diff --git a/src/main/kotlin/com/frcteam3636/frc2024/CAN.kt b/src/main/kotlin/com/frcteam3636/frc2024/CAN.kt
index ae119af..91f027b 100644
--- a/src/main/kotlin/com/frcteam3636/frc2024/CAN.kt
+++ b/src/main/kotlin/com/frcteam3636/frc2024/CAN.kt
@@ -36,7 +36,6 @@ enum class CTREMotorControllerId(val num: Int, val bus: String) {
     FrontRightDrivingMotor(4, "*"),
     RightArmMotor(10, "*"),
     LeftArmMotor(11, "*"),
-    WristMotor(12, "*"),
 }
 
 fun TalonFX(id: CTREMotorControllerId) = TalonFX(id.num, id.bus)
\ No newline at end of file
diff --git a/src/main/kotlin/com/frcteam3636/frc2024/Robot.kt b/src/main/kotlin/com/frcteam3636/frc2024/Robot.kt
index 29cc3b5..bcd5594 100644
--- a/src/main/kotlin/com/frcteam3636/frc2024/Robot.kt
+++ b/src/main/kotlin/com/frcteam3636/frc2024/Robot.kt
@@ -6,7 +6,6 @@ import com.frcteam3636.frc2024.subsystems.arm.Arm
 import com.frcteam3636.frc2024.subsystems.drivetrain.Drivetrain
 import com.frcteam3636.frc2024.subsystems.indexer.Indexer
 import com.frcteam3636.frc2024.subsystems.intake.Intake
-import com.frcteam3636.frc2024.subsystems.wrist.Wrist
 import com.frcteam3636.version.BUILD_DATE
 import com.frcteam3636.version.DIRTY
 import com.frcteam3636.version.GIT_BRANCH
@@ -125,7 +124,6 @@ object Robot : LoggedRobot() {
         Drivetrain.register()
         Indexer.register()
         Intake.register()
-        Wrist.register()
     }
 
     /** Expose commands for autonomous routines to use and display an auto picker in Shuffleboard. */
diff --git a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/wrist/Wrist.kt b/src/main/kotlin/com/frcteam3636/frc2024/subsystems/wrist/Wrist.kt
deleted file mode 100644
index 572b778..0000000
--- a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/wrist/Wrist.kt
+++ /dev/null
@@ -1,16 +0,0 @@
-package com.frcteam3636.frc2024.subsystems.wrist
-
-import com.frcteam3636.frc2024.subsystems.arm.Arm
-import edu.wpi.first.wpilibj2.command.Subsystem
-import org.littletonrobotics.junction.Logger
-
-object Wrist: Subsystem {
-    private var io: WristIO = WristIOKraken()
-    var inputs = LoggedWristInputs()
-
-    override fun periodic() {
-        Logger.processInputs("Wrist", inputs)
-        //the wrist should always be parallel to the ground
-        io.pivotToAndStop(Arm.inputs.position * -1.0) //use position variable from arm
-    }
-}
\ No newline at end of file
diff --git a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/wrist/WristIO.kt b/src/main/kotlin/com/frcteam3636/frc2024/subsystems/wrist/WristIO.kt
deleted file mode 100644
index 4c82c1f..0000000
--- a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/wrist/WristIO.kt
+++ /dev/null
@@ -1,99 +0,0 @@
-package com.frcteam3636.frc2024.subsystems.wrist
-
-import com.ctre.phoenix6.configs.TalonFXConfiguration
-import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC
-import com.ctre.phoenix6.signals.GravityTypeValue
-import com.ctre.phoenix6.signals.InvertedValue
-import com.ctre.phoenix6.signals.NeutralModeValue
-import com.frcteam3636.frc2024.CTREMotorControllerId
-import com.frcteam3636.frc2024.TalonFX
-import com.frcteam3636.frc2024.utils.math.MotorFFGains
-import com.frcteam3636.frc2024.utils.math.PIDGains
-import com.frcteam3636.frc2024.utils.math.motorFFGains
-import com.frcteam3636.frc2024.utils.math.pidGains
-import edu.wpi.first.units.Angle
-import edu.wpi.first.units.Measure
-import edu.wpi.first.units.Units.*
-import edu.wpi.first.wpilibj.DigitalInput
-import edu.wpi.first.wpilibj.DutyCycleEncoder
-import org.littletonrobotics.junction.LogTable
-import org.littletonrobotics.junction.Logger
-import org.littletonrobotics.junction.inputs.LoggableInputs
-import org.team9432.annotation.Logged
-import kotlin.concurrent.thread
-
-interface WristIO {
-    fun updateInputs(inputs: WristInputs)
-    fun pivotToAndStop(position: Measure<Angle>)
-}
-
-@Logged
-open class WristInputs {
-    var position = Radians.zero()!!
-    var velocity = RadiansPerSecond.zero()!!
-    var voltage = Volts.zero()!!
-}
-
-class WristIOKraken: WristIO {
-    private val wristMotor = TalonFX(CTREMotorControllerId.WristMotor)
-    private val absoluteEncoder = DutyCycleEncoder(DigitalInput(7))
-
-    init {
-        val config = TalonFXConfiguration().apply {
-            MotorOutput.apply {
-                NeutralMode = NeutralModeValue.Brake
-            }
-
-            Feedback.apply {
-                SensorToMechanismRatio = GEAR_RATIO
-                FeedbackRotorOffset = 0.0
-            }
-
-            Slot0.apply {
-                pidGains = PID_GAINS
-                motorFFGains = FF_GAINS
-                GravityType = GravityTypeValue.Arm_Cosine
-                kG = GRAVITY_GAIN
-            }
-
-            MotionMagic.apply {
-                MotionMagicCruiseVelocity = PROFILE_VELOCITY
-                MotionMagicAcceleration = PROFILE_ACCELERATION
-                MotionMagicJerk = PROFILE_JERK
-            }
-        }
-
-        config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive
-        wristMotor.configurator.apply(
-            config
-        )
-    }
-
-    override fun updateInputs(inputs: WristInputs) {
-//            wristMotor.setPosition(absoluteEncoder.absolutePosition)
-
-        inputs.position = Rotations.of(wristMotor.position.value)
-        inputs.velocity = RotationsPerSecond.of(wristMotor.velocity.value)
-        inputs.voltage = Volts.of(wristMotor.motorVoltage.value)
-    }
-
-    override fun pivotToAndStop(position: Measure<Angle>) {
-        Logger.recordOutput("Wrist/Position Setpoint", position)
-
-        val wristControl = MotionMagicTorqueCurrentFOC(0.0).apply {
-            Slot = 0
-            Position = position.`in`(Rotations)
-        }
-        wristMotor.setControl(wristControl)
-    }
-
-    internal companion object Constants {
-        private const val GEAR_RATIO = 0.0
-        val PID_GAINS = PIDGains(120.0, 0.0, 100.0) //placeholders
-        val FF_GAINS = MotorFFGains(7.8, 0.0, 0.0) //placeholders
-        private const val GRAVITY_GAIN = 0.0
-        private const val PROFILE_ACCELERATION = 0.0
-        private const val PROFILE_JERK = 0.0
-        private const val PROFILE_VELOCITY = 0.0
-    }
-}
\ No newline at end of file