diff --git a/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc
index cefb1cf..e6d2bc2 100644
--- a/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -36,7 +36,9 @@
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
       true,
-      0.0};
+      0.0,
+      0.25,
+      1.0};
 
   return kDrivetrainConfig;
 };
diff --git a/y2016_bot3/control_loops/drivetrain/drivetrain_base.h b/y2016_bot3/control_loops/drivetrain/drivetrain_base.h
index d6a041e..280d1c5 100644
--- a/y2016_bot3/control_loops/drivetrain/drivetrain_base.h
+++ b/y2016_bot3/control_loops/drivetrain/drivetrain_base.h
@@ -8,7 +8,6 @@
 static constexpr double drivetrain_max_speed = 5.0;
 
 // The ratio from the encoder shaft to the drivetrain wheels.
-// TODO(constants): Update these.
 static constexpr double kDrivetrainEncoderRatio = 1.0;
 
 }  // namespace constants
diff --git a/y2016_bot3/control_loops/intake/intake.cc b/y2016_bot3/control_loops/intake/intake.cc
index 5320cd5..d3d288b 100644
--- a/y2016_bot3/control_loops/intake/intake.cc
+++ b/y2016_bot3/control_loops/intake/intake.cc
@@ -33,28 +33,6 @@
               .lpNorm<Eigen::Infinity>() < tolerance);
 }
 
-double Intake::MoveButKeepAbove(double reference_angle, double current_angle,
-                                double move_distance) {
-  return -MoveButKeepBelow(-reference_angle, -current_angle, -move_distance);
-}
-
-double Intake::MoveButKeepBelow(double reference_angle, double current_angle,
-                                double move_distance) {
-  // There are 3 interesting places to move to.
-  const double small_negative_move = current_angle - move_distance;
-  const double small_positive_move = current_angle + move_distance;
-  // And the reference angle.
-
-  // Move the the highest one that is below reference_angle.
-  if (small_negative_move > reference_angle) {
-    return reference_angle;
-  } else if (small_positive_move > reference_angle) {
-    return small_negative_move;
-  } else {
-    return small_positive_move;
-  }
-}
-
 void Intake::RunIteration(const control_loops::IntakeQueue::Goal *unsafe_goal,
                           const control_loops::IntakeQueue::Position *position,
                           control_loops::IntakeQueue::Output *output,
diff --git a/y2016_bot3/control_loops/intake/intake.h b/y2016_bot3/control_loops/intake/intake.h
index fed17ab..a5b4da6 100644
--- a/y2016_bot3/control_loops/intake/intake.h
+++ b/y2016_bot3/control_loops/intake/intake.h
@@ -54,6 +54,7 @@
 class IntakeTest_DisabledWhileZeroingLow_Test;
 }
 
+// TODO(Adam): Implement this class and delete it from here.
 class LimitChecker {
   public:
     LimitChecker(IntakeArm *intake) : intake_(intake) {}
@@ -109,15 +110,6 @@
 
   State state() const { return state_; }
 
-  // Returns the value to move the joint to such that it will stay below
-  // reference_angle starting at current_angle, but move at least move_distance
-  static double MoveButKeepBelow(double reference_angle, double current_angle,
-                                 double move_distance);
-  // Returns the value to move the joint to such that it will stay above
-  // reference_angle starting at current_angle, but move at least move_distance
-  static double MoveButKeepAbove(double reference_angle, double current_angle,
-                                 double move_distance);
-
  protected:
   void RunIteration(const control_loops::IntakeQueue::Goal *unsafe_goal,
                     const control_loops::IntakeQueue::Position *position,
diff --git a/y2016_bot3/control_loops/intake/intake.q b/y2016_bot3/control_loops/intake/intake.q
index da3edbb..b6b0bdc 100644
--- a/y2016_bot3/control_loops/intake/intake.q
+++ b/y2016_bot3/control_loops/intake/intake.q
@@ -80,9 +80,6 @@
 
     // Estimated angle and angular velocitie of the intake.
     JointState intake;
-
-    // Is the intake collided?
-    bool is_collided;
   };
 
   message Position {
diff --git a/y2016_bot3/control_loops/intake/intake_lib_test.cc b/y2016_bot3/control_loops/intake/intake_lib_test.cc
index 43232aa..4048a19 100644
--- a/y2016_bot3/control_loops/intake/intake_lib_test.cc
+++ b/y2016_bot3/control_loops/intake/intake_lib_test.cc
@@ -443,14 +443,6 @@
   EXPECT_EQ(Intake::RUNNING, intake_.state());
 }
 
-// Tests that MoveButKeepBelow returns sane values.
-TEST_F(IntakeTest, MoveButKeepBelowTest) {
-  EXPECT_EQ(1.0, Intake::MoveButKeepBelow(1.0, 10.0, 1.0));
-  EXPECT_EQ(1.0, Intake::MoveButKeepBelow(1.0, 2.0, 1.0));
-  EXPECT_EQ(0.0, Intake::MoveButKeepBelow(1.0, 1.0, 1.0));
-  EXPECT_EQ(1.0, Intake::MoveButKeepBelow(1.0, 0.0, 1.0));
-}
-
 // Tests that the integrators works.
 TEST_F(IntakeTest, IntegratorTest) {
   intake_plant_.InitializeIntakePosition(