diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
index 547c5f2..efa01e7 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
@@ -14,6 +14,7 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -32,6 +33,7 @@ public class GrimperMur extends Command {
   double x;
   double y;
   double angle;
+  double pigeonAngle;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
   Optional<Alliance> alliance = DriverStation.getAlliance();
@@ -59,45 +61,53 @@ public class GrimperMur extends Command {
   @Override
   public void execute() {
     if(limeLight3.getV()){
-    BotPose = limeLight3.getBotPoseBlue();
-    botx = BotPose[0];
-    boty = BotPose[1];
-    System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
-    if(angle < 0){
-      angle = angle + 360;
-    }
-    if(alliance.get() == Alliance.Blue){
-     y = 5.4;
-     x = 1.11;
-     angle = 0;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
+      BotPose = limeLight3.getBotPoseBlue();
+      botx = BotPose[0];
+      boty = BotPose[1];
+      if(angle < 0){
+        angle = angle + 360;
+      }
+      if(alliance.get() == Alliance.Red){
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+      y = 2.6;
+      x = 15.6;
+      angle = 180;
+      if(pigeonAngle< 190 && pigeonAngle> 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*6.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*6.5),-2,2)));
+      }
+      else{
+        if(pigeonAngle>180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+        }
+        else{
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+      }
+      }
+      else{
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble()+180;
+        System.out.println(pigeonAngle);
+        y = 5.4;
+        x = 1.11;
+        angle = 0;
+        if(pigeonAngle> 358 || pigeonAngle< 2){
+          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)).withRotationalRate(0));
+        }
+        else{
+          if(pigeonAngle>0 && pigeonAngle<180){
+            drivetrain.setControl(drive.withRotationalRate(-1));
+            System.out.println("x");
+          }
+          else if(pigeonAngle>180){
+            System.out.println("e");
+            drivetrain.setControl(drive.withRotationalRate(1));
+          }
+        }
+      }
     }
     else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-    }
-    }
-    else{
-     x = 15.6;
-     y = 6.959326;
-     angle = 180;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-    }
-    }
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
     }
   }