diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 78569e6..7a2f306 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -14,175 +14,167 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
 import frc.lib.config.SwerveModuleConstants;
-/**
- * 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 ModuleConstants {
-    public static final double kMaxModuleAngularSpeedRadiansPerSecond = 2 * Math.PI;
-    public static final double kMaxModuleAngularAccelerationRadiansPerSecondSquared = 2 * Math.PI;
-
-    public static final int kEncoderCPR = 1024;
-    public static final double kWheelDiameterMeters = 0.1016;
-    public static final double kDriveEncoderDistancePerPulse =
-        // Assumes the encoders are directly mounted on the wheel shafts
-        (kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
-
-    public static final double kTurningEncoderDistancePerPulse =
-        // Assumes the encoders are on a 1:1 reduction with the module shaft.
-        (2 * Math.PI) / (double) kEncoderCPR;
-
-    public static final double kPModuleTurningController = 1;
-
-    public static final double kPModuleDriveController = 1;
-  }
-
-
-
- 
-  public static final class Swerve {
-    public static final double fastDriveSpeedMultiplier = 1.0;
-    public static final double normalDriveSpeedMultiplier = 1.0;
-    public static final double slowDriveSpeedMultiplier = 1.0 ;
-    public static final int PIGEON2_ID = 10 ;
-    //SET ME Each Run...
-    public static final double robotOffset = 0.0;
-    
-    public static final double stickDeadband = 0.1;
-
-    public static final boolean invertGyro = true; // Always ensure Gyro is CCW+ CW-
-
-    /* Drivetrain Constants */
-    public static final double trackWidth = Units.inchesToMeters(26.25);
-    public static final double wheelBase = Units.inchesToMeters(26.25);
-    public static final double wheelDiameter = Units.inchesToMeters(4.0);
-    public static final double wheelCircumference = wheelDiameter * Math.PI;
-
-    public static final double openLoopRamp = 0.25;
-    public static final double closedLoopRamp = 0.0;
-
-    //public static final double driveGearRatio =
-     //   (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); // 6.75:1
-      public static final double driveGearRatio = 8.14;
-    public static final double angleGearRatio = (150.0/ 7.0); //
-    public static final SwerveDriveKinematics swerveKinematics =
-    new SwerveDriveKinematics(
-      new Translation2d(-wheelBase / 2.0, trackWidth / 2.0),
-      new Translation2d(wheelBase / 2.0, trackWidth / 2.0),
-      new Translation2d(-wheelBase / 2.0, -trackWidth / 2.0),
-      new Translation2d(wheelBase / 2.0, -trackWidth / 2.0));
-
-    /* Swerve Voltage Compensation */
-    public static final double voltageComp = 12.0;
-
-    /* Swerve Current Limiting */
-    public static final int angleContinuousCurrentLimit = 10;
-    public static final int driveContinuousCurrentLimit = 10;
-
-    /* Angle Motor PID Values */
-    public static final double angleKP = 0.01;
-    public static final double angleKI = 0.0;
-    public static final double angleKD = 0.0;
-    public static final double angleKFF = 0.0;
-
-    /* Drive Motor PID Values */
-    public static final double driveKP = 1.0;
-    public static final double driveKI = 0.0;
-    public static final double driveKD = 0.0;
-    public static final double driveKFF = 0.0;
-
-    /* Drive Motor Characterization Values */
-    public static final double driveKS = 0.667;
-    public static final double driveKV = 2.44;
-    public static final double driveKA = 0.27;
-
-    /* Drive Motor Conversion Factors */
-    public static final double driveConversionPositionFactor =
-        (wheelDiameter * Math.PI) / driveGearRatio;
-    public static final double driveConversionVelocityFactor = driveConversionPositionFactor / 60.0;
-    public static final double angleConversionFactor = 360.0 / angleGearRatio;
-
-    /* Swerve Profiling Values */
-    public static final double maxSpeed = 10.0; // meters per second  //4.5
-    public static final double maxAngularVelocity = 8; // 11.5 // radians per second
-
-    /* Neutral Modes */
-    public static final IdleMode angleNeutralMode = IdleMode.kBrake;
-    public static final IdleMode driveNeutralMode = IdleMode.kBrake;
-
-    /* Motor Inverts */
-    public static final boolean driveInvert = true;
-    public static final boolean angleInvert = true;
-
-    /* Angle Encoder Invert */
-    public static final boolean canCoderInvert = false;
-
-    /* Module Specific Constants */
-    /* Front Left Module - Module 0 */
-    public static final class Mod0 {
-      public static final int driveMotorID = 2;
-      public static final int angleMotorID = 9;
-      //public static final int canCoderID = 4;
-      //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(42.58);
-      public static final Rotation2d angleOffset = Rotation2d.fromDegrees(62.99);
-      public static final SwerveModuleConstants constants =
-          new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
-    }
+        public static final double kMaxModuleAngularSpeedRadiansPerSecond = 2 * Math.PI;
+        public static final double kMaxModuleAngularAccelerationRadiansPerSecondSquared = 2 * Math.PI;
+
+        public static final int kEncoderCPR = 1024;
+        public static final double kWheelDiameterMeters = 0.1016;
+        public static final double kDriveEncoderDistancePerPulse =
+                // Assumes the encoders are directly mounted on the wheel shafts
+                (kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
+
+        public static final double kTurningEncoderDistancePerPulse =
+                // Assumes the encoders are on a 1:1 reduction with the module shaft.
+                (2 * Math.PI) / (double) kEncoderCPR;
 
