptr, // vertical tracking wheel 2, set to nullptr as we don't have one
+        &horizontal, // horizontal tracking wheel 1
+        nullptr, // horizontal tracking wheel 2, set to nullptr as we don't have a second one
+        &imu // inertial sensor
+    );
+
+    // create the chassis
+    lemlib::Chassis chassis(drivetrain, linearController, angularController, sensors);
 }
\ No newline at end of file