diff --git a/junction/core/src/org/littletonrobotics/junction/AutoLogOutputManager.java b/junction/core/src/org/littletonrobotics/junction/AutoLogOutputManager.java
index 25ec70e0..674be517 100644
--- a/junction/core/src/org/littletonrobotics/junction/AutoLogOutputManager.java
+++ b/junction/core/src/org/littletonrobotics/junction/AutoLogOutputManager.java
@@ -13,8 +13,6 @@
 
 package org.littletonrobotics.junction;
 
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.proto.Trajectory;
 import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
 import edu.wpi.first.units.Measure;
 import java.lang.reflect.Field;
@@ -329,13 +327,6 @@ private static void registerField(String key, Class<?> type, Supplier<?> supplie
               if (value != null)
                 Logger.recordOutput(key, (String[]) value);
             });
-      } else if (componentType.equals(SwerveModuleState.class)) {
-        callbacks.add(
-            () -> {
-              Object value = supplier.get();
-              if (value != null)
-                Logger.recordOutput(key, (SwerveModuleState[]) value);
-            });
       } else {
         callbacks.add(
             () -> {
@@ -403,13 +394,6 @@ private static void registerField(String key, Class<?> type, Supplier<?> supplie
               if (value != null)
                 Logger.recordOutput(key, (Measure<?>) value);
             });
-      } else if (type.equals(Trajectory.class)) {
-        callbacks.add(
-            () -> {
-              Object value = supplier.get();
-              if (value != null)
-                Logger.recordOutput(key, (Trajectory) value);
-            });
       } else if (type.equals(Mechanism2d.class)) {
         callbacks.add(
             () -> {
diff --git a/junction/core/src/org/littletonrobotics/junction/CustomStructs.java b/junction/core/src/org/littletonrobotics/junction/CustomStructs.java
deleted file mode 100644
index df85a8e7..00000000
--- a/junction/core/src/org/littletonrobotics/junction/CustomStructs.java
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2021-2023 FRC 6328
-// http://github.com/Mechanical-Advantage
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License
-// version 3 as published by the Free Software Foundation or
-// available in the root directory of this project.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU General Public License for more details.
-
-package org.littletonrobotics.junction;
-
-import java.nio.ByteBuffer;
-
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.util.struct.Struct;
-
-public final class CustomStructs {
-    public static final class ASwerveModuleState implements Struct<SwerveModuleState> {
-        @Override
-        public Class<SwerveModuleState> getTypeClass() {
-            return SwerveModuleState.class;
-        }
-
-        @Override
-        public String getTypeString() {
-            return "struct:SwerveModuleState";
-        }
-
-        @Override
-        public int getSize() {
-            return kSizeDouble + Rotation2d.struct.getSize();
-        }
-
-        @Override
-        public String getSchema() {
-            return "double speed;Rotation2d angle";
-        }
-
-        @Override
-        public Struct<?>[] getNested() {
-            return new Struct<?>[] { Rotation2d.struct };
-        }
-
-        @Override
-        public SwerveModuleState unpack(ByteBuffer bb) {
-            double speed = bb.getDouble();
-            Rotation2d angle = Rotation2d.struct.unpack(bb);
-            return new SwerveModuleState(speed, angle);
-        }
-
-        @Override
-        public void pack(ByteBuffer bb, SwerveModuleState value) {
-            bb.putDouble(value.speedMetersPerSecond);
-            Rotation2d.struct.pack(bb, value.angle);
-        }
-    }
-
-    public static final ASwerveModuleState swerveModuleState = new ASwerveModuleState();
-}
\ No newline at end of file
diff --git a/junction/core/src/org/littletonrobotics/junction/Logger.java b/junction/core/src/org/littletonrobotics/junction/Logger.java
index 4a00b4c2..6cd23660 100644
--- a/junction/core/src/org/littletonrobotics/junction/Logger.java
+++ b/junction/core/src/org/littletonrobotics/junction/Logger.java
@@ -39,8 +39,6 @@
 import edu.wpi.first.math.MathShared;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -719,32 +717,6 @@ public static <T> void recordOutput(String key, T... value) {
     }
   }
 
-  /**
-   * Records a single output field for easy access when viewing the log. On the
-   * simulator, use this method to record extra data based on the original inputs.
-   * 
-   * The trajectory is logged as a series of poses.
-   * 
-   * @param key   The name of the field to record. It will be stored under
-   *              "/RealOutputs" or "/ReplayOutputs"
-   * @param value The value of the field.
-   */
-  public static void recordOutput(String key, Trajectory value) {
-    recordOutput(key, Pose2d.struct, value.getStates().stream().map(state -> state.poseMeters).toArray(Pose2d[]::new));
-  }
-
-  /**
-   * Records a single output field for easy access when viewing the log. On the
-   * simulator, use this method to record extra data based on the original inputs.
-   * 
-   * @param key   The name of the field to record. It will be stored under
-   *              "/RealOutputs" or "/ReplayOutputs"
-   * @param value The value of the field.
-   */
-  public static void recordOutput(String key, SwerveModuleState... value) {
-    recordOutput(key, CustomStructs.swerveModuleState, value);
-  }
-
   /**
    * Records a single output field for easy access when viewing the log. On the
    * simulator, use this method to record extra data based on the original inputs.