Revert "Detonated all the useless classes."

This reverts commit 8087a2bd63fc0d01ec2162393dbe7167193380a7.
Revert "Revert "Detonated all the useless classes.""

This reverts commit fb380657ecf8f601ba3695ebcbffbc5d81aea7fa.
test
Fixed calibration mishap.
Cleaned RobotMain