Upgrade to Gradle 7.2 and WPILib 2022 (#316)

2026-06-30 02:31:40 +00:00 · 2021-11-21 17:22:56 -08:00
parent ffe34f00fe
commit 5ca39e7f84
316 changed files with 671 additions and 1019 deletions
--- a/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java
+++ b/photon-core/src/main/java/org/photonvision/common/ProgramStatus.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common;

 public enum ProgramStatus {
--- a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -14,13 +14,12 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.logging.LogGroup;
--- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

 import com.fasterxml.jackson.core.JsonProcessingException;
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
@@ -24,7 +23,6 @@ import java.util.List;

@JsonIgnoreProperties(ignoreUnknown = true)
 public class HardwareConfig {
-
    public final String deviceName;
    public final String deviceLogoPath;
    public final String supportURL;
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

 public class HardwareSettings {
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

 import com.fasterxml.jackson.annotation.JsonCreator;
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.configuration;

 import java.util.Collection;
@@ -32,7 +31,6 @@ import org.photonvision.vision.processes.VisionSource;

 // TODO rename this class
 public class PhotonConfiguration {
-
    private HardwareConfig hardwareConfig;
    private HardwareSettings hardwareSettings;
    private NetworkConfig networkConfig;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow;

 import java.util.function.Consumer;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeDestination.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeDestination.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow;

 import java.util.ArrayList;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeService.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeService.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow;

 import java.util.concurrent.BlockingQueue;
@@ -27,7 +26,6 @@ import org.photonvision.common.logging.Logger;

@SuppressWarnings("rawtypes")
 public class DataChangeService {
-
    private static final Logger logger = new Logger(DataChangeService.class, LogGroup.WebServer);

    private static class ThreadSafeSingleton {
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow;

 import java.util.ArrayList;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow;

 import java.util.List;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/events/DataChangeEvent.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/events/DataChangeEvent.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.events;

 import org.photonvision.common.dataflow.DataChangeDestination;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/events/HTTPRequestEvent.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/events/HTTPRequestEvent.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.events;

 import org.photonvision.common.dataflow.DataChangeDestination;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.events;

 import io.javalin.websocket.WsContext;
@@ -23,7 +22,6 @@ import org.photonvision.common.dataflow.DataChangeDestination;
 import org.photonvision.common.dataflow.DataChangeSource;

 public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
-
    public final Integer cameraIndex;
    public final WsContext originContext;

--- a/photon-core/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.events;

 import io.javalin.websocket.WsContext;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.networktables;

 import edu.wpi.first.networktables.EntryListenerFlags;
@@ -23,7 +22,6 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import java.util.function.Consumer;

 public class NTDataChangeListener {
-
    private final NetworkTableEntry watchedEntry;
    private final int listenerID;

--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.networktables;

 import edu.wpi.first.networktables.EntryNotification;
@@ -33,7 +32,6 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;

 public class NTDataPublisher implements CVPipelineResultConsumer {
-
    private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
    private NetworkTable subTable;
    private NetworkTableEntry rawBytesEntry;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.networktables;

 import edu.wpi.first.networktables.LogMessage;
@@ -29,7 +28,6 @@ import org.photonvision.common.scripting.ScriptEventType;
 import org.photonvision.common.scripting.ScriptManager;

 public class NetworkTablesManager {
-
    private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
    private final String kRootTableName = "/photonvision";
    public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
@@ -48,7 +46,6 @@ public class NetworkTablesManager {
    private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);

    private static class NTLogger implements Consumer<LogMessage> {
-
        private boolean hasReportedConnectionFailure = false;
        private long lastConnectMessageMillis = 0;

--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.dataflow.websocket;

 import java.util.ArrayList;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java
@@ -14,14 +14,12 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO;

 import org.photonvision.common.configuration.HardwareConfig;
 import org.photonvision.common.hardware.Platform;

 public class CustomGPIO extends GPIOBase {
-
    private boolean currentState;
    private final int port;

--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO;

 import java.util.Arrays;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioCommand.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioCommand.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO.pi;

@SuppressWarnings("SpellCheckingInspection")
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO.pi;

 import java.util.HashMap;
@@ -27,7 +26,6 @@ import java.util.HashMap;
 */
@SuppressWarnings({"SpellCheckingInspection", "unused", "RedundantSuppression"})
 public class PigpioException extends Exception {
-
    private int rc = -99999999;
    private static final long serialVersionUID = 443595760654129068L;

--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO.pi;

 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
@@ -24,7 +23,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

 public class PigpioPin extends GPIOBase {
-
    public static final Logger logger = new Logger(PigpioPin.class, LogGroup.General);
    private static final PigpioSocket piSocket = new PigpioSocket();

