diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index dc08c37..76f633f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -49,10 +49,6 @@ public class RobotContainer {
   private final Shooter shooter;
   private final Command intakeCommand, shootCommand, aimAtLimelightCommand, rotateCommand, driveToPoseCommand, aimAndPickUpNoteCommand;
 
-  // CommandJoystick rotationController = new CommandJoystick(1);
-  // Replace with CommandPS4Controller or CommandJoystick if needed
-
-  // CommandJoystick driverController   = new CommandJoystick(3);//(OperatorConstants.DRIVER_CONTROLLER_PORT);
   XboxController driverXbox = new XboxController(0);
   XboxController shooterXbox = new XboxController(1);
 
@@ -124,9 +120,6 @@ private void configureBindings() {
     new JoystickButton(driverXbox, XboxController.Button.kX.value).whileTrue(aimAtLimelightCommand);
     new JoystickButton(driverXbox, 2).whileTrue(driveToPoseCommand);
     new JoystickButton(driverXbox, XboxController.Button.kY.value).whileTrue(rotateCommand);
-//    new JoystickButton(driverXbox, 3).whileTrue(new RepeatCommand(new InstantCommand(drivebase::lock, drivebase)));
-    //new JoystickButton(driverXbox, XboxController.Button.kStart.value).whileTrue(drivebase.sysIdAngleMotorCommand());
-    //new JoystickButton(driverXbox, XboxController.Button.kBack.value).whileTrue(drivebase.sysIdDriveMotorCommand());
 
 
     new JoystickButton(shooterXbox, XboxController.Button.kLeftBumper.value).whileTrue(intakeCommand); // independent of speed
diff --git a/src/main/java/frc/robot/commands/drivebase/AimAtLimelightCommand.java b/src/main/java/frc/robot/commands/drivebase/AimAtLimelightCommand.java
index cec75c4..ec52542 100644
--- a/src/main/java/frc/robot/commands/drivebase/AimAtLimelightCommand.java
+++ b/src/main/java/frc/robot/commands/drivebase/AimAtLimelightCommand.java
@@ -42,10 +42,6 @@ public void initialize() {
 
   }
 
-  /**
-   * The main body of a command.  Called repeatedly while the command is scheduled.
-   * (That is, it is called repeatedly until {@link #isFinished()}) returns true.)
-   */
   @Override
   public void execute() {
 
@@ -59,33 +55,11 @@ public void execute() {
 
   }
 
-  /**
-   * <p>
-   * Returns whether this command has finished. Once a command finishes -- indicated by
-   * this method returning true -- the scheduler will call its {@link #end(boolean)} method.
-   * </p><p>
-   * Returning false will result in the command never ending automatically. It may still be
-   * cancelled manually or interrupted by another command. Hard coding this command to always
-   * return true will result in the command executing once and finishing immediately. It is
-   * recommended to use * {@link edu.wpi.first.wpilibj2.command.InstantCommand InstantCommand}
-   * for such an operation.
-   * </p>
-   *
-   * @return whether this command has finished.
-   */
   @Override
   public boolean isFinished() {
     return (Math.abs(LimelightHelpers.getTX("limelight-back")) < 1.0) && LimelightHelpers.getTV("limelight-back");
   }
 
-  /**
-   * The action to take when the command ends. Called when either the command
-   * finishes normally -- that is it is called when {@link #isFinished()} returns
-   * true -- or when  it is interrupted/canceled. This is where you may want to
-   * wrap up loose ends, like shutting off a motor that was being used in the command.
-   *
-   * @param interrupted whether the command was interrupted/canceled
-   */
   @Override
   public void end(boolean interrupted) {
     LimelightHelpers.setPipelineIndex("limelight-back", 0);
diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
index 98978ca..d73db77 100644
--- a/src/main/java/frc/robot/subsystems/VisionSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -43,7 +43,7 @@ private VisionSubsystem() {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    //SwerveSubsystem.addVisionMeasurement(LimelightHelpers.getBotPose2d("back-limelight"), Timer.getFPGATimestamp() - LimelightHelpers.getLatency_Capture("back-limelight") - LimelightHelpers.getLatency_Pipeline("back-limelight") );
+
 
     Logger.recordOutput("Targets", LimelightHelpers.getTargetPose3d_RobotSpace("limelight-back"));