Create new pipelines with same type as current (#398 )

Change PhotonLib License to MIT (#394 )
* Change PhotonLib License to MIT * Remove extraneous newline in license
2026-06-22 01:11:40 +00:00 · 2022-01-15 10:11:12 -05:00 · 2022-01-14 22:05:49 -05:00 · 2022-01-11 17:12:30 -08:00 · 2022-01-10 21:40:43 -08:00 · 2022-01-10 20:31:36 -08:00
135 changed files with 1893 additions and 2128 deletions
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -148,43 +148,6 @@ jobs:
          ./gradlew spotlessCheck


-  photon-release:
-    if: startsWith(github.ref, 'refs/tags/v')
-    needs: [photon-build-package]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/download-artifact@v2
-        with:
-          name: jar
-
-      - run: |
-          NEW_JAR=$(realpath $(find . -name photonvision\*.jar))
-          sudo apt install unzip zip
-          curl -sk https://api.github.com/repos/photonvision/photon-pi-gen/releases/latest | grep "browser_download_url.*zip" | cut -d : -f 2,3 | tr -d '"' | wget -qi -
-          FILE_NAME=$(ls | grep image_*.zip)
-          unzip $FILE_NAME
-          IMAGE_FILE=$(ls | grep *.img)
-          TMP=$(mktemp -d)
-          LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
-          sudo mount ${LOOP}p2 $TMP
-          pushd .
-          cd $TMP/opt/photonvision
-          ls
-          sudo cp $NEW_JAR photonvision.jar
-          popd
-          sudo umount ${TMP}
-          sudo rmdir ${TMP}
-          rm $FILE_NAME
-          NEW_IMAGE=$(basename "${NEW_JAR/jar/img}")
-          mv $IMAGE_FILE $NEW_IMAGE
-          zip -r $(basename "${NEW_JAR/jar/zip}") $NEW_IMAGE
-          rm $NEW_IMAGE
-
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: '**/*'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

  #  Building photonlib
  photonlib-build-host:
@@ -316,34 +279,18 @@ jobs:
          name: built-docs
          path: photon-server/src/main/resources/web/docs

-      # Build fat jar.
+      # Build fat jar for both pi and everything
      - run: |
          chmod +x gradlew
          ./gradlew photon-server:shadowJar --max-workers 1
+          ./gradlew photon-server:shadowJar --max-workers 1 -Ppionly

+      # The image will only pull the Pi JAR in
      - name: Generate image
+        if: github.event_name != 'pull_request'
        run: |
-          NEW_JAR=$(realpath $(find . -name photonvision\*.jar))
-          sudo apt install unzip zip
-          curl -sk https://api.github.com/repos/photonvision/photon-pi-gen/releases/latest | grep "browser_download_url.*zip" | cut -d : -f 2,3 | tr -d '"' | wget -qi -
-          FILE_NAME=$(ls | grep image_*.zip)
-          unzip $FILE_NAME
-          IMAGE_FILE=$(ls | grep *.img)
-          TMP=$(mktemp -d)
-          LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
-          sudo mount ${LOOP}p2 $TMP
-          pushd .
-          cd $TMP/opt/photonvision
-          ls
-          sudo cp $NEW_JAR photonvision.jar
-          popd
-          sudo umount ${TMP}
-          sudo rmdir ${TMP}
-          rm $FILE_NAME
-          NEW_IMAGE=$(basename "${NEW_JAR/jar/img}")
-          mv $IMAGE_FILE $NEW_IMAGE
-          zip -r $(basename "${NEW_JAR/jar/zip}") $NEW_IMAGE
-          rm $NEW_IMAGE
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh

      # Upload final fat jar as artifact.
      - uses: actions/upload-artifact@master
@@ -353,14 +300,36 @@ jobs:
      - uses: actions/upload-artifact@master
        with:
          name: image
-          path: image*.zip
+          path: photonvision*.zip

-      - uses: eine/tip@master
+      - uses: pyTooling/Actions/releaser@r0
        with:
          token: ${{ secrets.GITHUB_TOKEN }}
          tag: 'Dev'
          rm: true
          files: |
            photon-server/build/libs/*.jar
-            image*.zip
+            photonvision*.zip
        if: github.event_name == 'push'
+
+  photon-release:
+    if: startsWith(github.ref, 'refs/tags/v')
+    needs: [photon-build-package]
+    runs-on: ubuntu-latest
+    steps:
+      # This *should* pull in fat and pi-only jars
+      - uses: actions/download-artifact@v2
+        with:
+          name: jar
+
+      # And the image we made previously
+      - uses: actions/download-artifact@v2
+        with:
+          name: image
+
+      # All we've downloaded (ideally) is the fat jar, pi jar, and image. So just upload it all
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: '**/*'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/README.md
+++ b/README.md
@@ -10,8 +10,17 @@ If you are interested in contributing code or documentation to the project, plea

 ## Authors

-A list of contributors is available in our documentation on ReadTheDocs.
+<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
+  <img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
+</a>

+## Gradle Arguments
+
+Note that these are case sensitive!
+
+* `-Ppionly`: only builds for `linuxraspbian`, which reduces JAR size. The JAR name will have "-raspi" appended.
+- `-PtgtIp`: deploys (builds and copies the JAR) to the coprocessor at the specified IP
+- `-Pprofile`: enables JVM profiling

 ## Acknowledgments
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
@@ -29,3 +38,9 @@ PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vis

 ## License
 PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)
+
+## Meeting Notes
+Our meeting notes can be found in the wiki section of this repository.
+
+* [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
+* [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)
--- a/build.gradle
+++ b/build.gradle
@@ -1,10 +1,10 @@
 plugins {
-    id "com.diffplug.gradle.spotless" version "3.28.0"
-    id "com.github.johnrengelman.shadow" version "5.2.0"
-    id "com.github.node-gradle.node" version "2.2.4" apply false
+    id "com.diffplug.spotless" version "6.1.2"
+    id "com.github.johnrengelman.shadow" version "7.1.2"
+    id "com.github.node-gradle.node" version "3.1.1" apply false
    id "edu.wpi.first.GradleJni" version "1.0.0"
-    id "edu.wpi.first.GradleVsCode" version "1.0.0"
-    id "edu.wpi.first.NativeUtils" version "2022.4.4" apply false
+    id "edu.wpi.first.GradleVsCode" version "1.1.0"
+    id "edu.wpi.first.NativeUtils" version "2022.8.1" apply false
    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
    id "org.hidetake.ssh" version "2.10.1"
 }
@@ -22,20 +22,28 @@ allprojects {
 apply from: "versioningHelper.gradle"

 ext {
-    wpilibVersion = "2022.1.1-beta-3-1-g4ba80a3"
+    wpilibVersion = "2022.1.1"
    opencvVersion = "4.5.2-1"
    joglVersion = "2.4.0-rc-20200307"
    pubVersion = versionString
    isDev = pubVersion.startsWith("dev")
+
+
+    jniPlatforms = project.hasProperty('pionly') ? ['linuxraspbian']
+        : ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
+
+    println("Building for archs " + jniPlatforms)
 }

