diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControllerUtil.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControllerUtil.java
deleted file mode 100644
index bbb9dd3c10..0000000000
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControllerUtil.java
+++ /dev/null
@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj.controller;
-
-public final class ControllerUtil {
-  /**
-   * Returns modulus of error where error is the difference between the reference and a measurement.
-   *
-   * @param reference Reference input of a controller.
-   * @param measurement The current measurement.
-   * @param minimumInput The minimum value expected from the input.
-   * @param maximumInput The maximum value expected from the input.
-   */
-  public static double getModulusError(
-      double reference, double measurement, double minimumInput, double maximumInput) {
-    double error = reference - measurement;
-    double modulus = maximumInput - minimumInput;
-
-    // Wrap error above maximum input
-    int numMax = (int) ((error + maximumInput) / modulus);
-    error -= numMax * modulus;
-
-    // Wrap error below minimum input
-    int numMin = (int) ((error + minimumInput) / modulus);
-    error -= numMin * modulus;
-
-    return error;
-  }
-
-  private ControllerUtil() {}
-}