diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt
deleted file mode 100644
index 00b49039..00000000
--- a/src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.team4099.robot2023.config.constants
-
-import org.team4099.lib.units.base.amps
-import org.team4099.lib.units.derived.volts
-
-object IntakeConstants {
-    val ROLLER_INERTIA = 0.002459315 // this one has been updated
-    val VOLTAGE_COMPENSATION = 12.0.volts
-
-  // TODO: Change gear ratio according to robot
-  val ROLLER_CURRENT_LIMIT = 50.0.amps
-  const val ROLLER_MOTOR_INVERTED = true
-  const val ROLLER_GEAR_RATIO = 24.0 / 12.0 // this one has been updated
-
-  // TODO: Update value
-  val IDLE_ROLLER_VOLTAGE = 2.0.volts
-}
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt
deleted file mode 100644
index e69de29b..00000000
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIO.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIO.kt
deleted file mode 100644
index e69de29b..00000000
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIONEO.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIONEO.kt
deleted file mode 100644
index e69de29b..00000000
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIOSim.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIOSim.kt
deleted file mode 100644
index e69de29b..00000000
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt
index 0f144610..200f125b 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt
@@ -17,52 +17,6 @@ import org.team4099.lib.units.perSecond
 
 sealed interface Request {
 
-  sealed interface SuperstructureRequest : Request {
-    class Idle() : SuperstructureRequest
-    class Home() : SuperstructureRequest
-
-    class GroundIntakeCube() : SuperstructureRequest
-    class GroundIntakeCone() : SuperstructureRequest
-
-    class EjectGamePiece() : SuperstructureRequest
-
-    class DoubleSubstationIntakePrep(val gamePiece: GamePiece) : SuperstructureRequest
-    class SingleSubstationIntakePrep(val gamePiece: GamePiece) : SuperstructureRequest
-
-    class DoubleSubstationIntake() : SuperstructureRequest
-    class SingleSubstationIntake(val gamePiece: GamePiece) : SuperstructureRequest
-
-    class PrepScore(val gamePiece: GamePiece, val nodeTier: NodeTier) : SuperstructureRequest
-
-    class Score() : SuperstructureRequest
-
-    class Tuning() : SuperstructureRequest
-  }
-
-  // Implements RequestStructure to ensure standardized structure
-  sealed interface ManipulatorRequest : Request {
-    class TargetingPosition(val position: Length, val rollerVoltage: ElectricalPotential) :
-      ManipulatorRequest
-    class OpenLoop(val voltage: ElectricalPotential, val rollerVoltage: ElectricalPotential) :
-      ManipulatorRequest
-    class Home() : ManipulatorRequest
-  }
-
-  sealed interface ElevatorRequest : Request {
-    class TargetingPosition(
-      val position: Length,
-      val finalVelocity: LinearVelocity = 0.0.inches.perSecond,
-      val canContinueBuffer: Length = 5.0.inches
-    ) : ElevatorRequest
-    class OpenLoop(val voltage: ElectricalPotential) : ElevatorRequest
-    class Home : ElevatorRequest
-  }
-
-  sealed interface IntakeRequest : Request {
-    class OpenLoop(val rollerVoltage: ElectricalPotential) : IntakeRequest
-    class Idle() : IntakeRequest
-  }
-
   sealed interface DrivetrainRequest : Request {
     class OpenLoop(
       val angularVelocity: AngularVelocity,