diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 54bb595..d95a6a8 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -10,10 +10,11 @@ import java.util.function.DoubleSupplier;
 
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-
+import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.SynchronousInterrupt.WaitResult;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -51,7 +52,7 @@ public class AprilTag3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double[] BotPose = new double[7];
+    double[] BotPose = new double[6];
     Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
     if(alliance.get() == DriverStation.Alliance.Red){
        BotPose = limelight3.getBotPoseRed();
@@ -60,18 +61,24 @@ public class AprilTag3 extends Command {
       BotPose = limelight3.getBotPoseBlue();
     }
     double botx = BotPose[0];
-    double botz = BotPose[2];
+    double boty = BotPose[1];
     double tx = limelight3.getTx();
-    double tagId = BotPose[7];
+    double tagId = limelight3.getTId();
     if(limelight3.getV() == true){
-      if(tagId ==8){
+      if(tagId ==10){
         drivetrain.setControl(drive.
         withRotationalRate(tx/20).
-        withVelocityX(2-botx).
-        withVelocityY(2-botz));
+        withVelocityX((botx-5.81)*2).
+        withVelocityY((boty-4)*4));
+      }
+      else if(tagId ==7){
+        drivetrain.setControl(drive.
+        withRotationalRate(tx/20).
+        withVelocityX(-(botx-2.21)*2).
+        withVelocityY(-(boty-4)*4));
       }
   }
-    else{
+  else{
       drivetrain.setControl(drive.
       withRotationalRate(0).
       withVelocityX(0).
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index 42d768a..27a9a37 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -27,13 +27,13 @@ public class Limelight3 extends SubsystemBase {
   return targetPose;
   }
   public double[] getBotPoseBlue(){
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
+  NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
   NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
   double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
   return BotPose;
   }
   public double[] getBotPoseRed(){
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
   NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
   double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
   return BotPose;
@@ -48,6 +48,11 @@ public class Limelight3 extends SubsystemBase {
     NetworkTableEntry ta = table.getEntry("ta");
     return ta.getDouble(0.0);
   }
+  public double getTId(){
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry tid = table.getEntry("tid");
+    return tid.getDouble(0.0);
+  }
   public double getRx(){
     NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
     NetworkTableEntry rx = table.getEntry("rx");