diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 642fbe7..78ad1da 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -63,10 +63,22 @@ public class AprilTag3 extends Command {
       }
       else if(Botyaw >90 && Botyaw <=180){
       drivetrain.setControl(drive.
-      withRotationalRate(a/20).
-      withVelocityX(0).
-      withVelocityY( b/50));
-       System.out.println(b/50);
+      withRotationalRate(tx/20).
+      withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
+      withVelocityY(MathUtil.clamp(z/4, -1, 1)));
+      }
+      else if(Botyaw >-90 && Botyaw <=0){
+        drivetrain.setControl(drive.
+        withRotationalRate(tx/20).
+        withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
+        withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
+        }
+        else if(Botyaw >-180 && Botyaw <=-90){
+          drivetrain.setControl(drive.
+          withRotationalRate(tx/20).
+          withVelocityX(MathUtil.clamp(x/4, -1, 1)).
+          withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
+          }
     }
     else{
       drivetrain.setControl(drive.