diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java
index 6ad1cf4..f0ac33a 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java
@@ -3,29 +3,18 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package org.fairportrobotics.frc.robolib.vision.limelight;
-
-import com.ctre.phoenix6.hardware.Pigeon2;
-
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator3d;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
 
 public class Limelight {
   private String name;
-  private Pigeon2 gyro;
   private SwerveDrivePoseEstimator3d poseEstimator;
 
-  public Limelight(String name, Pigeon2 gyro, SwerveDrivePoseEstimator3d poseEstimator) {
+  public Limelight(String name, SwerveDrivePoseEstimator3d poseEstimator) {
     this.name = name;
-    this.gyro = gyro;
     this.poseEstimator = poseEstimator;
   } 
 
-  public LimelightHelpers.PoseEstimate updateOdometry() {
-      boolean useMegaTag2 = true; //set to false to use MegaTag1
-      boolean doRejectUpdate = false;
-      
+  public LimelightHelpers.PoseEstimate updateOdometry() {      
       LimelightHelpers.SetRobotOrientation(name, Math.toDegrees(poseEstimator.getEstimatedPosition().getRotation().getZ()), 0, 0, 0, 0, 0);
       return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight");
     }