diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt
index 5b3bcfd..b2dbc64 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt
@@ -1,9 +1,7 @@
 package org.firstinspires.ftc.teamcode.opmode.autonomous
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
-import com.qualcomm.robotcore.eventloop.opmode.Disabled
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
-import org.firstinspires.ftc.teamcode.api.Drone
 import org.firstinspires.ftc.teamcode.api.Telemetry
 import org.firstinspires.ftc.teamcode.api.TriWheels
 import org.firstinspires.ftc.teamcode.api.linear.Encoders
@@ -11,18 +9,16 @@ import org.firstinspires.ftc.teamcode.utils.RobotConfig
 import org.firstinspires.ftc.teamcode.utils.Team
 
 abstract class AutoMain : LinearOpMode() {
-    abstract val config: Config
+    abstract val team: Team
 
     /** The axis the robot should move along. */
     private val forward =
         when (RobotConfig.model) {
+            RobotConfig.Model.MiniRobot -> Encoders.Direction.Red
             RobotConfig.Model.RobotA -> Encoders.Direction.Blue
             RobotConfig.Model.RobotB -> Encoders.Direction.Red
         }
 
-    /** How many inches the robot is from the starting tile */
-    private val startingOffset = 2.0
-
     /** The length and width of a tile in inches. */
     private val tileSize = 24.0
 
@@ -30,7 +26,6 @@ abstract class AutoMain : LinearOpMode() {
         Telemetry.init(this)
         TriWheels.init(this)
         Encoders.init(this)
-        Drone.init(this)
 
         Telemetry.sayInitialized()
 
@@ -53,94 +48,25 @@ abstract class AutoMain : LinearOpMode() {
      * A utility that returns the value correlating to the configured team.
      *
      * It is a lot easier to understand by reading the code than explaining it here.
-     *
-     * @see pickParkPos
      */
     private fun <T> pickTeam(
         red: T,
         blue: T,
     ): T =
-        when (config.team) {
+        when (team) {
             Team.Red -> red
             Team.Blue -> blue
         }
 
-    /**
-     * A utility that returns the value correlating to the configured parking position.
-     *
-     * It is a lot easier to understand by reading the code than explaining it here.
-     *
-     * @see pickTeam
-     */
-    private fun <T> pickParkPos(
-        left: T,
-        right: T,
-    ): T =
-        when (config.parkPos) {
-            ParkPos.LeftOfBackdrop -> left
-            ParkPos.RightOfBackdrop -> right
-        }
-
-    data class Config(val team: Team, val startPos: StartPos, val parkPos: ParkPos)
-
-    enum class StartPos {
-        BackStage,
-        FrontStage,
-    }
-
-    enum class ParkPos {
-        LeftOfBackdrop,
-        RightOfBackdrop,
-    }
-}
-
-// Matrix of run configurations
-// {Red,Blue}{Front,Back}{Left,Right}
-
-@Autonomous(name = "AutoMain - RedFrontLeft")
-@Disabled
-class AutoMainRedFrontLeft : AutoMain() {
-    override val config = Config(Team.Red, StartPos.FrontStage, ParkPos.LeftOfBackdrop)
-}
-
-@Autonomous(name = "AutoMain - BlueFrontLeft")
-@Disabled
-class AutoMainBlueFrontLeft : AutoMain() {
-    override val config = Config(Team.Blue, StartPos.FrontStage, ParkPos.LeftOfBackdrop)
-}
-
-@Autonomous(name = "AutoMain - RedBackLeft")
-@Disabled
-class AutoMainRedBackLeft : AutoMain() {
-    override val config = Config(Team.Red, StartPos.BackStage, ParkPos.LeftOfBackdrop)
-}
-
-@Autonomous(name = "AutoMain - BlueBackLeft")
-@Disabled
-class AutoMainBlueBackLeft : AutoMain() {
-    override val config = Config(Team.Blue, StartPos.BackStage, ParkPos.LeftOfBackdrop)
-}
-
-@Autonomous(name = "AutoMain - RedFrontRight")
-@Disabled
-class AutoMainRedFrontRight : AutoMain() {
-    override val config = Config(Team.Red, StartPos.FrontStage, ParkPos.RightOfBackdrop)
-}
-
-@Autonomous(name = "AutoMain - BlueFrontRight")
-@Disabled
-class AutoMainBlueFrontRight : AutoMain() {
-    override val config = Config(Team.Blue, StartPos.FrontStage, ParkPos.RightOfBackdrop)
+    data class Config(val team: Team)
 }
 
-@Autonomous(name = "AutoMain - RedBackRight")
-@Disabled
-class AutoMainRedBackRight : AutoMain() {
-    override val config = Config(Team.Red, StartPos.BackStage, ParkPos.RightOfBackdrop)
+@Autonomous(name = "AutoMain - Red")
+class AutoMainRed : AutoMain() {
+    override val team = Team.Red
 }
 
-@Autonomous(name = "AutoMain - BlueBackRight")
-@Disabled
-class AutoMainBlueBackRight : AutoMain() {
-    override val config = Config(Team.Blue, StartPos.BackStage, ParkPos.RightOfBackdrop)
+@Autonomous(name = "AutoMain - Blue")
+class AutoMainBlue : AutoMain() {
+    override val team = Team.Blue
 }