 spotless {
    java {
+        toggleOffOn()
        googleJavaFormat()
-        paddedCell()
        indentWithTabs(2)
        indentWithSpaces(4)
        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
    }
    java {
        target "**/*.java"
--- a/gradle.properties
+++ b/gradle.properties
@@ -0,0 +1,8 @@
+# The --add-exports flags work around a bug with spotless and JDK 17
+# https://github.com/diffplug/spotless/issues/834
+org.gradle.jvmargs= \
+  --add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED
--- a/photon-client/package-lock.json
+++ b/photon-client/package-lock.json
@@ -12792,11 +12792,10 @@
      }
    },
    "vue-loader-v16": {
-      "version": "npm:vue-loader@16.8.2",
-      "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.8.2.tgz",
-      "integrity": "sha512-Nkq+z9mAsMEK+qkXgK+9Ia7D8w9uu9j4ut0IMT5coMfux3rCgIp1QBB1CYwY0M34A1nRMSONEaWXxAAw6xSl/Q==",
+      "version": "npm:vue-loader@16.8.3",
+      "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.8.3.tgz",
+      "integrity": "sha512-7vKN45IxsKxe5GcVCbc2qFU5aWzyiLrYJyUuMz4BQLKctCj/fmCa0w6fGiiQ2cLFetNcek1ppGJQDCup0c1hpA==",
      "dev": true,
-      "optional": true,
      "requires": {
        "chalk": "^4.1.0",
        "hash-sum": "^2.0.0",
@@ -12808,7 +12807,6 @@
          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz",
          "integrity": "sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==",
          "dev": true,
-          "optional": true,
          "requires": {
            "color-convert": "^2.0.1"
          }
@@ -12818,7 +12816,6 @@
          "resolved": "https://registry.npmjs.org/chalk/-/chalk-4.1.2.tgz",
          "integrity": "sha512-oKnbhFyRIXpUuez8iBMmyEa4nbj4IOQyuhc/wy9kY7/WVPcwIO9VA668Pu8RkO7+0G76SLROeyw9CpQ061i4mA==",
          "dev": true,
-          "optional": true,
          "requires": {
            "ansi-styles": "^4.1.0",
            "supports-color": "^7.1.0"
@@ -12829,7 +12826,6 @@
          "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz",
          "integrity": "sha512-RRECPsj7iu/xb5oKYcsFHSppFNnsj/52OVTRKb4zP5onXwVF3zVmmToNcOfGC+CRDpfK/U584fMg38ZHCaElKQ==",
          "dev": true,
-          "optional": true,
          "requires": {
            "color-name": "~1.1.4"
          }
@@ -12838,39 +12834,34 @@
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          "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.4.tgz",
          "integrity": "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA==",
-          "dev": true,
-          "optional": true
+          "dev": true
        },
        "emojis-list": {
          "version": "3.0.0",
          "resolved": "https://registry.npmjs.org/emojis-list/-/emojis-list-3.0.0.tgz",
          "integrity": "sha512-/kyM18EfinwXZbno9FyUGeFh87KC8HRQBQGildHZbEuRyWFOmv1U10o9BBp8XVZDVNNuQKyIGIu5ZYAAXJ0V2Q==",
-          "dev": true,
-          "optional": true
+          "dev": true
        },
        "has-flag": {
          "version": "4.0.0",
          "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
          "integrity": "sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==",
-          "dev": true,
-          "optional": true
+          "dev": true
        },
        "json5": {
          "version": "2.2.0",
          "resolved": "https://registry.npmjs.org/json5/-/json5-2.2.0.tgz",
          "integrity": "sha512-f+8cldu7X/y7RAJurMEJmdoKXGB/X550w2Nr3tTbezL6RwEE/iMcm+tZnXeoZtKuOq6ft8+CqzEkrIgx1fPoQA==",
          "dev": true,
-          "optional": true,
          "requires": {
            "minimist": "^1.2.5"
          }
        },
        "loader-utils": {
-          "version": "2.0.1",
-          "resolved": "https://registry.npmjs.org/loader-utils/-/loader-utils-2.0.1.tgz",
-          "integrity": "sha512-g4miPa9uUrZz4iElkaVJgDFwKJGh8aQGM7pUL4ejXl6cu7kSb30seQOVGNMP6sW8j7DW77X68hJZ+GM7UGhXeQ==",
+          "version": "2.0.2",
+          "resolved": "https://registry.npmjs.org/loader-utils/-/loader-utils-2.0.2.tgz",
+          "integrity": "sha512-TM57VeHptv569d/GKh6TAYdzKblwDNiumOdkFnejjD0XwTH87K90w3O7AiJRqdQoXygvi1VQTJTLGhJl7WqA7A==",
          "dev": true,
-          "optional": true,
          "requires": {
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            "emojis-list": "^3.0.0",
@@ -12882,7 +12873,6 @@
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          "dev": true,
-          "optional": true,
          "requires": {
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@@ -12937,7 +12927,7 @@
          "dependencies": {
            "acorn": {
              "version": "3.3.0",
-              "resolved": "http://registry.npmjs.org/acorn/-/acorn-3.3.0.tgz",
+              "resolved": "https://registry.npmjs.org/acorn/-/acorn-3.3.0.tgz",
              "integrity": "sha1-ReN/s56No/JbruP/U2niu18iAXo="
            }
          }
@@ -13841,7 +13831,7 @@
        },
        "browserify-aes": {
          "version": "1.2.0",
-          "resolved": "http://registry.npmjs.org/browserify-aes/-/browserify-aes-1.2.0.tgz",
+          "resolved": "https://registry.npmjs.org/browserify-aes/-/browserify-aes-1.2.0.tgz",
          "integrity": "sha512-+7CHXqGuspUn/Sl5aO7Ea0xWGAtETPXNSAjHo48JfLdPWcMng33Xe4znFvQweqc/uzk5zSOI3H52CYnjCfb5hA==",
          "requires": {
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@@ -13875,7 +13865,7 @@
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        "browserify-rsa": {
          "version": "4.0.1",
-          "resolved": "http://registry.npmjs.org/browserify-rsa/-/browserify-rsa-4.0.1.tgz",
+          "resolved": "https://registry.npmjs.org/browserify-rsa/-/browserify-rsa-4.0.1.tgz",
          "integrity": "sha1-IeCr+vbyApzy+vsTNWenAdQTVSQ=",
          "requires": {
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@@ -13906,7 +13896,7 @@
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        "buffer": {
          "version": "4.9.1",
-          "resolved": "http://registry.npmjs.org/buffer/-/buffer-4.9.1.tgz",
+          "resolved": "https://registry.npmjs.org/buffer/-/buffer-4.9.1.tgz",
          "integrity": "sha1-bRu2AbB6TvztlwlBMgkwJ8lbwpg=",
          "requires": {
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@@ -14042,7 +14032,7 @@
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        "chalk": {
          "version": "1.1.3",
-          "resolved": "http://registry.npmjs.org/chalk/-/chalk-1.1.3.tgz",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-1.1.3.tgz",
          "integrity": "sha1-qBFcVeSnAv5NFQq9OHKCKn4J/Jg=",
          "requires": {
            "ansi-styles": "^2.2.1",
@@ -14289,7 +14279,7 @@
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        "create-hash": {
          "version": "1.2.0",
-          "resolved": "http://registry.npmjs.org/create-hash/-/create-hash-1.2.0.tgz",
+          "resolved": "https://registry.npmjs.org/create-hash/-/create-hash-1.2.0.tgz",
          "integrity": "sha512-z00bCGNHDG8mHAkP7CtT1qVu+bFQUPjYq/4Iv3C3kWjTFV10zIjfSoeqXo9Asws8gwSHDGj/hl2u4OGIjapeCg==",
          "requires": {
            "cipher-base": "^1.0.1",
@@ -14301,7 +14291,7 @@
        },
        "create-hmac": {
          "version": "1.1.7",
-          "resolved": "http://registry.npmjs.org/create-hmac/-/create-hmac-1.1.7.tgz",
+          "resolved": "https://registry.npmjs.org/create-hmac/-/create-hmac-1.1.7.tgz",
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          "requires": {
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@@ -14508,7 +14498,7 @@
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        "diffie-hellman": {
          "version": "5.0.3",
-          "resolved": "http://registry.npmjs.org/diffie-hellman/-/diffie-hellman-5.0.3.tgz",
+          "resolved": "https://registry.npmjs.org/diffie-hellman/-/diffie-hellman-5.0.3.tgz",
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          "requires": {
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@@ -14584,7 +14574,7 @@
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              "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
              "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
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@@ -14623,7 +14613,7 @@
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-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
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@@ -16074,7 +16064,7 @@
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        "http-errors": {
          "version": "1.6.3",
-          "resolved": "http://registry.npmjs.org/http-errors/-/http-errors-1.6.3.tgz",
+          "resolved": "https://registry.npmjs.org/http-errors/-/http-errors-1.6.3.tgz",
          "integrity": "sha1-i1VoC7S+KDoLW/TqLjhYC+HZMg0=",
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@@ -16560,7 +16550,7 @@
          "dependencies": {
            "lodash": {
              "version": "3.10.1",
-              "resolved": "http://registry.npmjs.org/lodash/-/lodash-3.10.1.tgz",
+              "resolved": "https://registry.npmjs.org/lodash/-/lodash-3.10.1.tgz",
              "integrity": "sha1-W/Rejkm6QYnhfUgnid/RW9FAt7Y="
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@@ -16596,7 +16586,7 @@
          "dependencies": {
            "minimist": {
              "version": "1.2.0",
-              "resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
+              "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
              "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ="
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@@ -16805,7 +16795,7 @@
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            "readable-stream": {
              "version": "1.0.34",
-              "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-1.0.34.tgz",
+              "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-1.0.34.tgz",
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@@ -16964,7 +16954,7 @@
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            "minimist": {
              "version": "1.2.0",
-              "resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
+              "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
              "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ="
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@@ -17091,7 +17081,7 @@
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        "minimist": {
          "version": "0.0.8",
-          "resolved": "http://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
+          "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
          "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0="
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@@ -17115,7 +17105,7 @@
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        "mkdirp": {
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-          "resolved": "http://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
+          "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
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          "requires": {
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@@ -17142,7 +17132,7 @@
          "dependencies": {
            "commander": {
              "version": "2.9.0",
-              "resolved": "http://registry.npmjs.org/commander/-/commander-2.9.0.tgz",
+              "resolved": "https://registry.npmjs.org/commander/-/commander-2.9.0.tgz",
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              "requires": {
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@@ -17429,7 +17419,7 @@
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        "onetime": {
          "version": "1.1.0",
-          "resolved": "http://registry.npmjs.org/onetime/-/onetime-1.1.0.tgz",
+          "resolved": "https://registry.npmjs.org/onetime/-/onetime-1.1.0.tgz",
          "integrity": "sha1-ofeDj4MUxRbwXs78vEzP4EtO14k="
        },
        "optimist": {
@@ -17534,7 +17524,7 @@
        },
        "parse-asn1": {
          "version": "5.1.1",
-          "resolved": "http://registry.npmjs.org/parse-asn1/-/parse-asn1-5.1.1.tgz",
+          "resolved": "https://registry.npmjs.org/parse-asn1/-/parse-asn1-5.1.1.tgz",
          "integrity": "sha512-KPx7flKXg775zZpnp9SxJlz00gTd4BmJ2yJufSc44gMCRrRQ7NSzAcSJQfifuOLgW6bEi+ftrALtsgALeB2Adw==",
          "requires": {
            "asn1.js": "^4.0.0",
@@ -17757,7 +17747,7 @@
        },
        "public-encrypt": {
          "version": "4.0.2",
-          "resolved": "http://registry.npmjs.org/public-encrypt/-/public-encrypt-4.0.2.tgz",
+          "resolved": "https://registry.npmjs.org/public-encrypt/-/public-encrypt-4.0.2.tgz",
          "integrity": "sha512-4kJ5Esocg8X3h8YgJsKAuoesBgB7mqH3eowiDzMUPKiRDDE7E/BqqZD1hnTByIaAFiwAw246YEltSq7tdrOH0Q==",
          "requires": {
            "bn.js": "^4.1.0",
@@ -17873,7 +17863,7 @@
        },
        "readable-stream": {
          "version": "2.3.6",
-          "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
+          "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
          "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==",
          "requires": {
            "core-util-is": "~1.0.0",
@@ -18186,7 +18176,7 @@
        },
        "sha.js": {
          "version": "2.4.11",
-          "resolved": "http://registry.npmjs.org/sha.js/-/sha.js-2.4.11.tgz",
+          "resolved": "https://registry.npmjs.org/sha.js/-/sha.js-2.4.11.tgz",
          "integrity": "sha512-QMEp5B7cftE7APOjk5Y6xgrbWu+WkLVQwk8JNjZ8nKRciZaByEW6MubieAiToS7+dwvrjGhH8jRXz3MVd0AYqQ==",
          "requires": {
            "inherits": "^2.0.1",
@@ -18364,7 +18354,7 @@
          "dependencies": {
            "debug": {
              "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
              "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
              "requires": {
                "ms": "0.7.2"
@@ -18393,7 +18383,7 @@
          "dependencies": {
            "debug": {
              "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
              "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
              "requires": {
                "ms": "0.7.2"
@@ -18431,7 +18421,7 @@
            },
            "debug": {
              "version": "2.3.3",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.3.3.tgz",
              "integrity": "sha1-QMRT5n5uE8kB3ewxeviYbNqe/4w=",
              "requires": {
                "ms": "0.7.2"
@@ -18457,7 +18447,7 @@
          "dependencies": {
            "debug": {
              "version": "2.2.0",
-              "resolved": "http://registry.npmjs.org/debug/-/debug-2.2.0.tgz",
+              "resolved": "https://registry.npmjs.org/debug/-/debug-2.2.0.tgz",
              "integrity": "sha1-+HBX6ZWxofauaklgZkE3vFbwOdo=",
              "requires": {
                "ms": "0.7.1"
@@ -18652,7 +18642,7 @@
        },
        "table": {
          "version": "3.8.3",
-          "resolved": "http://registry.npmjs.org/table/-/table-3.8.3.tgz",
+          "resolved": "https://registry.npmjs.org/table/-/table-3.8.3.tgz",
          "integrity": "sha1-K7xULw/amGGnVdOUf+/Ys/UThV8=",
          "requires": {
            "ajv": "^4.7.0",
@@ -18709,7 +18699,7 @@
        },
        "through": {
          "version": "2.3.8",
-          "resolved": "http://registry.npmjs.org/through/-/through-2.3.8.tgz",
+          "resolved": "https://registry.npmjs.org/through/-/through-2.3.8.tgz",
          "integrity": "sha1-DdTJ/6q8NXlgsbckEV1+Doai4fU="
        },
        "time-stamp": {
@@ -18885,7 +18875,7 @@
            },
            "yargs": {
              "version": "3.10.0",
-              "resolved": "http://registry.npmjs.org/yargs/-/yargs-3.10.0.tgz",
+              "resolved": "https://registry.npmjs.org/yargs/-/yargs-3.10.0.tgz",
              "integrity": "sha1-9+572FfdfB0tOMDnTvvWgdFDH9E=",
              "requires": {
                "camelcase": "^1.0.2",
@@ -19527,7 +19517,7 @@
        },
        "wrap-ansi": {
          "version": "2.1.0",
-          "resolved": "http://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz",
+          "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz",
          "integrity": "sha1-2Pw9KE3QV5T+hJc8rs3Rz4JP3YU=",
          "requires": {
            "string-width": "^1.0.1",
@@ -20438,9 +20428,9 @@
      "dev": true
    },
    "y18n": {
-      "version": "4.0.0",
-      "resolved": "https://registry.npmjs.org/y18n/-/y18n-4.0.0.tgz",
-      "integrity": "sha512-r9S/ZyXu/Xu9q1tYlpsLIsa3EeLXXk0VwlxqTcFRfg9EhMW+17kbt9G0NrgCmhGb5vT2hyhJZLfDGx+7+5Uj/w==",
+      "version": "4.0.3",
+      "resolved": "https://registry.npmjs.org/y18n/-/y18n-4.0.3.tgz",
+      "integrity": "sha512-JKhqTOwSrqNA1NY5lSztJ1GrBiUodLMmIZuLiDaMRJ+itFd+ABVE8XBjOvIWL+rSqNDC74LCSFmlb/U4UZ4hJQ==",
      "dev": true
    },
    "yallist": {
--- a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
+++ b/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
@@ -141,7 +141,7 @@
        cols="10"
        md="5"
        lg="10"
-        class="pt-0 pb-0 pl-6 ml-16"
+        class="pt-0 pb-0 pl-6"
      >
        <CVselect
          v-model="currentPipelineType"
@@ -173,15 +173,15 @@
        <v-card-text>
          <CVinput
            v-model="newPipelineName"
-            name="Pipeline"
+            name="Name"
            :error-message="checkPipelineName"
          />
-          <CVselect
-            v-model="newPipelineType"
-            name="Pipeline Type"
-            :list="['Reflective', 'Shape']"
-            :disabled="isPipelineNameEdit"
-          />
+<!--          <CVselect-->
+<!--            v-model="currentPipelineType"-->
+<!--            name="Pipeline Type"-->
+<!--            :list="['Reflective', 'Shape']"-->
+<!--            :disabled="true"-->
+<!--          />-->
        </v-card-text>
        <v-divider />
        <v-card-actions>
@@ -263,7 +263,6 @@ export default {
      isPipelineNameEdit: false,
      namingDialog: false,
      newPipelineName: "",
-      newPipelineType: 0,
      duplicateDialog: false,
      showPipeTypeDialog: false,
      proposedPipelineType : 0,
@@ -385,7 +384,7 @@ export default {
        if (this.isPipelineNameEdit) {
          this.handleInputWithIndex("changePipelineName", this.newPipelineName);
        } else {
-          this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.newPipelineType]); // 0 for reflective, 1 for colored shpae
+          this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.currentPipelineType]); // 0 for reflective, 1 for colored shpae
        }
        this.discardPipelineNameChange();
      }
--- a/photon-client/src/views/CamerasView.vue
+++ b/photon-client/src/views/CamerasView.vue
@@ -19,15 +19,16 @@
            <CVselect
              v-model="currentCameraIndex"
              name="Camera"
-              select-cols="10"
              :list="$store.getters.cameraList"
              @input="handleInput('currentCamera',currentCameraIndex)"
+              :select-cols="$vuetify.breakpoint.mdAndUp ? 10 : 7"
            />
            <CVnumberinput
              v-model="cameraSettings.fov"
              :tooltip="cameraSettings.isFovConfigurable ? 'Field of view (in degrees) of the camera measured across the diagonal of the frame, in a video mode which covers the whole sensor area.' : 'This setting is managed by a vendor'"
              name="Maximum diagonal FOV"
              :disabled="!cameraSettings.isFovConfigurable"
+              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
            />
            <br>
            <CVnumberinput
@@ -35,6 +36,7 @@
              name="Camera pitch"
              tooltip="How many degrees above the horizontal the physical camera is tilted"
              :step="0.01"
+              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
            />
            <br>
            <v-btn
@@ -89,26 +91,26 @@
                  <CVnumberinput
                    v-model="squareSizeIn"
                    name="Pattern Spacing (in)"
-                    label-cols="5"
                    tooltip="Spacing between pattern features in inches"
                    :disabled="isCalibrating"
                    :rules="[v => (v > 0) || 'Size must be positive']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
                  />
                  <CVnumberinput
                    v-model="boardWidth"
                    name="Board width"
-                    label-cols="5"
                    tooltip="Width of the board in dots or chessboard squares"
                    :disabled="isCalibrating"
                    :rules="[v => (v >= 4) || 'Width must be at least 4']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
                  />
                  <CVnumberinput
                    v-model="boardHeight"
                    name="Board height"
-                    label-cols="5"
                    tooltip="Height of the board in dots or chessboard squares"
                    :disabled="isCalibrating"
                    :rules="[v => (v >= 4) || 'Height must be at least 4']"
+                    :label-cols="$vuetify.breakpoint.mdAndUp ? 5 : 7"
                  />
                </v-form>
              </v-col>
--- a/photon-client/src/views/PipelineViews/ContoursTab.vue
+++ b/photon-client/src/views/PipelineViews/ContoursTab.vue
@@ -51,7 +51,7 @@
          name="Target Grouping"
          tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
          :select-cols="largeBox"
-          :list="['Single','Dual']"
+          :list="['Single','Dual','2orMore']"
          @input="handlePipelineData('contourGroupingMode')"
      />
      <CVselect
--- a/photon-client/src/views/PipelineViews/InputTab.vue
+++ b/photon-client/src/views/PipelineViews/InputTab.vue
@@ -170,7 +170,11 @@
            // It would probably be cleaner if this checked that we're on the Raspi 3 instead of checking for GPU accel status
            const width = this.$store.getters.videoFormatList[
                    this.$store.getters.currentCameraSettings.currentPipelineSettings.cameraVideoModeIndex]['width'];
-            return unfilteredStreamDivisors.filter((x) => !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
+
+            // If GPU acceleration is enabled, the  downsized width must be below 400px
+            // This check should be skipped if we're currently in driver mode
+            return unfilteredStreamDivisors.filter((x) => this.$store.getters.isDriverMode
+                    || !this.$store.state.settings.general.gpuAcceleration || width / x < 400);
          },
          getNumSkippedStreamDivisors() {
            return unfilteredStreamDivisors.length - this.getRawStreamDivisors().length;
--- a/photon-client/src/views/SettingsView.vue
+++ b/photon-client/src/views/SettingsView.vue
@@ -49,6 +49,7 @@
            return {
                selectedTab: 0,
                snack: false,
+                calibrationInProgress: false,
                snackbar: {
                  color: "accent",
                  text: ""
--- a/photon-client/src/views/SettingsViews/General.vue
+++ b/photon-client/src/views/SettingsViews/General.vue
@@ -91,7 +91,7 @@
      <v-col
        cols="12"
        sm="6"
-        lg="3"
+        md="4"
      >
        <v-btn
          color="secondary"
@@ -106,7 +106,7 @@
      <v-col
        cols="12"
        sm="6"
-        lg="3"
+        md="4"
      >
        <v-btn
          color="secondary"
@@ -120,7 +120,21 @@
      </v-col>
      <v-col
        cols="12"
-        lg="3"
+        md="4"
+      >
+        <v-btn
+          color="secondary"
+          @click="$refs.offlineUpdate.click()"
+        >
+          <v-icon left>
+            mdi-update
+          </v-icon>
+          Offline Update
+        </v-btn>
+      </v-col>
+      <v-col
+        cols="12"
+        lg="6"
      >
        <v-btn
          color="red"
@@ -134,7 +148,7 @@
      </v-col>
      <v-col
        cols="12"
-        lg="3"
+        lg="6"
      >
        <v-btn
          color="red"
@@ -172,6 +186,15 @@
      :href="'http://' + this.$address + '/api/settings/photonvision_config.zip'"
      download="photonvision-settings.zip"
    />
+
+    <!-- Special hidden new jar upload input that gets 'clicked' when the user posts a new .jar -->
+    <input
+      ref="offlineUpdate"
+      type="file"
+      accept=".jar"
+      style="display: none;"
+      @change="doOfflineUpdate"
+    >
  </div>
 </template>

