diff --git a/.github/scripts/constants.py b/.github/scripts/constants.py
index b40711e..0dcd36b 100644
--- a/.github/scripts/constants.py
+++ b/.github/scripts/constants.py
@@ -13,7 +13,7 @@
 ]
 
 # Weird stuff that shouldn't go in constants, dont put function/var names in here theyre already checked
-excused_cases = ["ModuleIOSparkMax", "case", "new Module(", "new BaseStatusSignal[", "BaseStatusSignal.waitForAll(", "new ModuleIOHybrid(", "Math.pow(", "+=", "drive.getRotation()", "autoChooser.addOption("]
+excused_cases = ["ModuleIOSparkMax", "case", "new Module(", "new BaseStatusSignal[", "BaseStatusSignal.waitForAll(", "new ModuleIOHybrid(", "Math.pow(", "+=", "drive.getRotation()", "autoChooser.addOption(", "? -1 : 1"]
 
 def check_for_magic_numbers(file_path):
     magic_numbers = []
diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
index bbacd31..96b5017 100644
--- a/src/main/java/frc/robot/subsystems/drive/Module.java
+++ b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -247,18 +247,6 @@ public SwerveModuleState runSetpoint(SwerveModuleState state) {
 		return optimizedState;
 	}
 
-	/**
-	 * Runs the module with the specified voltage while controlling to zero degrees.
-	 */
-	public void runCharacterization(double volts) {
-		// Closed loop turn control
-		angleSetpoint = new Rotation2d();
-
-		// Open loop drive control
-		io.setDriveVoltage(volts);
-		speedSetpoint = null;
-	}
-
 	/** Disables all outputs to motors. */
 	public void stop() {
 		io.setTurnVoltage(0.0);
@@ -313,9 +301,4 @@ public SwerveModulePosition[] getOdometryPositions() {
 	public double[] getOdometryTimestamps() {
 		return inputs.odometryTimestamps;
 	}
-
-	/** Returns the drive velocity in radians/sec. */
-	public double getCharacterizationVelocity() {
-		return inputs.driveVelocityRadPerSec;
-	}
 }