diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 401094e..81d297c 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -74,8 +74,8 @@ public class AprilTag3 extends Command {
       else if(tagId ==7){
         drivetrain.setControl(drive.
         withRotationalRate(tx/20).
-        withVelocityX((2-limelight3.derive(botx))).
-        withVelocityY(2-limelight3.derive(botz)));
+        withVelocityX(2-botx).
+        withVelocityY(2-boty));
       }
   }
   else{
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index 5757445..17517b6 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -22,19 +22,6 @@ public class Limelight3 extends SubsystemBase {
       PortForwarder.add(port, "limelight.local", port);
     }
   }
-  double previousValue = 0;
-double previousTime = Timer.getFPGATimestamp();
-
-public double derive(double currentValue) {
-  double previousValue = 0;
-  double previousTime = Timer.getFPGATimestamp();  
-  double now = Timer.getFPGATimestamp();
-  double dt = now - previousTime;
-  double derivative = (currentValue - previousValue) / dt;
-  previousValue = currentValue;
-  previousTime = now;
-  return derivative;
-}
   public double[] getTargetPose(){
     NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
   NetworkTableEntry targetPoseEntry = limelightTable.getEntry("targetpose_cameraspace");