@@ -181,6 +204,7 @@ export default {
    data() {
        return {
            snack: false,
+            uploadPercentage: 0.0,
            snackbar: {
                color: "success",
                text: ""
@@ -226,7 +250,7 @@ export default {
                {headers: {"Content-Type": "multipart/form-data"}}).then(() => {
                this.snackbar = {
                    color: "success",
-                    text: "Settings imported successfully! Program will now exit...",
+                    text: "Settings imported successfully! PhotonVision will restart in the background...",
                };
                this.snack = true;
            }).catch(err => {
@@ -249,6 +273,52 @@ export default {
                this.snack = true;
            });
        },
+        doOfflineUpdate(event) {
+          this.snackbar = {
+                color: "secondary",
+                text: "New Software Upload in Process..."
+            };
+            this.snack = true;
+
+            let formData = new FormData();
+            formData.append("jarData", event.target.files[0]);
+            this.axios.post("http://" + this.$address + "/api/settings/offlineUpdate", formData,
+                {headers: {"Content-Type": "multipart/form-data"},
+                 onUploadProgress: function( progressEvent ) {
+                    this.uploadPercentage = parseInt( Math.round( ( progressEvent.loaded / progressEvent.total ) * 100 ) );
+                    if(this.uploadPercentage < 99.5){
+                      this.snackbar.text = "New Software Upload in Process, " + this.uploadPercentage + "% complete";
+                    } else {
+                      this.snackbar.text = "Installing uploaded software...";
+                    }
+
+                 }.bind(this)
+                }).then(() => {
+                this.snackbar = {
+                    color: "success",
+                    text: "New .jar copied successfully! PhotonVision will restart in the background...",
+                };
+                this.snack = true;
+            }).catch(err => {
+                if (err.response) {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file! Could not process provided file.",
+                  };
+                } else if (err.request) {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file! No respond to upload attempt.",
+                  };
+                } else {
+                  this.snackbar = {
+                      color: "error",
+                      text: "Error while uploading new .jar file!",
+                  };
+                }
+                this.snack = true;
+            });
+        },
    }
 }
 </script>
@@ -266,6 +336,8 @@ export default {
  text-align: left;
  margin-bottom: 10px;
  width: 100%;
+  display: block;
+  overflow-x: auto;
 }

 .infoElem {
--- a/photon-client/src/views/SettingsViews/Networking.vue
+++ b/photon-client/src/views/SettingsViews/Networking.vue
@@ -10,9 +10,10 @@
        name="Team Number"
        :rules="[v => (v > 0) || 'Team number must be greater than zero', v => (v < 10000) || 'Team number must have fewer than five digits']"
        class="mb-4"
+        :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
      />
-      <v-chip label color="red" text-color="white" v-if="parseInt(teamNumber) < 1 && !runNTServer">
-        <span>
+      <v-chip label color="red" v-bind:style="$vuetify.breakpoint.xsOnly ? 'height: auto;' : ''" text-color="white" v-if="parseInt(teamNumber) < 1 && !runNTServer">
+        <span class="text-wrap">
          Team number not set! NetworkTables cannot connect.
        </span>
      </v-chip>
@@ -42,6 +43,7 @@
          name="Run NetworkTables Server (Debugging Only!)"
          tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
          class="mt-3 mb-3"
+          :text-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
      />
      <v-chip label color="red" text-color="white" v-if="runNTServer">
        <span>
@@ -60,7 +62,7 @@
    </v-btn>
    <v-divider class="mt-4 mb-4"/>
    <v-row>
-      <v-col cols="6">
+      <v-col cols="12" sm="6">

        <v-simple-table
            fixed-header
@@ -86,7 +88,7 @@
          </template>
        </v-simple-table>
      </v-col>
-      <v-col cols="6">
+      <v-col cols="12" sm="6">
        <v-simple-table
            fixed-header
            height="100%"
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -5,17 +5,13 @@ apply from: "${rootDir}/shared/common.gradle"
 dependencies {
    implementation project(':photon-targeting')

-    implementation 'io.javalin:javalin:3.7.0'
+    implementation 'io.javalin:javalin:4.2.0'

-    implementation 'org.msgpack:msgpack-core:0.8.20'
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.8.20'
+    implementation 'org.msgpack:msgpack-core:0.9.0'
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'

    // wpiutil
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxaarch64bionic"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxraspbian"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:linuxx86-64"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:osxx86-64"
-    implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:windowsx86-64"
+    jniPlatforms.each { implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:$it" }

    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
--- 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
@@ -24,10 +24,12 @@ import java.util.List;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
+import org.opencv.core.Point;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;

@@ -209,9 +211,20 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
    public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
        var ret = new ArrayList<PhotonTrackedTarget>();
        for (var t : targets) {
+            var points = new Point[4];
+            t.getMinAreaRect().points(points);
+            var cornerList = new ArrayList<TargetCorner>();
+
+            for (int i = 0; i < 4; i++) cornerList.add(new TargetCorner(points[i].x, points[i].y));
+
            ret.add(
                    new PhotonTrackedTarget(
-                            t.getYaw(), t.getPitch(), t.getArea(), t.getSkew(), t.getCameraToTarget()));
+                            t.getYaw(),
+                            t.getPitch(),
+                            t.getArea(),
+                            t.getSkew(),
+                            t.getCameraToTarget(),
+                            cornerList));
        }
        return ret;
    }
--- 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
@@ -185,8 +185,7 @@ public class NetworkTablesManager {
        logger.info("Starting NT Client");
        ntInstance.stopServer();

-        //        ntInstance.startClientTeam(teamNumber);
-        ntInstance.startClient("localhost");
+        ntInstance.startClientTeam(teamNumber);
        ntInstance.startDSClient();
        if (ntInstance.isConnected()) {
            logger.info("[NetworkTablesManager] Connected to the robot!");
--- 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
@@ -19,11 +19,11 @@ package org.photonvision.common.hardware.GPIO.pi;
 import java.util.HashMap;

 /**
-* A class that defines the exceptions that can be thrown by Pigpio.
-*
-* <p>Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
-*/
+ * A class that defines the exceptions that can be thrown by Pigpio.
+ *
+ * <p>Credit to nkolban
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java
+ */
@SuppressWarnings({"SpellCheckingInspection", "unused", "RedundantSuppression"})
 public class PigpioException extends Exception {
    private int rc = -99999999;
@@ -65,10 +65,10 @@ public class PigpioException extends Exception {
    }

    /**
-    * Retrieve the error code that was returned by the underlying Pigpio call.
-    *
-    * @return The error code that was returned by the underlying Pigpio call.
-    */
+     * Retrieve the error code that was returned by the underlying Pigpio call.
+     *
+     * @return The error code that was returned by the underlying Pigpio call.
+     */
    public int getErrorCode() {
        return rc;
    } // End of getErrorCode
--- 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
@@ -22,14 +22,14 @@ public class PigpioPulse {
    int delayMicros;

    /**
-    * Initialises a pulse.
-    *
-    * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
-    *     switched on.
-    * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
-    *     be switched off.
-    * @param delayMicros the delay in microseconds before the next pulse.
-    */
+     * Initialises a pulse.
+     *
+     * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be
+     *     switched on.
+     * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will
+     *     be switched off.
+     * @param delayMicros the delay in microseconds before the next pulse.
+     */
    public PigpioPulse(int gpioOn, int gpioOff, int delayMicros) {
        this.gpioOn = gpioOn != 0 ? 1 << gpioOn : 0;
        this.gpioOff = gpioOff != 0 ? 1 << gpioOff : 0;
--- 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
@@ -40,12 +40,12 @@ public class PigpioSocket {
    }

    /**
-    * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
-    * address and port
-    *
-    * @param addr Address of remote pigpio daemon
-    * @param port Port of remote pigpio daemon
-    */
+     * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified
+     * address and port
+     *
+     * @param addr Address of remote pigpio daemon
+     * @param port Port of remote pigpio daemon
+     */
    public PigpioSocket(String addr, int port) {
        try {
            commandSocket = new PigpioSocketLock(addr, port);
@@ -55,10 +55,10 @@ public class PigpioSocket {
    }

    /**
-    * Reconnects to the pigpio daemon
-    *
-    * @throws PigpioException on failure
-    */
+     * Reconnects to the pigpio daemon
+     *
+     * @throws PigpioException on failure
+     */
    public void reconnect() throws PigpioException {
        try {
            commandSocket.reconnect();
@@ -69,10 +69,10 @@ public class PigpioSocket {
    }

    /**
-    * Terminates the connection to the pigpio daemon
-    *
-    * @throws PigpioException on failure
-    */
+     * Terminates the connection to the pigpio daemon
+     *
+     * @throws PigpioException on failure
+     */
    public void gpioTerminate() throws PigpioException {
        try {
            commandSocket.terminate();
@@ -83,12 +83,12 @@ public class PigpioSocket {
    }

    /**
-    * Read the GPIO level
-    *
-    * @param pin Pin to read from
-    * @return Value of the pin
-    * @throws PigpioException on failure
-    */
+     * Read the GPIO level
+     *
+     * @param pin Pin to read from
+     * @return Value of the pin
+     * @throws PigpioException on failure
+     */
    public boolean gpioRead(int pin) throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_READ.value, pin);
@@ -101,12 +101,12 @@ public class PigpioSocket {
    }

    /**
-    * Write the GPIO level
-    *
-    * @param pin Pin to write to
-    * @param value Value to write
-    * @throws PigpioException on failure
-    */
+     * Write the GPIO level
+     *
+     * @param pin Pin to write to
+     * @param value Value to write
+     * @throws PigpioException on failure
+     */
    public void gpioWrite(int pin, boolean value) throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WRITE.value, pin, value ? 1 : 0);
@@ -118,10 +118,10 @@ public class PigpioSocket {
    }

    /**
-    * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
-    *
-    * @throws PigpioException on failure
-    */
+     * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)}
+     *
+     * @throws PigpioException on failure
+     */
    public void waveClear() throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCLR.value);
@@ -133,12 +133,12 @@ public class PigpioSocket {
    }

    /**
-    * Adds a number of pulses to the current waveform
-    *
-    * @param pulses ArrayList of pulses to add
-    * @return the new total number of pulses in the current waveform
-    * @throws PigpioException on failure
-    */
+     * Adds a number of pulses to the current waveform
+     *
+     * @param pulses ArrayList of pulses to add
+     * @return the new total number of pulses in the current waveform
+     * @throws PigpioException on failure
+     */
    private int waveAddGeneric(ArrayList<PigpioPulse> pulses) throws PigpioException {
        // pigpio wave message format

@@ -174,12 +174,12 @@ public class PigpioSocket {
    }

    /**
-    * Creates pulses and adds them to the current waveform
-    *
-    * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
-    * @param pinNo Pin to pulse
-    */
+     * Creates pulses and adds them to the current waveform
+     *
+     * @param pulseTimeMillis Pulse length in milliseconds
+     * @param blinks Number of times to pulse. -1 for repeat
+     * @param pinNo Pin to pulse
+     */
    private void addBlinkPulsesToWaveform(int pulseTimeMillis, int blinks, int pinNo) {
        boolean repeat = blinks == -1;

@@ -207,13 +207,13 @@ public class PigpioSocket {
    }

    /**
-    * Generates and sends a waveform to the given pins with the specified parameters.
-    *
-    * @param pulseTimeMillis Pulse length in milliseconds
-    * @param blinks Number of times to pulse. -1 for repeat
-    * @param pins Pins to pulse
-    * @throws PigpioException on failure
-    */
+     * Generates and sends a waveform to the given pins with the specified parameters.
+     *
+     * @param pulseTimeMillis Pulse length in milliseconds
+     * @param blinks Number of times to pulse. -1 for repeat
+     * @param pins Pins to pulse
+     * @throws PigpioException on failure
+     */
    public void generateAndSendWaveform(int pulseTimeMillis, int blinks, int... pins)
            throws PigpioException {
        if (pins.length == 0) return;
@@ -262,11 +262,11 @@ public class PigpioSocket {
    }

    /**
-    * Stops the transmission of the current waveform
-    *
-    * @return success
-    * @throws PigpioException on failure
-    */
+     * Stops the transmission of the current waveform
+     *
+     * @return success
+     * @throws PigpioException on failure
+     */
    public boolean waveTxStop() throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVHLT.value);
@@ -279,12 +279,12 @@ public class PigpioSocket {
    }

    /**
-    * Creates a waveform from the data provided by the prior calls to {@link
-    * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
-    *
-    * @return ID of the created waveform
-    * @throws PigpioException on failure
-    */
+     * Creates a waveform from the data provided by the prior calls to {@link
+     * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned
+     *
+     * @return ID of the created waveform
+     * @throws PigpioException on failure
+     */
    public int waveCreate() throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCRE.value);
@@ -297,11 +297,11 @@ public class PigpioSocket {
    }

    /**
-    * Deletes the waveform with specified wave ID
-    *
-    * @param waveId ID of the waveform to delete
-    * @throws PigpioException on failure
-    */
+     * Deletes the waveform with specified wave ID
+     *
+     * @param waveId ID of the waveform to delete
+     * @throws PigpioException on failure
+     */
    public void waveDelete(int waveId) throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVDEL.value, waveId);
@@ -313,12 +313,12 @@ public class PigpioSocket {
    }

    /**
-    * Transmits the waveform with specified wave ID. The waveform is sent once
-    *
-    * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
-    */
+     * Transmits the waveform with specified wave ID. The waveform is sent once
+     *
+     * @param waveId ID of the waveform to transmit
+     * @return The number of DMA control blocks in the waveform
+     * @throws PigpioException on failure
+     */
    public int waveSendOnce(int waveId) throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTX.value, waveId);
@@ -330,13 +330,13 @@ public class PigpioSocket {
    }

    /**
-    * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
-    * the sending of a new waveform or {@link #waveTxStop()}
-    *
-    * @param waveId ID of the waveform to transmit
-    * @return The number of DMA control blocks in the waveform
-    * @throws PigpioException on failure
-    */
+     * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by
+     * the sending of a new waveform or {@link #waveTxStop()}
+     *
+     * @param waveId ID of the waveform to transmit
+     * @return The number of DMA control blocks in the waveform
+     * @throws PigpioException on failure
+     */
    public int waveSendRepeat(int waveId) throws PigpioException {
        try {
            int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTXR.value, waveId);
@@ -348,14 +348,14 @@ public class PigpioSocket {
    }

    /**
-    * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
-    *
-    * @param pin GPIO pin to start PWM on
-    * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
-    *     work
-    * @param pwmDuty Duty cycle to run at (0-1,000,000)
-    * @throws PigpioException on failure
-    */
+     * Starts hardware PWM on a GPIO at the specified frequency and dutycycle
+     *
+     * @param pin GPIO pin to start PWM on
+     * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to
+     *     work
+     * @param pwmDuty Duty cycle to run at (0-1,000,000)
+     * @throws PigpioException on failure
+     */
    public void hardwarePWM(int pin, int pwmFrequency, int pwmDuty) throws PigpioException {
        try {
            ByteBuffer bb = ByteBuffer.allocate(4);
--- 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
@@ -23,9 +23,9 @@ import java.net.Socket;
 import java.nio.ByteBuffer;

 /**
-* Credit to nkolban
-* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
-*/
+ * Credit to nkolban
+ * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java
+ */
 final class PigpioSocketLock {
    private static final int replyTimeoutMillis = 1000;