--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO.pi;

 public class PigpioPulse {
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO.pi;

 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.GPIO.pi;

 import java.io.DataInputStream;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware;

 import edu.wpi.first.networktables.NetworkTableEntry;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -14,10 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware;

-import edu.wpi.first.wpiutil.RuntimeDetector;
+import edu.wpi.first.util.RuntimeDetector;
 import java.io.IOException;
 import org.photonvision.common.util.ShellExec;

--- a/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware;

 import java.util.List;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware;

 import edu.wpi.first.networktables.EntryNotification;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
@@ -14,11 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

 public class CPUMetrics extends MetricsBase {
-
    private String cpuMemSplit = null;

    public String getMemory() {
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

 public class DiskMetrics extends MetricsBase {
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

 public class GPUMetrics extends MetricsBase {
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

 import java.io.PrintWriter;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

 import java.util.HashMap;
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.hardware.metrics;

 public class RAMMetrics extends MetricsBase {
--- a/photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.logging;

 public enum LogGroup {
--- a/photon-core/src/main/java/org/photonvision/common/logging/LogLevel.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/LogLevel.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.logging;

 public enum LogLevel {
--- a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.logging;

 import java.io.*;
@@ -36,7 +35,6 @@ import org.photonvision.common.util.TimedTaskManager;

@SuppressWarnings("unused")
 public class Logger {
-
    public static final String ANSI_RESET = "\u001B[0m";
    public static final String ANSI_BLACK = "\u001B[30m";
    public static final String ANSI_RED = "\u001B[31m";
@@ -127,7 +125,6 @@ public class Logger {
    }

    public static void cleanLogs(Path folderToClean) {
-
        LinkedList<File> logFileList =
                new LinkedList<>(Arrays.asList(folderToClean.toFile().listFiles()));
        HashMap<File, Date> logFileStartDateMap = new HashMap<>();
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkInterface.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkInterface.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.networking;

 import java.net.InterfaceAddress;
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.networking;

 import org.photonvision.common.configuration.ConfigManager;
@@ -24,7 +23,6 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;

 public class NetworkManager {
-
    private static final Logger logger = new Logger(NetworkManager.class, LogGroup.General);

    private NetworkManager() {}
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.networking;

 public enum NetworkMode {
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptCommandType.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptCommandType.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.scripting;

 public enum ScriptCommandType {
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptConfig.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.scripting;

 import com.fasterxml.jackson.annotation.JsonCreator;
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEvent.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEvent.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.scripting;

 import java.io.IOException;
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEventType.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptEventType.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.scripting;

 public enum ScriptEventType {
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.scripting;

 import java.io.IOException;
@@ -31,7 +30,6 @@ import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.JacksonUtils;

 public class ScriptManager {
-
    private static final Logger logger = new Logger(ScriptManager.class, LogGroup.General);

    private ScriptManager() {}
@@ -83,7 +81,6 @@ public class ScriptManager {
    }

    protected static class ScriptConfigManager {
-
        //        protected static final Path scriptConfigPath =
        // Paths.get(ConfigManager.SettingsPath.toString(), "scripts.json");
        static final Path scriptConfigPath = Paths.get(""); // TODO: Waiting on config
--- a/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util;

 import java.awt.*;
--- a/photon-core/src/main/java/org/photonvision/common/util/MemoryManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/MemoryManager.java
@@ -14,11 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util;

 public class MemoryManager {
-
    private static final long MEGABYTE_FACTOR = 1024L * 1024L;

    private int collectionThreshold;
--- a/photon-core/src/main/java/org/photonvision/common/util/ReflectionUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ReflectionUtils.java
@@ -14,11 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util;

 public class ReflectionUtils {
-
    public static StackTraceElement[] getFullStackTrace() {
        return Thread.currentThread().getStackTrace();
    }
--- a/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util;

 import java.util.HashMap;
--- a/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util;

 import java.io.*;
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -14,11 +14,10 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util;

 import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.cscore.CameraServerCvJNI;
+import edu.wpi.first.cscore.CameraServerCvJNI;
 import java.awt.*;
 import java.io.File;
 import java.io.IOException;
@@ -28,7 +27,6 @@ import org.opencv.highgui.HighGui;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;

 public class TestUtils {
-
    @SuppressWarnings("unused")
    public enum WPI2019Image {
        kCargoAngledDark48in(1.2192),
@@ -135,7 +133,7 @@ public class TestUtils {
    }

    private static Path getResourcesFolderPath(boolean testMode) {
-        return Path.of(testMode ? "src/main/resources" : "../test-resources").toAbsolutePath();
+        return Path.of("../test-resources").toAbsolutePath();
    }

    public static Path getTestMode2019ImagePath() {
@@ -232,7 +230,6 @@ public class TestUtils {
            HighGui.waitKey(timeoutMs);
            HighGui.destroyAllWindows();
        } catch (HeadlessException ignored) {
-
        }
    }

