diff --git a/.vscode/settings.json b/.vscode/settings.json
index 612cdd0..1745ba0 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -56,5 +56,6 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
-  ]
+  ],
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }
diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 22d141e..5f7b994 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -54,30 +54,42 @@ public class AprilTag3 extends Command {
   public void execute() {
     double[] BotPose = new double[6];
     Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+    double y2 = 4;
+    double x2 = 0;
+    double angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+    if(angle >180){
+      angle =- angle * 2;
+    }
     if(alliance.get() == DriverStation.Alliance.Red){
        BotPose = limelight3.getBotPoseRed();
+      x2 =11.9;
     }
     else{
       BotPose = limelight3.getBotPoseBlue();
+      x2 = 4.1;
     }
     double botx = BotPose[0];
     double boty = BotPose[1];
     double tx = limelight3.getTx();
     double tagId = limelight3.getTId();
     if(limelight3.getV() == true){
-      if(tagId ==10){
-        drivetrain.setControl(drive.
-        withRotationalRate(tx/20).
-        withVelocityX((botx-5.81)*2).
-        withVelocityY((boty-4)*4));
-      }
-      else if(tagId ==7){
-        drivetrain.setControl(drive.
-        withRotationalRate(tx/20).
-        withVelocityX(2-botx).
-        withVelocityY(2-boty));
+      drivetrain.setControl(drive.
+      withRotationalRate(limelight3.Calcule(botx,x2,boty,y2,angle)).
+      withVelocityX(x.getAsDouble()).
+      withVelocityY(y.getAsDouble()));
+      // if(tagId ==10){
+      //   drivetrain.setControl(drive.
+      //   withRotationalRate(tx/20).
+      //   withVelocityX((botx-5.81)*2).
+      //   withVelocityY((boty-4)*4));
+      // }
+      // else if(tagId ==7){
+      //   drivetrain.setControl(drive.
+      //   withRotationalRate(tx/20).
+      //   withVelocityX(2-botx).
+      //   withVelocityY(2-boty));
 
-      }
+      // }
   }
   else{
       drivetrain.setControl(drive.
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index 17517b6..0ae293f 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -69,6 +69,17 @@ public class Limelight3 extends SubsystemBase {
   public void Forme(){
     pipeline.setNumber(0);
   }
+  public double Calcule(double x1, double x2, double y1, double y2, double angle)
+  {
+    if (x1 > 4)
+    {
+      return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
+    }
+    else
+    {
+        return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
+    }
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run