@@ -81,16 +81,16 @@ final class PigpioSocketLock {
    }

    /**
-    * Send extended command to pigpiod and return result code
-    *
-    * @param cmd Command to send
-    * @param p1 Command parameter 1
-    * @param p2 Command parameter 2
-    * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
-    * @param ext Array of bytes containing extended data
-    * @return Command result code
-    * @throws IOException in case of network connection error
-    */
+     * Send extended command to pigpiod and return result code
+     *
+     * @param cmd Command to send
+     * @param p1 Command parameter 1
+     * @param p2 Command parameter 2
+     * @param p3 Command parameter 3 (usually length of extended data - see paramater ext)
+     * @param ext Array of bytes containing extended data
+     * @return Command result code
+     * @throws IOException in case of network connection error
+     */
    @SuppressWarnings("UnusedAssignment")
    public synchronized int sendCmd(int cmd, int p1, int p2, int p3, byte[] ext) throws IOException {
        ByteBuffer bb = ByteBuffer.allocate(16 + ext.length);
@@ -135,11 +135,11 @@ final class PigpioSocketLock {
    }

    /**
-    * Read all remaining bytes coming from pigpiod
-    *
-    * @param data Array to store read bytes.
-    * @throws IOException if unable to read from network
-    */
+     * Read all remaining bytes coming from pigpiod
+     *
+     * @param data Array to store read bytes.
+     * @throws IOException if unable to read from network
+     */
    public void readBytes(byte[] data) throws IOException {
        in.readFully(data);
    }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * 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;
+
+public enum PiVersion {
+    PI_B("Pi Model B"),
+    COMPUTE_MODULE("Compute Module Rev"),
+    ZERO_W("Pi Zero W Rev 1.1"),
+    ZERO_2_W("Raspberry Pi Zero 2 W"),
+    PI_3("Pi 3"),
+    PI_4("Pi 4"),
+    COMPUTE_MODULE_3("Compute Module 3"),
+    UNKNOWN("UNKNOWN");
+
+    private final String identifier;
+
+    PiVersion(String s) {
+        this.identifier = s.toLowerCase();
+    }
+
+    public static PiVersion getPiVersion() {
+        if (!Platform.isRaspberryPi()) return PiVersion.UNKNOWN;
+        String piString = Platform.currentPiVersionStr;
+        for (PiVersion p : PiVersion.values()) {
+            if (piString.toLowerCase().contains(p.identifier)) return p;
+        }
+        return UNKNOWN;
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -45,7 +45,11 @@ public enum Platform {

    private static final String OS_NAME = System.getProperty("os.name");
    private static final String OS_ARCH = System.getProperty("os.arch");
-    public static final Platform CurrentPlatform = getCurrentPlatform();
+
+    // These are queried on init and should never change after
+    public static final Platform currentPlatform = getCurrentPlatform();
+    protected static final String currentPiVersionStr = getPiVersionString();
+    public static final PiVersion currentPiVersion = PiVersion.getPiVersion();

    private static String UnknownPlatformString =
            String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
@@ -61,7 +65,7 @@ public enum Platform {
    }

    public static boolean isRaspberryPi() {
-        return CurrentPlatform.equals(LINUX_RASPBIAN);
+        return currentPlatform.equals(LINUX_RASPBIAN);
    }

    @SuppressWarnings("StatementWithEmptyBody")
@@ -114,4 +118,22 @@ public enum Platform {
            return this.value;
        }
    }
+
+    // Querry /proc/device-tree/model. This should return the model of the pi
+    // Versions here:
+    // https://github.com/raspberrypi/linux/blob/rpi-5.10.y/arch/arm/boot/dts/bcm2710-rpi-cm3.dts
+    private static String getPiVersionString() {
+        if (!isRaspberryPi()) return "";
+        try {
+            shell.executeBashCommand("cat /proc/device-tree/model");
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+        if (shell.getExitCode() == 0) {
+            // We expect it to be in the format "raspberry pi X model X"
+            return shell.getOutput();
+        }
+
+        return "";
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
@@ -125,8 +125,9 @@ public class Logger {
    }

    public static void cleanLogs(Path folderToClean) {
-        LinkedList<File> logFileList =
-                new LinkedList<>(Arrays.asList(folderToClean.toFile().listFiles()));
+        File[] logs = folderToClean.toFile().listFiles();
+        if (logs == null) return;
+        LinkedList<File> logFileList = new LinkedList<>(Arrays.asList(logs));
        HashMap<File, Date> logFileStartDateMap = new HashMap<>();

        // Remove any files from the list for which we can't parse a start date from their name.
@@ -231,12 +232,12 @@ public class Logger {
    }

    /**
-    * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed
-    * if the current LogLevel is TRACE
-    *
-    * @param message
-    * @param t
-    */
+     * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed
+     * if the current LogLevel is TRACE
+     *
+     * @param message
+     * @param t
+     */
    public void error(String message, Throwable t) {
        log(message, LogLevel.ERROR);
        log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.DEBUG);
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
@@ -65,8 +65,7 @@ public class ScriptManager {

        private void handleEvent(ScriptEventType eventType) {
            var toRun =
-                    events
-                            .parallelStream()
+                    events.parallelStream()
                            .filter(e -> e.config.eventType == eventType)
                            .findFirst()
                            .orElse(null);
@@ -128,7 +127,7 @@ public class ScriptManager {
    }

    public static void queueEvent(ScriptEventType eventType) {
-        if (!Platform.CurrentPlatform.isWindows()) {
+        if (!Platform.currentPlatform.isWindows()) {
            try {
                queuedEvents.putLast(eventType);
                logger.info("Queued event: " + eventType.name());
--- a/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java
@@ -43,12 +43,12 @@ public class ShellExec {
    }

    /**
-    * Execute a bash command. We can handle complex bash commands including multiple executions (; |
-    * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)"
-    *
-    * @param command Bash command to execute
-    * @return true if bash got started, but your command may have failed.
-    */
+     * Execute a bash command. We can handle complex bash commands including multiple executions (; |
+     * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)"
+     *
+     * @param command Bash command to execute
+     * @return true if bash got started, but your command may have failed.
+     */
    public int executeBashCommand(String command, boolean wait) throws IOException {
        logger.debug("Executing \"" + command + "\"");

@@ -71,25 +71,25 @@ public class ShellExec {
    }

    /**
-    * Execute a command in current folder, and wait for process to end
-    *
-    * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
-    * @param args 0..n command line arguments
-    * @return process exit code
-    */
+     * Execute a command in current folder, and wait for process to end
+     *
+     * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
+     * @param args 0..n command line arguments
+     * @return process exit code
+     */
    public int execute(String command, String... args) throws IOException {
        return execute(command, null, true, args);
    }

    /**
-    * Execute a command.
-    *
-    * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
-    * @param workdir working directory or NULL to use command folder
-    * @param wait wait for process to end
-    * @param args 0..n command line arguments
-    * @return process exit code
-    */
+     * Execute a command.
+     *
+     * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
+     * @param workdir working directory or NULL to use command folder
+     * @param wait wait for process to end
+     * @param args 0..n command line arguments
+     * @return process exit code
+     */
    public int execute(String command, String workdir, boolean wait, String... args)
            throws IOException {
        String[] cmdArr;
@@ -153,10 +153,10 @@ public class ShellExec {
    // ********************************************

    /**
-    * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a
-    * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams.
-    * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
-    */
+     * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a
+     * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams.
+     * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
+     */
    @SuppressWarnings("WeakerAccess")
    private static class StreamGobbler extends Thread {
        private InputStream is;
@@ -186,19 +186,19 @@ public class ShellExec {
        }

        /**
-        * Get inputstream buffer or null if stream was not consumed.
-        *
-        * @return Output stream
-        */
+         * Get inputstream buffer or null if stream was not consumed.
+         *
+         * @return Output stream
+         */
        public String getOutput() {
            return (output != null ? output.toString() : null);
        }

        /**
-        * Is input stream completed.
-        *
-        * @return if input stream is completed
-        */
+         * Is input stream completed.
+         *
+         * @return if input stream is completed
+         */
        public boolean isCompleted() {
            return completed;
        }
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -18,6 +18,7 @@ package org.photonvision.common.util;

 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.cscore.CameraServerCvJNI;
+import edu.wpi.first.math.util.Units;
 import java.awt.*;
 import java.io.File;
 import java.io.IOException;
@@ -97,6 +98,26 @@ public class TestUtils {
        }
    }

+    public enum WPI2022Image {
+        kTerminal12ft6in(Units.feetToMeters(12.5)),
+        kTerminal22ft6in(Units.feetToMeters(22.5));
+
+        public static double FOV = 68.5;
+
+        public final double distanceMeters;
+        public final Path path;
+
+        Path getPath() {
+            var filename = this.toString().substring(1).replace('_', '-');
+            return Path.of("2022", "WPI", filename + ".png");
+        }
+
+        WPI2022Image(double distanceMeters) {
+            this.distanceMeters = distanceMeters;
+            this.path = getPath();
+        }
+    }
+
    public enum PolygonTestImages {
        kPolygons;

@@ -133,7 +154,8 @@ public class TestUtils {
    }

    private static Path getResourcesFolderPath(boolean testMode) {
-        return Path.of("../test-resources").toAbsolutePath();
+        System.out.println("CWD: " + Path.of("").toAbsolutePath().toString());
+        return Path.of("test-resources").toAbsolutePath();
    }

    public static Path getTestMode2019ImagePath() {
@@ -148,6 +170,12 @@ public class TestUtils {
                .resolve(WPI2020Image.kBlueGoal_108in_Center.path);
    }

+    public static Path getTestMode2022ImagePath() {
+        return getResourcesFolderPath(true)
+                .resolve("testimages")
+                .resolve(WPI2022Image.kTerminal22ft6in.path);
+    }
+
    public static Path getTestImagesPath(boolean testMode) {
        return getResourcesFolderPath(testMode).resolve("testimages");
    }
--- 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
@@ -20,6 +20,7 @@ import java.io.File;
 import java.io.FileNotFoundException;
 import java.io.IOException;
 import java.nio.file.Files;
+import java.nio.file.NoSuchFileException;
 import java.nio.file.Path;
 import java.nio.file.attribute.PosixFileAttributes;
 import java.nio.file.attribute.PosixFilePermission;
@@ -60,7 +61,7 @@ public class FileUtils {
    public static void deleteFile(Path path) {
        try {
            Files.delete(path);
-        } catch (FileNotFoundException fe) {
+        } catch (FileNotFoundException | NoSuchFileException fe) {
            logger.warn("Tried to delete file \"" + path + "\" but it did not exist");
        } catch (IOException e) {
            logger.error("Exception deleting file \"" + path + "\"!", e);
@@ -76,7 +77,7 @@ public class FileUtils {
    }

    public static void setFilePerms(Path path) throws IOException {
-        if (!Platform.CurrentPlatform.isWindows()) {
+        if (!Platform.currentPlatform.isWindows()) {
            File thisFile = path.toFile();
            Set<PosixFilePermission> perms =
                    Files.readAttributes(path, PosixFileAttributes.class).permissions();
@@ -94,7 +95,7 @@ public class FileUtils {
    }

    public static void setAllPerms(Path path) {
-        if (!Platform.CurrentPlatform.isWindows()) {
+        if (!Platform.currentPlatform.isWindows()) {
            String command = String.format("chmod 777 -R %s", path.toString());
            try {
                Process p = Runtime.getRuntime().exec(command);
--- a/photon-core/src/main/java/org/photonvision/common/util/file/ProgramDirectoryUtilities.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/ProgramDirectoryUtilities.java
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * 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;
+import java.net.URISyntaxException;
+
+public class ProgramDirectoryUtilities {
+    private static String getJarName() {
+        return new File(
+                        ProgramDirectoryUtilities.class
+                                .getProtectionDomain()
+                                .getCodeSource()
+                                .getLocation()
+                                .getPath())
+                .getName();
+    }
+
+    private static boolean runningFromJAR() {
+        String jarName = getJarName();
+        return jarName.contains(".jar");
+    }
+
+    public static String getProgramDirectory() {
+        if (runningFromJAR()) {
+            return getCurrentJARDirectory();
+        } else {
+            return System.getProperty("user.dir");
+        }
+    }
+
+    private static String getCurrentJARDirectory() {
+        try {
+            return new File(
+                            ProgramDirectoryUtilities.class
+                                    .getProtectionDomain()
+                                    .getCodeSource()
+                                    .getLocation()
+                                    .toURI()
+                                    .getPath())
+                    .getParent();
+        } catch (URISyntaxException exception) {
+            exception.printStackTrace();
+        }
+
+        return null;
+    }
+}
--- 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
@@ -64,13 +64,13 @@ public class MathUtils {
    }

    /**
-    * Linearly interpolates between two values.
-    *
-    * @param startValue The start value.
-    * @param endValue The end value.
-    * @param t The fraction for interpolation.
-    * @return The interpolated value.
-    */
+     * Linearly interpolates between two values.
+     *
+     * @param startValue The start value.
+     * @param endValue The end value.
+     * @param t The fraction for interpolation.
+     * @return The interpolated value.
+     */
    @SuppressWarnings("ParameterName")
    public static double lerp(double startValue, double endValue, double t) {
        return startValue + (endValue - startValue) * t;
--- 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
@@ -25,9 +25,9 @@ import java.util.StringJoiner;
@SuppressWarnings("unused")
 public class NumberListUtils {
    /**
-    * @param collection an ArrayList of Comparable objects
-    * @return the median of collection
-    */
+     * @param collection an ArrayList of Comparable objects
+     * @return the median of collection
+     */
    public static <T extends Number> double median(List<T> collection, Comparator<T> comp) {
        double result;
        int n = collection.size() / 2;
@@ -57,9 +57,9 @@ public class NumberListUtils {
    }

    /**
-    * @param collection an ArrayList of Numbers
-    * @return the mean of collection
-    */
+     * @param collection an ArrayList of Numbers
+     * @return the mean of collection
+     */
    public static double mean(final List<? extends Number> collection) {
        BigDecimal sum = BigDecimal.ZERO;
        for (final Number number : collection) {
@@ -69,11 +69,11 @@ public class NumberListUtils {
    }

    /**
-    * @param collection a collection of Comparable objects
-    * @param n the position of the desired object, using the ordering defined on the collection
-    *     elements
-    * @return the nth smallest object
-    */
+     * @param collection a collection of Comparable objects
+     * @param n the position of the desired object, using the ordering defined on the collection
+     *     elements
+     * @return the nth smallest object
+     */
    public static <T> T nthSmallest(List<T> collection, int n, Comparator<T> comp) {
        T result, pivot;
        ArrayList<T> underPivot = new ArrayList<>(),
--- a/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
@@ -22,6 +22,7 @@ import java.io.InputStream;
 import java.net.URL;
 import java.nio.file.Files;
 import java.nio.file.Path;
+import org.photonvision.common.hardware.PiVersion;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -83,7 +84,13 @@ public class PicamJNI {
    }

    public static boolean isSupported() {
-        return libraryLoaded && !isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
+        return libraryLoaded
+                && !isVCSMSupported()
+                && getSensorModel() != SensorModel.Disconnected
+                && Platform.isRaspberryPi()
+                && (Platform.currentPiVersion == PiVersion.PI_3
+                        || Platform.currentPiVersion == PiVersion.COMPUTE_MODULE_3
+                        || Platform.currentPiVersion == PiVersion.ZERO_2_W);
    }

    public static SensorModel getSensorModel() {
@@ -109,18 +116,18 @@ public class PicamJNI {
    // Everything here is static because multiple picams are unsupported at the hardware level

