From c2e0b69c55cccda93276d3f82ced20d907b5a5f8 Mon Sep 17 00:00:00 2001
From: DanTheMan-byte <danibarrf@gmail.com>
Date: Sat, 21 Feb 2026 14:29:10 -0600
Subject: [PATCH] Added to get limelight positioning

---
 .../ftc/teamcode/teleop/TeleopV3.java             |  6 ++++--
 .../firstinspires/ftc/teamcode/utils/Turret.java  | 15 +++++++++++++--
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
index 8bd6b8f..542f1a6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
@@ -346,11 +346,13 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("Targeting GridY", targeting.robotGridY);
             TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
             TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
-            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
+//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+//            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
             TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
             TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
             TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("Tag Pos X", turret.getLimelightX());
+            TELE.addData("Tag Pos Y", turret.getLimelightY());
 
             TELE.update();
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
index 06e532a..6c762f6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
@@ -112,6 +112,14 @@ public class Turret {
                     limelightPosX = botpose.getPosition().x;
                     limelightPosY = botpose.getPosition().y;
                 }
+                List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                    limelightTagPose = fiducial.getRobotPoseTargetSpace();
+                    if (limelightTagPose != null){
+                        limelightTagX = limelightTagPose.getPosition().x;
+                        limelightTagY = limelightTagPose.getPosition().y;
+                    }
+                }
 
             }
         }
@@ -127,12 +135,15 @@ public class Turret {
         return ty;
     }
 
+    Pose3D limelightTagPose;
+    double limelightTagX = 0.0;
+    double limelightTagY = 0.0;
     public double getLimelightX() {
-        return limelightPosX;
+        return limelightTagX;
     }
 
     public double getLimelightY() {
-        return limelightPosY;
+        return limelightTagY;
     }
 
     public int detectObelisk() {