diff --git a/rmp220_teleop/rmp220_teleop.py b/rmp220_teleop/rmp220_teleop.py
index c6dae6d..07f9cb6 100644
--- a/rmp220_teleop/rmp220_teleop.py
+++ b/rmp220_teleop/rmp220_teleop.py
@@ -2,8 +2,6 @@ import rclpy
 from rclpy.node import Node
 from sensor_msgs.msg import Joy
 from geometry_msgs.msg import Twist
-#from segway_msgs.srv import RosSetChassisEnableCmd
-
 
 class TeleopTwistJoy(Node):
 
@@ -13,7 +11,6 @@ class TeleopTwistJoy(Node):
         self.joy_sub = self.create_subscription(Joy, 'joy', self.joy_callback, 10)
         self.timer = self.create_timer(0.01, self.timer_callback) # 100 Hz
         self.twist = Twist()
-        self.enable = False
         self.vFactor = 1 # if compensation is needed. Not needed anymore for bot_mini
         self.limit = 1 * self.vFactor
         self.max_vel = 2 * self.vFactor
@@ -28,49 +25,21 @@ class TeleopTwistJoy(Node):
             if self.limit > self.max_vel:
                 self.limit = self.max_vel
         self.twist.linear.x = self.limit * joy_msg.axes[1]
-        self.twist.angular.z = self.limit * joy_msg.axes[0] * 1 * 3.141592 #trying to compensate slower rotational movement? Must find out why!
-        # if joy_msg.buttons[7]: #start
-        #     self.enable = True
-        #     enable_chassis(self)
-        # if joy_msg.buttons[6]: #back
-        #     self.enable = False
-        #     disable_chassis(self)
+        self.twist.angular.z = self.limit * joy_msg.axes[0] * 1 * 3.141592
 
     def timer_callback(self):
         self.cmd_vel_pub.publish(self.twist)
 
-# def enable_chassis(node):
-#     chassis_enable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
-#     req = RosSetChassisEnableCmd.Request()
-#     req.ros_set_chassis_enable_cmd = True
-#     while not chassis_enable.wait_for_service(timeout_sec=1.0):
-#         print('Service not available, waiting again...')
-#     chassis_enable.call_async(req)
-
-# def disable_chassis(node):
-#     chassis_disable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
-#     req = RosSetChassisEnableCmd.Request()
-#     req.ros_set_chassis_enable_cmd = False
-#     while not chassis_disable.wait_for_service(timeout_sec=1.0):
-#         print('Service not available, waiting again...')
-#     chassis_disable.call_async(req)
-
 
 def main(args=None):
     rclpy.init(args=args)
     try:
         teleop_twist_joy = TeleopTwistJoy()
-        #enable_chassis(teleop_twist_joy)  # Call the function to enable the chassis
         rclpy.spin(teleop_twist_joy)
     except KeyboardInterrupt:
-        #disable_chassis(teleop_twist_joy) # chassis disable for safe close
-        #req = RosSetChassisEnableCmd.Request()
-        #req.ros_set_chassis_enable_cmd = False
-        #rclpy.spin_until_future_complete(teleop_twist_joy, future)
         teleop_twist_joy.destroy_node()
         rclpy.shutdown()
         
 
-
 if __name__ == '__main__':
     main()