-    /* Front Right Module - Module 1 */
-    public static final class Mod1 {
-      public static final int driveMotorID = 4;
-      public static final int angleMotorID = 3;
-      //public static final int canCoderID = 1;
-      //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(296.67);
-      public static final Rotation2d angleOffset = Rotation2d.fromDegrees(312.58);
-      public static final SwerveModuleConstants constants =
-          new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
+        public static final double kPModuleTurningController = 1;
+
+        public static final double kPModuleDriveController = 1;
     }
 
-    /* Back Left Module - Module 2 */
-    public static final class Mod2 {
-      public static final int driveMotorID = 8;
-      public static final int angleMotorID = 7;
-      //public static final int canCoderID = 3;
-      public static final Rotation2d angleOffset = Rotation2d.fromDegrees(470.5);
-      //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(204.7);
-      public static final SwerveModuleConstants constants =
-          new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
+
+    public static final class Swerve {
+        public static final double fastDriveSpeedMultiplier = 1.0;
+        public static final double normalDriveSpeedMultiplier = 1.0;
+        public static final double slowDriveSpeedMultiplier = 1.0;
+        public static final int PIGEON2_ID = 10;
+        //SET ME Each Run...
+        public static final double robotOffset = 0.0;
+
+        public static final double stickDeadband = 0.1;
+
+        public static final boolean invertGyro = true; // Always ensure Gyro is CCW+ CW-
+
+        /* Drivetrain Constants */
+        public static final double trackWidth = Units.inchesToMeters(26.25);
+        public static final double wheelBase = Units.inchesToMeters(26.25);
+        public static final double wheelDiameter = Units.inchesToMeters(4.0);
+        public static final double wheelCircumference = wheelDiameter * Math.PI;
+
+        public static final double openLoopRamp = 0.25;
+        public static final double closedLoopRamp = 0.0;
+
+        //public static final double driveGearRatio =
+        //   (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); // 6.75:1
+        public static final double driveGearRatio = 8.14;
+        public static final double angleGearRatio = (150.0 / 7.0); //
+        public static final SwerveDriveKinematics swerveKinematics =
+                new SwerveDriveKinematics(
+                        new Translation2d(-wheelBase / 2.0, trackWidth / 2.0),
+                        new Translation2d(wheelBase / 2.0, trackWidth / 2.0),
+                        new Translation2d(-wheelBase / 2.0, -trackWidth / 2.0),
+                        new Translation2d(wheelBase / 2.0, -trackWidth / 2.0));
+
+        /* Swerve Voltage Compensation */
+        public static final double voltageComp = 12.0;
+
+        /* Swerve Current Limiting */
+        public static final int angleContinuousCurrentLimit = 10;
+        public static final int driveContinuousCurrentLimit = 10;
+
+        /* Angle Motor PID Values */
+        public static final double angleKP = 0.01;
+        public static final double angleKI = 0.0;
+        public static final double angleKD = 0.0;
+        public static final double angleKFF = 0.0;
+
+        /* Drive Motor PID Values */
+        public static final double driveKP = 1.0;
+        public static final double driveKI = 0.0;
+        public static final double driveKD = 0.0;
+        public static final double driveKFF = 0.0;
+
+        /* Drive Motor Characterization Values */
+        public static final double driveKS = 0.667;
+        public static final double driveKV = 2.44;
+        public static final double driveKA = 0.27;
+
+        /* Drive Motor Conversion Factors */
+        public static final double driveConversionPositionFactor =
+                (wheelDiameter * Math.PI) / driveGearRatio;
+        public static final double driveConversionVelocityFactor = driveConversionPositionFactor / 60.0;
+        public static final double angleConversionFactor = 360.0 / angleGearRatio;
+
+        /* Swerve Profiling Values */
+        public static final double maxSpeed = 10.0; // meters per second  //4.5
+        public static final double maxAngularVelocity = 8; // 11.5 // radians per second
+
+        /* Neutral Modes */
+        public static final IdleMode angleNeutralMode = IdleMode.kBrake;
+        public static final IdleMode driveNeutralMode = IdleMode.kBrake;
+
