diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index ffe41fa..4a1e119 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -97,3 +97,39 @@ public void checkFinished(){
   }
 }
 
+public void limeOff(){
+  NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+  NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1);
+}
+
+  public void limeOn(){
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
+}
+
+  public void changePipeline(int pipelineId)
+  {
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId);
+  }
+  
+  public double getV()
+  {
+    return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
+  }
+
+  public double getX()
+  {
+    return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
+  }
+
+  public double getY()
+  {
+    return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
+  }
+  @Override
+  public void periodic(){
+    //called once per scheduler run
+  }
+}
+
+