diff --git a/src/main/java/frc/robot/vision/PoseEstimatorSubsystem.java b/src/main/java/frc/robot/vision/PoseEstimatorSubsystem.java
index ed71f50..aae66e0 100644
--- a/src/main/java/frc/robot/vision/PoseEstimatorSubsystem.java
+++ b/src/main/java/frc/robot/vision/PoseEstimatorSubsystem.java
@@ -146,10 +146,10 @@ public void periodic() {
 
     // Set the pose on the dashboard
     var dashboardPose = poseEstimator.getEstimatedPosition();
-    // if (originPosition == kRedAllianceWallRightSide) {
-    //   // Flip the pose when red, since the dashboard field photo cannot be rotated
-    //   dashboardPose = flipAlliance(dashboardPose);
-    // }
+    if (originPosition == kRedAllianceWallRightSide) {
+      // Flip the pose when red, since the dashboard field photo cannot be rotated
+      dashboardPose = flipAlliance(dashboardPose);
+    }
     field2d.setRobotPose(dashboardPose);
     SmartDashboard.putString("Pose Formatted", getFomattedPose());
     
diff --git a/src/main/java/frc/robot/vision/VisionConfig.java b/src/main/java/frc/robot/vision/VisionConfig.java
index a6b5bce..b057031 100644
--- a/src/main/java/frc/robot/vision/VisionConfig.java
+++ b/src/main/java/frc/robot/vision/VisionConfig.java
@@ -45,12 +45,12 @@ public class VisionConfig {
     public static final Transform3d[] ROBOT_TO_CAM_TRANSFORMS = new Transform3d[] {
         //left cam
         new Transform3d(
-            new Translation3d(Units.inchesToMeters(11.882),Units.inchesToMeters(11.020),Units.inchesToMeters(6.767)),
-            new Rotation3d(0,Units.degreesToRadians(15),Units.degreesToRadians(-20))),
+            new Translation3d(Units.inchesToMeters(-11.882),Units.inchesToMeters(-11.020),Units.inchesToMeters(6.767)),
+            new Rotation3d(0,Units.degreesToRadians(15),Units.degreesToRadians(160))),
         //right cam
         new Transform3d(
-            new Translation3d(Units.inchesToMeters(11.882),Units.inchesToMeters(-11.020),Units.inchesToMeters(6.767)), 
-            new Rotation3d(0, Units.degreesToRadians(15), Units.degreesToRadians(20)))
+            new Translation3d(Units.inchesToMeters(-11.882),Units.inchesToMeters(11.020),Units.inchesToMeters(6.767)), 
+            new Rotation3d(0, Units.degreesToRadians(15), Units.degreesToRadians(-160)))
     }; 
 
     // Creates field layout for AprilTags