    /**
-    * Called once for each video mode change. Starts a native thread running MMAL that stays alive
-    * until destroyCamera is called.
-    *
-    * @return true on error.
-    */
+     * Called once for each video mode change. Starts a native thread running MMAL that stays alive
+     * until destroyCamera is called.
+     *
+     * @return true on error.
+     */
    public static native boolean createCamera(int width, int height, int fps);

    /**
-    * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera.
-    *
-    * @return true on error.
-    */
+     * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera.
+     *
+     * @return true on error.
+     */
    public static native boolean destroyCamera();

    public static native void setThresholds(
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -42,24 +42,24 @@ public class QuirkyCamera {
    public final HashMap<CameraQuirk, Boolean> quirks;

    /**
-    * Creates a QuirkyCamera that matches by USB VID/PID
-    *
-    * @param usbVid USB VID of camera
-    * @param usbPid USB PID of camera
-    * @param quirks Camera quirks
-    */
+     * Creates a QuirkyCamera that matches by USB VID/PID
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param quirks Camera quirks
+     */
    private QuirkyCamera(int usbVid, int usbPid, CameraQuirk... quirks) {
        this(usbVid, usbPid, "", quirks);
    }

    /**
-    * Creates a QuirkyCamera that matches by USB VID/PID and name
-    *
-    * @param usbVid USB VID of camera
-    * @param usbPid USB PID of camera
-    * @param baseName CSCore name of camera
-    * @param quirks Camera quirks
-    */
+     * Creates a QuirkyCamera that matches by USB VID/PID and name
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param baseName CSCore name of camera
+     * @param quirks Camera quirks
+     */
    private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) {
        this.usbVid = usbVid;
        this.usbPid = usbPid;
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -174,7 +174,19 @@ public class USBCameraSource extends VisionSource {
                videoModes = new HashMap<>();
                List<VideoMode> videoModesList = new ArrayList<>();
                try {
-                    var modes = camera.enumerateVideoModes();
+                    VideoMode[] modes;
+                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                        modes =
+                                new VideoMode[] {
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 90),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 90),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 60),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1280, 720, 45),
+                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1920, 1080, 20),
+                                };
+                    } else {
+                        modes = camera.enumerateVideoModes();
+                    }
                    for (int i = 0; i < modes.length; i++) {
                        var videoMode = modes[i];

@@ -234,24 +246,6 @@ public class USBCameraSource extends VisionSource {
                    sortedList.remove(badIdx);
                }

-                // Filter bogus modes on picam
-                if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                    sortedList.removeIf(
-                            it ->
-                                    (it.width == 1296
-                                                    && it.height == 730
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
-                                            || (it.width == 1296
-                                                    && it.height == 972
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
-                                            || (it.width == 2592
-                                                    && it.height == 1944
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR)
-                                            || (it.width == 160
-                                                    && it.height == 120
-                                                    && it.pixelFormat == VideoMode.PixelFormat.kBGR));
-                }
-
                for (VideoMode videoMode : sortedList) {
                    videoModes.put(sortedList.indexOf(videoMode), videoMode);
                }
--- a/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
@@ -56,13 +56,14 @@ public class ZeroCopyPicamSource extends VisionSource {
    }

    /**
-    * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
-    * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
-    * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
-    * we request from the GPU. This is important for setting user expectations, and is also used by
-    * the frontend to detect and explain FPS drops.
-    */
-    private static class FPSRatedVideoMode extends VideoMode {
+     * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
+     * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
+     * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
+     * we request from the GPU. This is important for setting user expectations, and is also used by
+     * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video
+     * modes! This is to make sure it shows up nice in the frontend
+     */
+    public static class FPSRatedVideoMode extends VideoMode {
        public final int fpsActual;
        public final double fovMultiplier;

--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java
@@ -37,23 +37,23 @@ public class FrameStaticProperties {
    public CameraCalibrationCoefficients cameraCalibration;

    /**
-    * Instantiates a new Frame static properties.
-    *
-    * @param mode The Video Mode of the camera.
-    * @param fov The fov of the image.
-    */
+     * Instantiates a new Frame static properties.
+     *
+     * @param mode The Video Mode of the camera.
+     * @param fov The fov of the image.
+     */
    public FrameStaticProperties(
            VideoMode mode, double fov, Rotation2d cameraPitch, CameraCalibrationCoefficients cal) {
        this(mode != null ? mode.width : 1, mode != null ? mode.height : 1, fov, cameraPitch, cal);
    }

    /**
-    * Instantiates a new Frame static properties.
-    *
-    * @param imageWidth The width of the image.
-    * @param imageHeight The width of the image.
-    * @param fov The fov of the image.
-    */
+     * Instantiates a new Frame static properties.
+     *
+     * @param imageWidth The width of the image.
+     * @param imageHeight The width of the image.
+     * @param fov The fov of the image.
+     */
    public FrameStaticProperties(
            int imageWidth,
            int imageHeight,
--- 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
@@ -29,11 +29,11 @@ import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.CVMat;

 /**
-* A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path
-* path}.
-*/
+ * A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path
+ * path}.
+ */
 public class FileFrameProvider implements FrameProvider {
-    public static final int MAX_FPS = 120;
+    public static final int MAX_FPS = 10;
    private static int count = 0;

    private final int thisIndex = count++;
@@ -46,12 +46,12 @@ public class FileFrameProvider implements FrameProvider {
    private long lastGetMillis = System.currentTimeMillis();

    /**
-    * Instantiates a new FileFrameProvider.
-    *
-    * @param path The path of the image to read from.
-    * @param fov The fov of the image.
-    * @param maxFPS The max framerate to provide the image at.
-    */
+     * Instantiates a new FileFrameProvider.
+     *
+     * @param path The path of the image to read from.
+     * @param fov The fov of the image.
+     * @param maxFPS The max framerate to provide the image at.
+     */
    public FileFrameProvider(Path path, double fov, int maxFPS) {
        this(path, fov, maxFPS, null, null);
    }
@@ -83,21 +83,21 @@ public class FileFrameProvider implements FrameProvider {
    }

    /**
-    * Instantiates a new File frame provider.
-    *
-    * @param pathAsString The path of the image to read from as a string.
-    * @param fov The fov of the image.
-    */
+     * Instantiates a new File frame provider.
+     *
+     * @param pathAsString The path of the image to read from as a string.
+     * @param fov The fov of the image.
+     */
    public FileFrameProvider(String pathAsString, double fov) {
        this(Paths.get(pathAsString), fov, MAX_FPS);
    }

    /**
-    * Instantiates a new File frame provider.
-    *
-    * @param path The path of the image to read from.
-    * @param fov The fov of the image.
-    */
+     * Instantiates a new File frame provider.
+     *
+     * @param path The path of the image to read from.
+     * @param fov The fov of the image.
+     */
    public FileFrameProvider(Path path, double fov) {
        this(path, fov, MAX_FPS);
    }
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
@@ -16,6 +16,8 @@
 */
 package org.photonvision.vision.opencv;

+import java.util.Arrays;
+import java.util.Collection;
 import java.util.Comparator;
 import org.jetbrains.annotations.Nullable;
 import org.opencv.core.CvType;
@@ -192,7 +194,11 @@ public class Contour implements Releasable {
                || secondContour.isIntersecting(firstContour, intersectionDirection);
    }

-    private static Contour combineContours(Contour... contours) {
+    public static Contour combineContours(Contour... contours) {
+        return combineContourList(Arrays.asList(contours));
+    }
+
+    public static Contour combineContourList(Collection<Contour> contours) {
        var points = new MatOfPoint();

        for (var contour : contours) {
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ContourGroupingMode.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ContourGroupingMode.java
@@ -18,7 +18,8 @@ package org.photonvision.vision.opencv;

 public enum ContourGroupingMode {
    Single(1),
-    Dual(2);
+    Dual(2),
+    TwoOrMore(2);

    public final int count;

--- a/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java
@@ -17,13 +17,13 @@
 package org.photonvision.vision.pipe;

 /**
-* Defines a pipe. A pipe is a single step in a pipeline. This class is to be extended, never used
-* on its own.
-*
-* @param <I> Input type for the pipe
-* @param <O> Output type for the pipe
-* @param <P> Parameters type for the pipe
-*/
+ * Defines a pipe. A pipe is a single step in a pipeline. This class is to be extended, never used
+ * on its own.
+ *
+ * @param <I> Input type for the pipe
+ * @param <O> Output type for the pipe
+ * @param <P> Parameters type for the pipe
+ */
 public abstract class CVPipe<I, O, P> {
    protected CVPipeResult<O> result = new CVPipeResult<>();
    protected P params;
@@ -33,17 +33,17 @@ public abstract class CVPipe<I, O, P> {
    }

    /**
-    * Runs the process for the pipe.
-    *
-    * @param in Input for pipe processing.
-    * @return Result of processing.
-    */
+     * Runs the process for the pipe.
+     *
+     * @param in Input for pipe processing.
+     * @return Result of processing.
+     */
    protected abstract O process(I in);

    /**
-    * @param in Input for pipe processing.
-    * @return Result of processing.
-    */
+     * @param in Input for pipe processing.
+     * @return Result of processing.
+     */
    public CVPipeResult<O> run(I in) {
        long pipeStartNanos = System.nanoTime();
        result.output = process(in);
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java
@@ -24,11 +24,11 @@ import org.photonvision.vision.pipe.MutatingPipe;
 /** Represents a pipeline that blurs the image. */
 public class BlurPipe extends MutatingPipe<Mat, BlurPipe.BlurParams> {
    /**
-    * Processes this pipe.
-    *
-    * @param in Input for pipe processing.
-    * @return The processed frame.
-    */
+     * Processes this pipe.
+     *
+     * @param in Input for pipe processing.
+     * @return The processed frame.
+     */
    @Override
    protected Void process(Mat in) {
        Imgproc.blur(in, in, params.getBlurSize());
@@ -43,19 +43,19 @@ public class BlurPipe extends MutatingPipe<Mat, BlurPipe.BlurParams> {
        private final int m_blurSize;

        /**
-        * Constructs a new BlurImageParams.
-        *
-        * @param blurSize The blur size.
-        */
+         * Constructs a new BlurImageParams.
+         *
+         * @param blurSize The blur size.
+         */
        public BlurParams(int blurSize) {
            m_blurSize = blurSize;
        }

        /**
-        * Returns the blur size.
-        *
-        * @return The blur size.
-        */
+         * Returns the blur size.
+         *
+         * @return The blur size.
+         */
        public Size getBlurSize() {
            return new Size(m_blurSize, m_blurSize);
        }
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -60,11 +60,11 @@ public class Calibrate3dPipe
    private double calibrationAccuracy;

    /**
-    * Runs the process for the pipe.
-    *
-    * @param in Input for pipe processing. In the format (Input image, object points, image points)
-    * @return Result of processing.
-    */
+     * Runs the process for the pipe.
+     *
+     * @param in Input for pipe processing. In the format (Input image, object points, image points)
+     * @return Result of processing.
+     */
    @Override
    protected CameraCalibrationCoefficients process(List<Triple<Size, Mat, Mat>> in) {
        in =
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java
@@ -29,11 +29,11 @@ public class Collect2dTargetsPipe
        extends CVPipe<
                List<PotentialTarget>, List<TrackedTarget>, Collect2dTargetsPipe.Collect2dTargetsParams> {
    /**
-    * Processes this pipeline.
-    *
-    * @param in Input for pipe processing.
-    * @return A list of tracked targets.
-    */
+     * Processes this pipeline.
+     *
+     * @param in Input for pipe processing.
+     * @return A list of tracked targets.
+     */
    @Override
    protected List<TrackedTarget> process(List<PotentialTarget> in) {
        List<TrackedTarget> targets = new ArrayList<>();
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java
@@ -59,9 +59,9 @@ public class CornerDetectionPipe
    }

    /**
-    * @param target the target to find the corners of.
-    * @return the corners. left top, left bottom, right bottom, right top
-    */
+     * @param target the target to find the corners of.
+     * @return the corners. left top, left bottom, right bottom, right top
+     */
    private List<Point> findBoundingBoxCorners(TrackedTarget target) {
        // extract the corners
        var points = new Point[4];
@@ -88,30 +88,30 @@ public class CornerDetectionPipe
    }

    /**
-    * @param a First point.
-    * @param b Second point.
-    * @return The straight line distance between them.
-    */
+     * @param a First point.
+     * @param b Second point.
+     * @return The straight line distance between them.
+     */
    private static double distanceBetween(Point a, Point b) {
        return Math.sqrt(Math.pow(a.x - b.x, 2) + Math.pow(a.y - b.y, 2));
    }

    /**
-    * @param a First point.
-    * @param b Second point.
-    * @return The straight line distance between them.
-    */
+     * @param a First point.
+     * @param b Second point.
+     * @return The straight line distance between them.
+     */
    private static double distanceBetween(Translation2d a, Translation2d b) {
        return Math.sqrt(Math.pow(a.getX() - b.getX(), 2) + Math.pow(a.getY() - b.getY(), 2));
    }

    /**
-    * Find the 4 most extreme corners,
-    *
-    * @param target the target to track.
-    * @param convexHull weather to use the convex hull of the target.
-    * @return the 4 extreme corners of the contour.
-    */
+     * Find the 4 most extreme corners,
+     *
+     * @param target the target to track.
+     * @param convexHull weather to use the convex hull of the target.
+     * @return the 4 extreme corners of the contour.
+     */
    private List<Point> detectExtremeCornersByApproxPolyDp(TrackedTarget target, boolean convexHull) {
        var centroid = target.getMinAreaRect().center;
        Comparator<Point> distanceProvider =
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java
@@ -28,11 +28,11 @@ public class FilterShapesPipe
    List<CVShape> outputList = new ArrayList<>();

    /**
-    * Runs the process for the pipe.
-    *
-    * @param in Input for pipe processing.
-    * @return Result of processing.
-    */
+     * Runs the process for the pipe.
+     *
+     * @param in Input for pipe processing.
+     * @return Result of processing.
+     */
    @Override
    protected List<CVShape> process(List<CVShape> in) {
        outputList.forEach(CVShape::release);
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -109,11 +109,11 @@ public class FindBoardCornersPipe
    }

    /**
-    * Finds the corners in a given image and returns them
-    *
-    * @param in Input for pipe processing. Pair of input and output mat
-    * @return All valid Mats for camera calibration
-    */
+     * Finds the corners in a given image and returns them
+     *
+     * @param in Input for pipe processing. Pair of input and output mat
+     * @return All valid Mats for camera calibration
+     */
    @Override
    protected Triple<Size, Mat, Mat> process(Pair<Mat, Mat> in) {
        // Create the object points
@@ -123,12 +123,12 @@ public class FindBoardCornersPipe
    }

