diff --git a/Main/src/main/java/com/chameleonvision/util/MathHandler.java b/Main/src/main/java/com/chameleonvision/util/MathHandler.java
index 76a1a762d..a95a089e3 100644
--- a/Main/src/main/java/com/chameleonvision/util/MathHandler.java
+++ b/Main/src/main/java/com/chameleonvision/util/MathHandler.java
@@ -1,24 +1,27 @@
 package com.chameleonvision.util;
 
 import java.lang.Math;
+
+import edu.wpi.first.wpiutil.math.Num;
 import org.apache.commons.math3.util.FastMath;
 
 public class MathHandler {
     MathHandler() {}
 
-    public static double sigmoid(double x){
+    public static double sigmoid(Number x){
         double bias = 0;
         double a = 5;
         double b = -0.05;
         double k = 200;
 
-        if (x < 50){
+        if (x.doubleValue() < 50){
             bias = -1.338;
         }
 
-        return ((k / (1 + Math.pow(Math.E,(a + (b * x))))) + bias);
+        return ((k / (1 + Math.pow(Math.E,(a + (b * x.doubleValue()))))) + bias);
     }
-    public static double toSlope(double angle){
-        return FastMath.atan(FastMath.toRadians(angle - 90));
+
+    public static double toSlope(Number angle){
+        return FastMath.atan(FastMath.toRadians(angle.doubleValue() - 90));
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/Pipeline.java b/Main/src/main/java/com/chameleonvision/vision/Pipeline.java
index e1c3c3066..35229d758 100644
--- a/Main/src/main/java/com/chameleonvision/vision/Pipeline.java
+++ b/Main/src/main/java/com/chameleonvision/vision/Pipeline.java
@@ -8,14 +8,14 @@ public class Pipeline {
 	public int exposure = 50;
 	public int brightness = 50;
 	public Orientation orientation = Orientation.Normal;
-	public List<Integer> hue = Arrays.asList(50, 180);
-	public List<Integer> saturation = Arrays.asList(50, 255);
-	public List<Integer> value = Arrays.asList(50, 255);
+	public List<Number> hue = Arrays.asList(50, 180);
+	public List<Number> saturation = Arrays.asList(50, 255);
+	public List<Number> value = Arrays.asList(50, 255);
 	public boolean erode = false;
 	public boolean dilate = false;
-	public List<Float> area = Arrays.asList(0f, 100f);
-	public List<Float> ratio = Arrays.asList(0f, 20f);
-	public List<Integer> extent = Arrays.asList(0, 100);
+	public List<Number> area = Arrays.asList(0.0, 100.0);
+	public List<Number> ratio = Arrays.asList(0.0, 20.0);
+	public List<Number> extent = Arrays.asList(0, 100);
 	public boolean isBinary = false;
 	public SortMode sortMode = SortMode.Largest;
 	public TargetGroup targetGroup = TargetGroup.Single;
diff --git a/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
index 7d0f0ce41..01b58c3a9 100644
--- a/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
@@ -54,7 +54,7 @@ public class CVProcess {
         return foundContours;
     }
 
-    List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Float> area, List<Float> ratio, List<Integer> extent) {
+    List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Number> area, List<Number> ratio, List<Number> extent) {
         for (MatOfPoint Contour : inputContours) {
             try {
                 double contourArea = Imgproc.contourArea(Contour);
@@ -67,14 +67,14 @@ public class CVProcess {
                 var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
 
