diff --git a/Main/pom.xml b/Main/pom.xml
index 25a606544..78a85b50a 100644
--- a/Main/pom.xml
+++ b/Main/pom.xml
@@ -49,6 +49,11 @@
             <name>WPI Maven repo</name>
             <url>https://first.wpi.edu/FRC/roborio/maven/release</url>
         </repository>
+        <repository>
+            <id>WPIArtifactory</id>
+            <name>WPILib Artifactory Server-releases</name>
+            <url>https://frcmaven.wpi.edu:443/artifactory/release</url>
+        </repository>
     </repositories>
     <dependencies>
         <!--javalin micro webservices framework-->
@@ -84,7 +89,6 @@
             <artifactId>gson</artifactId>
             <version>2.8.5</version>
         </dependency>
-        <!--what is this for again?-->
         <dependency>
             <groupId>org.springframework</groupId>
             <artifactId>spring-beans</artifactId>
@@ -95,11 +99,17 @@
             <artifactId>commons-lang3</artifactId>
             <version>3.9</version>
         </dependency>
+        <dependency>
+            <groupId>com.fasterxml.jackson.core</groupId>
+            <artifactId>jackson-databind</artifactId>
+            <version>2.10.0.pr1</version>
+        </dependency>
 
         <!-- supported platforms for wpilib JNI classifiers
-            linuxathena
+            linuxaarch64bionic
             linuxraspbian
             linuxx86-64
+            osxx86-64
             windowsx86-64
         -->
         <!--frc cscore java libs-->
@@ -182,6 +192,43 @@
         </dependency>
 
         <!-- WPI OpenCV for all supported platforms -->
+        <!-- NEW 2020 OpenCV Deps -->
+        <dependency>
+            <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
+            <artifactId>opencv-java</artifactId>
+            <version>3.4.7-1</version>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
+            <artifactId>opencv-jni</artifactId>
+            <version>3.4.7-1</version>
+            <classifier>linuxaarch64bionic</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
+            <artifactId>opencv-jni</artifactId>
+            <version>3.4.7-1</version>
+            <classifier>linuxraspbian</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
+            <artifactId>opencv-jni</artifactId>
+            <version>3.4.7-1</version>
+            <classifier>linuxx86-64</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
+            <artifactId>opencv-jni</artifactId>
+            <version>3.4.7-1</version>
+            <classifier>osxx86-64</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
+            <artifactId>opencv-jni</artifactId>
+            <version>3.4.7-1</version>
+            <classifier>windowsx86-64</classifier>
+        </dependency>
+        <!-- OLD 2019 OpenCV Deps
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
             <artifactId>opencv-java</artifactId>
@@ -211,10 +258,6 @@
             <version>3.4.4-5</version>
             <classifier>linuxraspbian</classifier>
         </dependency>
-        <dependency>
-            <groupId>com.fasterxml.jackson.core</groupId>
-            <artifactId>jackson-databind</artifactId>
-            <version>2.10.0.pr1</version>
-        </dependency>
+        -->
     </dependencies>
 </project>
diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
index 6e2af5d8f..709f07a18 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
@@ -1,11 +1,13 @@
 package com.chameleonvision.vision.camera;
 
+import com.chameleonvision.CameraException;
 import com.chameleonvision.settings.SettingsManager;
 import com.chameleonvision.vision.Pipeline;
 import com.chameleonvision.web.ServerHandler;
 import edu.wpi.cscore.*;
 import edu.wpi.first.cameraserver.CameraServer;
 import org.opencv.core.Mat;
+import org.springframework.core.env.Environment;
 
 import java.util.Arrays;
 import java.util.HashMap;
@@ -80,7 +82,12 @@ public class Camera {
 			var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
 			System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
 		}
-		availableVideoModes = Arrays.stream(UsbCam.enumerateVideoModes()).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
+		var trueVideoModes = UsbCam.enumerateVideoModes();
+		availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT && v.pixelFormat == VideoMode.PixelFormat.kYUYV).toArray(VideoMode[]::new);
+		if (availableVideoModes.length == 0) {
+			System.err.println("Camera not supported!");
+			throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
+		}
 		if (videoModeIndex <= availableVideoModes.length - 1) {
 			setCamVideoMode(videoModeIndex, false);
 		} else {
@@ -109,9 +116,7 @@ public class Camera {
 	private void setCamVideoMode(CamVideoMode newVideoMode, boolean updateCvSource) {
 		var prevVideoMode = this.camVideoMode;
 		this.camVideoMode = newVideoMode;
-		UsbCam.setPixelFormat(newVideoMode.getActualPixelFormat());
-		UsbCam.setFPS(newVideoMode.fps);
-		UsbCam.setResolution(newVideoMode.width, newVideoMode.height);
+		UsbCam.setVideoMode(newVideoMode.getActualPixelFormat(), newVideoMode.width, newVideoMode.height, newVideoMode.fps);
 
 		// update camera values
 		camVals = new CameraValues(this);