diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index 29722e4..e340354 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -11,13 +11,8 @@
 #include "frc971/autonomous/auto.q.h"
 #include "frc971/constants.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/shooter/shooter.q.h"
-#include "frc971/control_loops/claw/claw.q.h"
 #include "frc971/actions/action_client.h"
-#include "frc971/actions/shoot_action.h"
 #include "frc971/actions/drivetrain_action.h"
-#include "frc971/queues/other_sensors.q.h"
-#include "frc971/queues/hot_goal.q.h"
 
 using ::aos::time::Time;
 
@@ -102,64 +97,6 @@
   LOG(INFO, "Done moving\n");
 }
 
-void PositionClawVertically(double intake_power = 0.0, double centering_power = 0.0) {
-  if (!control_loops::claw_queue_group.goal.MakeWithBuilder()
-           .bottom_angle(0.0)
-           .separation_angle(0.0)
-           .intake(intake_power)
-           .centering(centering_power)
-           .Send()) {
-    LOG(WARNING, "sending claw goal failed\n");
-  }
-}
-
-void PositionClawBackIntake() {
-  if (!control_loops::claw_queue_group.goal.MakeWithBuilder()
-           .bottom_angle(-2.273474)
-           .separation_angle(0.0)
-           .intake(12.0)
-           .centering(12.0)
-           .Send()) {
-    LOG(WARNING, "sending claw goal failed\n");
-  }
-}
-
-void PositionClawUpClosed() {
-  // Move the claw to where we're going to shoot from but keep it closed until
-  // it gets there.
-  if (!control_loops::claw_queue_group.goal.MakeWithBuilder()
-           .bottom_angle(0.86)
-           .separation_angle(0.0)
-           .intake(4.0)
-           .centering(1.0)
-           .Send()) {
-    LOG(WARNING, "sending claw goal failed\n");
-  }
-}
-
-void PositionClawForShot() {
-  if (!control_loops::claw_queue_group.goal.MakeWithBuilder()
-           .bottom_angle(0.86)
-           .separation_angle(0.10)
-           .intake(4.0)
-           .centering(1.0)
-           .Send()) {
-    LOG(WARNING, "sending claw goal failed\n");
-  }
-}
-
-void SetShotPower(double power) {
-  LOG(INFO, "Setting shot power to %f\n", power);
-  if (!control_loops::shooter_queue_group.goal.MakeWithBuilder()
-           .shot_power(power)
-           .shot_requested(false)
-           .unload_requested(false)
-           .load_requested(false)
-           .Send()) {
-    LOG(WARNING, "sending shooter goal failed\n");
-  }
-}
-
 void WaitUntilDoneOrCanceled(Action *action) {
   while (true) {
     // Poll the running bit and auto done bits.
@@ -170,13 +107,6 @@
   }
 }
 
-void Shoot() {
-  // Shoot.
-  auto shoot_action = actions::MakeShootAction();
-  shoot_action->Start();
-  WaitUntilDoneOrCanceled(shoot_action.get());
-}
-
 ::std::unique_ptr<TypedAction< ::frc971::actions::DrivetrainActionQueueGroup>>
 SetDriveGoal(double distance, bool slow_acceleration,
              double maximum_velocity = 1.7, double theta = 0) {
@@ -211,314 +141,14 @@
 
