diff --git a/tests/test_trajectory.py b/tests/test_trajectory.py
deleted file mode 100644
index ecf793d7..00000000
--- a/tests/test_trajectory.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from hypothesis.strategies import from_type
-from hypothesis import given
-
-from wpimath.geometry import Pose2d
-from utilities.trajectory_generator import lerp_pose
-
-
-@given(p1=from_type(Pose2d))
-def test_lerp_zero(p1):
-    assert lerp_pose(p1, Pose2d(1, 1, 1), 0) == p1
-
-
-@given(p1=from_type(Pose2d))
-def test_lerp_one(p1):
-    assert lerp_pose(p1, Pose2d(1, 1, 1), 1) == Pose2d(1, 1, 1)
-
-
-@given(p1=from_type(Pose2d))
-def test_lerp_half(p1):
-    assert lerp_pose(p1, Pose2d(1, 1, 1), 0.5) == lerp_pose(Pose2d(1, 1, 1), p1, 0.5)
-
-
-# @given(x=floats)
-# def test_single(x):
-#     assert lerpPose(Pose2d(x, x, x), Pose2d(0, 0, 0), y) == Pose2d(x*y, x*y, x*y)
diff --git a/utilities/trajectory_generator.py b/utilities/trajectory_generator.py
deleted file mode 100644
index 0ca5d85c..00000000
--- a/utilities/trajectory_generator.py
+++ /dev/null
@@ -1,78 +0,0 @@
-from wpimath.geometry import Pose2d, Rotation2d, Translation2d
-from typing import List
-
-from utilities.scalers import scale_value
-
-
-field_x = 324 * 0.0254  # half field x dimension
-field_y = 162 * 0.0254  # half field y dimension
-GOAL_POSITION = Translation2d(field_x, field_y)
-
-
-def total_length(waypoints: List[Pose2d]) -> float:
-    return sum(
-        last.translation().distance(cur.translation())
-        for last, cur in zip(waypoints, waypoints[1:])
-    )
-
-
-def next_waypoint(waypoints: List[Pose2d], dist: float) -> int:
-    """Returns the index of the next waypoint from dist"""
-    if dist < 0:
-        return 0
-    total_dist = 0
-    for last, cur, idx in zip(waypoints, waypoints[1:], range(1, len(waypoints))):
-        # distance to next waypoint
-        cur_dist = last.translation().distance(cur.translation())
-        if total_dist + cur_dist > dist:
-            return idx
-        total_dist += cur_dist
-    return len(waypoints)
-
-
-def lerp_pose(p1: Pose2d, p2: Pose2d, n1: float) -> Pose2d:
-    n2 = 1 - n1
-    translation = p1.translation() * n2 + p2.translation() * n1
-    rotation_x = p1.rotation().cos() * n2 + p2.rotation().cos() * n1
-    rotation_y = p1.rotation().sin() * n2 + p2.rotation().sin() * n1
-    return Pose2d(translation, Rotation2d(rotation_x, rotation_y))
-
-
-def lookup_linear(waypoints: List[Pose2d], dist: float) -> Pose2d:
-    """Finds the translation2d dist meters along the path of straight line waypoints"""
-    if dist < 0:
-        return waypoints[0]
-    total_dist = 0
-    for last, cur in zip(waypoints, waypoints[1:]):
-        # distance to next waypoint
-        cur_dist = last.translation().distance(cur.translation())
-        if total_dist + cur_dist > dist:
-            return lerp_pose(last, cur, (dist - total_dist) / cur_dist)
-        total_dist += cur_dist
-    return waypoints[-1]
-
-
-def smooth_path(
-    waypoints: List[Pose2d], look_around: float, dist: float, sample_count=10
-) -> Pose2d:
-    """Samples dist meters along waypoints in a way that creates smooth paths"""
-    x = y = 0.0
-    # takes circular mean https://en.wikipedia.org/wiki/Circular_mean
-    angle_x = angle_y = 0.0
-    for sample in range(sample_count):
-        sample_d = dist + scale_value(
-            sample, 0, sample_count, -look_around, look_around
-        )
-        sample_pose = lookup_linear(waypoints, sample_d)
-        x += sample_pose.X()
-        y += sample_pose.Y()
-        angle_x += sample_pose.rotation().cos()
-        angle_y += sample_pose.rotation().sin()
-    return Pose2d(x / sample_count, y / sample_count, Rotation2d(angle_x, angle_y))
-
-
-def goal_to_field(pose: Pose2d):
-    """Converts a pose in our goal centered system to
-    the corner center that wpilib uses (e.g. for field2d display)"""
-
-    return Pose2d(pose.translation() + GOAL_POSITION, pose.rotation())