diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index e2700c2..1db3eeb 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -200,42 +200,43 @@ public class DriveSubsystem extends TestableSubsystem {
         LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.FRONT_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0);
         LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.BACK_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0);
 
+        // DO NOT USE EVER, PERIOD
         // MegaTag 2 impl
-        if(RobotState.isDisabled()){
-            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 1);
-            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 1);
-        }else{
-            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 4);
-            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 4);
-        }
-
-        LimelightHelpers.PoseEstimate frontTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.FRONT_CAMERA_NAME);
-        LimelightHelpers.PoseEstimate backTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.BACK_CAMERA_NAME);
-
-        if(frontTag.tagCount >= 2){
-            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontTag.pose), frontTag.timestampSeconds);
-            Logger.recordOutput("FrontPose-Estimate", frontTag.pose);
-            Logger.recordOutput("FrontPose-IsMegaTag2", frontTag.isMegaTag2);
-        }
-
-        if(backTag.tagCount >= 2){
-            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backTag.pose), backTag.timestampSeconds);
-            Logger.recordOutput("BackPose-Estimate", backTag.pose);
-            Logger.recordOutput("BackPose-IsMegaTag2", frontTag.isMegaTag2);
-        }
-
-
-        // MegaTag 1 Impl
-        // LimelightHelpers.PoseEstimate frontCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.FRONT_CAMERA_NAME);
-        // if (frontCameraPose.tagCount >= 2) {
-        //     driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontCameraPose.pose), frontCameraPose.timestampSeconds);
-        //     Logger.recordOutput("FrontPoseEstimate", frontCameraPose.pose);
+        // if(RobotState.isDisabled()){
+        //     LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 1);
+        //     LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 1);
+        // }else{
+        //     LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 4);
+        //     LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 4);
         // }
-        // LimelightHelpers.PoseEstimate backCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME);
-        // if (backCameraPose.tagCount >= 2) {
-        //     driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backCameraPose.pose), backCameraPose.timestampSeconds);
-        //     Logger.recordOutput("BackPoseEstimate", backCameraPose.pose);
+
+        // LimelightHelpers.PoseEstimate frontTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.FRONT_CAMERA_NAME);
+        // LimelightHelpers.PoseEstimate backTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.BACK_CAMERA_NAME);
+
+        // if(frontTag.tagCount >= 2){
+        //     driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontTag.pose), frontTag.timestampSeconds);
+        //     Logger.recordOutput("FrontPose-Estimate", frontTag.pose);
+        //     Logger.recordOutput("FrontPose-IsMegaTag2", frontTag.isMegaTag2);
         // }
+
+        // if(backTag.tagCount >= 2){
+        //     driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backTag.pose), backTag.timestampSeconds);
+        //     Logger.recordOutput("BackPose-Estimate", backTag.pose);
+        //     Logger.recordOutput("BackPose-IsMegaTag2", frontTag.isMegaTag2);
+        // }
+
+
+        //MegaTag 1 Impl
+        LimelightHelpers.PoseEstimate frontCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.FRONT_CAMERA_NAME);
+        if (frontCameraPose.tagCount >= 2) {
+            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontCameraPose.pose), frontCameraPose.timestampSeconds);
+            Logger.recordOutput("FrontPoseEstimate", frontCameraPose.pose);
+        }
+        LimelightHelpers.PoseEstimate backCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME);
+        if (backCameraPose.tagCount >= 2) {
+            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backCameraPose.pose), backCameraPose.timestampSeconds);
+            Logger.recordOutput("BackPoseEstimate", backCameraPose.pose);
+        }
     }
 
     @Override