diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
deleted file mode 100644
index 57e8797..0000000
--- a/src/main/java/frc/robot/Constants.java
+++ /dev/null
@@ -1,142 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import com.revrobotics.CANSparkMax.IdleMode;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.math.util.Units;
-
-/**
- * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants. This class should not be used for any other purpose. All constants should be declared
- * globally (i.e. public static). Do not put anything functional in this class.
- *
- * <p>It is advised to statically import this class (or one of its inner classes) wherever the
- * constants are needed, to reduce verbosity.
- */
-public final class Constants {
-  public static final class DriveConstants {
-    // Driving Parameters - Note that these are not the maximum capable speeds of
-    // the robot, rather the allowed maximum speeds
-    public static final double maxSpeedMetersPerSecond = 4.8;
-    public static final double maxAngularSpeed = 2 * Math.PI; // radians per second
-
-    public static final double directionSlewRate = 1.2; // radians per second
-    public static final double magnitudeSlewRate = 1.8; // percent per second (1 = 100%)
-    public static final double rotationalSlewRate = 2.0; // percent per second (1 = 100%)
-
-    // Chassis configuration
-    public static final double trackWidth = Units.inchesToMeters(26.5);
-    // Distance between centers of right and left wheels on robot
-    public static final double wheelBase = Units.inchesToMeters(26.5);
-    // Distance between front and back wheels on robot
-    public static final SwerveDriveKinematics driveKinematics =
-        new SwerveDriveKinematics(
-            new Translation2d(wheelBase / 2, trackWidth / 2),
-            new Translation2d(wheelBase / 2, -trackWidth / 2),
-            new Translation2d(-wheelBase / 2, trackWidth / 2),
-            new Translation2d(-wheelBase / 2, -trackWidth / 2));
-
-    // Angular offsets of the modules relative to the chassis in radians
-    public static final double frontLeftChassisAngularOffset = Math.PI;
-    public static final double frontRightChassisAngularOffset = 0;
-    public static final double backLeftChassisAngularOffset = 0;
-    public static final double backRightChassisAngularOffset = Math.PI / 2;
-
-    // SPARK MAX CAN IDs
-    public static final int frontLeftDrivingCanId = 3;
-    public static final int rearLeftDrivingCanId = 5;
-    public static final int frontRightDrivingCanId = 1;
-    public static final int rearRightDrivingCanId = 7;
-
-    public static final int frontLeftTurningCanId = 4;
-    public static final int rearLeftTurningCanId = 6;
-    public static final int frontRightTurningCanId = 2;
-    public static final int rearRightTurningCanId = 8;
-
-    public static final boolean gyroReversed = false;
-  }
-
-  public static final class ModuleConstants {
-    // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
-    // This changes the drive speed of the module (a pinion gear with more teeth will result in a
-    // robot that drives faster).
-    public static final int drivingMotorPinionTeeth = 14;
-
-    // Invert the turning encoder, since the output shaft rotates in the opposite direction of
-    // the steering motor in the MAXSwerve Module.
-    public static final boolean turningEncoderInverted = true;
-
-    // Calculations required for driving motor conversion factors and feed forward
-    public static final double drivingMotorFreeSpeedRps = NeoMotorConstants.freeSpeedRpm / 60;
-    public static final double wheelDiameterMeters = 0.0762;
-    public static final double wheelCircumferenceMeters = wheelDiameterMeters * Math.PI;
-    // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the
-    // bevel pinion
-    public static final double drivingMotorReduction = (45.0 * 22) / (drivingMotorPinionTeeth * 15);
-    public static final double driveWheelFreeSpeedRps =
-        (drivingMotorFreeSpeedRps * wheelCircumferenceMeters) / drivingMotorReduction;
-
-    public static final double drivingEncoderPositionFactor =
-        (wheelDiameterMeters * Math.PI) / drivingMotorReduction; // meters
-    public static final double drivingEncoderVelocityFactor =
-        ((wheelDiameterMeters * Math.PI) / drivingMotorReduction) / 60.0; // meters per second
-
-    public static final double turningEncoderPositionFactor = (2 * Math.PI); // radians
-    public static final double turningEncoderVelocityFactor =
-        (2 * Math.PI) / 60.0; // radians per second
-
-    public static final double turningEncoderPositionPIDMinInput = 0; // radians
-    public static final double turningEncoderPositionPIDMaxInput =
-        turningEncoderPositionFactor; // radians
-
-    public static final double drivingP = 0.04;
-    public static final double drivingI = 0;
-    public static final double drivingD = 0;
-    public static final double drivingFF = 1 / driveWheelFreeSpeedRps;
-    public static final double drivingMinOutput = -1;
-    public static final double drivingMaxOutput = 1;
-
-    public static final double turningP = 1;
-    public static final double turningI = 0;
-    public static final double turningD = 0;
-    public static final double turningFF = 0;
-    public static final double turningMinOutput = -1;
-    public static final double turningMaxOutput = 1;
-
-    public static final IdleMode drivingMotorIdleMode = IdleMode.kBrake;
-    public static final IdleMode turningMotorIdleMode = IdleMode.kBrake;
-
-    public static final int drivingMotorCurrentLimit = 50; // amps
-    public static final int turningMotorCurrentLimit = 20; // amps
-  }
-
-  public static final class OIConstants {
-    public static final int driverControllerPort = 0;
-    public static final double driveDeadband = 0.05;
-  }
-
-  public static final class AutoConstants {
-    public static final double maxSpeedMetersPerSecond = 3;
-    public static final double maxAccelerationMetersPerSecondSquared = 3;
-    public static final double maxAngularSpeedRadiansPerSecond = Math.PI;
-    public static final double maxAngularSpeedRadiansPerSecondSquared = Math.PI;
-
-    public static final double pXController = 1;
-    public static final double pYController = 1;
-    public static final double pThetaController = 1;
-
-    // Constraint for the motion profiled robot angle controller
-    public static final TrapezoidProfile.Constraints thetaControllerConstraints =
-        new TrapezoidProfile.Constraints(
-            maxAngularSpeedRadiansPerSecond, maxAngularSpeedRadiansPerSecondSquared);
-  }
-
-  public static final class NeoMotorConstants {
-    public static final double freeSpeedRpm = 5676;
-  }
-}