diff --git a/Slipgate/src/org/usfirst/frc/team263/robot/LimelightMath b/Slipgate/src/org/usfirst/frc/team263/robot/LimelightMath
new file mode 100644
index 0000000..c30fadc
--- /dev/null
+++ b/Slipgate/src/org/usfirst/frc/team263/robot/LimelightMath
@@ -0,0 +1,62 @@
+import javax.swing.JOptionPane;
+import java.lang.Math;
+public class LimelightMath 
+{
+	public static void main(String[] args)
+	{	
+	    double x = ; 
+	    //the distance between the robot and the power cube (needs to be imported) 
+	    double y = ; 
+	    //the height of the limelight camera above the cube (once known we can input that straight into the math)
+	    double v = ; 
+	    //(v = dx) the velocity/change in position of the robot over a period of time (needs to be imported)
+	    double h = calcLimelightDistance(x, y); 
+	    //the calculated distance between the limelight and the power cube
+	    double dh = changeInLimelightDistance(x,y,v); 
+	    //the calculated change in distance between the limelight and the power cube
+	    double o1 = Math.toDegrees(angleOfElevation(x,y)); 
+	    //the calculated measure of the angle of elevation of the limelight
+	    double o2 = Math.toDegrees(angleOther(x,y)); 
+	    //the calculated measure of the complement to the angle of elevation 
+	    double do1 = Math.toDegrees(-1 * changeInAngle(x,y)); 
+	    //the calculated change in the angle of elevation 
+	    double do2 = Math.toDegrees(changeInAngle(x,y)); 
+	    //the calculated change of the complement to the angle of elevation 
+	    if (v == 0)
+	    {
+	    		do1 = 0;
+	    		do2 = 0;
+	    }
+	    System.out.println("Distance = " + h + " in");
+	    System.out.println("Change in Diagonal Distance = " + dh + " in/s");
+	    System.out.println("Angle of Elevation = " + o1 + " degrees");
+	    System.out.println("Other Angle = " + o2 + " degrees");
+	    System.out.println("Change in Angle of Elevation = " + do1 + " degrees/s");
+	    System.out.println("Change in Other Angle = " + do2 + " degrees/s");
+	}
+	public static double calcLimelightDistance(double a, double b)
+	{
+		return Math.hypot(a, b); 
+		//method to calculate h; a = x & b = y
+	}
+	public static double changeInLimelightDistance(double a, double b, double c)
+	{
+		return (a * c) / Math.hypot(a, b); 
+		//method to calculate dh; a = x, b = y & c = v
+	}
+	public static double angleOfElevation(double a, double b)
+	{
+		return Math.acos(a / (Math.hypot(a, b))); 
+		//method to calculate o1; a = x & b = y
+	}
+	public static double angleOther(double a, double b)
+	{
+		return Math.asin(a / (Math.hypot(a, b))); 
+		//method to calculate o2; a = x & b = y
+	}
+	public static double changeInAngle(double a, double b)
+	{
+		return 1 / (b * (1 + Math.pow(a, 2) / Math.pow(b, 2))); 
+		//method to calculate do2 (do1 = -1 * do2); a = x & b = y
+	}
+}