    /**
-    * Figures out how much a frame or point cloud must be scaled down by to match the desired size at
-    * which to run FindCorners
-    *
-    * @param inFrame
-    * @return
-    */
+     * Figures out how much a frame or point cloud must be scaled down by to match the desired size at
+     * which to run FindCorners
+     *
+     * @param inFrame
+     * @return
+     */
    private double getFindCornersScaleFactor(Mat inFrame) {
        if (inFrame.width() > FIND_CORNERS_WIDTH_PX) {
            return ((double) FIND_CORNERS_WIDTH_PX) / inFrame.width();
@@ -138,21 +138,21 @@ public class FindBoardCornersPipe
    }

    /**
-    * Finds the minimum spacing between a set of x/y points Currently only considers points whose
-    * index is next to each other Which, currently, means it traverses one dimension. This is a rough
-    * heuristic approach which could be refined in the future.
-    *
-    * <p>Note that the current implementation can be fooled under the following conditions: (1) The
-    * width of the image is an odd number, and the smallest distance was actually on the between the
-    * last two points in a given row and (2) The smallest distance was actually in the direction
-    * orthogonal to that which was getting traversed by iterating through the MatOfPoint2f in order.
-    *
-    * <p>I've chosen not to handle these for speed's sake, and because, really, you don't need the
-    * exact answer for "min distance". you just need something fairly reasonable.
-    *
-    * @param inPoints point set to analyze. Must be a "tall" matrix.
-    * @return min spacing between neighbors
-    */
+     * Finds the minimum spacing between a set of x/y points Currently only considers points whose
+     * index is next to each other Which, currently, means it traverses one dimension. This is a rough
+     * heuristic approach which could be refined in the future.
+     *
+     * <p>Note that the current implementation can be fooled under the following conditions: (1) The
+     * width of the image is an odd number, and the smallest distance was actually on the between the
+     * last two points in a given row and (2) The smallest distance was actually in the direction
+     * orthogonal to that which was getting traversed by iterating through the MatOfPoint2f in order.
+     *
+     * <p>I've chosen not to handle these for speed's sake, and because, really, you don't need the
+     * exact answer for "min distance". you just need something fairly reasonable.
+     *
+     * @param inPoints point set to analyze. Must be a "tall" matrix.
+     * @return min spacing between neighbors
+     */
    private double getApproxMinSpacing(MatOfPoint2f inPoints) {
        double minSpacing = Double.MAX_VALUE;
        for (int pointIdx = 0; pointIdx < inPoints.height() - 1; pointIdx += 2) {
@@ -169,24 +169,24 @@ public class FindBoardCornersPipe
    }

    /**
-    * @param inFrame Full-size mat that is going to get scaled down before passing to
-    *     findBoardCorners
-    * @return the size to scale the input mat to
-    */
+     * @param inFrame Full-size mat that is going to get scaled down before passing to
+     *     findBoardCorners
+     * @return the size to scale the input mat to
+     */
    private Size getFindCornersImgSize(Mat inFrame) {
        var findcorners_height = Math.round(inFrame.height() * getFindCornersScaleFactor(inFrame));
        return new Size(FIND_CORNERS_WIDTH_PX, findcorners_height);
    }

    /**
-    * Given an input frame and a set of points from the "smaller" findChessboardCorner analysis,
-    * re-scale the points back to where they would have been in the input frame
-    *
-    * @param inPoints set of points derived from a call to findChessboardCorner on a shrunken mat.
-    *     Must be a "tall" matrix.
-    * @param origFrame Original frame we're rescaling points back to
-    * @param outPoints mat into which the output rescaled points get placed
-    */
+     * Given an input frame and a set of points from the "smaller" findChessboardCorner analysis,
+     * re-scale the points back to where they would have been in the input frame
+     *
+     * @param inPoints set of points derived from a call to findChessboardCorner on a shrunken mat.
+     *     Must be a "tall" matrix.
+     * @param origFrame Original frame we're rescaling points back to
+     * @param outPoints mat into which the output rescaled points get placed
+     */
    private void rescalePointsToOrigFrame(
            MatOfPoint2f inPoints, Mat origFrame, MatOfPoint2f outPoints) {
        // Rescale boardCorners back up to the inproc image size
@@ -202,12 +202,12 @@ public class FindBoardCornersPipe
    }

    /**
-    * Picks a window size for doing subpixel optimization based on the board type and spacing
-    * observed between the corners or points in the image
-    *
-    * @param inPoints
-    * @return
-    */
+     * Picks a window size for doing subpixel optimization based on the board type and spacing
+     * observed between the corners or points in the image
+     *
+     * @param inPoints
+     * @return
+     */
    private Size getWindowSize(MatOfPoint2f inPoints) {
        double windowHalfWidth = 11; // Dot board uses fixed-size window half-width
        if (params.type == UICalibrationData.BoardType.CHESSBOARD) {
@@ -219,10 +219,10 @@ public class FindBoardCornersPipe
    }

    /**
-    * Find chessboard corners given a input mat and output mat to draw on
-    *
-    * @return Frame resolution, object points, board corners
-    */
+     * Find chessboard corners given a input mat and output mat to draw on
+     *
+     * @return Frame resolution, object points, board corners
+     */
    private Triple<Size, Mat, Mat> findBoardCorners(Pair<Mat, Mat> in) {
        createObjectPoints();

--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java
@@ -33,15 +33,15 @@ public class FindCirclesPipe
    // (x,y,radius) or (x,y,radius,votes) .
    private final Mat circles = new Mat();
    /**
-    * Runs the process for the pipe. The reason we need a separate pipe for circles is because if we
-    * were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides
-    * is a circle. Only issue with such approximation is that the user would no longer be able to
-    * track shapes with 10-20+ sides. And hence, in order to overcome this edge case, we can use
-    * HoughCircles which is more flexible and accurate for finding circles.
-    *
-    * @param in Input for pipe processing. 8-bit, single-channel, grayscale input image.
-    * @return Result of processing.
-    */
+     * Runs the process for the pipe. The reason we need a separate pipe for circles is because if we
+     * were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides
+     * is a circle. Only issue with such approximation is that the user would no longer be able to
+     * track shapes with 10-20+ sides. And hence, in order to overcome this edge case, we can use
+     * HoughCircles which is more flexible and accurate for finding circles.
+     *
+     * @param in Input for pipe processing. 8-bit, single-channel, grayscale input image.
+     * @return Result of processing.
+     */
    @Override
    protected List<CVShape> process(Pair<Mat, List<Contour>> in) {
        circles.release();
@@ -115,16 +115,16 @@ public class FindCirclesPipe
        private final double diagonalLengthPx;

        /*
-        * @params minDist - Minimum distance between the centers of the detected circles.
-        * If the parameter is too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is too large, some circles may be missed.
-        *
-        * @param maxCannyThresh -First method-specific parameter. In case of #HOUGH_GRADIENT and #HOUGH_GRADIENT_ALT, it is the higher threshold of the two passed to the Canny edge detector (the lower one is twice smaller).
-        * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value shough normally be higher, such as 300 or normally exposed and contrasty images.
-        *
-        *
-        * @param allowableThreshold - When finding the corresponding contour, this is used to see how close a center should be to a contour for it to be considered THAT contour.
-        * Should be increased with lower resolutions and decreased with higher resolution
-        *  */
+         * @params minDist - Minimum distance between the centers of the detected circles.
+         * If the parameter is too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is too large, some circles may be missed.
+         *
+         * @param maxCannyThresh -First method-specific parameter. In case of #HOUGH_GRADIENT and #HOUGH_GRADIENT_ALT, it is the higher threshold of the two passed to the Canny edge detector (the lower one is twice smaller).
+         * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value shough normally be higher, such as 300 or normally exposed and contrasty images.
+         *
+         *
+         * @param allowableThreshold - When finding the corresponding contour, this is used to see how close a center should be to a contour for it to be considered THAT contour.
+         * Should be increased with lower resolutions and decreased with higher resolution
+         *  */
        public FindCirclePipeParams(
                int allowableThreshold,
                int minRadius,
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java
@@ -30,11 +30,11 @@ public class FindPolygonPipe
    List<CVShape> shapeList = new ArrayList<>();

    /*
-    * Runs the process for the pipe.
-    *
-    * @param in Input for pipe processing.
-    * @return Result of processing.
-    */
+     * Runs the process for the pipe.
+     *
+     * @param in Input for pipe processing.
+     * @return Result of processing.
+     */
    @Override
    protected List<CVShape> process(List<Contour> in) {
        shapeList.forEach(CVShape::release);
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/GroupContoursPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/GroupContoursPipe.java
@@ -41,6 +41,16 @@ public class GroupContoursPipe
            for (var contour : input) {
                m_targets.add(new PotentialTarget(contour));
            }
+        }
+        // Check if we have at least 2 targets for 2 or more
+        // This will only ever return 1 contour!
+        else if (params.getGroup() == ContourGroupingMode.TwoOrMore
+                && input.size() >= ContourGroupingMode.TwoOrMore.count) {
+            // Just blob everything together
+            Contour groupedContour = Contour.combineContourList(input);
+            if (groupedContour != null) {
+                m_targets.add(new PotentialTarget(groupedContour, input));
+            }
        } else {
            int groupingCount = params.getGroup().count;

@@ -52,14 +62,12 @@ public class GroupContoursPipe

                for (int i = 0; i < input.size() - 1; i++) {
                    // make a list of the desired count of contours to group
-                    List<Contour> groupingSet;
+                    // (Just make sure we don't get an index out of bounds exception
+                    if (i < 0 || i + groupingCount > input.size()) continue;
+
+                    // If we're in two or more mode, just try to group everything
+                    List<Contour> groupingSet = input.subList(i, i + groupingCount);

-                    // TODO: are these try/catch avoidable?
-                    try {
-                        groupingSet = input.subList(i, i + groupingCount);
-                    } catch (IndexOutOfBoundsException e) {
-                        continue;
-                    }
                    try {
                        // FYI: This method only takes 2 contours!
                        Contour groupedContour =
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java
@@ -25,10 +25,10 @@ import org.photonvision.vision.pipe.MutatingPipe;
 /** Pipe that resizes an image to a given resolution */
 public class ResizeImagePipe extends MutatingPipe<Mat, ResizeImagePipe.ResizeImageParams> {
    /**
-    * Process this pipe
-    *
-    * @param in {@link Mat} to be resized
-    */
+     * Process this pipe
+     *
+     * @param in {@link Mat} to be resized
+     */
    @Override
    protected Void process(Mat in) {
        int width = in.cols() / params.getDivisor().value;
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java
@@ -32,11 +32,11 @@ public class RotateImagePipe extends MutatingPipe<Mat, RotateImagePipe.RotateIma
    }

    /**
-    * Process this pipe
-    *
-    * @param in {@link Mat} to be rotated
-    * @return Rotated {@link Mat}
-    */
+     * Process this pipe
+     *
+     * @param in {@link Mat} to be rotated
+     * @return Rotated {@link Mat}
+     */
    @Override
    protected Void process(Mat in) {
        Core.rotate(in, in, params.rotation.value);
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/SolvePNPPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/SolvePNPPipe.java
@@ -139,12 +139,12 @@ public class SolvePNPPipe
    }

    /**
-    * Element-wise scale a matrix by a given factor
-    *
-    * @param src the source matrix
-    * @param factor by how much to scale each element
-    * @return the scaled matrix
-    */
+     * Element-wise scale a matrix by a given factor
+     *
+     * @param src the source matrix
+     * @param factor by how much to scale each element
+     * @return the scaled matrix
+     */
    @SuppressWarnings("SameParameterValue")
    private static Mat matScale(Mat src, double factor) {
        Mat dst = new Mat(src.rows(), src.cols(), src.type());
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
@@ -21,10 +21,7 @@ import java.util.Objects;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
-import org.photonvision.vision.opencv.ContourGroupingMode;
-import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.opencv.ContourShape;
-import org.photonvision.vision.pipe.impl.CornerDetectionPipe;

@JsonTypeName("ColoredShapePipelineSettings")
 public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
@@ -37,23 +34,10 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
    public int minDist = 20;
    public int maxCannyThresh = 90;
    public int circleAccuracy = 20;
-    // how many contours to attempt to group (Single, Dual)
-    public ContourGroupingMode contourGroupingMode = ContourGroupingMode.Single;
-
-    // the direction in which contours must intersect to be considered intersecting
-    public ContourIntersectionDirection contourIntersection = ContourIntersectionDirection.Up;

    // 3d settings
    public CameraCalibrationCoefficients cameraCalibration;

-    // Corner detection settings
-    public CornerDetectionPipe.DetectionStrategy cornerDetectionStrategy =
-            CornerDetectionPipe.DetectionStrategy.APPROX_POLY_DP_AND_EXTREME_CORNERS;
-    public boolean cornerDetectionUseConvexHulls = true;
-    public boolean cornerDetectionExactSideCount = false;
-    public int cornerDetectionSideCount = 4;
-    public double cornerDetectionAccuracyPercentage = 10;
-
    public boolean erode = false;
    public boolean dilate = false;

--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -28,9 +28,9 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;

 /**
-* This is a "fake" pipeline that is just used to move identical pipe sets out of real pipelines. It
-* shall not get its settings saved, nor shall it be managed by PipelineManager
-*/
+ * This is a "fake" pipeline that is just used to move identical pipe sets out of real pipelines. It
+ * shall not get its settings saved, nor shall it be managed by PipelineManager
+ */
 public class OutputStreamPipeline {
    private final OutputMatPipe outputMatPipe = new OutputMatPipe();
    private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java
@@ -29,13 +29,13 @@ public class PipelineProfiler {
            new Logger(ColoredShapePipeline.class, LogGroup.VisionModule);

    /**
-    * Indices for Reflective profiling 0 - rotateImagePipe 1 - inputCopy (not a pipe) 2 - hsvPipe 3 -
-    * findContoursPipe 4 - speckleRejectPipe 5 - filterContoursPipe 6 - groupContoursPipe 7 -
-    * sortContoursPipe 8 - collect2dTargetsPipe 9 - cornerDetectionPipe 10 - solvePNPPipe (OPTIONAL)
-    * 11 - outputMatPipe (OPTIONAL) 12 - draw2dCrosshairPipe (on input) 13 - draw2dCrosshairPipe (on
-    * output) 14 - draw2dTargetsPipe (on input) 15 - draw2dTargetsPipe (on output) 16 -
-    * draw3dTargetsPipe (OPTIONAL, on input) 17 - draw3dTargetsPipe (OPTIONAL, on output)
-    */
+     * Indices for Reflective profiling 0 - rotateImagePipe 1 - inputCopy (not a pipe) 2 - hsvPipe 3 -
+     * findContoursPipe 4 - speckleRejectPipe 5 - filterContoursPipe 6 - groupContoursPipe 7 -
+     * sortContoursPipe 8 - collect2dTargetsPipe 9 - cornerDetectionPipe 10 - solvePNPPipe (OPTIONAL)
+     * 11 - outputMatPipe (OPTIONAL) 12 - draw2dCrosshairPipe (on input) 13 - draw2dCrosshairPipe (on
+     * output) 14 - draw2dTargetsPipe (on input) 15 - draw2dTargetsPipe (on output) 16 -
+     * draw3dTargetsPipe (OPTIONAL, on input) 17 - draw3dTargetsPipe (OPTIONAL, on output)
+     */
    private static final String[] ReflectivePipeNames =
            new String[] {
                "RotateImage",
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -108,7 +108,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
        var sortContoursParams =
                new SortContoursPipe.SortContoursParams(
                        settings.contourSortMode,
-                        settings.outputShowMultipleTargets ? 5 : 1, // TODO don't hardcode?
+                        settings.outputShowMultipleTargets ? 8 : 1, // TODO don't hardcode?
                        frameStaticProperties);
        sortContoursPipe.setParams(sortContoursParams);

