diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 34cceba..4e0c599 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -279,9 +279,7 @@ public final class Constants {
     public static final class VisionConstants { 
         public static final String CAMERA_NAME = "Camera_Module_v1";
 
-        public static final Rotation2d ROTATE_BY = Rotation2d.fromDegrees(180);
-
-        public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(.3048, .2413, .2794), new Rotation3d(0,0.52333,0));
+        public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI));
 
         public static final AprilTagFieldLayout kTagLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
 
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index 2eebceb..21f3500 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -106,12 +106,14 @@ public class Vision extends Subsystem {
         }
 
         lastVisionPose = EstimatedRobotPose.get().estimatedPose.toPose2d();
+        // lastVisionPose.rotateBy(lastVisionPose.getRotation().minus(lastPhysOdomPose.getRotation()));
         // lastVisionPose = new Pose2d(
-        //     new Translation2d(lastVisionPose.getY(), lastVisionPose.getX()), 
-        //     lastVisionPose.getRotation()
+        //     lastVisionPose.getTranslation(), 
+        //     lastPhysOdomPose.getRotation()
         // );
 
         
+        
         field.setRobotPose(getPose2d());