diff --git a/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java b/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
index 396ca93..b448339 100644
--- a/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
+++ b/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
@@ -109,8 +109,9 @@ public ControlBoard(RobotContainer robot) {
         new Trigger(driver.rightStickButton::isPressed)
                 .debounce(0.1)
                 .whileTrue(Commands.run(() -> robot.drive.turn(new TurnRequest(SwerveDrive.DRIVER_PRIORITY + 1, new Rotation2d(11.0)))));
-        // Just angle amp
-        new Trigger(() -> driver.a.isPressed()).whileTrue(new AmpAlignCommand(robot.drive).alongWith()); // FIXME: Make the bar go up too
+                
+        // Angle towards the amp
+        new Trigger(() -> driver.a.isPressed()).whileTrue(new AmpAlignCommand(robot.drive));
         
         driver.y.onFalling(() -> NTData.SHOOTER_PIVOT_RECALIBRATE.set(true));
 
@@ -121,13 +122,14 @@ public ControlBoard(RobotContainer robot) {
         new Trigger(() -> robot.indexer.hasPiece() || !operator.a.isPressed())
                 .onTrue(Commands.runOnce(() -> robot.intake.set(IntakeSubsystem.State.OFF)));
 
-        new Trigger(() -> CHARACTERISE_WHEEL_RADIUS.get()).whileTrue(new CharactarizeWheelCommand(robot.drive));
 
         forceSubwooferTrigger = new Trigger(() -> driver.dpad.down.isPressed()).debounce(0.1);
 
         new Trigger(operator.start::isPressed)
                 .onTrue(Commands.runOnce(robot.indexer::beginReverse))
                 .onFalse(Commands.runOnce(robot.indexer::endReverse));
+
+        new Trigger(() -> CHARACTERISE_WHEEL_RADIUS.get()).whileTrue(new CharactarizeWheelCommand(robot.drive));
     }
 
     private boolean driverWantsAim() {
@@ -171,11 +173,6 @@ private double getDriveRotation() {
         return -squareWithSign(driver.rightStickX.get()) * NTData.TURN_SPEED.get();
     }
 
-    private boolean getRobotRelativeDrive() {
-        // return driverRobotRelDebounce.calculate(driver.leftBumper.isPressed());
-        return false;
-    }
-
     private enum ClimbState {
         IDLE(ClimberArm.State.RETRACTED, null),
         EXTENDED(ClimberArm.State.EXTENDED, AmpArm2Subsystem.Position.CLIMB_OUT_OF_THE_WAY),
@@ -246,10 +243,6 @@ public void periodic() {
                         rotation.getRadians(),
                         robot.drive.getEstimatedPose().getRotation());
 
-        if (getRobotRelativeDrive()) {
-            chassisRequest = new ChassisSpeeds(-translation.getX(), -translation.getY(), rotation.getRadians());
-        }
-
         robot.drive.driveAndTurn(
                 SwerveDrive.DRIVER_PRIORITY,
                 chassisRequest,