diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 54f68d3..ac78650 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -22,7 +22,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.utility.RobotTime;
 
 import frc4388.robot.subsystems.Location;
-
+import frc4388.robot.subsystems.Apriltags.Tag;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
@@ -71,12 +71,9 @@ public class Robot extends TimedRobot {
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
 
-    // Call position and rotation reorder
-    location.reoderPrio();
-
-    final Object[] pos = location.getPosition();
+    final Tag pos = location.getPosRot();
     if (pos != null) {
-      SmartDashboard.putNumber("name", (Double) pos[0]);
+      SmartDashboard.putNumber("x position", pos.x);
     }
 
     //ystem.out.print(apriltagPos[0]);
diff --git a/src/main/java/frc4388/robot/subsystems/Apriltags.java b/src/main/java/frc4388/robot/subsystems/Apriltags.java
index bc24769..c6062e8 100644
--- a/src/main/java/frc4388/robot/subsystems/Apriltags.java
+++ b/src/main/java/frc4388/robot/subsystems/Apriltags.java
@@ -9,41 +9,28 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 
 public class Apriltags {
     public static class Tag {
-        boolean visible = true;
-        double x, y, z = 0;
-    }
-    
-    public Object[] getApriltagPosition() {
-        final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
-        final var tag = new Tag();
-        // integrate the tag system
-        
-        // return new Object[] {true, 
-        //     tagTable.getEntry("TagPosX"),
-        //     tagTable.getEntry("TagPosY"),
-        //     tagTable.getEntry("TagPosZ")
-        // };
-
-        return new Object[] {true, 
-            1,
-            2,
-            3
-        };
+        public boolean visible = true;
+        public double x,  y,  z  = 0;
+        public double ry, rp, rr = 0;
     }
 
-    public Object[] getApriltagRotation() {
+    public Tag getTagPosRot() {
         final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
 
-        return new Object[] {true, 
-            tagTable.getEntry("TagRotY"),
-            tagTable.getEntry("TagRotP"),
-            tagTable.getEntry("TagRotR")
-        };
+        final Tag tag = new Tag();
+        tag.visible = isAprilTag();
+        tag.x  = tagTable.getEntry("TagPosX").getDouble(0);
+        tag.y  = tagTable.getEntry("TagPosY").getDouble(0);
+        tag.z  = tagTable.getEntry("TagPosZ").getDouble(0);
+        tag.ry = tagTable.getEntry("TagRotY").getDouble(0);
+        tag.rp = tagTable.getEntry("TagRotP").getDouble(0);
+        tag.rr = tagTable.getEntry("TagRotR").getDouble(0);
+
+        return tag;
     }
 
     public boolean isAprilTag() {
         final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
-        // return tagTable.getEntry("IsTag").getBoolean(false);
-        return true;
+        return tagTable.getEntry("IsTag").getBoolean(false);
     }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/Location.java b/src/main/java/frc4388/robot/subsystems/Location.java
index e5d6959..0bf5322 100644
--- a/src/main/java/frc4388/robot/subsystems/Location.java
+++ b/src/main/java/frc4388/robot/subsystems/Location.java
@@ -1,40 +1,27 @@
 package frc4388.robot.subsystems;
 
-import frc4388.robot.subsystems.Apriltags;
+import frc4388.robot.subsystems.Apriltags.Tag;
 
 public class Location {
-    final Apriltags Apriltag = new Apriltags();
+    final Apriltags apriltag = new Apriltags();
 
     private boolean isLimelight = false;
     private boolean isApriltag = false;
 
     //Determines which source to get pos and rot from and also resets
-    public void reoderPrio(){
+    private void reoderPrio(){
         isLimelight = false; //If limelight gets position and if within a certain range of poles
-        isApriltag = Apriltag.isAprilTag();
+        isApriltag = apriltag.isAprilTag();
     }
 
-    public Object[] getPosition() {
-        if(isLimelight){
-            //Return Limelight Position
-        }else if(isApriltag){
-            return Apriltag.getApriltagPosition();
+    public Tag getPosRot() {
+        reoderPrio();
+        if(isApriltag){
+            return apriltag.getTagPosRot();
+        } else if (isLimelight) {
+            return null;
         }
 
         return null;
     }
-
-    public Object[] getRotation() {
-        Object[] Rotation = {};
-
-        if(isLimelight){
-            //Return Limelight Rotation
-        }else if(isApriltag){
-            return Apriltag.getApriltagRotation();
-        }else{
-            //Return odometry Rotation, last resort
-        }
-
-        return Rotation;
-    }
 }