diff --git a/include/ubiquity_motor/motor_hardware.h b/include/ubiquity_motor/motor_hardware.h
index 6856678..5f5fa8f 100644
--- a/include/ubiquity_motor/motor_hardware.h
+++ b/include/ubiquity_motor/motor_hardware.h
@@ -89,27 +89,6 @@ class MotorHardware : public hardware_interface::RobotHW {
     ros::Publisher leftError;
     ros::Publisher rightError;
 
-    ros::Publisher pubU50;
-    ros::Publisher pubS50;
-    ros::Publisher pubU51;
-    ros::Publisher pubS51;
-    ros::Publisher pubU52;
-    ros::Publisher pubS52;
-    ros::Publisher pubU53;
-    ros::Publisher pubS53;
-    ros::Publisher pubU54;
-    ros::Publisher pubS54;
-    ros::Publisher pubU55;
-    ros::Publisher pubS55;
-    ros::Publisher pubU56;
-    ros::Publisher pubS56;
-    ros::Publisher pubU57;
-    ros::Publisher pubS57;
-    ros::Publisher pubU58;
-    ros::Publisher pubS58;
-    ros::Publisher pubU59;
-    ros::Publisher pubS59;
-
     MotorSerial* motor_serial_;
 
     FRIEND_TEST(MotorHardwareTests, nonZeroWriteSpeedsOutputs);
diff --git a/src/motor_hardware.cc b/src/motor_hardware.cc
index 9f64ae1..1c4d1d9 100644
--- a/src/motor_hardware.cc
+++ b/src/motor_hardware.cc
@@ -68,27 +68,6 @@ MotorHardware::MotorHardware(ros::NodeHandle nh, CommsParams serial_params,
     leftError = nh.advertise<std_msgs::Int32>("left_error", 1);
     rightError = nh.advertise<std_msgs::Int32>("right_error", 1);
 
-    pubU50 = nh.advertise<std_msgs::UInt32>("u50", 1);
-    pubS50 = nh.advertise<std_msgs::Int32>("s50", 1);
-    pubU51 = nh.advertise<std_msgs::UInt32>("u51", 1);
-    pubS51 = nh.advertise<std_msgs::Int32>("s51", 1);
-    pubU52 = nh.advertise<std_msgs::UInt32>("u52", 1);
-    pubS52 = nh.advertise<std_msgs::Int32>("s52", 1);
-    pubU53 = nh.advertise<std_msgs::UInt32>("u53", 1);
-    pubS53 = nh.advertise<std_msgs::Int32>("s53", 1);
-    pubU54 = nh.advertise<std_msgs::UInt32>("u54", 1);
-    pubS54 = nh.advertise<std_msgs::Int32>("s54", 1);
-    pubU55 = nh.advertise<std_msgs::UInt32>("u55", 1);
-    pubS55 = nh.advertise<std_msgs::Int32>("s55", 1);
-    pubU56 = nh.advertise<std_msgs::UInt32>("u56", 1);
-    pubS56 = nh.advertise<std_msgs::Int32>("s56", 1);
-    pubU57 = nh.advertise<std_msgs::UInt32>("u57", 1);
-    pubS57 = nh.advertise<std_msgs::Int32>("s57", 1);
-    pubU58 = nh.advertise<std_msgs::UInt32>("u58", 1);
-    pubS58 = nh.advertise<std_msgs::Int32>("s58", 1);
-    pubU59 = nh.advertise<std_msgs::UInt32>("u59", 1);
-    pubS59 = nh.advertise<std_msgs::Int32>("s59", 1);
-
     sendPid_count = 0;
 
     pid_params = firmware_params;
@@ -164,50 +143,7 @@ void MotorHardware::readInputs() {
                     break;
                 }
                 default:
-                    uint8_t reg = mm.getRegister();
-                    int32_t data = mm.getData();
-                    std_msgs::UInt32 umsg;
-                    std_msgs::Int32 smsg;
-                    umsg.data = data;
-                    smsg.data = data;
-                    switch (reg) {
-                        case 0x50:
-                            pubU50.publish(umsg);
-                            pubS50.publish(smsg);
-                            break;
-                        case 0x51:
-                            pubU51.publish(umsg);
-                            pubS51.publish(smsg);
-                            break;
-                        case 0x52:
-                            pubU52.publish(umsg);
-                            pubS52.publish(smsg);
-                            break;
-                        case 0x53:
-                            pubU53.publish(umsg);
-                            pubS53.publish(smsg);
-                            break;
-                        case 0x54:
-                            pubU54.publish(umsg);
-                            pubS54.publish(smsg);
-                            break;
-                        case 0x55:
-                            pubU55.publish(umsg);
-                            pubS55.publish(smsg);
-                            break;
-                        case 0x56:
-                            pubU56.publish(umsg);
-                            pubS56.publish(smsg);
-                            break;
-                        case 0x57:
-                            pubU57.publish(umsg);
-                            pubS57.publish(smsg);
-                            break;
-                        case 0x58:
-                            pubU58.publish(umsg);
-                            pubS58.publish(smsg);
-                            break;
-                    }
+                    break;
             }
         }
     }
@@ -226,7 +162,6 @@ void MotorHardware::writeSpeeds() {
 
     std_msgs::Int32 smsg;
     smsg.data = left_tics;
-    pubS59.publish(smsg);
 
     motor_serial_->transmitCommand(both);
 
@@ -363,4 +298,4 @@ int16_t MotorHardware::calculateTicsFromRadians(double radians) const {
 
 double MotorHardware::calculateRadiansFromTics(int16_t tics) const {
     return (tics * VELOCITY_READ_PER_SECOND / QTICS_PER_RADIAN);
-}
\ No newline at end of file
+}
diff --git a/test/motor_hardware_test.cc b/test/motor_hardware_test.cc
index ba7f5f0..2df4b43 100644
--- a/test/motor_hardware_test.cc
+++ b/test/motor_hardware_test.cc
@@ -304,6 +304,7 @@ void callbackS(const std_msgs::Int32 &data) {
     called = true;
 }
 
+/*
 TEST_F(MotorHardwareTests, debugRegisterUnsignedPublishes) {
     called = false;
     ros::Subscriber sub = nh.subscribe("u50", 1, callbackU);
@@ -345,9 +346,10 @@ TEST_F(MotorHardwareTests, debugRegisterSignedPublishes) {
 
     called = false;
 }
+*/
 
 int main(int argc, char **argv) {
     testing::InitGoogleTest(&argc, argv);
     ros::init(argc, argv, "param_test");
     return RUN_ALL_TESTS();
-}
\ No newline at end of file
+}