diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 17af840..3e3f6c2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -321,17 +321,34 @@ public class RobotContainer {
 
 		//sensorTab.add("odometry", drivetrain::getPose);
 
-		apriltagTab.addDouble("Orange ID", () -> drivetrain.vision.getOrangeClosestTag());
-		apriltagTab.addDouble("Orange tx", () -> drivetrain.vision.getOrangeTX());
-		apriltagTab.addDouble("Orange ty", () -> drivetrain.vision.getOrangeTY());
-		apriltagTab.addDouble("Orange dist", () -> drivetrain.vision.getOrangeDist());
-		apriltagTab.addDouble("global x", () -> drivetrain.vision.getOrangeGlobalPose(drivetrain.getGyroBuffer()).getX());
-		apriltagTab.addDouble("global y", () -> drivetrain.vision.getOrangeGlobalPose(drivetrain.getGyroBuffer()).getY());
-		apriltagTab.addDouble("closest tag", () -> drivetrain.getClosestTag());
-		apriltagTab.addDouble("orange fps", () -> drivetrain.vision.getOrangeFPS());
+		apriltagTab.addDouble("Orange ID", () -> drivetrain.vision.getOrangeClosestTag())
+			.withSize(1,1).withPosition(1,1);
+		apriltagTab.addDouble("Orange tx", () -> drivetrain.vision.getOrangeTX())
+			.withSize(2,1).withPosition(2,1);
+		apriltagTab.addDouble("Orange ty", () -> drivetrain.vision.getOrangeTY())
+			.withSize(3,1).withPosition(3,1);
+		apriltagTab.addDouble("Orange dist", () -> drivetrain.vision.getOrangeDist())
+			.withSize(4,1).withPosition(4,1);
+		apriltagTab.addDouble("orange fps", () -> drivetrain.vision.getOrangeFPS())
+			.withSize(6,1).withPosition(5,1);
+		apriltagTab.addBoolean("orange detected", () -> drivetrain.vision.getOrangeTagDetected())
+			.withSize(7,1).withPosition(6,1);
 
-//		sensorTab.addDouble(" ID", vision::getOrangeClosestTag);
+		apriltagTab.addDouble("Black ID", () -> drivetrain.vision.getBlackClosestTag())
+			.withSize(1,1).withPosition(1,2);
+		apriltagTab.addDouble("Black tx", () -> drivetrain.vision.getBlackTX())
+			.withSize(1,1).withPosition(2,2);
+		apriltagTab.addDouble("Black ty", () -> drivetrain.vision.getBlackTY())
+			.withSize(1,1).withPosition(3,2);
+		apriltagTab.addDouble("Black dist", () -> drivetrain.vision.getBlackDist())
+			.withSize(1,1).withPosition(4,2);
+		apriltagTab.addDouble("Black fps", () -> drivetrain.vision.getBlackFPS())
+			.withSize(1,1).withPosition(5,2);
+		apriltagTab.addBoolean("Black detected", () -> drivetrain.vision.getBlackTagDetected())
+			.withSize(1,1).withPosition(6,2);
 
+		apriltagTab.addDouble("Closest tag", () -> drivetrain.getClosestTag())
+			.withSize(1,1).withPosition(4,4);
 
  	}
 
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index a58b6f7..e22cfdc 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -210,8 +210,6 @@ public class Drivetrain extends SubsystemBase {
             }
         }
         Logger.recordOutput("black pose", new Pose3d(blackPose2d));
-
-        
         
         Logger.recordOutput("robot pose", new Pose3d(m_estimator.getEstimatedPosition()));
         
@@ -259,11 +257,12 @@ public class Drivetrain extends SubsystemBase {
     public void resetOdometry(Pose2d pose) {
         m_estimator.resetPosition(
             Rotation2d.fromDegrees(getGyroValue()),
-        new SwerveModulePosition[] {
-            m_frontLeft.getPosition(),
-            m_frontRight.getPosition(),
-            m_rearLeft.getPosition(),
-            m_rearRight.getPosition()},
+            new SwerveModulePosition[] {
+                m_frontLeft.getPosition(),
+                m_frontRight.getPosition(),
+                m_rearLeft.getPosition(),
+                m_rearRight.getPosition()
+            },
             pose
         );
     }