diff --git a/src/main/kotlin/frc/team449/RobotLoop.kt b/src/main/kotlin/frc/team449/RobotLoop.kt
index 7d9c57c..0b6647c 100644
--- a/src/main/kotlin/frc/team449/RobotLoop.kt
+++ b/src/main/kotlin/frc/team449/RobotLoop.kt
@@ -13,7 +13,6 @@ import frc.team449.auto.RoutineChooser
 import frc.team449.commands.light.BlairChasing
 import frc.team449.commands.light.BreatheHue
 import frc.team449.commands.light.Rainbow
-import frc.team449.subsystems.FieldConstants
 import frc.team449.subsystems.drive.swerve.SwerveSim
 import frc.team449.subsystems.vision.VisionConstants
 import monologue.Annotations.Log
@@ -101,18 +100,6 @@ class RobotLoop : TimedRobot(), Logged {
     } else {
       BreatheHue(robot.light, 95).schedule()
     }
-
-    if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) {
-      FieldConstants.SPEAKER_POSE = FieldConstants.RED_SPEAKER_POSE
-    } else if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) {
-      FieldConstants.SPEAKER_POSE = FieldConstants.BLUE_SPEAKER_POSE
-    }
-
-    if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) {
-      FieldConstants.PASS_POSE = FieldConstants.RED_PASS_POSE
-    } else if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) {
-      FieldConstants.PASS_POSE = FieldConstants.BLUE_PASS_POSE
-    }
   }
 
   override fun autonomousPeriodic() {}
@@ -125,18 +112,6 @@ class RobotLoop : TimedRobot(), Logged {
     (robot.light.currentCommand ?: InstantCommand()).cancel()
 
     robot.drive.defaultCommand = robot.driveCommand
-
-    if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) {
-      FieldConstants.SPEAKER_POSE = FieldConstants.RED_SPEAKER_POSE
-    } else if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) {
-      FieldConstants.SPEAKER_POSE = FieldConstants.BLUE_SPEAKER_POSE
-    }
-
-    if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) {
-      FieldConstants.PASS_POSE = FieldConstants.RED_PASS_POSE
-    } else if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) {
-      FieldConstants.PASS_POSE = FieldConstants.BLUE_PASS_POSE
-    }
   }
 
   override fun teleopPeriodic() {
diff --git a/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt b/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt
index 93a8dd6..4206aea 100644
--- a/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt
+++ b/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt
@@ -1,19 +1,6 @@
 package frc.team449.subsystems
 
-import edu.wpi.first.math.geometry.Translation2d
-import edu.wpi.first.math.util.Units
-
 object FieldConstants {
   const val fieldLength = 16.4592
   const val fieldWidth = 8.2296
-
-  /** Find these constants in meters for the blue alliance */
-  val BLUE_SPEAKER_POSE = Translation2d(Units.inchesToMeters(-1.5), Units.inchesToMeters(218.42))
-  val RED_SPEAKER_POSE = Translation2d(Units.inchesToMeters(652.73), Units.inchesToMeters(218.42))
-
-  val RED_PASS_POSE = Translation2d(14.50, 6.746)
-  val BLUE_PASS_POSE = Translation2d(fieldLength - 14.50, 6.746)
-
-  var SPEAKER_POSE = BLUE_SPEAKER_POSE
-  var PASS_POSE = BLUE_PASS_POSE
 }
diff --git a/src/main/kotlin/frc/team449/subsystems/RobotConstants.kt b/src/main/kotlin/frc/team449/subsystems/RobotConstants.kt
index ece8515..1954f16 100644
--- a/src/main/kotlin/frc/team449/subsystems/RobotConstants.kt
+++ b/src/main/kotlin/frc/team449/subsystems/RobotConstants.kt
@@ -18,10 +18,7 @@ object RobotConstants {
   const val ROTATION_DEADBAND = .125
   val SNAP_TO_ANGLE_TOLERANCE_RAD = Units.degreesToRadians(3.5)
 
-  /** In kilograms, include bumpers and battery and all */
-  const val ROBOT_WEIGHT = 55.0 // TODO: find
-
-  /** Drive configuration */
+  /** Drive Configuration */
   val MAX_LINEAR_SPEED = SwerveConstants.MAX_ATTAINABLE_MK4I_SPEED // m/s
   const val MAX_ROT_SPEED = 5.804 * PI / 4 // r ad/s
 
@@ -48,10 +45,8 @@ object RobotConstants {
 
   const val ALIGN_ROT_SPEED = 7 * PI / 2
 
-  val IR_CHANNEL = 3
-  val IR_CHANNEL2 = 4
-
-  // Robot dimensions (INCLUDING BUMPERS)
+  // Robot Dimensions (INCLUDING BUMPERS)
   val ROBOT_WIDTH = Units.inchesToMeters(27.25 + 3.25 * 2)
   val ROBOT_LENGTH = Units.inchesToMeters(27.5 + 3.25 * 2)
+  val ROBOT_WEIGHT = 55.0 // TODO: find (incl. bumpers + battery) (kg)
 }
diff --git a/src/main/kotlin/frc/team449/subsystems/drive/swerve/SwerveSim.kt b/src/main/kotlin/frc/team449/subsystems/drive/swerve/SwerveSim.kt
index 369588d..ca0e6de 100644
--- a/src/main/kotlin/frc/team449/subsystems/drive/swerve/SwerveSim.kt
+++ b/src/main/kotlin/frc/team449/subsystems/drive/swerve/SwerveSim.kt
@@ -25,7 +25,7 @@ class SwerveSim(
     Pose2d()
   )
 
-  var odometryPose = odometryTracker.poseMeters
+  var odometryPose: Pose2d = odometryTracker.poseMeters
 
   override fun periodic() {
     val currTime = getFPGATimestamp()