 }
 
-void WaitUntilClawDone() {
-  while (true) {
-    // Poll the running bit and auto done bits.
-    ::aos::time::PhasedLoop10MS(5000);
-    control_loops::claw_queue_group.status.FetchLatest();
-    control_loops::claw_queue_group.goal.FetchLatest();
-    if (ShouldExitAuto()) {
-      return;
-    }
-    if (control_loops::claw_queue_group.status.get() == nullptr ||
-        control_loops::claw_queue_group.goal.get() == nullptr) {
-      continue;
-    }
-    bool ans =
-        control_loops::claw_queue_group.status->zeroed &&
-        (::std::abs(control_loops::claw_queue_group.status->bottom_velocity) <
-         1.0) &&
-        (::std::abs(control_loops::claw_queue_group.status->bottom -
-                    control_loops::claw_queue_group.goal->bottom_angle) <
-         0.10) &&
-        (::std::abs(control_loops::claw_queue_group.status->separation -
-                    control_loops::claw_queue_group.goal->separation_angle) <
-         0.4);
-    if (ans) {
-      return;
-    }
-  }
-}
-
-class HotGoalDecoder {
- public:
-  HotGoalDecoder() {
-    ResetCounts();
-  }
-
-  void ResetCounts() {
-    hot_goal.FetchLatest();
-    if (hot_goal.get()) {
-      start_counts_ = *hot_goal;
-      LOG_STRUCT(INFO, "counts reset to", start_counts_);
-      start_counts_valid_ = true;
-    } else {
-      LOG(WARNING, "no hot goal message. ignoring\n");
-      start_counts_valid_ = false;
-    }
-  }
-
-  void Update(bool block = false) {
-    if (block) {
-      hot_goal.FetchAnother();
-    } else {
-      hot_goal.FetchLatest();
-    }
-    if (hot_goal.get()) LOG_STRUCT(INFO, "new counts", *hot_goal);
-  }
-
-  bool left_triggered() const {
-    if (!start_counts_valid_ || !hot_goal.get()) return false;
-    return (hot_goal->left_count - start_counts_.left_count) > kThreshold;
-  }
-
-  bool right_triggered() const {
-    if (!start_counts_valid_ || !hot_goal.get()) return false;
-    return (hot_goal->right_count - start_counts_.right_count) > kThreshold;
-  }
-
-  bool is_left() const {
-    if (!start_counts_valid_ || !hot_goal.get()) return false;
-    const uint64_t left_difference =
-        hot_goal->left_count - start_counts_.left_count;
-    const uint64_t right_difference =
-        hot_goal->right_count - start_counts_.right_count;
-    if (left_difference > kThreshold) {
-      if (right_difference > kThreshold) {
-        // We've seen a lot of both, so pick the one we've seen the most of.
-        return left_difference > right_difference;
-      } else {
-        // We've seen enough left but not enough right, so go with it.
-        return true;
-      }
-    } else {
-      // We haven't seen enough left, so it's not left.
-      return false;
-    }
-  }
-
-  bool is_right() const {
-    if (!start_counts_valid_ || !hot_goal.get()) return false;
-    const uint64_t left_difference =
-        hot_goal->left_count - start_counts_.left_count;
-    const uint64_t right_difference =
-        hot_goal->right_count - start_counts_.right_count;
-    if (right_difference > kThreshold) {
-      if (left_difference > kThreshold) {
-        // We've seen a lot of both, so pick the one we've seen the most of.
-        return right_difference > left_difference;
-      } else {
-        // We've seen enough right but not enough left, so go with it.
-        return true;
-      }
-    } else {
-      // We haven't seen enough right, so it's not right.
-      return false;
-    }
-  }
-
- private:
-  static const uint64_t kThreshold = 5;
-
-  ::frc971::HotGoal start_counts_;
-  bool start_counts_valid_;
-};
-
 void HandleAuto() {
-  enum class AutoVersion : uint8_t {
-    kStraight,
-    kDoubleHot,
-    kSingleHot,
-  };
-
-  // The front of the robot is 1.854 meters from the wall
-  static const double kShootDistance = 3.15;
-  static const double kPickupDistance = 0.5;
-  static const double kTurnAngle = 0.3;
-
   ::aos::time::Time start_time = ::aos::time::Time::Now();
-  LOG(INFO, "Handling auto mode\n");
-
-  AutoVersion auto_version;
-  ::frc971::sensors::auto_mode.FetchLatest();
-  if (!::frc971::sensors::auto_mode.get()) {
-    LOG(WARNING, "not sure which auto mode to use\n");
-    auto_version = AutoVersion::kStraight;
-  } else {
-    static const double kSelectorMin = 0.2, kSelectorMax = 4.4;
-
-    const double kSelectorStep = (kSelectorMax - kSelectorMin) / 3.0;
-    if (::frc971::sensors::auto_mode->voltage < kSelectorStep + kSelectorMin) {
-      auto_version = AutoVersion::kSingleHot;
-    } else if (::frc971::sensors::auto_mode->voltage <
-               2 * kSelectorStep + kSelectorMin) {
-      auto_version = AutoVersion::kStraight;
-    } else {
-      auto_version = AutoVersion::kDoubleHot;
-    }
-  }
-  LOG(INFO, "running auto %" PRIu8 "\n", static_cast<uint8_t>(auto_version));
-
-  const bool drive_slow_acceleration = auto_version == AutoVersion::kStraight;
-
-  HotGoalDecoder hot_goal_decoder;
-  // True for left, false for right.
-  bool first_shot_left, second_shot_left_default, second_shot_left;
+  LOG(INFO, "Handling auto mode at %f\n", start_time.ToSeconds());
 
