diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 311b4ca..335ef61 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
 
 /**
@@ -44,71 +43,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
 
-    /* Swerve requests to apply during SysId characterization */
-    private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
-    private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
-    private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
     /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
 
-    private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            null,        // Use default ramp rate (1 V/s)
-            Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
-            null,        // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            output -> setControl(m_translationCharacterization.withVolts(output)),
-            null,
-            this
-        )
-    );
-
-    /* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
-    private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            null,        // Use default ramp rate (1 V/s)
-            Volts.of(7), // Use dynamic voltage of 7 V
-            null,        // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            volts -> setControl(m_steerCharacterization.withVolts(volts)),
-            null,
-            this
-        )
-    );
-
-    /*
-     * SysId routine for characterizing rotation.
-     * This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
-     * See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
-     */
-    private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            /* This is in radians per second², but SysId only supports "volts per second" */
-            Volts.of(Math.PI / 6).per(Second),
-            /* This is in radians per second, but SysId only supports "volts" */
-            Volts.of(Math.PI),
-            null, // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            output -> {
-                /* output is actually radians per second, but SysId only supports "volts" */
-                setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
-                /* also log the requested output for SysId */
-                SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
-            },
-            null,
-            this
-        )
-    );
-    
     private void configureAutoBuilder() {
         try {
             var config = RobotConfig.fromGUISettings();
@@ -140,9 +76,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
             return 0;
          });  
         }
- 
-    /* The SysId routine to test */
-    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -234,28 +167,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
         return run(() -> this.setControl(requestSupplier.get()));
     }
-
-    /**
-     * Runs the SysId Quasistatic test in the given direction for the routine
-     * specified by {@link #m_sysIdRoutineToApply}.
-     *
-     * @param direction Direction of the SysId Quasistatic test
-     * @return Command to run
-     */
-    public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
-        return m_sysIdRoutineToApply.quasistatic(direction);
-    }
-
-    /**
-     * Runs the SysId Dynamic test in the given direction for the routine
-     * specified by {@link #m_sysIdRoutineToApply}.
-     *
-     * @param direction Direction of the SysId Dynamic test
-     * @return Command to run
-     */
-    public Command sysIdDynamic(SysIdRoutine.Direction direction) {
-        return m_sysIdRoutineToApply.dynamic(direction);
-    }
     
     @Override
     public void periodic() {