diff --git a/Main/pom.xml b/Main/pom.xml
index 78a85b50a..0e088f7c3 100644
--- a/Main/pom.xml
+++ b/Main/pom.xml
@@ -44,15 +44,15 @@
     </properties>
     <repositories>
         <!--WPI official maven repo for frc libs-->
+<!--        <repository>-->
+<!--            <id>WPI</id>-->
+<!--            <name>WPI Maven repo</name>-->
+<!--            <url>https://first.wpi.edu/FRC/roborio/maven/release</url>-->
+<!--        </repository>-->
         <repository>
             <id>WPI</id>
-            <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>
+            <url>https://frcmaven.wpi.edu:443/artifactory/development</url>
         </repository>
     </repositories>
     <dependencies>
@@ -116,31 +116,37 @@
         <dependency>
             <groupId>edu.wpi.first.cscore</groupId>
             <artifactId>cscore-java</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
         </dependency>
         <!--frc cscore interface libs-->
         <dependency>
             <groupId>edu.wpi.first.cscore</groupId>
             <artifactId>cscore-jni</artifactId>
-            <version>2019.4.1</version>
-            <classifier>linuxathena</classifier>
+            <version>2019.4.1-176-ga5650b9</version>
+            <classifier>linuxaarch64bionic</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.cscore</groupId>
             <artifactId>cscore-jni</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
             <classifier>linuxraspbian</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.cscore</groupId>
             <artifactId>cscore-jni</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
             <classifier>linuxx86-64</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.cscore</groupId>
             <artifactId>cscore-jni</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
+            <classifier>osxx86-64</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.cscore</groupId>
+            <artifactId>cscore-jni</artifactId>
+            <version>2019.4.1-176-ga5650b9</version>
             <classifier>windowsx86-64</classifier>
         </dependency>
 
@@ -148,39 +154,39 @@
         <dependency>
             <groupId>edu.wpi.first.cameraserver</groupId>
             <artifactId>cameraserver-java</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
         </dependency>
 
         <!--frc network table java libs-->
         <dependency>
             <groupId>edu.wpi.first.ntcore</groupId>
             <artifactId>ntcore-java</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
         </dependency>
 
         <!--frc network tables interface libs-->
         <dependency>
             <groupId>edu.wpi.first.ntcore</groupId>
             <artifactId>ntcore-jni</artifactId>
-            <version>2019.4.1</version>
-            <classifier>linuxathena</classifier>
+            <version>2019.4.1-176-ga5650b9</version>
+            <classifier>osxx86-64</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.ntcore</groupId>
             <artifactId>ntcore-jni</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
             <classifier>linuxraspbian</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.ntcore</groupId>
             <artifactId>ntcore-jni</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
             <classifier>linuxx86-64</classifier>
         </dependency>
         <dependency>
             <groupId>edu.wpi.first.ntcore</groupId>
             <artifactId>ntcore-jni</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
             <classifier>windowsx86-64</classifier>
         </dependency>
 
@@ -188,11 +194,10 @@
         <dependency>
             <groupId>edu.wpi.first.wpiutil</groupId>
             <artifactId>wpiutil-java</artifactId>
-            <version>2019.4.1</version>
+            <version>2019.4.1-176-ga5650b9</version>
         </dependency>
 
         <!-- WPI OpenCV for all supported platforms -->
-        <!-- NEW 2020 OpenCV Deps -->
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
             <artifactId>opencv-java</artifactId>
@@ -228,36 +233,5 @@
             <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>
-            <version>3.4.4-5</version>
-        </dependency>
-        <dependency>
-            <groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
-            <artifactId>opencv-jni</artifactId>
-            <version>3.4.4-5</version>
-            <classifier>windowsx86-64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
-            <artifactId>opencv-jni</artifactId>
-            <version>3.4.4-5</version>
-            <classifier>linuxx86-64</classifier>
-        </dependency>
-        <dependency>
-            <groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
-            <artifactId>opencv-jni</artifactId>
-            <version>3.4.4-5</version>
-            <classifier>linuxathena</classifier>
-        </dependency>
-        <dependency>
-            <groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
-            <artifactId>opencv-jni</artifactId>
-            <version>3.4.4-5</version>
-            <classifier>linuxraspbian</classifier>
-        </dependency>
-        -->
     </dependencies>
 </project>
diff --git a/Main/src/main/java/com/chameleonvision/Main.java b/Main/src/main/java/com/chameleonvision/Main.java
index 5f1ba3330..ea276512e 100644
--- a/Main/src/main/java/com/chameleonvision/Main.java
+++ b/Main/src/main/java/com/chameleonvision/Main.java
@@ -4,15 +4,29 @@ import com.chameleonvision.settings.SettingsManager;
 import com.chameleonvision.vision.camera.CameraManager;
 import com.chameleonvision.vision.process.VisionProcess;
 import com.chameleonvision.web.Server;
+import edu.wpi.cscore.CameraServerCvJNI;
+import edu.wpi.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
+import java.io.IOException;
+
 public class Main {
 	public static void main(String[] args) {
+		// Attempt to load the JNI Libraries
+		try {
+			CameraServerJNI.forceLoad();
+			CameraServerCvJNI.forceLoad();
+		} catch (IOException e) {
+			var errorStr = SettingsManager.getCurrentPlatform().equals(SettingsManager.Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
+			throw new RuntimeException(errorStr);
+		}
+
 		if (CameraManager.initializeCameras()) {
 			SettingsManager.initialize();
 			for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
 				new Thread(new VisionProcess(camSet.getValue())).start();
 			}
+
 			NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
 //			NetworkTableInstance.getDefault().startClient("localhost");
 			Server.main(8888);
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 709f07a18..fd9fd3105 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
@@ -36,8 +36,6 @@ public class Camera {
 	private CamVideoMode camVideoMode;
 	private int currentPipelineIndex;
 	private HashMap<Integer, Pipeline> pipelines;
-	private long initTimeout;
-
 
 	public Camera(String cameraName) {
 		this(cameraName, DEFAULT_FOV);
@@ -71,7 +69,7 @@ public class Camera {
 		// set up video modes according to minimums
 		if (SettingsManager.getCurrentPlatform() == SettingsManager.Platform.WINDOWS_64 && !UsbCam.isConnected()) {
 			System.out.print("Waiting on camera... ");
-			initTimeout = System.nanoTime();
+			long initTimeout = System.nanoTime();
 			while(!UsbCam.isConnected())
 			{
 				//TODO add a time sleep, can wait only so long before giving up
@@ -96,8 +94,6 @@ public class Camera {
 
 		cvSink = cs.getVideo(UsbCam);
 		cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
-		var s = (MjpegServer) cs.getServer("serve_" + name);
-		CameraManager.CameraPorts.put(name, s.getPort());
 	}
 
 	VideoMode[] getAvailableVideoModes() {
diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java b/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
index 1ea46c803..03f1a8f53 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
@@ -20,7 +20,6 @@ import java.util.List;
 public class CameraManager {
 
 	private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
-	public static HashMap<String, Integer> CameraPorts = new HashMap<>();
 
 	private static HashMap<String, Camera> AllCamerasByName = new HashMap<>();