--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
@@ -17,26 +17,9 @@
 package org.photonvision.vision.pipeline;

 import com.fasterxml.jackson.annotation.JsonTypeName;
-import org.photonvision.vision.opencv.ContourGroupingMode;
-import org.photonvision.vision.opencv.ContourIntersectionDirection;
-import org.photonvision.vision.pipe.impl.CornerDetectionPipe;

@JsonTypeName("ReflectivePipelineSettings")
 public class ReflectivePipelineSettings extends AdvancedPipelineSettings {
-    // how many contours to attempt to group (Single, Dual)
-    public ContourGroupingMode contourGroupingMode = ContourGroupingMode.Single;
-
-    // the direction in which contours must intersect to be considered intersecting
-    public ContourIntersectionDirection contourIntersection = ContourIntersectionDirection.Up;
-
-    // Corner detection settings
-    public CornerDetectionPipe.DetectionStrategy cornerDetectionStrategy =
-            CornerDetectionPipe.DetectionStrategy.APPROX_POLY_DP_AND_EXTREME_CORNERS;
-    public boolean cornerDetectionUseConvexHulls = true;
-    public boolean cornerDetectionExactSideCount = false;
-    public int cornerDetectionSideCount = 4;
-    public double cornerDetectionAccuracyPercentage = 10;
-
    public ReflectivePipelineSettings() {
        super();
        pipelineType = PipelineType.Reflective;
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
@@ -63,10 +63,10 @@ public class CVPipelineResult implements Releasable {
    }

    /**
-    * Get the latency between now (wpi::Now) and the time at which the image was captured. FOOTGUN:
-    * the latency is relative to the time at which this method is called. Waiting to call this method
-    * will change the latency this method returns.
-    */
+     * Get the latency between now (wpi::Now) and the time at which the image was captured. FOOTGUN:
+     * the latency is relative to the time at which this method is called. Waiting to call this method
+     * will change the latency this method returns.
+     */
    public double getLatencyMillis() {
        var now = MathUtils.wpiNanoTime();
        return MathUtils.nanosToMillis(now - imageCaptureTimestampNanos);
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -43,18 +43,18 @@ public class PipelineManager {
    private CVPipeline currentUserPipeline = driverModePipeline;

    /**
-    * Index of the last active user-created pipeline. <br>
-    * <br>
-    * Used only when switching from any of the built-in pipelines back to a user-created pipeline.
-    */
+     * Index of the last active user-created pipeline. <br>
+     * <br>
+     * Used only when switching from any of the built-in pipelines back to a user-created pipeline.
+     */
    private int lastPipelineIndex;

    /**
-    * Creates a PipelineManager with a DriverModePipeline, a Calibration3dPipeline, and all provided
-    * pipelines.
-    *
-    * @param userPipelines Pipelines to add to the manager.
-    */
+     * Creates a PipelineManager with a DriverModePipeline, a Calibration3dPipeline, and all provided
+     * pipelines.
+     *
+     * @param userPipelines Pipelines to add to the manager.
+     */
    public PipelineManager(
            DriverModePipelineSettings driverSettings, List<CVPipelineSettings> userPipelines) {
        this.userPipelineSettings = new ArrayList<>(userPipelines);
@@ -70,11 +70,11 @@ public class PipelineManager {
    }

    /**
-    * Get the settings for a pipeline by index.
-    *
-    * @param index Index of pipeline whose settings need getting.
-    * @return The gotten settings of the pipeline whose index was provided.
-    */
+     * Get the settings for a pipeline by index.
+     *
+     * @param index Index of pipeline whose settings need getting.
+     * @return The gotten settings of the pipeline whose index was provided.
+     */
    public CVPipelineSettings getPipelineSettings(int index) {
        if (index < 0) {
            switch (index) {
@@ -92,10 +92,10 @@ public class PipelineManager {
    }

    /**
-    * Gets a list of nicknames for all user pipelines
-    *
-    * @return The list of nicknames for all user pipelines
-    */
+     * Gets a list of nicknames for all user pipelines
+     *
+     * @return The list of nicknames for all user pipelines
+     */
    public List<String> getPipelineNicknames() {
        List<String> ret = new ArrayList<>();
        for (var p : userPipelineSettings) {
@@ -105,19 +105,19 @@ public class PipelineManager {
    }

    /**
-    * Gets the index of the currently active pipeline
-    *
-    * @return The index of the currently active pipeline
-    */
+     * Gets the index of the currently active pipeline
+     *
+     * @return The index of the currently active pipeline
+     */
    public int getCurrentPipelineIndex() {
        return currentPipelineIndex;
    }

    /**
-    * Get the currently active pipeline.
-    *
-    * @return The currently active pipeline.
-    */
+     * Get the currently active pipeline.
+     *
+     * @return The currently active pipeline.
+     */
    public CVPipeline getCurrentUserPipeline() {
        if (currentPipelineIndex < 0) {
            switch (currentPipelineIndex) {
@@ -149,22 +149,22 @@ public class PipelineManager {
    }

    /**
-    * Get the currently active pipelines settings
-    *
-    * @return The currently active pipelines settings
-    */
+     * Get the currently active pipelines settings
+     *
+     * @return The currently active pipelines settings
+     */
    public CVPipelineSettings getCurrentPipelineSettings() {
        return getPipelineSettings(currentPipelineIndex);
    }

    /**
-    * Internal method for setting the active pipeline. <br>
-    * <br>
-    * All externally accessible methods that intend to change the active pipeline MUST go through
-    * here to ensure all proper steps are taken.
-    *
-    * @param index Index of pipeline to be active
-    */
+     * Internal method for setting the active pipeline. <br>
+     * <br>
+     * All externally accessible methods that intend to change the active pipeline MUST go through
+     * here to ensure all proper steps are taken.
+     *
+     * @param index Index of pipeline to be active
+     */
    private void setPipelineInternal(int index) {
        if (index < 0) {
            lastPipelineIndex = currentPipelineIndex;
@@ -192,33 +192,33 @@ public class PipelineManager {
    }

    /**
-    * Enters or exits calibration mode based on the parameter. <br>
-    * <br>
-    * Exiting returns to the last used user pipeline.
-    *
-    * @param wantsCalibration True to enter calibration mode, false to exit calibration mode.
-    */
+     * Enters or exits calibration mode based on the parameter. <br>
+     * <br>
+     * Exiting returns to the last used user pipeline.
+     *
+     * @param wantsCalibration True to enter calibration mode, false to exit calibration mode.
+     */
    public void setCalibrationMode(boolean wantsCalibration) {
        if (!wantsCalibration) calibration3dPipeline.finishCalibration();
        setPipelineInternal(wantsCalibration ? CAL_3D_INDEX : lastPipelineIndex);
    }

    /**
-    * Enters or exits driver mode based on the parameter. <br>
-    * <br>
-    * Exiting returns to the last used user pipeline.
-    *
-    * @param state True to enter driver mode, false to exit driver mode.
-    */
+     * Enters or exits driver mode based on the parameter. <br>
+     * <br>
+     * Exiting returns to the last used user pipeline.
+     *
+     * @param state True to enter driver mode, false to exit driver mode.
+     */
    public void setDriverMode(boolean state) {
        setPipelineInternal(state ? DRIVERMODE_INDEX : lastPipelineIndex);
    }

    /**
-    * Returns whether or not driver mode is active.
-    *
-    * @return Whether or not driver mode is active.
-    */
+     * Returns whether or not driver mode is active.
+     *
+     * @return Whether or not driver mode is active.
+     */
    public boolean getDriverMode() {
        return currentPipelineIndex == DRIVERMODE_INDEX;
    }
@@ -227,10 +227,10 @@ public class PipelineManager {
            Comparator.comparingInt(o -> o.pipelineIndex);

    /**
-    * Sorts the pipeline list by index, and reassigns their indexes to match the new order. <br>
-    * <br>
-    * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯
-    */
+     * Sorts the pipeline list by index, and reassigns their indexes to match the new order. <br>
+     * <br>
+     * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯
+     */
    private void reassignIndexes() {
        userPipelineSettings.sort(PipelineSettingsIndexComparator);
        for (int i = 0; i < userPipelineSettings.size(); i++) {
@@ -283,10 +283,10 @@ public class PipelineManager {
    }

    /**
-    * Remove a pipeline settings at the given index and return the new current index
-    *
-    * @param index The idx to remove
-    */
+     * Remove a pipeline settings at the given index and return the new current index
+     *
+     * @param index The idx to remove
+     */
    private int removePipelineInternal(int index) {
        userPipelineSettings.remove(index);
        currentPipelineIndex = Math.min(index, userPipelineSettings.size() - 1);
@@ -311,11 +311,11 @@ public class PipelineManager {
    }

    /**
-    * Duplicate a pipeline at a given index
-    *
-    * @param index the index of the target pipeline
-    * @return The new index
-    */
+     * Duplicate a pipeline at a given index
+     *
+     * @param index the index of the target pipeline
+     * @return The new index
+     */
    public int duplicatePipeline(int index) {
        var settings = userPipelineSettings.get(index);
        var newSettings = settings.clone();
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -50,11 +50,11 @@ import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;

 /**
-* This is the God Class
-*
-* <p>VisionModule has a pipeline manager, vision runner, and data providers. The data providers
-* provide info on settings changes. VisionModuleManager holds a list of all current vision modules.
-*/
+ * This is the God Class
+ *
+ * <p>VisionModule has a pipeline manager, vision runner, and data providers. The data providers
+ * provide info on settings changes. VisionModuleManager holds a list of all current vision modules.
+ */
 public class VisionModule {
    private static final int streamFPSCap = 30;

@@ -89,7 +89,7 @@ public class VisionModule {
                        visionSource.getSettables().getConfiguration().nickname,
                        LogGroup.VisionModule);

-        // do this
+        // Find quirks for the current camera
        if (visionSource instanceof USBCameraSource) {
            cameraQuirks = ((USBCameraSource) visionSource).cameraQuirks;
        } else if (visionSource instanceof ZeroCopyPicamSource) {
@@ -98,6 +98,15 @@ public class VisionModule {
            cameraQuirks = QuirkyCamera.DefaultCamera;
        }

+        // We don't show gain if the config says it's -1. So check here to make sure it's non-negative
+        // if it _is_ supported
+        if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
+            pipelineManager.userPipelineSettings.forEach(
+                    it -> {
+                        if (it.cameraGain == -1) it.cameraGain = 20; // Sane default
+                    });
+        }
+
        this.pipelineManager = pipelineManager;
        this.visionSource = visionSource;
        this.visionRunner =
@@ -371,10 +380,12 @@ public class VisionModule {
        visionSource.getSettables().setExposure(config.cameraExposure);
        visionSource.getSettables().setGain(config.cameraGain);

-        if (!cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
-            config.cameraGain = -1;
-        } else {
+        if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
+            // If the gain is disabled for some reason, re-enable it
+            if (config.cameraGain == -1) config.cameraGain = 20;
            visionSource.getSettables().setGain(Math.max(0, config.cameraGain));
+        } else {
+            config.cameraGain = -1;
        }

        setVisionLEDs(config.ledMode);
@@ -457,7 +468,12 @@ public class VisionModule {
            internalMap.put("width", videoModes.get(k).width);
            internalMap.put("height", videoModes.get(k).height);
            internalMap.put("fps", videoModes.get(k).fps);
-            internalMap.put("pixelFormat", videoModes.get(k).pixelFormat.toString());
+            internalMap.put(
+                    "pixelFormat",
+                    ((videoModes.get(k) instanceof ZeroCopyPicamSource.FPSRatedVideoMode)
+                                    ? "kPicam"
+                                    : videoModes.get(k).pixelFormat.toString())
+                            .substring(1)); // Remove the k prefix

            temp.put(k, internalMap);
        }
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
@@ -39,13 +39,13 @@ public class VisionRunner {
    private long loopCount;

    /**
-    * VisionRunner contains a thread to run a pipeline, given a frame, and will give the result to
-    * the consumer.
-    *
-    * @param frameSupplier The supplier of the latest frame.
-    * @param pipelineSupplier The supplier of the current pipeline.
-    * @param pipelineResultConsumer The consumer of the latest result.
-    */
+     * VisionRunner contains a thread to run a pipeline, given a frame, and will give the result to
+     * the consumer.
+     *
+     * @param frameSupplier The supplier of the latest frame.
+     * @param pipelineSupplier The supplier of the current pipeline.
+     * @param pipelineResultConsumer The consumer of the latest result.
+     */
    public VisionRunner(
            FrameProvider frameSupplier,
            Supplier<CVPipeline> pipelineSupplier,
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -61,11 +61,11 @@ public class VisionSourceManager {
    }

    /**
-    * Register new camera configs loaded from disk. This will add them to the list of configs to try
-    * to match, and also automatically spawn new vision processes as necessary.
-    *
-    * @param configs The loaded camera configs.
-    */
+     * Register new camera configs loaded from disk. This will add them to the list of configs to try
+     * to match, and also automatically spawn new vision processes as necessary.
+     *
+     * @param configs The loaded camera configs.
+     */
    public void registerLoadedConfigs(Collection<CameraConfiguration> configs) {
        unmatchedLoadedConfigs.addAll(configs);
    }
@@ -182,13 +182,13 @@ public class VisionSourceManager {
    }

    /**
-    * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
-    * disk.
-    *
-    * @param detectedCamInfos Information about currently connected USB cameras.
-    * @param loadedUsbCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
-    * @return the matched configurations.
-    */
+     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
+     * disk.
+     *
+     * @param detectedCamInfos Information about currently connected USB cameras.
+     * @param loadedUsbCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
+     * @return the matched configurations.
+     */
    private List<CameraConfiguration> matchUSBCameras(
            List<UsbCameraInfo> detectedCamInfos, List<CameraConfiguration> loadedUsbCamConfigs) {
        var detectedCameraList = new ArrayList<>(detectedCamInfos);
@@ -319,12 +319,12 @@ public class VisionSourceManager {
    }

    /**
-    * Check if a given config list contains the given unique name.
-    *
-    * @param configList A list of camera configs.
-    * @param uniqueName The unique name.
-    * @return If the list of configs contains the unique name.
-    */
+     * Check if a given config list contains the given unique name.
+     *
+     * @param configList A list of camera configs.
+     * @param uniqueName The unique name.
+     * @return If the list of configs contains the unique name.
+     */
    private boolean containsName(
            final List<CameraConfiguration> configList, final String uniqueName) {
        return configList.stream()
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -28,7 +28,7 @@ import org.photonvision.vision.opencv.*;

 public class TrackedTarget implements Releasable {
    public final Contour m_mainContour;
-    List<Contour> m_subContours; // can be empty
+    public List<Contour> m_subContours; // can be empty

    private MatOfPoint2f m_approximateBoundingPolygon;

