diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 78ad1da..df05ca0 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -55,23 +55,24 @@ public class AprilTag3 extends Command {
     double Botyaw = BotPose[5];
     double tx = limelight3.getTx();
     if(limelight3.getV() == true){
+      System.out.println(Botyaw);
       if(Botyaw > 0 && Botyaw <=90){
         drivetrain.setControl(drive.
       withRotationalRate(tx/20).
-      withVelocityX(MathUtil.clamp(x/4, -1, 1)).
+      withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
       withVelocityY(MathUtil.clamp(z/4, -1, 1)));
       }
       else if(Botyaw >90 && Botyaw <=180){
       drivetrain.setControl(drive.
-      withRotationalRate(tx/20).
-      withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
-      withVelocityY(MathUtil.clamp(z/4, -1, 1)));
+      withRotationalRate(0).
+      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)));
+        withVelocityY(MathUtil.clamp(z/4, -1, 1)));
         }
         else if(Botyaw >-180 && Botyaw <=-90){
           drivetrain.setControl(drive.
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index 071886f..d86abc0 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -21,14 +21,14 @@ public class Limelight3 extends SubsystemBase {
     }
   }
   public double[] getTargetPose(){
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
   NetworkTableEntry targetPoseEntry = limelightTable.getEntry("targetpose_cameraspace");
   double[] targetPose = targetPoseEntry.getDoubleArray(new double[6]);
   return targetPose;
   }
   public double[] getBotPose(){
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
-  NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_cameraspace");
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
+  NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose");
   double[] BotPose = BotPoseEntry.getDoubleArray(new double[6]);
   return BotPose;
   }