diff --git a/src/main/java/frc/robot/commands/AnyTarget.java b/src/main/java/frc/robot/commands/AnyTarget.java
deleted file mode 100644
index 9604e33..0000000
--- a/src/main/java/frc/robot/commands/AnyTarget.java
+++ /dev/null
@@ -1,144 +0,0 @@
-package frc.robot.commands;
-
-import java.util.Arrays;
-import java.util.List;
-
-import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
-import org.littletonrobotics.junction.Logger;
-
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants;
-import frc.robot.Utils;
-import frc.robot.subsystems.DriveSubsystem;
-import frc.robot.subsystems.HopperSubsystem;
-import frc.robot.subsystems.TurretSubsystem;
-
-public class AnyTarget extends Command {
-
-    // For Chassis Control
-    private DriveSubsystem driveSubsystem;
-
-    private HopperSubsystem hopperSubsystem;
-    private TurretSubsystem turretSubsystem;
-
-    private PIDController cameraAutoCenterController;
-    private PIDController deadreckoningAutoCenterController;
-
-    private int[] tagFilters;
-
-    private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
-
-    private Pose3d closestTag;
-
-    private final double chassisRotateSpeed = Math.PI * 0.1;
-
-    public AnyTarget(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem) {
-        this.driveSubsystem = driveSubsystem;
-        this.hopperSubsystem = hopperSubsystem;
-        this.turretSubsystem = turretSubsystem;
-
-        this.addRequirements(driveSubsystem, hopperSubsystem, turretSubsystem);
-
-        cameraAutoCenterController = new PIDController(0.15, 0.0, 0.0);
-        cameraAutoCenterController.setTolerance(0.2); // Units degrees
-        cameraAutoCenterController.setSetpoint(0);
-
-        deadreckoningAutoCenterController = new PIDController(Math.PI * 0.1, 0, 0.0);
-        deadreckoningAutoCenterController.setTolerance(0.2); // Units is rotations
-        deadreckoningAutoCenterController.enableContinuousInput(-Math.PI, Math.PI);
-    }
-
-    @Override
-    public void initialize() {
-        DriverStation.getAlliance().ifPresent((aliance) -> {
-            if (aliance == Alliance.Blue) {
-                tagFilters = Constants.CameraConstanst.IDFilters.BLUE_HUB_SHOOTING_IDS;
-            } else {
-                tagFilters = Constants.CameraConstanst.IDFilters.RED_HUB_SHOOTING_IDS;
-            }
-        });
-
-        turretSubsystem.setLauncher(6000);
-        turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
-        hopperSubsystem.spindexerOn();
-        cameraAutoCenterController.calculate(-100);
-
-        // Change to HUB tracking pipeline
-        LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_HUB_TRACKING_3D_PIPELINE_NUMBER);
-        LimelightHelpers.SetFiducialIDFiltersOverride(Constants.CameraConstanst.BACK_CAMERA_NAME, tagFilters);
-
-        Pose3d botPose = driveSubsystem.getBotPose();
-        // Find closest target to us
-        List<Pose3d> tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get()).toList();
-        closestTag = botPose.nearest(tagPoses);
-        Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closestTag);
-
-        Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d());
-        Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta);
-
-        deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.kZero).getRadians());
-    }
-
-    @Override
-    public void execute() {
-        // Need to compute shoot speed and angle
-
-        Logger.recordOutput("AutoAlign-CenteringError", cameraAutoCenterController.getError());
-
-        // No april tag in camera view. Rotate towards our theoretical closest tag
-        if (!LimelightHelpers.getTV(Constants.CameraConstanst.BACK_CAMERA_NAME)) {
-            Logger.recordOutput("AutoAlignState-Tracking", "Deadreckoning");
-
-            Pose3d botPose = driveSubsystem.getBotPose();
-            //driveSubsystem.rotateChassis(-deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians()));
-        } else // We have an april tag, center it to the camera frame
-        {
-            Logger.recordOutput("AutoAlignState-Tracking", "Camera");
-            // [tx, ty, tz, pitch, yaw, roll]
-            double[] targetsPose = LimelightHelpers.getTargetPose_CameraSpace(Constants.CameraConstanst.BACK_CAMERA_NAME);
-            if (targetsPose.length >= 1) {
-                Logger.recordOutput("AutoAlign-Target Distance", targetsPose[2]);
-
-                // Calculate turret Angle
-                double turretAngle = Utils.calculateTurretAngleFromCameraTagDistance(targetsPose[2]) * Constants.ShooterConstants.TURRET_GEAR_RATIO;
-                turretSubsystem.setTurretMotorRotation(-turretAngle);
-
-                driveSubsystem.rotateChassis(-cameraAutoCenterController.calculate(targetsPose[0])); // This may need to be negated
-            }
-        }
-
-        // If robot is centered on HUB and shooter is up to speed. Run the kicker
-        if (turretSubsystem.isLauncherUpToSpeed() && cameraAutoCenterController.atSetpoint()) {
-            Logger.recordOutput("AutoAlignState-Shoot", "FIRE!");
-            hopperSubsystem.feedKicker();
-        } else {
-            Logger.recordOutput("AutoAlignState-Shoot", "Waiting");
-        }
-    }
-
-    @Override
-    public boolean isFinished() {
-        return false;
-    }
-
-    @Override
-    public void end(boolean interrupted) {
-        turretSubsystem.setLauncher(0);
-
-        hopperSubsystem.stopKicker();
-        hopperSubsystem.spindexerOff();
-
-        driveSubsystem.stopDrive();
-
-        LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_LOCALIZATION_PIPELINE_NUMBER);
-    }
-
-}