                 var targetFullness = contourArea;
-                double minExtent = (double) (extent.get(0) * rect.size.area()) / 100;
-                double maxExtent = (double) (extent.get(1) * rect.size.area()) / 100;
+                double minExtent = (double) (extent.get(0).doubleValue() * rect.size.area()) / 100;
+                double maxExtent = (double) (extent.get(1).doubleValue() * rect.size.area()) / 100;
                 if (targetFullness <= minExtent || contourArea >= maxExtent) {
                     continue;
                 }
                 Rect bb = Imgproc.boundingRect(Contour);
                 double aspectRatio = (bb.width / bb.height);
-                if (aspectRatio < ratio.get(0) || aspectRatio > ratio.get(1)) {
+                if (aspectRatio < ratio.get(0).doubleValue() || aspectRatio > ratio.get(1).doubleValue()) {
                     continue;
                 }
                 filteredContours.add(Contour);
diff --git a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
index 7a84d74a5..cee414192 100644
--- a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
@@ -143,8 +143,8 @@ public class VisionProcess implements Runnable {
 			inputImage.copyTo(outputImage);
 			return pipelineResult;
 		}
-		Scalar hsvLower = new Scalar(currentPipeline.hue.get(0), currentPipeline.saturation.get(0), currentPipeline.value.get(0));
-		Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1), currentPipeline.saturation.get(1), currentPipeline.value.get(1));
+		Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
+		Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
 
 		cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
 
diff --git a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
index a16a09691..cee0d483e 100644
--- a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
+++ b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
@@ -18,6 +18,7 @@ import org.springframework.beans.BeanUtils;
 
 import java.io.IOException;
 import java.lang.reflect.Field;
+import java.lang.reflect.ParameterizedType;
 import java.nio.ByteBuffer;
 import java.util.*;
 
@@ -71,13 +72,21 @@ public class ServerHandler {
                     case "currentPipeline": {
                         CameraManager.getCurrentCamera().setCurrentPipelineIndex((Integer) entry.getValue());
                         HashMap<String,Object> tmp = new HashMap<>();
-                        tmp.put("pipeline",CameraManager.getCurrentCamera().getCurrentPipeline());
+                        tmp.put("pipeline",getOrdinalPipeline());
                         //TODO Add cam settings to the map
                         broadcastMessage(tmp);
                         break;
                     }
                     default: {
                         setField(CameraManager.getCurrentCamera().getCurrentPipeline(),entry.getKey(),entry.getValue());
+                        switch (entry.getKey()){
+                            case "exposure":{
+                                CameraManager.getCurrentCamera().setExposure((Integer) entry.getValue());
+                            }
+                            case "brightness":{
+                                CameraManager.getCurrentCamera().setBrightness((Integer) entry.getValue());
+                            }
+                        }
                         break;
                     }
                 }
@@ -97,7 +106,8 @@ public class ServerHandler {
                     field.set(obj,value);
                 }
             } else if(field.getType() == List.class){
-                field.set(obj,value);
+//                if(((ParameterizedType)field.getGenericType()).getActualTypeArguments()[0] == Double.class){
+                    field.set(obj,value);
             }
         } catch (NoSuchFieldException | IllegalAccessException ex) {
             ex.printStackTrace();
diff --git a/New client/chameleon-client/src/views/Camera.vue b/New client/chameleon-client/src/views/Camera.vue
index d3a71dd82..671ee92b1 100644
--- a/New client/chameleon-client/src/views/Camera.vue	
+++ b/New client/chameleon-client/src/views/Camera.vue	
@@ -11,7 +11,7 @@
                     <CVicon color="#c5c5c5" hover text="edit" @click="test" tooltip="Edit camera name"></CVicon>
                 </v-col>
                 <v-col :cols="3" class="colsClass">
-                    <CVselect name="Pipeline" :list="pipelineList" v-model="currentPipelineIndex"></CVselect>
+                    <CVselect name="Pipeline" :list="pipelineList" v-model="currentPipelineIndex" @input="handleInput('currentPipeline',currentPipelineIndex)"></CVselect>
                 </v-col>
                  <v-col :cols="1" class="colsClass">
                         <v-menu offset-y dark auto>
@@ -134,6 +134,9 @@ import CVicon from '../components/cv-icon'
             currentPipelineIndex:{
                 get(){
                     return this.$store.state.currentPipelineIndex;
+                },
+                set(value){
+                    this.$store.commit('currentPipelineIndex',value);
                 }
             },
             cameraList:{