diff --git a/simgui-ds.json b/simgui-ds.json
index 4a63cc1..1ba71ce 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
   "System Joysticks": {
     "window": {
       "enabled": false
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index bae7785..7ddda90 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -54,7 +54,7 @@ public class Bougie extends SubsystemBase {
       if(led==15){
         x=true;
         System.out.println("false"); 
-       }}
+  }}
   //  candle.setLEDs(255, 0, 0,0,24,8);
   //  candle.setLEDs(255, 0, 0,0,40,8);
   //  candle.setLEDs(255, 0, 0,0,56,8);
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index a0428ca..87dfe30 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -11,7 +11,6 @@ import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
@@ -34,7 +33,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private static final double kSimLoopPeriod = 0.005; // 5 ms
     private Notifier m_simNotifier = null;
     private double m_lastSimTime;
-    private Pigeon2 pigeon2 = new Pigeon2(13);
     /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
     private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
     /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
@@ -42,17 +40,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     /* Keep track if we've ever applied the operator perspective before or not */
     private boolean m_hasAppliedOperatorPerspective = false;
     private SwerveDriveOdometry odometry;
-    private SwerveDrivePoseEstimator poseEstimator;
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
 
-    /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
-    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();
-
     private void configureAutoBuilder() {
         try {
-            var config = RobotConfig.fromGUISettings();
+            RobotConfig config = RobotConfig.fromGUISettings();
             AutoBuilder.configure(
                 
                 () -> getState().Pose,   // Supplier of current robot pose