   ResetDrivetrain();
 
   if (ShouldExitAuto()) return;
   InitializeEncoders();
-
-  // Turn the claw on, keep it straight up until the ball has been grabbed.
-  LOG(INFO, "Claw going up at %f\n",
-      (::aos::time::Time::Now() - start_time).ToSeconds());
-  PositionClawVertically(12.0, 4.0);
-  SetShotPower(115.0);
-
-  // Wait for the ball to enter the claw.
-  time::SleepFor(time::Time::InSeconds(0.25));
-  if (ShouldExitAuto()) return;
-  LOG(INFO, "Readying claw for shot at %f\n",
-      (::aos::time::Time::Now() - start_time).ToSeconds());
-
-  {
-    if (ShouldExitAuto()) return;
-    // Drive to the goal.
-    auto drivetrain_action = SetDriveGoal(-kShootDistance,
-                                          drive_slow_acceleration, 2.5);
-    time::SleepFor(time::Time::InSeconds(0.75));
-    PositionClawForShot();
-    LOG(INFO, "Waiting until drivetrain is finished\n");
-    WaitUntilDoneOrCanceled(drivetrain_action.get());
-    if (ShouldExitAuto()) return;
-  }
-
-  hot_goal_decoder.Update();
-  if (hot_goal_decoder.is_left()) {
-    LOG(INFO, "first shot left\n");
-    first_shot_left = true;
-    second_shot_left_default = false;
-  } else if (hot_goal_decoder.is_right()) {
-    LOG(INFO, "first shot right\n");
-    first_shot_left = false;
-    second_shot_left_default = true;
-  } else {
-    LOG(INFO, "first shot defaulting left\n");
-    first_shot_left = true;
-    second_shot_left_default = true;
-  }
-  if (auto_version == AutoVersion::kDoubleHot) {
-    if (ShouldExitAuto()) return;
-    auto drivetrain_action =
-        SetDriveGoal(0, drive_slow_acceleration, 2,
-                     first_shot_left ? kTurnAngle : -kTurnAngle);
-    WaitUntilDoneOrCanceled(drivetrain_action.get());
-    if (ShouldExitAuto()) return;
-  } else if (auto_version == AutoVersion::kSingleHot) {
-    do {
-      // TODO(brians): Wait for next message with timeout or something.
-      ::aos::time::SleepFor(::aos::time::Time::InSeconds(0.003));
-      hot_goal_decoder.Update(false);
-      if (ShouldExitAuto()) return;
-    } while (!hot_goal_decoder.left_triggered() &&
-             (::aos::time::Time::Now() - start_time) <
-                 ::aos::time::Time::InSeconds(9));
-  } else if (auto_version == AutoVersion::kStraight) {
-    time::SleepFor(time::Time::InSeconds(0.4));
-  }
-
-  // Shoot.
-  LOG(INFO, "Shooting at %f\n",
-      (::aos::time::Time::Now() - start_time).ToSeconds());
-  Shoot();
-  time::SleepFor(time::Time::InSeconds(0.05));
-
-  if (auto_version == AutoVersion::kDoubleHot) {
-    if (ShouldExitAuto()) return;
-    auto drivetrain_action =
-        SetDriveGoal(0, drive_slow_acceleration, 2,
-                     first_shot_left ? -kTurnAngle : kTurnAngle);
-    WaitUntilDoneOrCanceled(drivetrain_action.get());
