diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
index 5600550..9b0a1d3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.hardware;
 
 import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.gamepad1;
-import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.gamepad2;
 import static org.firstinspires.ftc.teamcode.util.Configurables.ARMACCSCORE;
 import static org.firstinspires.ftc.teamcode.util.Configurables.ARMPICKUPSTACK;
 import static org.firstinspires.ftc.teamcode.util.Configurables.ARMREST;
@@ -70,8 +69,8 @@ public class Robot {
     @Getter
     private Slides slides;
 
-    GamepadEx controller2 = new GamepadEx(gamepad2);
-    GamepadEx controller1 = new GamepadEx(gamepad1);
+//    GamepadEx controller2 = new GamepadEx(gamepad2);
+//    GamepadEx controller1 = new GamepadEx(gamepad1);
 
 
     public Robot init(HardwareMap hardwareMap) {
@@ -326,7 +325,7 @@ public class Robot {
     public void pickupMacro(GamepadEx gamepadEx, double runtime) {
         switch (pickupMacroState) {
             case IDLE:
-                if (controller2.wasJustPressed(GamepadKeys.Button.DPAD_DOWN)){
+                if (gamepadEx.wasJustPressed(GamepadKeys.Button.DPAD_DOWN)){
                     pickupMacroState = pickupMacroStates.OPEN;
                 }
                 break;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java
index 63d42a6..d5ea3cc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java
@@ -16,8 +16,8 @@ public class MainTeleOp extends OpMode {
         this.robot = new Robot().init(hardwareMap);
     }
 
-    GamepadEx controller2 = new GamepadEx(gamepad2);
-    GamepadEx controller1 = new GamepadEx(gamepad1);
+    GamepadEx controller2 = new GamepadEx(this.gamepad2);
+    GamepadEx controller1 = new GamepadEx(this.gamepad1);
 
 
     public void loop() {
@@ -28,7 +28,7 @@ public class MainTeleOp extends OpMode {
 //        boolean hangPlane = gamepad2.y;
 //        boolean plane = gamepad2.dpad_right;
 //Drive
-        robot.getDrive().setInput(controller1, controller2);
+        robot.getDrive().setInput(this.controller1, this.controller2);
 //slides
 //        if (slideUp) {
 //            this.robot.getSlides().slideUp();