diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index 95d18d3..6ff791e 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -15,17 +15,19 @@
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
 apply plugin: 'org.jetbrains.kotlin.android'
-apply plugin: 'org.team11260.fast-load-plugin'
+//apply plugin: 'org.team11260.fast-load-plugin'
 
 buildscript {
     repositories {
         mavenCentral()
-        maven { url = 'https://www.matthewo.tech/maven/' }
+
+        maven {
+            url = 'https://www.matthewo.tech/maven/'
+        }
     }
     dependencies {
         classpath 'org.team11260:fast-load-plugin:0.1.1'
-    }
-}
+    }}
 
 repositories {
     maven {
diff --git a/TeamCode/src/main/cpp/CMakeLists.txt b/TeamCode/src/main/cpp/CMakeLists.txt
deleted file mode 100644
index b7ee074..0000000
--- a/TeamCode/src/main/cpp/CMakeLists.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cmake_minimum_required(VERSION 3.10)
-
-set(CMAKE_DEBUG_POSTFIX "")
-set(BUILD_SHARED_LIBS ON)
-set(BUILD_TESTS ON)
-set(LIB_DIR ${CMAKE_SOURCE_DIR}/opencv/libs/${ANDROID_ABI})
-
-# OpenCV
-include_directories(
-        ${CMAKE_CURRENT_LIST_DIR}/main/libs/opencv/jni/include
-)
-
-add_library(opencv-lib SHARED IMPORTED)
-set_target_properties(opencv-lib
-        PROPERTIES IMPORTED_LOCATION
-        ${LIB_DIR}/libopencv_java4.so
-)
-
-
-# Add depthai-core
-
-add_subdirectory(depthai-core EXCLUDE_FROM_ALL)
-project("GDOats")
-
-# add lib-usb
-add_subdirectory(libusb)
-
-add_library(
-        GDOats
-        SHARED
-        main.cpp
-)
-
-
-
-find_library(
-        log-lib
-        log
-)
-
-target_link_libraries(
-        GDOats
-        opencv-lib
-        depthai::opencv
-        usb-1.0
-        ${log-lib}
-)
\ No newline at end of file
diff --git a/TeamCode/src/main/cpp/depthai-core b/TeamCode/src/main/cpp/depthai-core
deleted file mode 160000
index bcd7a0e..0000000
--- a/TeamCode/src/main/cpp/depthai-core
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit bcd7a0e258a264f93ad249acf248bbc8ee617746
diff --git a/TeamCode/src/main/cpp/libusb b/TeamCode/src/main/cpp/libusb
deleted file mode 160000
index 4588ef9..0000000
--- a/TeamCode/src/main/cpp/libusb
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 4588ef91e7b9c5fec71a88bbd94abc04040bcc5b
diff --git a/TeamCode/src/main/cpp/main.cpp b/TeamCode/src/main/cpp/main.cpp
deleted file mode 100644
index c919650..0000000
--- a/TeamCode/src/main/cpp/main.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#include <jni.h>
-#include <string>
-#include <iostream>
-
-#include "depthai/depthai.hpp"
-#include "opencv2/opencv.hpp"
-#include <libusb.h>
-#include <android/log.h>
-
-#define LOG_TAG "depthaiAndroid"
-#define log(...) __android_log_print(ANDROID_LOG_INFO,LOG_TAG, __VA_ARGS__)
-
-std::shared_ptr<dai::Device> device;
-std::string AprilTagCode;
-
-extern "C" JNIEXPORT jstring JNICALL
-Java_org_firstinspires_ftc_teamcode_Oak_CameraPreview_OakPrint(JNIEnv *env, jobject obj) {
-    std::string hello = AprilTagCode;
-    return env->NewStringUTF(hello.c_str());
-}
-
-extern "C" JNIEXPORT jstring JNICALL
-Java_org_firstinspires_ftc_teamcode_Oak_CameraPreview_startDevice(JNIEnv *env, jobject) {
-
-    auto r = libusb_set_option(nullptr, LIBUSB_OPTION_ANDROID_JNIENV, env);
-    log("libusb_set_option ANDROID_JAVAVM: %s", libusb_strerror(r));
-
-    std::string ret;
-    dai::Pipeline pipeline;
-
-    try {
-        dai::BoardConfig config;
-        config.usb.pid = 0xf63b;
-        pipeline.setBoardConfig(config);
-
-        auto deviceInfoVec = dai::Device::getAllAvailableDevices();
-        dai::Device device(pipeline, deviceInfoVec[0], dai::UsbSpeed::SUPER);
-
-        //device.startPipeline(pipeline);
-    } catch (const std::exception& e) {
-        log("Oak-1 Failed: %s", e.what());
-        ret = e.what();
-    }
-    return env->NewStringUTF(ret.c_str());
-}
\ No newline at end of file
diff --git a/TeamCode/src/main/cpp/opencv b/TeamCode/src/main/cpp/opencv
deleted file mode 160000
index 6c57ce9..0000000
--- a/TeamCode/src/main/cpp/opencv
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 6c57ce9e09011763a973234f2e6d8acfe2984e1a
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/Diagnostic.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/Diagnostic.kt
index b577c4f..e1fc5f9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/Diagnostic.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/Diagnostic.kt
@@ -35,10 +35,10 @@ class Diagnostic : LinearOpMode() {
 
     private fun testCircleDrive() {
         val traj = mecDrive.trajectoryBuilder(Pose2d())
-                .splineTo(Vector2d(strafeLength, strafeLength), Math.toRadians(90.0))
-                .splineTo(Vector2d(0.0, 2 * strafeLength), Math.toRadians(180.0))
-                .splineTo(Vector2d(-strafeLength, strafeLength), Math.toRadians(270.0))
-                .splineTo(Vector2d(0.0, 0.0), 0.0).build()
+            .splineTo(Vector2d(strafeLength, strafeLength), Math.toRadians(90.0))
+            .splineTo(Vector2d(0.0, 2 * strafeLength), Math.toRadians(180.0))
+            .splineTo(Vector2d(-strafeLength, strafeLength), Math.toRadians(270.0))
+            .splineTo(Vector2d(0.0, 0.0), 0.0).build()
 
         this.telemetry.addLine("TEST: Circle Drive")
         mecDrive.followTrajectory(traj)
@@ -49,16 +49,16 @@ class Diagnostic : LinearOpMode() {
     }
 
     private fun testSquareStrafe() {
-        val traj = mecDrive.trajectoryBuilder(mecDrive.poseEstimate)
-                .forward(strafeLength)
-                .strafeLeft(strafeLength)
-                .back(strafeLength)
-                .strafeRight(strafeLength)
-                .build()
+        val traj = mecDrive.trajectorySequenceBuilder(Pose2d(0.0,0.0,0.0))
+            .forward(strafeLength)
+            .strafeLeft(strafeLength)
+            .back(strafeLength)
+            .strafeRight(strafeLength)
+            .build()
 
         this.telemetry.addLine("TEST: Square Strafe")
         this.telemetry.update()
-        mecDrive.followTrajectory(traj)
+        mecDrive.followTrajectorySequence(traj)
         while (mecDrive.isBusy) {
             sleep(20)
         }