diff --git a/src/main/java/frc/robot/interfaces/IAprilTagProvider.java b/src/main/java/frc/robot/interfaces/IAprilTagProvider.java
new file mode 100644
index 0000000..09d3107
--- /dev/null
+++ b/src/main/java/frc/robot/interfaces/IAprilTagProvider.java
@@ -0,0 +1,9 @@
+package frc.robot.interfaces;
+
+import java.util.OptionalDouble;
+
+public interface IAprilTagProvider {
+    
+    public OptionalDouble getTagHorizontalOffsetByID(int id);
+    public OptionalDouble getTagDistanceFromCameraByID(int id);
+}
diff --git a/src/main/java/frc/robot/utilities/VisualPoseProvider.java b/src/main/java/frc/robot/interfaces/IVisualPoseProvider.java
similarity index 61%
rename from src/main/java/frc/robot/utilities/VisualPoseProvider.java
rename to src/main/java/frc/robot/interfaces/IVisualPoseProvider.java
index 62fc574..f8649a9 100644
--- a/src/main/java/frc/robot/utilities/VisualPoseProvider.java
+++ b/src/main/java/frc/robot/interfaces/IVisualPoseProvider.java
@@ -1,8 +1,10 @@
-package frc.robot.utilities;
+package frc.robot.interfaces;
+
+import java.util.Optional;
 
 import edu.wpi.first.math.geometry.Pose2d;
 
-public interface VisualPoseProvider {
+public interface IVisualPoseProvider {
     public record VisualPose(Pose2d visualPose, double timestamp) {}
 
     public VisualPose getVisualPose();
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 2378635..0809087 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -24,7 +24,7 @@ import frc.robot.constants.AutoConstants;
 import frc.robot.constants.DrivetrainConstants;
 import frc.robot.utilities.MAXSwerveModule;
 import frc.robot.utilities.SwerveUtils;
-import frc.robot.utilities.VisualPoseProvider;
+import frc.robot.interfaces.IVisualPoseProvider;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -42,7 +42,7 @@ public class Drivetrain extends SubsystemBase {
     private final SlewRateLimiter m_magLimiter;
     private final SlewRateLimiter m_rotLimiter;
 
-    private final VisualPoseProvider m_visualPoseProvider;
+    private final IVisualPoseProvider m_visualPoseProvider;
 
     // Odometry class for tracking robot pose
     SwerveDrivePoseEstimator m_poseEstimator;
@@ -55,7 +55,7 @@ public class Drivetrain extends SubsystemBase {
     private double m_prevTime;
 
     /** Creates a new DriveSubsystem. */
-    public Drivetrain(Pose2d initialPose, VisualPoseProvider visualPoseProvider) {
+    public Drivetrain(Pose2d initialPose, IVisualPoseProvider visualPoseProvider) {
         m_frontLeft = new MAXSwerveModule(
             DrivetrainConstants.kFrontLeftDrivingCanId,
             DrivetrainConstants.kFrontLeftTurningCanId,