-    if (ShouldExitAuto()) return;
-  } else if (auto_version == AutoVersion::kSingleHot) {
-    LOG(INFO, "auto done at %f\n",
-        (::aos::time::Time::Now() - start_time).ToSeconds());
-    PositionClawVertically(0.0, 0.0);
-    return;
-  }
-  
-  {
-    if (ShouldExitAuto()) return;
-    // Intake the new ball.
-    LOG(INFO, "Claw ready for intake at %f\n",
-        (::aos::time::Time::Now() - start_time).ToSeconds());
-    PositionClawBackIntake();
-    auto drivetrain_action =
-        SetDriveGoal(kShootDistance + kPickupDistance,
-                     drive_slow_acceleration, 2.5);
-    LOG(INFO, "Waiting until drivetrain is finished\n");
-    WaitUntilDoneOrCanceled(drivetrain_action.get());
-    if (ShouldExitAuto()) return;
-    LOG(INFO, "Wait for the claw at %f\n",
-        (::aos::time::Time::Now() - start_time).ToSeconds());
-    WaitUntilClawDone();
-    if (ShouldExitAuto()) return;
-  }
-
-  // Drive back.
-  {
-    LOG(INFO, "Driving back at %f\n",
-        (::aos::time::Time::Now() - start_time).ToSeconds());
-    auto drivetrain_action =
-        SetDriveGoal(-(kShootDistance + kPickupDistance),
-                     drive_slow_acceleration, 2.5);
-    time::SleepFor(time::Time::InSeconds(0.3));
-    hot_goal_decoder.ResetCounts();
-    if (ShouldExitAuto()) return;
-    PositionClawUpClosed();
-    WaitUntilClawDone();
-    if (ShouldExitAuto()) return;
-    PositionClawForShot();
-    LOG(INFO, "Waiting until drivetrain is finished\n");
-    WaitUntilDoneOrCanceled(drivetrain_action.get());
-    if (ShouldExitAuto()) return;
-    WaitUntilClawDone();
-    if (ShouldExitAuto()) return;
-  }
-
-  hot_goal_decoder.Update();
-  if (hot_goal_decoder.is_left()) {
-    LOG(INFO, "second shot left\n");
-    second_shot_left = true;
-  } else if (hot_goal_decoder.is_right()) {
-    LOG(INFO, "second shot right\n");
-    second_shot_left = false;
-  } else {
-    LOG(INFO, "second shot defaulting %s\n",
-        second_shot_left_default ? "left" : "right");
-    second_shot_left = second_shot_left_default;
-  }
-  if (auto_version == AutoVersion::kDoubleHot) {
-    if (ShouldExitAuto()) return;
-    auto drivetrain_action =
-        SetDriveGoal(0, drive_slow_acceleration, 2,
-                     second_shot_left ? kTurnAngle : -kTurnAngle);
-    WaitUntilDoneOrCanceled(drivetrain_action.get());
-    if (ShouldExitAuto()) return;
-  } else if (auto_version == AutoVersion::kStraight) {
-    time::SleepFor(time::Time::InSeconds(0.4));
-  }
-
-  LOG(INFO, "Shooting at %f\n",
-      (::aos::time::Time::Now() - start_time).ToSeconds());
-  // Shoot
-  Shoot();
-  if (ShouldExitAuto()) return;
-
-  // Get ready to zero when we come back up.
-  time::SleepFor(time::Time::InSeconds(0.05));
-  PositionClawVertically(0.0, 0.0);
 }
 
 }  // namespace autonomous