diff --git a/controller/main.py b/controller/main.py
index 3211d05..f870694 100644
--- a/controller/main.py
+++ b/controller/main.py
@@ -78,9 +78,6 @@ class RobomasterUI:
         if isinstance(focused_widget, tk.Entry) and event.widget != focused_widget:
             self.master.focus_set()
 
-    def _run_command(self, func, *args, **kwargs):
-        self._command_executor(func, *args, **kwargs)
-
     def _command_executor(self, func, *args, **kwargs):
         try:
             result = func(*args, **kwargs)
@@ -96,22 +93,22 @@ class RobomasterUI:
         x_str, y_str = self.x_entry.get(), self.y_entry.get()
         try: x, y = float(x_str), float(y_str)
         except ValueError: return self._display_output("Error: Invalid X or Y")
-        self._run_command(self.cmd.arm_move, x=x, y=y)
+        self._command_executor(self.cmd.arm_move, x=x, y=y)
 
     def moveto_arm(self):
         x_str, y_str = self.x_entry.get(), self.y_entry.get()
         try: x, y = float(x_str), float(y_str)
         except ValueError: return self._display_output("Error: Invalid X or Y")
-        self._run_command(self.cmd.arm_moveto, x=x, y=y)
+        self._command_executor(self.cmd.arm_moveto, x=x, y=y)
 
     def recenter_arm(self):
-        self._run_command(self.cmd.arm_recenter)
+        self._command_executor(self.cmd.arm_recenter)
 
     def stop_arm(self):
-        self._run_command(self.cmd.arm_stop)
+        self._command_executor(self.cmd.arm_stop)
 
     def get_arm_pos(self):
-        self._run_command(self.cmd.arm_pos)
+        self._command_executor(self.cmd.arm_pos)
 
     def open_gripper(self):
         force_str = self.force_entry.get()
@@ -121,7 +118,7 @@ class RobomasterUI:
                 force = int(force_str)
                 if force not in range(1, 5): raise ValueError
             except ValueError: return self._display_output("Error: Force must be 1-4")
-        self._run_command(self.cmd.gripper_open, force=force)
+        self._command_executor(self.cmd.gripper_open, force=force)
 
     def close_gripper(self):
         force_str = self.force_entry.get()
@@ -131,10 +128,10 @@ class RobomasterUI:
                 force = int(force_str)
                 if force not in range(1, 5): raise ValueError
             except ValueError: return self._display_output("Error: Force must be 1-4")
-        self._run_command(self.cmd.gripper_close, force=force)
+        self._command_executor(self.cmd.gripper_close, force=force)
 
     def get_gripper_status(self):
-        self._run_command(self.cmd.gripper_status)
+        self._command_executor(self.cmd.gripper_status)
 
     def move_chassis_button(self):
         try:
@@ -143,10 +140,10 @@ class RobomasterUI:
             z = float(self.chassis_z_speed_entry.get())
         except ValueError:
             return self._display_output("Error: Invalid speed value")
-        self._run_command(self.cmd.chassis_move, x=x, y=y, z=z)
+        self._command_executor(self.cmd.chassis_move, x=x, y=y, z=z)
 
     def stop_chassis(self):
-        self._run_command(self.cmd.chassis_move, x=0, y=0, z=0)
+        self._command_executor(self.cmd.chassis_move, x=0, y=0, z=0)
 
     def chassis_move_arrow(self, x=None, y=None, z=None):
         try:
@@ -156,7 +153,7 @@ class RobomasterUI:
             current_x = xs * (x or 0)
             current_y = ys * (y or 0)
             current_z = zs * (z or 0)
-            self._run_command(self.cmd.chassis_move, x=current_x, y=current_y, z=current_z, speed_xy=None, speed_z=None)
+            self._command_executor(self.cmd.chassis_move, x=current_x, y=current_y, z=current_z, speed_xy=None, speed_z=None)
         except ValueError:
             self._display_output("Error: Invalid speed value")