diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 2eead71..54bb595 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -67,16 +67,10 @@ public class AprilTag3 extends Command {
       if(tagId ==8){
         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)));
-          }
-    }
+        withVelocityX(2-botx).
+        withVelocityY(2-botz));
+      }
+  }
     else{
       drivetrain.setControl(drive.
       withRotationalRate(0).