From dbbe006fd3c34a813d0ab01eecc2f43e335a9755 Mon Sep 17 00:00:00 2001
From: Sam Freund <samf.236@proton.me>
Date: Sat, 2 May 2026 01:02:05 -0500
Subject: [PATCH 1/4] Check website format in CI (#2454)

Add a command to lint the website to package.json, and update the
workflow. Updates docs for linting as well.

---------

Co-authored-by: Jade Turner <spacey-sooty@proton.me>
---
 .github/workflows/website.yml            | 15 +++++++++++----
 docs/source/docs/contributing/linting.md |  8 +++++++-
 website/package.json                     |  4 +++-
 3 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/website.yml b/.github/workflows/website.yml
index e91edab79..d1e40b947 100644
--- a/.github/workflows/website.yml
+++ b/.github/workflows/website.yml
@@ -37,6 +37,9 @@ jobs:
 
   format-check:
     name: Check Formatting
+    defaults:
+      run:
+        working-directory: website
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v6
@@ -52,7 +55,11 @@ jobs:
           cache-dependency-path: website/pnpm-lock.yaml
       - name: Install Packages
         run: pnpm i --frozen-lockfile
-        working-directory: website
-      - name: Run Formatting Check
-        run: pnpm prettier -c .
-        working-directory: website
+      - run: |
+          set +e
+          pnpm run format-ci
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+          fi
+          exit $exit_code
diff --git a/docs/source/docs/contributing/linting.md b/docs/source/docs/contributing/linting.md
index 690113c68..8f8327370 100644
--- a/docs/source/docs/contributing/linting.md
+++ b/docs/source/docs/contributing/linting.md
@@ -34,10 +34,16 @@ To install *doc8*, the python tool we use to lint our documentation, run `pipx i
 
 To lint the documentation, run `doc8 docs` from the root level of the docs.
 
+## Website
+
+### Formatting the website
+
+To format the website, run `pnpm -C website run format`.
+
 ## Alias
 
 The following [alias](https://www.computerworld.com/article/1373210/how-to-use-aliases-in-linux-shell-commands.html) can be added to your shell config, which will allow you to lint the entirety of the PhotonVision project by running `pvLint`. The alias will work on Linux, macOS, Git Bash on Windows, and WSL.
 
 ```sh
-alias pvLint='wpiformat -v && ./gradlew spotlessApply && pnpm -C photon-client lint && pnpm -C photon-client format && doc8 docs'
+alias pvLint='wpiformat -v && ./gradlew spotlessApply && pnpm -C photon-client lint && pnpm -C photon-client format && doc8 docs && pnpm -C website format'
 ```
diff --git a/website/package.json b/website/package.json
index 5bd26d8bb..a7d574b96 100644
--- a/website/package.json
+++ b/website/package.json
@@ -6,7 +6,9 @@
   "scripts": {
     "dev": "vite",
     "build": "tsc && vite-ssg build",
-    "preview": "vite preview"
+    "preview": "vite preview",
+    "format": "prettier --write src/",
+    "format-ci": "prettier --check src/"
   },
   "devDependencies": {
     "@toolwind/anchors": "^1.0.10",

From 439f5fcd91bde178e045af8f747a4c89dd938232 Mon Sep 17 00:00:00 2001
From: Sam Freund <samf.236@proton.me>
Date: Sat, 2 May 2026 01:47:32 -0500
Subject: [PATCH 2/4] Add presentation from CMP to website (#2453)

---
 website/src/App.vue                           | 73 ++++++------------
 website/src/components/PresentationCard.vue   | 63 +++++++++++++++
 .../src/components/PresentationCarousel.vue   | 77 +++++++++++++++++++
 3 files changed, 162 insertions(+), 51 deletions(-)
 create mode 100644 website/src/components/PresentationCard.vue
 create mode 100644 website/src/components/PresentationCarousel.vue

diff --git a/website/src/App.vue b/website/src/App.vue
index 8c08f8ca8..34cddc505 100644
--- a/website/src/App.vue
+++ b/website/src/App.vue
@@ -1,6 +1,7 @@
 <script setup lang="ts">
 import Button from "./components/Button.vue";
 import GridSection from "./components/GridSection.vue";
+import PresentationCarousel from "./components/PresentationCarousel.vue";
 
