diff --git a/src/main/cpp/AprilTagPoseEstimator.cpp b/src/main/cpp/AprilTagPoseEstimator.cpp
index ca3a053..c989a45 100644
--- a/src/main/cpp/AprilTagPoseEstimator.cpp
+++ b/src/main/cpp/AprilTagPoseEstimator.cpp
@@ -4,13 +4,13 @@
 using namespace frc;
 
 // this function expects to get the april tag the april tag pose reading in the following format:
-// x - 1st value from jetson
-// y - 2nd value from jetson
-// z - 3rd value from jetson
-// roll (x, 1st value in rotation3d) - 4th value from jetson
-// pitch (y, 2nd value in rotation3d) - 5th value from jetson
-// yaw (z, 3rd value in rotation3d) - 6th value from jetson
-// aprilTagNum: april tag number
+// x - 3rd value from jetson
+// y - 4th value from jetson
+// z - doesn't matter, can be left 0
+// roll (x, 1st value in rotation3d) - doesn't matter, can be left 0
+// pitch (y, 2nd value in rotation3d) - doesn't matter, can be left 0
+// yaw (z, 3rd value in rotation3d) - 4th value from jetson
+// aprilTagNum: april tag number - 2nd value from jetson
 Pose2d AprilTagPoseEstimator::getPose(Pose3d aprilTagPosReading, int aprilTagNum) {
     units::meter_t x = aprilTagPosReading.X();
     units::meter_t y = aprilTagPosReading.Y();