diff --git a/include/controller.hpp b/include/controller.hpp
index 602edcd..b9a24e3 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -67,12 +67,7 @@ public:
     bool TrotRun();
     bool EconomicGait();
     bool SwitchAvoidMode();
-    bool BodyHeight(float height);
-    bool SwitchGait(int gait);
     bool TrajectoryFollow(const std::vector<std::array<float, 6>>& path);
-    bool ContinuousGait(bool flag);
-    bool MoveToPos(float x, float y, float yaw);
-    bool FastWalk(bool flag);
     bool FootRaiseHeight(float height);
     
     // Obstacle