diff --git a/src/main/java/frc4388/robot/subsystems/Limelight.java b/src/main/java/frc4388/robot/subsystems/Limelight.java
index 9d1289b..46f115b 100644
--- a/src/main/java/frc4388/robot/subsystems/Limelight.java
+++ b/src/main/java/frc4388/robot/subsystems/Limelight.java
@@ -130,35 +130,35 @@ public class Limelight extends SubsystemBase {
     return distanceToApril;
   }
 
-  public PhotonTrackedTarget getLowestTape() {
-    if (!cam.isConnected()) return null;
+  // public PhotonTrackedTarget getLowestTape() {
+  //   if (!cam.isConnected()) return null;
 
-    PhotonPipelineResult result = cam.getLatestResult();
+  //   PhotonPipelineResult result = cam.getLatestResult();
 
-    if (!result.hasTargets()) return null;
+  //   if (!result.hasTargets()) return null;
 
-    ArrayList<PhotonTrackedTarget> points = (ArrayList<PhotonTrackedTarget>) result.getTargets();
+  //   ArrayList<PhotonTrackedTarget> points = (ArrayList<PhotonTrackedTarget>) result.getTargets();
 
-    PhotonTrackedTarget lowest = points.get(0);
-    for (PhotonTrackedTarget point : points) {
-      if (point.getPitch() < lowest.getPitch()) {
-        lowest = point;
-      }
-    }
+  //   PhotonTrackedTarget lowest = points.get(0);
+  //   for (PhotonTrackedTarget point : points) {
+  //     if (point.getPitch() < lowest.getPitch()) {
+  //       lowest = point;
+  //     }
+  //   }
 
-    return lowest;
-  }
+  //   return lowest;
+  // }
 
-  public double getDistanceToTape() {    
-    PhotonTrackedTarget tapePoint = getLowestTape();
-    if (tapePoint == null) return -1;
+  // public double getDistanceToTape() {    
+  //   PhotonTrackedTarget tapePoint = getLowestTape();
+  //   if (tapePoint == null) return -1;
 
-    double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
-    double theta = 35.0 + tapePoint.getPitch();
+  //   double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
+  //   double theta = 35.0 + tapePoint.getPitch();
 
-    double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
-    return distanceToTape;
-  }
+  //   double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
+  //   return distanceToTape;
+  // }
 
   @Override
   public void periodic() {}
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index 371f621..9917776 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -7,32 +7,41 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
 public class Vision {
-    private final NetworkTableEntry m_isTags;
-    private final NetworkTableEntry m_xPoses;
-    private final NetworkTableEntry m_yPoses;
-    private final NetworkTableEntry m_zPoses;
+    private final NetworkTableEntry nt_ll_tx;
+    private final NetworkTableEntry nt_ll_ty;
+    private final NetworkTableEntry nt_ll_ta;
+    private final NetworkTableEntry nt_ll_ts;
 
     public Vision() {
-        final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
+        final var tagTable = NetworkTableInstance.getDefault().getTable("limelight`");
 
-        m_isTags = tagTable.getEntry("IsTag");
-        m_xPoses = tagTable.getEntry("TagPosX");
-        m_yPoses = tagTable.getEntry("TagPosY");
-        m_zPoses = tagTable.getEntry("TagPosZ");
+        nt_ll_tx = tagTable.getEntry("tx"); //TODO
+        nt_ll_ty = tagTable.getEntry("ty"); //TODO
+        nt_ll_ta = tagTable.getEntry("ta"); //TODO
+        nt_ll_ts = tagTable.getEntry("ts"); //TODO
+
+        // I do not know what these values represent
+        // There are diffrent values that are sent
+        // when "3D" mode is enabled on the limelight
+        // So this needs to be updated!
     }
 
-    public AprilTag[] getAprilTags() {
-        if (!m_isTags.getBoolean(false)) return new AprilTag[0];
+    //    public AprilTag[] getAprilTags() { This func should return an apriltag object!
+    public void getAprilTags() {
+        // if (!m_isTags.getBoolean(false)) return new AprilTag[0];
 
-        double xarr[] = m_xPoses.getDoubleArray(new double[] {});
-        double yarr[] = m_yPoses.getDoubleArray(new double[] {});
-        double zarr[] = m_zPoses.getDoubleArray(new double[] {});
+        double ll_tx = nt_ll_tx.getDouble(new Double(0));
+        double ll_ty = nt_ll_ty.getDouble(new Double(0));
+        double ll_ta = nt_ll_ta.getDouble(new Double(0));
+        double ll_ts = nt_ll_ts.getDouble(new Double(0));
 
-        AprilTag tags[] = new AprilTag[xarr.length];
-        for (int i = 0; i < tags.length; i++) {
-            tags[i] = new AprilTag(0, new Pose3d(xarr[i], yarr[i], zarr[i], new Rotation3d()));
-        }
+        // AprilTag tags[] = new AprilTag[xarr.length];
+        // for (int i = 0; i < tags.length; i++) {
+        //     tags[i] = new AprilTag(0, new Pose3d(xarr[i], yarr[i], zarr[i], new Rotation3d()));
+        // }
 
-        return tags;
+        // return tags;
+
+        
     }
 }