diff --git a/VisionCode/Main.py b/VisionCode/Main.py
index 8ae59f76..0cf8d323 100644
--- a/VisionCode/Main.py
+++ b/VisionCode/Main.py
@@ -28,7 +28,7 @@
 )
 
 # Video capture is 640 pixels by 480 pixels
-cap = cv2.VideoCapture(0)
+cap = cv2.VideoCapture(1)
 
 # Desired image size (should be small)
 imgSizeX = 200
@@ -48,26 +48,29 @@
         exit()
 
     # Read current frame from the camera
-    img = cap.read()
+    _, img = cap.read()
 
     # Resize image to smaller size
     img = cv2.resize(img, (imgSizeX, imgSizeY))
 
+    #
+    # GAME PIECE DETECTION
+    #
+
     # Create HSV version of img (used for game piece detection)
     imgHSV = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
 
-    # Create a grayscale version of img (used for apriltag detection)
-    imgGrayscale = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
-
     # Create object mask
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, ksize=(25, 25))
     objectMask = cv2.inRange(imgHSV, (hueMin, saturationMin, valueMin), (hueMax, saturationMax, valueMax))
     objectMask = cv2.medianBlur(objectMask, 25)
-    objectMask = cv2.erode(objectMask, 25)
+    objectMask = cv2.erode(objectMask, kernel)
+    objectMask = cv2.dilate(objectMask, kernel)
 
     # Find object contours
     objectCnts = cv2.findContours(objectMask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
 
-    # Report the closest object to RioComms
+    # Find the contours of visible objects
     objectCntsAreas = []
 
     for i in objectCnts[0]:
@@ -76,21 +79,57 @@
         objectCntsAreas.append(M["m00"])
 
     if len(objectCntsAreas) > 0:
+        # Find the largest (and theoretically closest) object
         maxValue = max(objectCntsAreas)
 
         maxObjectCntsIndex = objectCntsAreas.index(maxValue)
 
+        # Find pixel position of object
         M = cv2.moments(objectCnts[0][maxObjectCntsIndex])
 
-        cX = int((M["m10"] / M["m00"]))
-        cY = int((M["m01"] / M["m00"]))
+        cX = int((M["m10"] / M["m00"])) - (imgSizeX / 2)
+        cY = int((M["m01"] / M["m00"])) - (imgSizeY / 2)
 
-        rioComms.send("objects", "Object X", cX - (imgSizeX / 2))
-        rioComms.send("objects", "Object Y", cY - (imgSizeY / 2))
+        # Send pixel position of object to network tables if an object is visible
+        rioComms.send("objects", "Object X", cX)
+        rioComms.send("objects", "Object Y", cY)
         rioComms.send("objects", "Object Visible", 1)
 
     else:
+        # Send zeroes to network tables if no object is visible
         rioComms.send("objects", "Object X", 0)
         rioComms.send("objects", "Object Y", 0)
         rioComms.send("objects", "Object Visible", 0)
 
+    #
+    # APRILTAG DETECTION
+    #
+
+    # Create grayscale version of img (used for apriltag detection)
+    imgGrayscale = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    # Detect apriltags
+    apriltags = at_detector.detect(imgGrayscale)
+
+    # Remove apriltags that might not be identified correctly
+    # HAMMING = 0 WAS USED FOR 16h5, WITH 36h11 WE SHOULD BE ABLE TO INCREASE THIS TO 7+
+    apriltags = [x for x in apriltags if x.hamming == 0]
+
+    for i in range(len(apriltags)):
+        # Convert returned apriltag center into a readable form
+        centerXY = ast.literal_eval((re.sub(" +", " ", ((str(apriltags[i].center).replace("[", "")).replace("]", "")).strip())).replace(" ", ", "))
+
+        # Calculate pixel position of apriltag center
+        centerXY = list(centerXY)
+        centerXY[0] -= (imgSizeX / 2)
+        centerXY[1] -= (imgSizeY / 2)
+
+        # Send apriltag position to network tables
+        rioComms.send("apriltags", "Tag " + str(apriltags[i].tag_id) + " X", centerXY[0])
+        rioComms.send("apriltags", "Tag " + str(apriltags[i].tag_id) + " Y", centerXY[1])
+
+    cv2.imshow("image", img)
+    cv2.imshow("image HSV", imgHSV)
+    cv2.imshow("object mask", objectMask)
+
+    cv2.waitKey(5)
diff --git a/VisionCode/__pycache__/RioComms.cpython-37.pyc b/VisionCode/__pycache__/RioComms.cpython-37.pyc
new file mode 100644
index 00000000..8b2f9b77
Binary files /dev/null and b/VisionCode/__pycache__/RioComms.cpython-37.pyc differ