diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 66858c0..0d89b43 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -245,6 +245,7 @@ public class RobotContainer {
     private void configureShuffleboard() {
 		ShuffleboardTab autoTab = Shuffleboard.getTab(OIConstants.kAutoTab);
     	ShuffleboardTab sensorTab = Shuffleboard.getTab(OIConstants.kSensorsTab);
+		ShuffleboardTab apriltagTab = Shuffleboard.getTab(OIConstants.kApriltagTab);
 
 		Shuffleboard.selectTab(OIConstants.kAutoTab);
 
@@ -320,6 +321,14 @@ public class RobotContainer {
 
 		//sensorTab.add("odometry", drivetrain::getPose);
 
+		sensorTab.addDouble("Orange ID", vision::getOrangeClosestTag);
+		sensorTab.addDouble("Orange x", vision::getOrangeRelativeX);
+		sensorTab.addDouble("Orange y", vision::getOrangeRelativeY);
+		sensorTab.addDouble("Orange z", vision::getOrangeRelativeZ);
+
+//		sensorTab.addDouble(" ID", vision::getOrangeClosestTag);
+
+
  	}
 
 	public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/constants/OIConstants.java b/src/main/java/frc/robot/constants/OIConstants.java
index cd2be66..a9b0552 100644
--- a/src/main/java/frc/robot/constants/OIConstants.java
+++ b/src/main/java/frc/robot/constants/OIConstants.java
@@ -8,4 +8,5 @@ public class OIConstants {
 
     public static final String kAutoTab = "Auto Tab";
     public static final String kSensorsTab = "Sensors Tab";
+    public static final String kApriltagTab = "Apriltag Tab";
 }
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
index 1823137..244466c 100644
--- a/src/main/java/frc/robot/subsystems/Vision.java
+++ b/src/main/java/frc/robot/subsystems/Vision.java
@@ -49,9 +49,9 @@ public class Vision{
 
         blackFramerate = blackVisionTable.getDoubleTopic("blackFPS").subscribe(0.0);
 
-        orangeRobotRelativeX = orangeVisionTable.getDoubleTopic("orangeRelativeX").subscribe(0.0);
-        orangeRobotRelativeY = orangeVisionTable.getDoubleTopic("orangeRelativeY").subscribe(0.0);
-        orangeRobotRelativeZ = orangeVisionTable.getDoubleTopic("orangeRelativeZ").subscribe(0.0);
+        orangeRobotRelativeX = orangeVisionTable.getDoubleTopic("tag3tx").subscribe(0.0);
+        orangeRobotRelativeY = orangeVisionTable.getDoubleTopic("tag_tvec_y").subscribe(0.0);
+        orangeRobotRelativeZ = orangeVisionTable.getDoubleTopic("tag_tvec_z").subscribe(0.0);
 
         orangeClosestTag = orangeVisionTable.getDoubleTopic("orangeClosestTag").subscribe(0.0);
         orangeTagDetected = orangeVisionTable.getBooleanTopic("orangeTagDetected").subscribe(false);