diff --git a/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py b/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
index e9069f6..cd74b54 100644
--- a/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
+++ b/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
@@ -212,20 +212,6 @@ class XBoxController:
             self.last_right_trigger,
         )
 
-        return (
-            self.last_commands,
-            A_pressed,
-            B_pressed,
-            X_pressed,
-            Y_pressed,
-            LB_pressed,
-            RB_pressed,
-            self.last_left_trigger,
-            self.last_right_trigger,
-            up_down,
-        )
-
-
 if __name__ == "__main__":
     controller = XBoxController(20)
 
diff --git a/scripts/head_puppet.py b/scripts/head_puppet.py
index d63e633..4df65b0 100644
--- a/scripts/head_puppet.py
+++ b/scripts/head_puppet.py
@@ -45,18 +45,6 @@ limits = {
 
 try:
     while True:
-        # (
-        #     last_commands,
-        #     A_pressed,
-        #     B_pressed,
-        #     X_pressed,
-        #     Y_pressed,
-        #     LB_pressed,
-        #     RB_pressed,
-        #     left_trigger,
-        #     right_trigger,
-        #     up_down,
-        # ) = xbox_controller.get_last_command()
 
         last_commands, buttons, left_trigger, right_trigger = (
             xbox_controller.get_last_command()
diff --git a/scripts/v2_rl_walk_mujoco.py b/scripts/v2_rl_walk_mujoco.py
index d9e5f46..66aa40b 100644
--- a/scripts/v2_rl_walk_mujoco.py
+++ b/scripts/v2_rl_walk_mujoco.py
@@ -14,7 +14,6 @@ from mini_bdx_runtime.sounds import Sounds
 from mini_bdx_runtime.antennas import Antennas
 from mini_bdx_runtime.projector import Projector
 from mini_bdx_runtime.rl_utils import make_action_dict, LowPassActionFilter
-from mini_bdx_runtime.buttons import Buttons
 from mini_bdx_runtime.duck_config import DuckConfig
 
 import os
@@ -98,7 +97,6 @@ class RLWalk:
         self.command_freq = 20  # hz
         if self.commands:
             self.xbox_controller = XBoxController(self.command_freq)
-            self.buttons = Buttons()
 
         # Reference motion, but we only really need the length of one phase
         # TODO
@@ -206,34 +204,12 @@ class RLWalk:
             while True:
                 left_trigger = 0
                 right_trigger = 0
-                up_down = 0
                 t = time.time()
 
                 if self.commands:
-                    (
-                        self.last_commands,
-                        A_pressed,
-                        B_pressed,
-                        X_pressed,
-                        Y_pressed,
-                        LB_pressed,
-                        RB_pressed,
-                        left_trigger,
-                        right_trigger,
-                        up_down,
-                    ) = self.xbox_controller.get_last_command()
-
-                    self.buttons.update(
-                        A_pressed,
-                        B_pressed,
-                        X_pressed,
-                        Y_pressed,
-                        LB_pressed,
-                        RB_pressed,
-                        up_down == 1,
-                        up_down == -1,
+                    self.last_commands, self.buttons, left_trigger, right_trigger = (
+                        self.xbox_controller.get_last_command()
                     )
-
                     if self.buttons.dpad_up.triggered:
                         self.phase_frequency_factor_offset += 0.05
                         print(
@@ -251,9 +227,6 @@ class RLWalk:
                     else:
                         self.phase_frequency_factor = 1.0
 
-                    # self.phase_frequency_factor = self.get_phase_frequency_factor(self.last_commands[0])
-                    # print(f"Phase frequency factor {self.phase_frequency_factor}")
-
                     if self.buttons.X.triggered:
                         if self.duck_config.projector:
                             self.projector.switch()