diff --git a/src/main/java/frc/robot/vision/cameras/limelight/Limelight.java b/src/main/java/frc/robot/vision/cameras/limelight/Limelight.java
index 80eda8e429..94850eefbe 100644
--- a/src/main/java/frc/robot/vision/cameras/limelight/Limelight.java
+++ b/src/main/java/frc/robot/vision/cameras/limelight/Limelight.java
@@ -212,6 +212,17 @@ public List<DetectedObjectObservation> getRobotRelativeColorDetections() {
 		return new ArrayList<>();
 	}
 
+	public static Pose2d calculateRobotCenterRelativeToField(
+		Supplier<Pose2d> limeLightPoseRelativeToRobotCenter,
+		Pose2d limeLightPoseRelativeToField
+	) {
+		Transform2d camTransformRelativeToRobotCenter = new Transform2d(
+			new Pose2d(0, 0, Rotation2d.fromDegrees(0.0)),
+			limeLightPoseRelativeToRobotCenter.get()
+		);
+		return (limeLightPoseRelativeToField.transformBy(camTransformRelativeToRobotCenter.inverse()));
+	}
+
 	public Function<LimelightHelpers.RawDetection, Boolean> getNeuralDetectionFilter() {
 		return neuralDetectionFilter;
 	}