--- a/photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util;

 import java.util.concurrent.*;
@@ -23,7 +22,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

 public class TimedTaskManager {
-
    private static final Logger logger = new Logger(TimedTaskManager.class, LogGroup.General);

    private static class Singleton {
--- a/photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.file;

 import java.io.File;
@@ -33,7 +32,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

 public class FileUtils {
-
    private FileUtils() {}

    private static final Logger logger = new Logger(FileUtils.class, LogGroup.General);
--- a/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.file;

 import com.fasterxml.jackson.core.json.JsonReadFeature;
--- a/photon-core/src/main/java/org/photonvision/common/util/java/TriConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/java/TriConsumer.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.java;

 public interface TriConsumer<T, U, V> {
--- a/photon-core/src/main/java/org/photonvision/common/util/math/IPUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/IPUtils.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.math;

 import java.util.ArrayList;
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -14,10 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.math;

-import edu.wpi.first.wpiutil.WPIUtilJNI;
+import edu.wpi.first.util.WPIUtilJNI;

 public class MathUtils {
    MathUtils() {}
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java
@@ -14,13 +14,11 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.numbers;

 import org.opencv.core.Point;

 public class DoubleCouple extends NumberCouple<Double> {
-
    public DoubleCouple() {
        super(0.0, 0.0);
    }
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java
@@ -14,11 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.numbers;

 public class IntegerCouple extends NumberCouple<Integer> {
-
    public IntegerCouple() {
        super(0, 0);
    }
--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
@@ -14,13 +14,11 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.numbers;

 import com.fasterxml.jackson.annotation.JsonIgnore;

 public abstract class NumberCouple<T extends Number> {
-
    protected T first;
    protected T second;

--- a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.common.util.numbers;

 import java.math.BigDecimal;
@@ -25,7 +24,6 @@ import java.util.StringJoiner;

@SuppressWarnings("unused")
 public class NumberListUtils {
-
    /**
    * @param collection an ArrayList of Comparable objects
    * @return the median of collection
--- a/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.raspi;

 import java.io.File;
@@ -28,7 +27,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

 public class PicamJNI {
-
    private static boolean libraryLoaded = false;
    private static Logger logger = new Logger(PicamJNI.class, LogGroup.Camera);

--- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.calibration;

 import com.fasterxml.jackson.annotation.JsonCreator;
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.calibration;

 import com.fasterxml.jackson.annotation.JsonIgnore;
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.camera;

 public enum CameraQuirk {
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraType.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraType.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.camera;

 public enum CameraType {
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -14,11 +14,10 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.camera;

-import edu.wpi.cscore.VideoMode;
-import edu.wpi.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import java.nio.file.Path;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
@@ -29,7 +28,6 @@ import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;

 public class FileVisionSource extends VisionSource {
-
    private final FileFrameProvider frameProvider;
    private final FileSourceSettables settables;

@@ -73,7 +71,6 @@ public class FileVisionSource extends VisionSource {
    }

    private static class FileSourceSettables extends VisionSourceSettables {
-
        private final VideoMode videoMode;

        private final HashMap<Integer, VideoMode> videoModes = new HashMap<>();
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.camera;

 import java.util.HashMap;
@@ -22,7 +21,6 @@ import java.util.List;
 import java.util.Objects;

 public class QuirkyCamera {
-
    private static final List<QuirkyCamera> quirkyCameras =
            List.of(
                    new QuirkyCamera(0x2000, 0x1415, CameraQuirk.Gain, CameraQuirk.FPSCap100), // PS3Eye
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -14,14 +14,13 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.camera;

-import edu.wpi.cscore.CvSink;
-import edu.wpi.cscore.UsbCamera;
-import edu.wpi.cscore.VideoException;
-import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.cscore.VideoMode;
 import java.util.*;
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
--- a/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
@@ -14,10 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.camera;

-import edu.wpi.cscore.VideoMode;
+import edu.wpi.first.cscore.VideoMode;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -82,7 +81,6 @@ public class ZeroCopyPicamSource extends VisionSource {
    }

    public static class PicamSettables extends VisionSourceSettables {
-
        private FPSRatedVideoMode currentVideoMode;
        private double lastExposure;
        private int lastBrightness;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java
@@ -14,10 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame;

-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameConsumer.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame;

 import java.util.function.Consumer;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameDivisor.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameDivisor.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame;

 public enum FrameDivisor {
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame;

 import java.util.function.Supplier;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java
@@ -14,11 +14,10 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame;

