public void Sample () {

        double stoneX = -1;
        double skyStoneX = -1;
        double stone1X = -1;
        double stone2X = -1;
        double skyStone1X = -1;
        ElapsedTime sampleTime = new ElapsedTime();
        sampleTime.reset();
        while (!skyStoneFound && opModeIsActive()) {

            if (sampleTime.milliseconds() > 3000 )
            {
                skyStoneFound = true;
                skyStonePosition = 'C';
                telemetry.addData("Detected", "Picking random..");
                telemetry.update();

            }
            List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
            if (updatedRecognitions != null) {
                int objectsDetected = updatedRecognitions.size();
                telemetry.addData("# Object Detected", objectsDetected);
                telemetry.update();


                if (objectsDetected == 2) {
                    int i = 0;
                    for (Recognition recognition : updatedRecognitions) {
                        if (recognition.getLabel() == "Stone") {
                            stoneX = recognition.getLeft();
                        } else if (skyStoneX == -1) {
                            skyStoneX = recognition.getLeft();
                        }
                        telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
                        telemetry.addData(String.format("  left,top (%d)", i), "%.03f , %.03f",
                                recognition.getLeft(), recognition.getTop());
                    }


                    if (skyStoneX != -1) {
                        if (skyStoneX < stoneX) {
                            skyStonePosition = 'C';
                            skyStoneFound = true;
                        } else if (skyStoneX > stoneX) {
                            skyStonePosition = 'R';
                            skyStoneFound = true;
                        }
                    }
                        else {
                            skyStonePosition = 'L';
                            skyStoneFound = true;
                        }

                }

                else if (objectsDetected == 3)
                {

                    for (Recognition recognition : updatedRecognitions) {
                        if (recognition.getLabel() == "Stone")
                        {
                            if (stone1X == -1)
                            {
                                stone1X = recognition.getLeft();
                            }
                            else
                            {
                                stone2X = recognition.getLeft();
                            }
                        }
                        else
                        {
                            skyStone1X = recognition.getLeft();
                        }
                    }

                    if ((skyStone1X < stone1X) && (skyStone1X < stone2X))
                    {
                        skyStonePosition ='L';
                    }
                    else if ((skyStone1X > stone1X) && (skyStone1X > stone2X))
                    {
                        skyStonePosition ='R';
                    }
                    else
                    {
                        skyStonePosition = 'C';
                    }
                    skyStoneFound = true;


                }

            }
        }

        tfod.shutdown();
    }