+        /* Motor Inverts */
+        public static final boolean driveInvert = true;
+        public static final boolean angleInvert = true;
+
+        /* Angle Encoder Invert */
+        public static final boolean canCoderInvert = false;
+
+        /* Module Specific Constants */
+        /* Front Left Module - Module 0 */
+        public static final class Mod0 {
+            public static final int driveMotorID = 2;
+            public static final int angleMotorID = 9;
+            //public static final int canCoderID = 4;
+            //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(42.58);
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(62.99);
+            public static final SwerveModuleConstants constants =
+                    new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
+        }
+
+        /* Front Right Module - Module 1 */
+        public static final class Mod1 {
+            public static final int driveMotorID = 4;
+            public static final int angleMotorID = 3;
+            //public static final int canCoderID = 1;
+            //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(296.67);
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(312.58);
+            public static final SwerveModuleConstants constants =
+                    new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
+        }
+
+        /* Back Left Module - Module 2 */
+        public static final class Mod2 {
+            public static final int driveMotorID = 8;
+            public static final int angleMotorID = 7;
+            //public static final int canCoderID = 3;
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(470.5);
+            //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(204.7);
+            public static final SwerveModuleConstants constants =
+                    new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
+        }
+
+        /* Back Right Module - Module 3 */
+        public static final class Mod3 {
+            public static final int driveMotorID = 6;
+            public static final int angleMotorID = 5;
+            //public static final int canCoderID = 2;
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(296.67);
+            //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(9.2);
+            public static final SwerveModuleConstants constants =
+                    new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
+        }
     }
 
-    /* Back Right Module - Module 3 */
-    public static final class Mod3 {
-      public static final int driveMotorID = 6;
-      public static final int angleMotorID = 5;
-      //public static final int canCoderID = 2;
-      public static final Rotation2d angleOffset = Rotation2d.fromDegrees(296.67);
-     //public static final Rotation2d angleOffset = Rotation2d.fromDegrees(9.2);
-      public static final SwerveModuleConstants constants =
-          new SwerveModuleConstants(driveMotorID, angleMotorID, angleOffset);
+    public static final class AutoConstants {
+        public static final double kMaxSpeedMetersPerSecond = 4; // 4
+        public static final double kMaxAccelerationMetersPerSecondSquared = 3; // 3
+        public static final double kMaxAngularSpeedRadiansPerSecond = 2 * Math.PI;
+        public static final double kMaxAngularSpeedRadiansPerSecondSquared = 2 * Math.PI;
+
+        public static final double kPXController = 1;
+        public static final double kPYController = 1;
+        public static final double kPThetaController = .3;
+
+        // Constraint for the motion profilied robot angle controller
+        public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
+                new TrapezoidProfile.Constraints(
+                        kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
     }
-  }
-  public static final class AutoConstants {
-    public static final double kMaxSpeedMetersPerSecond = 4; // 4
-    public static final double kMaxAccelerationMetersPerSecondSquared = 3; // 3
-    public static final double kMaxAngularSpeedRadiansPerSecond = 2*Math.PI;
-    public static final double kMaxAngularSpeedRadiansPerSecondSquared = 2*Math.PI;
-
-    public static final double kPXController = 1;
-    public static final double kPYController = 1;
-    public static final double kPThetaController = .3;
-
-    // Constraint for the motion profilied robot angle controller
-    public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
-        new TrapezoidProfile.Constraints(
-            kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
-  }
 
