diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
index f1df279..e29f8b1 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -39,7 +39,8 @@ public class Lancer extends Command {
   public void initialize() {
     if(limeLight3G.getV()){}
     pidController = new PIDController(0.0007, 0,0, 0.001);
-    timer.reset();  
+    timer.reset();
+    alliance = DriverStation.getAlliance();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/Limelighter.java b/src/main/java/frc/robot/commands/Limelighter.java
index 6aa6453..1d0acbc 100644
--- a/src/main/java/frc/robot/commands/Limelighter.java
+++ b/src/main/java/frc/robot/commands/Limelighter.java
@@ -43,7 +43,9 @@ public class Limelighter extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -51,41 +53,45 @@ public class Limelighter extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-        BotPose = limelight3g.getBotPoseBlue();
+        // BotPose = limelight3g.getBotPoseBlue();
        if (!alliance.isPresent()) {
         return;
       }
       if (alliance.get() == Alliance.Blue) {
-        x = 4;
+        x = 4.6;
+        BotPose = limelight3g.getBotPoseBlue();
       }
        else {
         x = 11.915394;
+       BotPose = limelight3g.getBotPoseRed();
       }
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      calcul = limelight3g.Calcule(botx, x, boty, 4.6, angle);
-      if(calcul < -3 && calcul > -180){
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      if(calcul < -5 && calcul > -180){
         drivetrain.setControl(
-          drive.withRotationalRate(-1.5));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
-      else if(calcul > 3 && calcul < 180){
+      else if(calcul > 5 && calcul < 180){
         drivetrain.setControl(
-          drive.withRotationalRate(-1.5));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
-      else if(calcul >= 180){
+      else if(calcul < -5){
         drivetrain.setControl(
-          drive.withRotationalRate(-1.5));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
       else if(calcul <= -180){
         drivetrain.setControl(
-          drive.withRotationalRate(1.5));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
       else{
         drivetrain.setControl(
           drive.withRotationalRate(0));
-      } 
-      System.out.println(calcul);
+      }  
+      drivetrain.setControl(
+          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+      System.out.println(angle);
       if (calcul < 0.2 && calcul > -0.2) {
       drivetrain.setControl(drive.withRotationalRate(0));
       }
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
index a801c51..b7e1255 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
@@ -47,7 +47,9 @@ public class GrimperMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
index c9a5ad5..5dbdba1 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
@@ -48,7 +48,9 @@ public class GrimperReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
index 2205a84..6dfb2b2 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
@@ -38,6 +38,7 @@ public class LancerAuto extends Command {
   public void initialize() {
     pidController = new PIDController(0.0007, 0, 0, 0.001);
     timer.reset();
+    alliance = DriverStation.getAlliance();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
index d551177..21cb1e8 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
@@ -43,7 +43,9 @@ public class LimelighterAuto extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -51,44 +53,63 @@ public class LimelighterAuto extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-      if (!alliance.isPresent()) {
+        // BotPose = limelight3g.getBotPoseBlue();
+       if (!alliance.isPresent()) {
         return;
       }
       if (alliance.get() == Alliance.Blue) {
         x = 4.6;
+        BotPose = limelight3g.getBotPoseBlue();
       }
        else {
         x = 11.915394;
+       BotPose = limelight3g.getBotPoseRed();
       }
-        BotPose = limelight3g.getBotPoseBlue();
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
       calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(calcul < -5 && calcul > -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*(2*Math.PI)));
+      if(angle > 180){
+        angle -= 360;
       }
-      else if(calcul > 5 && calcul < 180){
-        drivetrain.setControl(
-          drive.withRotationalRate(-0.5*(2*Math.PI)));
+      if(calcul > -5 && calcul < 5){
+         drivetrain.setControl(
+           drive.withRotationalRate(0));
       }
-      else if(calcul >= 180){
+      else if(calcul > 5){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*(2*Math.PI)));
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
-      else if(calcul <= -180){
+      else if(calcul < -5){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*(2*Math.PI)));
-      }
-      else{
-        drivetrain.setControl(
-          drive.withRotationalRate(0));
-      }  
-      System.out.println(angle);
-      if (calcul < 0.2 && calcul > -0.2) {
-      drivetrain.setControl(drive.withRotationalRate(0));
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
+      // if(calcul < -5 && calcul > -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else if(calcul > 5 && calcul < 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul >= 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul <= -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else{
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0));
+      // }  
+      // drivetrain.setControl(
+      //     drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+      // System.out.println(angle);
+      // if (calcul < 0.2 && calcul > -0.2) {
+      // drivetrain.setControl(drive.withRotationalRate(0));
+      // }
     }
     else{
       drivetrain.setControl(drive.withRotationalRate(0));
@@ -105,7 +126,6 @@ public class LimelighterAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return calcul < 5 && calcul > -5;
+    return calcul > -5 && calcul < 5;
   }
 }
-
diff --git a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
index 24249d7..331f796 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
@@ -37,7 +37,9 @@ public class TournerVersMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
index 32946e2..d57f0be 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
@@ -37,7 +37,9 @@ public class TournerVersReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Limelight3G.java b/src/main/java/frc/robot/subsystems/Limelight3G.java
index 265cba1..5bc3bb6 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3G.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3G.java
@@ -52,22 +52,28 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
     }
     public double Calcule(double x1, double x2, double y1, double y2, double angle)
     {
-      if(x1 > x2){
-        if(y1 > y2){
-          return Math.atan((x2 - x1) / (y2 - y1)* (180/Math.PI)) - angle;
+      // if(x1 > x2){
+      //   if(y1 > y2){
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+      //   }
+      //   else{
+      //     return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
+      //   }
+      // }
+      // else{
+      //   if(y1 > y2){
+      //     return Math.atan((x2 - x1) / (y2 - y1))* (180 / Math.PI)+270 - angle;
+      //   }
+      //   else{
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI)+180 - angle;
+      //   }
+      // }
+      if(y1 > y2){
+          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
         else{
-          return Math.atan((x2 - x1) / (y2 - y1)* (180/Math.PI)) + 180 - angle;
+          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)-360 - angle;
         }
-      }
-      else{
-        if(y1 > y2){
-          return 90 -(Math.atan((x2 - x1) / (y2 - y1)) * (180/Math.PI)) + 270 - angle;
-        }
-        else{
-          return Math.atan((x2 - x1) / (y2 - y1)* (180/Math.PI)) - angle;
-        }
-      }
     }
   @Override
   public void periodic() {