 const navLinks = [
   {
@@ -93,6 +94,26 @@ const socialLinks = [
     label: "Discord",
   },
 ];
+
+const presentations = [
+  {
+    title: "Champs 2026 Talk",
+    description:
+      "Information on the Rubik Pi 3 and how to use Object Detection with PhotonVision.",
+    slidedeckLink:
+      "https://docs.google.com/presentation/d/1eCt9OmOISldCxsxp-aWAvT6YFkfdPzhbeEZn2ihcltA/edit?usp=sharing",
+  },
+  {
+    title: "Champs 2024 Talk",
+    description:
+      "Watch our presentation from the 2024 FIRST Championship and learn how to get the most out of PhotonVision.",
+    slidedeckLink:
+      "https://docs.google.com/presentation/d/1Gh5InslM5p7aDxjzK8DHoEorpATOl-MQWWixY5GjGgs/edit#slide=id.p",
+    codeLink: "https://github.com/PhotonVision/champs_2024",
+    videoEmbedUrl:
+      "https://www.youtube-nocookie.com/embed/iV2v7F_9GwE?si=4wgaT1IrZBpA71dF",
+  },
+];
 </script>
 
 <template>
@@ -268,57 +289,7 @@ const socialLinks = [
       </div>
     </section>
 
-    <section
-      id="champs"
-      class="flex flex-col lg:flex-row items-center justify-center relative py-16 px-8 md:px-16 lg:px-28 gap-12 bg-primary"
-    >
-      <header
-        class="flex flex-col gap-6 justify-center items-center lg:items-start text-center lg:text-left"
-      >
-        <h2 class="text-4xl font-bold font-heading">Champs 2024 Talk</h2>
-        <p class="text-zinc-200 text-lg max-w-md">
-          Watch our presentation from the 2024 FIRST Championship and learn how
-          to get the most out of PhotonVision.
-        </p>
-        <div class="flex gap-4">
-          <Button
-            href="https://docs.google.com/presentation/d/1Gh5InslM5p7aDxjzK8DHoEorpATOl-MQWWixY5GjGgs/edit#slide=id.p"
-            variant="secondary"
-          >
-            Slide Deck
-          </Button>
-          <Button
-            href="https://github.com/PhotonVision/champs_2024"
-            variant="outline"
-          >
-            View Code
-          </Button>
-        </div>
-      </header>
-      <div class="flex-1 max-w-3xl w-full">
-        <div
-          class="relative rounded-xl overflow-hidden shadow-2xl border border-white/10"
-        >
-          <iframe
-            src="https://www.youtube-nocookie.com/embed/iV2v7F_9GwE?si=4wgaT1IrZBpA71dF"
-            title="YouTube video player"
-            frameborder="0"
-            allow="
-              accelerometer;
-              autoplay;
-              clipboard-write;
-              encrypted-media;
-              gyroscope;
-              picture-in-picture;
-              web-share;
-            "
-            referrerpolicy="strict-origin-when-cross-origin"
-            allowfullscreen
-            class="w-full aspect-video"
-          ></iframe>
-        </div>
-      </div>
-    </section>
+    <PresentationCarousel :slides="presentations" />
 
