Piano please, help me?

So I have been playing piano for roughly...5 years, but I play by ear. When I got my first piano teacher, she wasn't strict enough and never really made me memorize notes, so now, 5 years later, I can't read notes very well at all, especially on the bass clef. Its super embarrassing, I have tried endless hours of practice and memorization but I just can't seem to motivate myself. I truly love the piano and want to keep playing, but it seems impossible with the level I am at right now. Any tips? Thank you in advance!