-import edu.wpi.cscore.VideoMode;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.math.geometry.Rotation2d;
 import org.opencv.core.Point;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
@@ -83,7 +82,6 @@ public class FrameStaticProperties {

    public static DoubleCouple calculateHorizontalVerticalFoV(
            double diagonalFoV, int imageWidth, int imageHeight) {
-
        double diagonalView = Math.toRadians(diagonalFoV);
        double diagonalAspect = Math.hypot(imageWidth, imageHeight);

--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/DummyFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/DummyFrameConsumer.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame.consumer;

 import org.photonvision.vision.frame.Frame;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame.consumer;

 import edu.wpi.first.networktables.NetworkTable;
@@ -34,7 +33,6 @@ import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.vision.frame.Frame;

 public class FileSaveFrameConsumer implements Consumer<Frame> {
-
    // Formatters to generate unique, timestamped file names
    private static String FILE_PATH = ConfigManager.getInstance().getImageSavePath().toString();
    private static String FILE_EXTENSION = ".jpg";
@@ -66,7 +64,6 @@ public class FileSaveFrameConsumer implements Consumer<Frame> {

    public void accept(Frame frame) {
        if (frame != null && !frame.image.getMat().empty()) {
-
            if (lock.tryLock()) {
                boolean curCommand = entry.getBoolean(false);
                if (curCommand && !prevCommand) {
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
@@ -14,15 +14,14 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame.consumer;

-import edu.wpi.cscore.CameraServerJNI;
-import edu.wpi.cscore.CvSource;
-import edu.wpi.cscore.MjpegServer;
-import edu.wpi.cscore.VideoEvent;
-import edu.wpi.cscore.VideoListener;
-import edu.wpi.cscore.VideoMode;
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.cscore.CvSource;
+import edu.wpi.first.cscore.MjpegServer;
+import edu.wpi.first.cscore.VideoEvent;
+import edu.wpi.first.cscore.VideoListener;
+import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.ArrayList;
@@ -31,7 +30,6 @@ import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameDivisor;

 public class MJPGFrameConsumer {
-
    private CvSource cvSource;
    private MjpegServer mjpegServer;

--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/AcceleratedPicamFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/AcceleratedPicamFrameProvider.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame.provider;

 import org.opencv.core.Mat;
@@ -26,7 +25,6 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.processes.VisionSourceSettables;

 public class AcceleratedPicamFrameProvider implements FrameProvider {
-
    private final VisionSourceSettables settables;

    private CVMat mat;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
@@ -14,10 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame.provider;

-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/NetworkFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/NetworkFrameProvider.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame.provider;

 import org.apache.commons.lang3.NotImplementedException;
--- 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
@@ -14,10 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.frame.provider;

-import edu.wpi.cscore.CvSink;
+import edu.wpi.first.cscore.CvSink;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/CVMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/CVMat.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 import java.util.HashMap;
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/CVShape.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/CVShape.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 import org.jetbrains.annotations.Nullable;
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 import java.util.Comparator;
@@ -31,7 +30,6 @@ import org.opencv.imgproc.Moments;
 import org.photonvision.common.util.math.MathUtils;

 public class Contour implements Releasable {
-
    public static final Comparator<Contour> SortByMomentsX =
            Comparator.comparingDouble(
                    (contour) -> contour.getMoments().get_m10() / contour.getMoments().get_m00());
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ContourGroupingMode.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ContourGroupingMode.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 public enum ContourGroupingMode {
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ContourIntersectionDirection.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ContourIntersectionDirection.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 public enum ContourIntersectionDirection {
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ContourShape.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ContourShape.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 import java.util.EnumSet;
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 import java.util.Comparator;
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/DualMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/DualMat.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 import org.opencv.core.Mat;
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/DualOffsetValues.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/DualOffsetValues.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 import org.opencv.core.Point;
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ImageFlipMode.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ImageFlipMode.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 public enum ImageFlipMode {
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ImageRotationMode.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ImageRotationMode.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 public enum ImageRotationMode {
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/Releasable.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/Releasable.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.opencv;

 public interface Releasable {
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.pipe;

 /**
@@ -26,7 +25,6 @@ package org.photonvision.vision.pipe;
 * @param <P> Parameters type for the pipe
 */
 public abstract class CVPipe<I, O, P> {
-
    protected CVPipeResult<O> result = new CVPipeResult<>();
    protected P params;

--- a/photon-core/src/main/java/org/photonvision/vision/pipe/MutatingPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/MutatingPipe.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonvision.vision.pipe;

 public abstract class MutatingPipe<I, P> extends CVPipe<I, Void, P> {}
--- a/Show More
+++ b/Show More