     <GridSection
       id="foss"
diff --git a/website/src/components/PresentationCard.vue b/website/src/components/PresentationCard.vue
new file mode 100644
index 000000000..30705d20a
--- /dev/null
+++ b/website/src/components/PresentationCard.vue
@@ -0,0 +1,63 @@
+<script setup lang="ts">
+import Button from "./Button.vue";
+
+defineProps<{
+  title: string;
+  description: string;
+  slidedeckLink: string;
+  codeLink?: string;
+  videoEmbedUrl?: string;
+}>();
+</script>
+
+<template>
+  <section
+    id="champs"
+    class="flex flex-col lg:flex-row items-center justify-center relative py-16 px-8 md:px-16 lg:px-28 gap-12 bg-primary"
+  >
+    <header
+      class="flex flex-col gap-6 justify-center items-center lg:items-start text-center lg:text-left"
+    >
+      <h2 class="text-4xl font-bold font-heading">{{ title }}</h2>
+      <p class="text-zinc-200 text-lg max-w-md">
+        {{ description }}
+      </p>
+      <div class="flex gap-4">
+        <Button :href="slidedeckLink" variant="secondary"> Slide Deck </Button>
+        <Button v-if="codeLink" :href="codeLink" variant="outline">
+          View Code
+        </Button>
+      </div>
+    </header>
+    <div class="flex-1 max-w-3xl w-full">
+      <div
+        class="relative rounded-xl overflow-hidden shadow-2xl border border-white/10"
+      >
+        <iframe
+          v-if="videoEmbedUrl"
+          :src="videoEmbedUrl"
+          title="YouTube video player"
+          frameborder="0"
+          allow="
+            accelerometer;
+            autoplay;
+            clipboard-write;
+            encrypted-media;
+            gyroscope;
+            picture-in-picture;
+            web-share;
+          "
+          referrerpolicy="strict-origin-when-cross-origin"
+          allowfullscreen
+          class="w-full aspect-video"
+        ></iframe>
+        <div
+          v-else
+          class="w-full aspect-video bg-zinc-800/50 flex items-center justify-center"
+        >
+          <p class="text-2xl font-semibold text-zinc-400">Coming Soon!</p>
+        </div>
+      </div>
+    </div>
+  </section>
+</template>
diff --git a/website/src/components/PresentationCarousel.vue b/website/src/components/PresentationCarousel.vue
new file mode 100644
index 000000000..1ce26905c
--- /dev/null
+++ b/website/src/components/PresentationCarousel.vue
@@ -0,0 +1,77 @@
+<script setup lang="ts">
+import { ref } from "vue";
+import PresentationCard from "./PresentationCard.vue";
+
+export interface PresentationCardData {
+  title: string;
+  description: string;
+  slidedeckLink: string;
+  codeLink?: string;
+  videoEmbedUrl?: string;
+}
+
+const props = defineProps<{
+  slides: PresentationCardData[];
+}>();
+
+const currentSlide = ref(0);
+
+const previousSlide = () => {
+  if (currentSlide.value > 0) {
+    currentSlide.value--;
+  } else {
+    currentSlide.value = props.slides.length - 1;
+  }
+};
+
+const nextSlide = () => {
+  if (currentSlide.value < props.slides.length - 1) {
+    currentSlide.value++;
+  } else {
+    currentSlide.value = 0;
+  }
+};
+</script>
+
+<template>
+  <section class="relative w-full bg-zinc-900">
+    <div class="relative">
+      <!-- Carousel slides -->
+      <div class="overflow-hidden">
+        <PresentationCard
+          :key="currentSlide"
+          :title="props.slides[currentSlide].title"
+          :description="props.slides[currentSlide].description"
+          :slidedeckLink="props.slides[currentSlide].slidedeckLink"
+          :codeLink="props.slides[currentSlide].codeLink"
+          :videoEmbedUrl="props.slides[currentSlide].videoEmbedUrl"
+        />
+      </div>
+
+      <!-- Side navigation arrows -->
+      <button
+        v-if="props.slides.length > 1"
+        @click="previousSlide"
+        :class="[
+          'absolute left-8 top-1/2 -translate-y-1/2 p-4 transition-all duration-300 text-4xl z-10',
+          'text-brand-yellow/70 hover:text-brand-yellow cursor-pointer',
+        ]"
+        aria-label="Previous slide"
+      >
+        <i class="fa-solid fa-chevron-left"></i>
+      </button>
+
+      <button
+        v-if="props.slides.length > 1"
+        @click="nextSlide"
+        :class="[
+          'absolute right-8 top-1/2 -translate-y-1/2 p-4 transition-all duration-300 text-4xl z-10',
+          'text-brand-yellow/70 hover:text-brand-yellow cursor-pointer',
+        ]"
+        aria-label="Next slide"
+      >
+        <i class="fa-solid fa-chevron-right"></i>
+      </button>
+    </div>
+  </section>
+</template>

From 94acd9d631325af58ce91c1baee3fcdfa6e8fec9 Mon Sep 17 00:00:00 2001
From: Sam Freund <samf.236@proton.me>
Date: Sun, 3 May 2026 23:45:41 -0500
Subject: [PATCH 3/4] add youtube video (#2466)

---
 website/src/App.vue | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/website/src/App.vue b/website/src/App.vue
index 34cddc505..ec494df53 100644
--- a/website/src/App.vue
+++ b/website/src/App.vue
@@ -102,6 +102,7 @@ const presentations = [
       "Information on the Rubik Pi 3 and how to use Object Detection with PhotonVision.",
     slidedeckLink:
       "https://docs.google.com/presentation/d/1eCt9OmOISldCxsxp-aWAvT6YFkfdPzhbeEZn2ihcltA/edit?usp=sharing",
+    videoEmbedUrl: "https://www.youtube-nocookie.com/embed/layhsbOIJx4",
   },
   {
     title: "Champs 2024 Talk",
@@ -110,8 +111,7 @@ const presentations = [
     slidedeckLink:
       "https://docs.google.com/presentation/d/1Gh5InslM5p7aDxjzK8DHoEorpATOl-MQWWixY5GjGgs/edit#slide=id.p",
     codeLink: "https://github.com/PhotonVision/champs_2024",
-    videoEmbedUrl:
-      "https://www.youtube-nocookie.com/embed/iV2v7F_9GwE?si=4wgaT1IrZBpA71dF",
+    videoEmbedUrl: "https://www.youtube-nocookie.com/embed/iV2v7F_9GwE",
   },
 ];
 </script>

