diff --git a/src/main/java/frc/robot/drive/Drivebase.java b/src/main/java/frc/robot/drive/Drivebase.java
index 063c0b0..db44978 100644
--- a/src/main/java/frc/robot/drive/Drivebase.java
+++ b/src/main/java/frc/robot/drive/Drivebase.java
@@ -35,8 +35,6 @@ public Drivebase(
       default:
         throw new UnknownTargetRobotException();
     }
-
-    zeroEncoders();
   }
 
   @Override
@@ -73,11 +71,4 @@ public void setWheelSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
   public void stopMotors() {
     setWheelSpeeds(new MecanumDriveWheelSpeeds());
   }
-
-  public void zeroEncoders() {
-    frontLeft.zeroEncoder();
-    frontRight.zeroEncoder();
-    rearLeft.zeroEncoder();
-    rearRight.zeroEncoder();
-  }
 }
diff --git a/src/main/java/frc/robot/drive/Wheel.java b/src/main/java/frc/robot/drive/Wheel.java
index 79cb2e0..26788a7 100644
--- a/src/main/java/frc/robot/drive/Wheel.java
+++ b/src/main/java/frc/robot/drive/Wheel.java
@@ -135,9 +135,4 @@ public double getVelocity() {
   public double getDistance() {
     return WHEEL_CONVERTER.radiansToDistance(inputs.positionRadians);
   }
-
-  /** Zeroes the encoder position. */
-  public void zeroEncoder() {
-    io.zeroEncoder();
-  }
 }
diff --git a/src/main/java/frc/robot/drive/WheelIO.java b/src/main/java/frc/robot/drive/WheelIO.java
index f204a0a..00373f0 100644
--- a/src/main/java/frc/robot/drive/WheelIO.java
+++ b/src/main/java/frc/robot/drive/WheelIO.java
@@ -36,7 +36,4 @@ public void fromLog(LogTable table) {
 
   /** Sets the output voltage of the wheel's motor. */
   public void setVoltage(double outputVolts);
-
-  /** Zeroes the encoder position. */
-  public void zeroEncoder();
 }
diff --git a/src/main/java/frc/robot/drive/WheelIOFalcon500.java b/src/main/java/frc/robot/drive/WheelIOFalcon500.java
index 273b79d..6228d92 100644
--- a/src/main/java/frc/robot/drive/WheelIOFalcon500.java
+++ b/src/main/java/frc/robot/drive/WheelIOFalcon500.java
@@ -104,9 +104,4 @@ public void updateInputs(Inputs inputs) {
   public void setVoltage(double outputVolts) {
     motor.setVoltage(outputVolts);
   }
-
-  @Override
-  public void zeroEncoder() {
-    motor.setSelectedSensorPosition(0);
-  }
 }
diff --git a/src/main/java/frc/robot/drive/WheelIOReplay.java b/src/main/java/frc/robot/drive/WheelIOReplay.java
index dae2a05..a50ed88 100644
--- a/src/main/java/frc/robot/drive/WheelIOReplay.java
+++ b/src/main/java/frc/robot/drive/WheelIOReplay.java
@@ -18,9 +18,4 @@ public void updateInputs(Inputs inputs) {
   public void setVoltage(double outputVolts) {
     // Intentionally left empty
   }
-
-  @Override
-  public void zeroEncoder() {
-    // Intentionally left empty
-  }
 }