 }
   
diff --git a/src/main/java/frc/robot/Constants204.java b/src/main/java/frc/robot/Constants204.java
index bc7fdce..ce695ff 100644
--- a/src/main/java/frc/robot/Constants204.java
+++ b/src/main/java/frc/robot/Constants204.java
@@ -1,19 +1,16 @@
-// 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 frc.robot.util.InterpLUT;
-
 public final class Constants204 {
+    // these two are stowaways - eventually all constants will merge
     public static final class Autonomous {
         public static final String CHOREO_PATH_FILE = "path"; // omit file extension
     }
-
-
+    public static final class Controller {
+        public static final int PORT = 1;
+    }
 
     // BELOW IS UNUSED
+    /*
     public static final class DrivetrainCAN {
         public static final int FL_DRIVE_MOTOR_ID = 32;
         public static final int RL_DRIVE_MOTOR_ID = 35;
@@ -32,7 +29,7 @@ public static final class DrivetrainCAN {
     public static final class ArmCAN {
         public static final int BOOM_MOTOR_ID = 11;
         public static final int DIPPER_MOTOR_ID = 21;
-        public static final int /*CLAW_MOTOR_ID*/CLAW_SERVO_PWM_CH = 0; // controlled with PWM, NOT CAN
+        public static final int CLAW_SERVO_PWM_CH = 0; // controlled with PWM, NOT CAN
     }
 
     public static final class Arm {
@@ -109,4 +106,5 @@ public static final class Vision {
         public static final double TARGET_HEIGHT_METERS = 0.61;
         public static final double CAMERA_PITCH_DEGREES = 180;
     }
+    */
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java
index 97049ce..8deab0f 100644
--- a/src/main/java/frc/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc/robot/subsystems/SwerveModule.java
@@ -17,7 +17,6 @@
 import frc.lib.util.CANSparkMaxUtil;
 import frc.lib.util.CANSparkMaxUtil.Usage;
 import frc.robot.Constants;
-import frc.robot.util.Math204;
 
 public class SwerveModule {
     public int moduleNumber;
@@ -198,7 +197,18 @@ public SwerveModulePosition getPosition() {
 
     private double SwerveContinuous(double cDeg) {
         double nDeg;
-        int cQuad = Math204.GetQuadrant(cDeg);
+        int cQuad;
+
+        if (0 <= cDeg && cDeg < 90) {
+            cQuad = 1;
+        } else if (90 <= cDeg && cDeg < 180) {
+            cQuad = 2;
+        } else if (180 <= cDeg && cDeg < 270) {
+            cQuad = 3;
+        } else {
+            cQuad = 4;
+        }
+
         if ((turningPQuad == 3 || turningPQuad == 4) && cQuad == 1) {
             nDeg = (360 - turningPDeg) + cDeg;
         } else if ((turningPQuad == 1 || turningPQuad == 2) && cQuad == 4) {
diff --git a/src/main/java/frc/robot/util/InterpLUT.java b/src/main/java/frc/robot/util/InterpLUT.java.txt
similarity index 100%
rename from src/main/java/frc/robot/util/InterpLUT.java
rename to src/main/java/frc/robot/util/InterpLUT.java.txt
diff --git a/src/main/java/frc/robot/util/Math204.java b/src/main/java/frc/robot/util/Math204.java.txt
similarity index 100%
rename from src/main/java/frc/robot/util/Math204.java
rename to src/main/java/frc/robot/util/Math204.java.txt
diff --git a/src/main/java/frc/robot/util/PolarCoordinate.java b/src/main/java/frc/robot/util/PolarCoordinate.java.txt
similarity index 100%
rename from src/main/java/frc/robot/util/PolarCoordinate.java
rename to src/main/java/frc/robot/util/PolarCoordinate.java.txt