diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 92017828..56b25cea 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -99,7 +99,6 @@ public RobotContainer()
   private void configureBindings()
   {
     if (DriverStation.isTest()) {
-      driverXbox.a().onTrue(drivebase.angleMotorPValueCommand());
       driverXbox.b().whileTrue(drivebase.sysIdDriveMotorCommand());
       driverXbox.x().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly());
       driverXbox.y().whileTrue(drivebase.driveToDistanceCommand(1.0, 0.2));
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
index 946a2b44..d1e18842 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -360,23 +360,6 @@ public Command sysIdAngleMotorCommand()
         3.0, 5.0, 3.0);
   }
 
-  /**
-   * Returns a Command that sets the P value of the angle motors to the value on the SmartDashboard and updates the PIDF
-   * configuration of each module. The command is run only once and is intended to be used for characterizing the angle
-   * motors' P value. The P value is read from the SmartDashboard and if it is not present, a default value of 0 is used.
-   *
-   * @return a Command that reads the P value of the angle motors from the SmartDashboard and updates the PIDF configuration of each module
-   */ 
-  public Command angleMotorPValueCommand() {
-    SmartDashboard.putNumber("Angle Motor P", swerveDrive.getModuleMap().values().iterator().next().getAnglePIDF().p);
-    return Commands.runOnce(() -> {
-        swerveDrive.getModuleMap().values().forEach(module -> {
-          module.getAngleMotor().configurePIDF(new PIDFConfig(SmartDashboard.getNumber("Angle Motor P", 0), 0));
-          module.getAngleMotor().burnFlash();
-        });
-      }, this);
-  }
-
   /**
    * Returns a Command that centers the modules of the SwerveDrive subsystem.
    *