diff --git a/include/sensors/currently_unused/data_source_us.h b/include/sensors/currently_unused/data_source_us.h
deleted file mode 100644
index 4818495..0000000
--- a/include/sensors/currently_unused/data_source_us.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#pragma once
-#include "behaviour_control/data_source.h"
-
-#define US_WAIT_TIME 70
-
-class DataSourceUS : public DataSource{
-
-    public:
-        DataSourceUS(TwoWire* i2c_, int addr);
-        void test() override;
-        void readSensor() override;
-        
-        void usMode();
-        void usTrigger();
-        void usReceive();
-
-        int reading;
-        long us_t0;                
-        long us_t1;                
-        bool us_flag;       
-};
\ No newline at end of file
diff --git a/include/sensors/sensors.h b/include/sensors/sensors.h
index 0c0f255..fc19a93 100644
--- a/include/sensors/sensors.h
+++ b/include/sensors/sensors.h
@@ -21,8 +21,6 @@
 #include "sensors/data_source_bno055.h"
 #include "sensors/data_source_camera_conicmirror.h"
 #include "sensors/data_source_camera_vshapedmirror.h"
-#include "sensors/currently_unused/data_source_us.h"
-
 
 
 void initSensors();
diff --git a/src/sensors/currently_unused/data_source_us.cpp b/src/sensors/currently_unused/data_source_us.cpp
deleted file mode 100644
index 0619dd2..0000000
--- a/src/sensors/currently_unused/data_source_us.cpp
+++ /dev/null
@@ -1,118 +0,0 @@
-#include "behaviour_control/status_vector.h"
-#include "sensors/currently_unused/data_source_us.h"
-#include "vars.h"
-
-
-DataSourceUS::DataSourceUS(TwoWire* i2c_, int addr) : DataSource(i2c_, addr){
-  us_flag = false;
-  value = 0;
-}
-
-void DataSourceUS::test(){
-  
-  // test from srf02_example
-    // step 1: instruct sensor to read echoes
-    // transmit to device #112 (0x70)
-    Wire1.beginTransmission(i2CAddr);
-    // sets register pointer to the command register (0x00)
-    Wire1.write(byte(0x00));
-    // command sensor to measure in "centimeters" (0x51). 0x50 inches and 0x52
-    // microseconds
-    Wire1.write(byte(0x51));
-    // stop transmitting
-    Wire1.endTransmission();
-    // step 2: wait for readings to happen
-    // datasheet suggests at least 65 milliseconds
-    delay(70);
-
-    // step 3: instruct sensor to return a particular echo reading
-    // transmit to device #112
-    Wire1.beginTransmission(i2CAddr);
-    // sets register pointer to echo #1 register (0x02)
-    Wire1.write(byte(0x02));
-    Wire1.endTransmission();
-
-    // step 4: request reading from sensor
-    // request 2 bytes from slave device #112
-    Wire1.requestFrom(i2CAddr, 2);
-
-    // step 5: receive reading from sensor
-    if (2 <= Wire1.available()) {
-      // if two bytes were received
-      // receive high byte (overwrites  previous reading)
-      reading = Wire1.read();
-      // shift high byte to be high 8 bits
-      reading = reading << 8;
-      // receive low byte as lower 8 bit
-      reading |= Wire1.read();
-      value = reading;
-    }
-
-  DEBUG.println(value);
-}
-
-void DataSourceUS::readSensor(){
-  if (us_flag == false) {
-    usTrigger();
-    us_flag = true;
-    us_t0 = millis();
-  } else {
-    us_t1 = millis();
-    if ((us_t1 - us_t0) > US_WAIT_TIME) {
-      usReceive();
-      us_flag = false;
-    }
-  }
-}
-
-void DataSourceUS::usTrigger() {
-    // step 1: instruct sensor to read echoes
-    // transmit to device #112 (0x70)
-    i2c->beginTransmission(i2CAddr);
-    // sets register pointer to the command register (0x00)
-    i2c->write(byte(0x00));
-    // command sensor to measure in "centimeters" (0x51). 0x50 inches and 0x52
-    // microseconds
-    i2c->write(byte(0x51));
-    i2c->endTransmission();
-}
-
-void DataSourceUS::usReceive() {
-  // transmit to device #112s
-  i2c->beginTransmission(i2CAddr);
-  // sets register pointer to echo 1 register(0x02)
-  i2c->write(byte(0x02));
-  i2c->endTransmission();
-
-  // step 4: request reading from sensor
-  // request 2 bytes from slave device #112
-  i2c->requestFrom(i2CAddr, 2);
-
-  // step 5: receive reading from sensor
-  // receive high byte (overwrites  previous reading)
-  reading = i2c->read();
-  // shift high byte to be high 8 bits
-  reading = reading << 8;
-  // receive low byte as lower 8 bit
-  reading |= i2c->read();
-  value = reading;
-
-  switch(i2CAddr){
-    case 112:
-    CURRENT_INPUT_WRITE.USfr = value;
-    CURRENT_DATA_WRITE.USfr = value;
-    break;
-    case 113:
-    CURRENT_INPUT_WRITE.USdx = value;
-    CURRENT_DATA_WRITE.USdx = value;
-    break;
-    case 114:
-    CURRENT_INPUT_WRITE.USrr = value;
-    CURRENT_DATA_WRITE.USrr = value;
-    break;
-    case 115:
-    CURRENT_INPUT_WRITE.USsx = value;
-    CURRENT_DATA_WRITE.USsx = value;
-    break;
-  }
-}
\ No newline at end of file
diff --git a/src/sensors/sensors.cpp b/src/sensors/sensors.cpp
index 13afdc4..3298bbf 100644
--- a/src/sensors/sensors.cpp
+++ b/src/sensors/sensors.cpp
@@ -8,9 +8,7 @@ void initSensors(){
     pinMode(LED_R, OUTPUT);
     pinMode(LED_Y, OUTPUT);
     pinMode(LED_G, OUTPUT);
-
-    dUs = { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)), 
-    new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) };
+  
     drive = new DriveController(new Motor(11, 12, 4, 45),new  Motor(24, 25, 5, 135), new Motor(26, 27, 2, 225), new Motor(28, 29, 3, 315));
     //drive = new DriveController(new Motor(12, 11, 2, 45),new  Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
     compass = new DataSourceBNO055();
@@ -18,7 +16,6 @@ void initSensors(){
     //ball = new DataSourceBall(&Serial4, 57600);
     camera = new DataSourceCameraConic(&Serial3, 19200);
     //camera = new DataSourceCameraConic(&Serial2, 19200);
-    usCtrl = new DataSourceCtrl(dUs);
     bt = new DataSourceBT(&Serial1, 115200);
     //bt = new DataSourceBT(&Serial3, 115200);
  }