From adfa39b6f44d1f2e50f91f9b1936068c2fdadbe6 Mon Sep 17 00:00:00 2001
From: Alan Everett <thatcomputerguy0101@gmail.com>
Date: Mon, 4 May 2026 07:24:05 -0400
Subject: [PATCH 4/4] Don't interact with Libcamera cameras until connected
 (#2447)

---
 .../photonvision/vision/frame/FrameProvider.java | 14 ++++++++++++--
 .../provider/LibcameraGpuFrameProvider.java      | 15 +++++++--------
 .../vision/frame/provider/USBFrameProvider.java  | 16 +++-------------
 .../vision/processes/VisionRunner.java           |  2 +-
 4 files changed, 23 insertions(+), 24 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
index 66b90423c..7361a41a8 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
@@ -35,9 +35,19 @@ public abstract class FrameProvider implements Supplier<Frame>, Releasable {
         cameraPropertiesCached = true;
     }
 
-    public abstract boolean isConnected();
+    /** Internal provider for if the camera is currently connected. */
+    protected abstract boolean checkCameraConnected();
 
-    public abstract boolean checkCameraConnected();
+    /** Checks if the camera is currently connected. Also handles connection events. */
+    public boolean isConnected() {
+        boolean connected = this.checkCameraConnected();
+
+        if (!cameraPropertiesCached && connected) {
+            onCameraConnected();
+        }
+
+        return connected;
+    }
 
     /**
      * Returns if the camera has connected at some point. This is not if it is currently connected.
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
index e805602fe..fe7d48e6f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
@@ -37,11 +37,6 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
 
     public LibcameraGpuFrameProvider(LibcameraGpuSettables visionSettables) {
         this.settables = visionSettables;
-
-        var vidMode = settables.getCurrentVideoMode();
-        settables.setVideoMode(vidMode);
-        this.cameraPropertiesCached =
-                true; // Camera properties are not able to be changed so they are always cached
     }
 
     @Override
@@ -160,9 +155,13 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
         return false;
     }
 
-    // To our knowledge the camera is always connected (after boot) with csi cameras
     @Override
-    public boolean isConnected() {
-        return checkCameraConnected();
+    protected void onCameraConnected() {
+        logger.info("Camera connected! running callback");
+
+        super.onCameraConnected();
+
+        var vidMode = settables.getCurrentVideoMode();
+        settables.setVideoMode(vidMode);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
index 85d461ca1..86ba006dc 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -57,18 +57,6 @@ public class USBFrameProvider extends CpuImageProcessor {
         this.connectedCallback = connectedCallback;
     }
 
-    @Override
-    public boolean checkCameraConnected() {
-        boolean connected = camera.isConnected();
-
-        if (!cameraPropertiesCached && connected) {
-            logger.info("Camera connected! running callback");
-            onCameraConnected();
-        }
-
-        return connected;
-    }
-
     final double CSCORE_DEFAULT_FRAME_TIMEOUT = 1.0 / 4.0;
 
     @Override
@@ -145,13 +133,15 @@ public class USBFrameProvider extends CpuImageProcessor {
 
     @Override
     public void onCameraConnected() {
+        logger.info("Camera connected! running callback");
+
         super.onCameraConnected();
 
         this.connectedCallback.run();
     }
 
     @Override
-    public boolean isConnected() {
+    public boolean checkCameraConnected() {
         return camera.isConnected();
     }
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
index 6835bf1e9..f1b99d6fd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
@@ -132,7 +132,7 @@ public class VisionRunner {
 
     private void update() {
         // wait for the camera to connect
-        while (!frameSupplier.checkCameraConnected() && !Thread.interrupted()) {
+        while (!frameSupplier.isConnected() && !Thread.interrupted()) {
             // yield
             pipelineResultConsumer.accept(new CVPipelineResult(0l, 0, 0, null, new Frame()));
             try {