diff --git a/bot3/input/gyro_board_data.h b/bot3/input/gyro_board_data.h
deleted file mode 100644
index a3b60e5..0000000
--- a/bot3/input/gyro_board_data.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef BOT3_INPUT_GYRO_BOARD_DATA_H_
-#define BOT3_INPUT_GYRO_BOARD_DATA_H_
-
-#include "aos/common/byteorder.h"
-
-namespace bot3 {
-
-// The struct that the gyro board sends out with all of the data in it.
-struct GyroBoardData {
-	int64_t gyro_angle;
-
-	int32_t left_drive;
-	int32_t right_drive;
-	int32_t shooter_angle;
-	int32_t shooter;
-
-	int32_t capture_top_rise;
-	int32_t capture_top_fall;
-	int32_t capture_bottom_fall_delay;
-
-	uint8_t top_rise_count;
-
-	uint8_t top_fall_count;
-
-	uint8_t bottom_rise_count;
-
-	uint8_t bottom_fall_delay_count;
-	uint8_t bottom_fall_count;
-
-  union {
-    struct {
-      uint8_t top_disc : 1;
-      uint8_t bottom_disc : 1;
-    };
-    uint32_t digitals;
-  };
-
-  void NetworkToHost() {
-    // Apparently it sends the information out in little endian.
-#if 0
-    using ::aos::ntoh;
-
-    gyro_angle = ntoh(gyro_angle);
-
-    right_drive = ntoh(right_drive);
-    left_drive = ntoh(left_drive);
-    shooter_angle = ntoh(shooter_angle);
-    shooter = ntoh(shooter);
-    indexer = ntoh(indexer);
-    wrist = ntoh(wrist);
-
-    capture_top_rise = ntoh(capture_top_rise);
-    capture_top_fall = ntoh(capture_top_fall);
-    capture_bottom_fall_delay = ntoh(capture_bottom_fall_delay);
-    capture_wrist_rise = ntoh(capture_wrist_rise);
-    capture_shooter_angle_rise = ntoh(capture_shooter_angle_rise);
-
-    digitals = ntoh(digitals);
-#endif
-  }
-} __attribute__((__packed__));
-
-}  // namespace bot3
-
-#endif  // BOT3_INPUT_GYRO_BOARD_DATA_H_
diff --git a/bot3/input/gyro_sensor_receiver.cc b/bot3/input/gyro_sensor_receiver.cc
index 625df57..add717f 100644
--- a/bot3/input/gyro_sensor_receiver.cc
+++ b/bot3/input/gyro_sensor_receiver.cc
@@ -49,6 +49,10 @@
     gyro.MakeWithBuilder()
         .angle(data()->gyro_angle / 16.0 / 1000.0 / 180.0 * M_PI)
         .Send();
+    
+    LOG(INFO, "Got encoder data: %lf, %lf\n",
+        drivetrain_translate(data()->main.right_drive),
+        drivetrain_translate(data()->main.left_drive));
 
     drivetrain.position.MakeWithBuilder()
         .right_encoder(drivetrain_translate(data()->main.right_drive))