@@ -57,10 +57,10 @@ public class TrackedTarget implements Releasable {
    }

    /**
-    * Set the approximate bouding polygon.
-    *
-    * @param boundingPolygon List of points to copy. Not modified.
-    */
+     * Set the approximate bouding polygon.
+     *
+     * @param boundingPolygon List of points to copy. Not modified.
+     */
    public void setApproximateBoundingPolygon(MatOfPoint2f boundingPolygon) {
        if (m_approximateBoundingPolygon == null) m_approximateBoundingPolygon = new MatOfPoint2f();
        boundingPolygon.copyTo(m_approximateBoundingPolygon);
--- a/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
@@ -16,21 +16,21 @@
 */
 package org.photonvision.common;
 /*
-* Copyright (C) 2020 Photon Vision.
-*
-* This program is free software: you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as published by
-* the Free Software Foundation, either version 3 of the License, or
-* (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program.  If not, see <https://www.gnu.org/licenses/>.
-*/
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
--- a/photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java
+++ b/photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java
@@ -36,7 +36,7 @@ public class HardwareTest {

        if (!Platform.isRaspberryPi()) return;

-        System.out.println("Testing on platform: " + Platform.CurrentPlatform);
+        System.out.println("Testing on platform: " + Platform.currentPlatform);

        System.out.println("Printing CPU Info:");
        System.out.println("Memory: " + cpuMetrics.getMemory() + "MB");
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -314,15 +314,15 @@ public class Calibrate3dPipeTest {
    }

    /**
-    * Uses a given camera coefficents matrix set to "undistort" every image file found in a given
-    * directory and display them. Provides an easy way to visually debug the results of the
-    * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't
-    * usually be left active in tests.
-    *
-    * @param directoryListing
-    * @param imgRes
-    * @param cal
-    */
+     * Uses a given camera coefficents matrix set to "undistort" every image file found in a given
+     * directory and display them. Provides an easy way to visually debug the results of the
+     * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't
+     * usually be left active in tests.
+     *
+     * @param directoryListing
+     * @param imgRes
+     * @param cal
+     */
    @SuppressWarnings("unused")
    private void visuallyDebugDistortion(
            File[] directoryListing, Size imgRes, CameraCalibrationCoefficients cal) {
--- a/photon-lib/LICENSE
+++ b/photon-lib/LICENSE
@@ -1,674 +1,21 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-                            Preamble
-
-  The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
-  When we speak of free software, we are referring to freedom, not
-price.  Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
-  To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights.  Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
-  For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
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-  Developers that use the GNU GPL protect your rights with two steps:
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-Public License instead of this License.  But first, please read
-<https://www.gnu.org/licenses/why-not-lgpl.html>.
+MIT License
+
+Copyright (c) 2022 PhotonVision
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -12,8 +12,6 @@ test {
    useJUnitPlatform()
 }

-def jniPlatforms = ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
-
 // Apply Java configuration
 dependencies {
    implementation project(":photon-targeting")
@@ -35,9 +33,9 @@ dependencies {
    jniPlatforms.each { implementation "edu.wpi.first.hal:hal-jni:$wpilibVersion:$it"}

    // Junit
-    testImplementation("org.junit.jupiter:junit-jupiter-api:5.6.2")
-    testImplementation("org.junit.jupiter:junit-jupiter-params:5.6.2")
-    testRuntimeOnly("org.junit.jupiter:junit-jupiter-engine:5.6.2")
+    testImplementation("org.junit.jupiter:junit-jupiter-api:5.8.2")
+    testImplementation("org.junit.jupiter:junit-jupiter-params:5.8.2")
+    testRuntimeOnly("org.junit.jupiter:junit-jupiter-engine:5.8.2")
 }

 // Set up exports properly
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -37,17 +37,13 @@ public class PhotonCamera {
    final NetworkTable mainTable = NetworkTableInstance.getDefault().getTable("photonvision");
    private final String path;

-    boolean driverMode;
-    int pipelineIndex;
-    VisionLEDMode mode;
-
    Packet packet = new Packet(1);

    /**
-    * Constructs a PhotonCamera from a root table.
-    *
-    * @param rootTable The root table that the camera is broadcasting information over.
-    */
+     * Constructs a PhotonCamera from a root table.
+     *
+     * @param rootTable The root table that the camera is broadcasting information over.
+     */
    public PhotonCamera(NetworkTable rootTable) {
        path = rootTable.getPath();
        rawBytesEntry = rootTable.getEntry("rawBytes");
@@ -57,26 +53,22 @@ public class PhotonCamera {
        pipelineIndexEntry = rootTable.getEntry("pipelineIndex");
        ledModeEntry = mainTable.getEntry("ledMode");
        versionEntry = mainTable.getEntry("version");
-
-        driverMode = driverModeEntry.getBoolean(false);
-        pipelineIndex = pipelineIndexEntry.getNumber(0).intValue();
-        getLEDMode();
    }

    /**
-    * Constructs a PhotonCamera from the name of the camera.
-    *
-    * @param cameraName The nickname of the camera (found in the PhotonVision UI).
-    */
+     * Constructs a PhotonCamera from the name of the camera.
+     *
+     * @param cameraName The nickname of the camera (found in the PhotonVision UI).
+     */
    public PhotonCamera(String cameraName) {
        this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
    }

    /**
-    * Returns the latest pipeline result.
-    *
-    * @return The latest pipeline result.
-    */
+     * Returns the latest pipeline result.
+     *
+     * @return The latest pipeline result.
+     */
    public PhotonPipelineResult getLatestResult() {
        verifyVersion();

@@ -96,111 +88,98 @@ public class PhotonCamera {
    }

    /**
-    * Returns whether the camera is in driver mode.
-    *
-    * @return Whether the camera is in driver mode.
-    */
+     * Returns whether the camera is in driver mode.
+     *
+     * @return Whether the camera is in driver mode.
+     */
    public boolean getDriverMode() {
-        return driverMode;
+        return driverModeEntry.getBoolean(false);
    }

    /**
-    * Toggles driver mode.
-    *
-    * @param driverMode Whether to set driver mode.
-    */
+     * Toggles driver mode.
+     *
+     * @param driverMode Whether to set driver mode.
+     */
    public void setDriverMode(boolean driverMode) {
-        if (this.driverMode != driverMode) {
-            this.driverMode = driverMode;
-            driverModeEntry.setBoolean(this.driverMode);
-        }
+        driverModeEntry.setBoolean(driverMode);
    }

    /**
-    * Request the camera to save a new image file from the input camera stream with overlays. Images
-    * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk
-    * space and eventually cause the system to stop working. Clear out images in
-    * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
-    */
+     * Request the camera to save a new image file from the input camera stream with overlays. Images
+     * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk
+     * space and eventually cause the system to stop working. Clear out images in
+     * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
+     */
    public void takeInputSnapshot() {
        inputSaveImgEntry.setBoolean(true);
    }

    /**
-    * Request the camera to save a new image file from the output stream with overlays. Images take
-    * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space
-    * and eventually cause the system to stop working. Clear out images in
-    * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
-    */
+     * Request the camera to save a new image file from the output stream with overlays. Images take
+     * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space
+     * and eventually cause the system to stop working. Clear out images in
+     * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
+     */
    public void takeOutputSnapshot() {
        outputSaveImgEntry.setBoolean(true);
    }

    /**
-    * Returns the active pipeline index.
-    *
-    * @return The active pipeline index.
-    */
+     * Returns the active pipeline index.
+     *
+     * @return The active pipeline index.
+     */
    public int getPipelineIndex() {
-        return pipelineIndex;
+        return pipelineIndexEntry.getNumber(0).intValue();
    }

    /**
-    * Allows the user to select the active pipeline index.
-    *
-    * @param index The active pipeline index.
-    */
+     * Allows the user to select the active pipeline index.
+     *
+     * @param index The active pipeline index.
+     */
    public void setPipelineIndex(int index) {
-        if (pipelineIndex != index) {
-            pipelineIndex = index;
-            pipelineIndexEntry.setNumber(pipelineIndex);
-        }
+        pipelineIndexEntry.setNumber(index);
    }

    /**
-    * Returns the current LED mode.
-    *
-    * @return The current LED mode.
-    */
+     * Returns the current LED mode.
+     *
+     * @return The current LED mode.
+     */
    public VisionLEDMode getLEDMode() {
        int value = ledModeEntry.getNumber(-1).intValue();
        switch (value) {
            case 0:
-                mode = VisionLEDMode.kOff;
-                break;
+                return VisionLEDMode.kOff;
            case 1:
-                mode = VisionLEDMode.kOn;
-                break;
+                return VisionLEDMode.kOn;
            case 2:
-                mode = VisionLEDMode.kBlink;
-                break;
+                return VisionLEDMode.kBlink;
            case -1:
            default:
-                mode = VisionLEDMode.kDefault;
-                break;
+                return VisionLEDMode.kDefault;
        }
-        return mode;
    }

    /**
-    * Sets the LED mode.
-    *
-    * @param led The mode to set to.
-    */
+     * Sets the LED mode.
+     *
+     * @param led The mode to set to.
+     */
    public void setLED(VisionLEDMode led) {
-        if (led != mode) {
-            ledModeEntry.setNumber(led.value);
-        }
+        ledModeEntry.setNumber(led.value);
    }

    /**
-    * Returns whether the latest target result has targets.
-    *
-    * <p>This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead.
-    *
-    * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()}
-    * @return Whether the latest target result has targets.
-    */
+     * Returns whether the latest target result has targets.
+     *
+     * <p>This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead.
+     *
+     * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()}
+     * @return Whether the latest target result has targets.
+     */
    @Deprecated
    public boolean hasTargets() {
        return getLatestResult().hasTargets();
--- a/photon-lib/src/main/java/org/photonvision/PhotonUtils.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonUtils.java
@@ -27,25 +27,25 @@ public final class PhotonUtils {
    }

    /**
-    * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates
-    * range to a target using the target's elevation. This method can produce more stable results
-    * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method
-    * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and
-    * for there to exist a height differential between goal and camera. The larger this differential,
-    * the more accurate the distance estimate will be.
-    *
-    * <p>Units can be converted using the {@link edu.wpi.first.math.util.Units} class.
-    *
-    * @param cameraHeightMeters The physical height of the camera off the floor in meters.
-    * @param targetHeightMeters The physical height of the target off the floor in meters. This
-    *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
-    *     top, this should be the height of the top of the target).
-    * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
-    *     Positive values up.
-    * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
-    *     values up.
-    * @return The estimated distance to the target in meters.
-    */
+     * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates
+     * range to a target using the target's elevation. This method can produce more stable results
+     * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method
+     * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and
+     * for there to exist a height differential between goal and camera. The larger this differential,
+     * the more accurate the distance estimate will be.
+     *
+     * <p>Units can be converted using the {@link edu.wpi.first.math.util.Units} class.
+     *
+     * @param cameraHeightMeters The physical height of the camera off the floor in meters.
+     * @param targetHeightMeters The physical height of the target off the floor in meters. This
+     *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
+     *     top, this should be the height of the top of the target).
+     * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
+     *     Positive values up.
+     * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
+     *     values up.
+     * @return The estimated distance to the target in meters.
+     */
    public static double calculateDistanceToTargetMeters(
            double cameraHeightMeters,
            double targetHeightMeters,
@@ -56,12 +56,12 @@ public final class PhotonUtils {
    }

    /**
-    * Estimate the {@link Translation2d} of the target relative to the camera.
-    *
-    * @param targetDistanceMeters The distance to the target in meters.
-    * @param yaw The observed yaw of the target.
-    * @return The target's camera-relative translation.
-    */
+     * Estimate the {@link Translation2d} of the target relative to the camera.
+     *
+     * @param targetDistanceMeters The distance to the target in meters.
+     * @param yaw The observed yaw of the target.
+     * @return The target's camera-relative translation.
+     */
    public static Translation2d estimateCameraToTargetTranslation(
            double targetDistanceMeters, Rotation2d yaw) {
        return new Translation2d(
@@ -69,25 +69,25 @@ public final class PhotonUtils {
    }

    /**
-    * Estimate the position of the robot in the field.
-    *
-    * @param cameraHeightMeters The physical height of the camera off the floor in meters.
-    * @param targetHeightMeters The physical height of the target off the floor in meters. This
-    *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
-    *     top, this should be the height of the top of the target).
-    * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
-    *     Positive values up.
-    * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
-    *     values up.
-    * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and
-    *     Photon returns CW-positive.
-    * @param gyroAngle The current robot gyro angle, likely from odometry.
-    * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
-    * @param cameraToRobot The position of the robot relative to the camera. If the camera was
-    *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
-    *     Transform2d(3 inches, 0 inches, 0 degrees).
-    * @return The position of the robot in the field.
-    */
+     * Estimate the position of the robot in the field.
+     *
+     * @param cameraHeightMeters The physical height of the camera off the floor in meters.
+     * @param targetHeightMeters The physical height of the target off the floor in meters. This
+     *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
+     *     top, this should be the height of the top of the target).
+     * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
+     *     Positive values up.
+     * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
+     *     values up.
+     * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and
+     *     Photon returns CW-positive.
+     * @param gyroAngle The current robot gyro angle, likely from odometry.
+     * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
+     * @param cameraToRobot The position of the robot relative to the camera. If the camera was
+     *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
+     *     Transform2d(3 inches, 0 inches, 0 degrees).
+     * @return The position of the robot in the field.
+     */
    public static Pose2d estimateFieldToRobot(
            double cameraHeightMeters,
            double targetHeightMeters,
@@ -110,17 +110,17 @@ public final class PhotonUtils {
    }

    /**
-    * Estimates a {@link Transform2d} that maps the camera position to the target position, using the
-    * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system
-    * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and
-    * increase as the robot rotates CCW.
-    *
-    * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target
-    *     relative to the camera.
-    * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
-    * @param gyroAngle The current robot gyro angle, likely from odometry.
-    * @return A Transform2d that takes us from the camera to the target.
-    */
+     * Estimates a {@link Transform2d} that maps the camera position to the target position, using the
+     * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system
+     * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and
+     * increase as the robot rotates CCW.
+     *
+     * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target
+     *     relative to the camera.
+     * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
+     * @param gyroAngle The current robot gyro angle, likely from odometry.
+     * @return A Transform2d that takes us from the camera to the target.
+     */
    public static Transform2d estimateCameraToTarget(
            Translation2d cameraToTargetTranslation, Pose2d fieldToTarget, Rotation2d gyroAngle) {
        // This pose maps our camera at the origin out to our target, in the robot
@@ -133,31 +133,31 @@ public final class PhotonUtils {
    }

    /**
-    * Estimates the pose of the robot in the field coordinate system, given the position of the
-    * target relative to the camera, the target relative to the field, and the robot relative to the
-    * camera.
-    *
-    * @param cameraToTarget The position of the target relative to the camera.
-    * @param fieldToTarget The position of the target in the field.
-    * @param cameraToRobot The position of the robot relative to the camera. If the camera was
-    *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
-    *     Transform2d(3 inches, 0 inches, 0 degrees).
-    * @return The position of the robot in the field.
-    */
+     * Estimates the pose of the robot in the field coordinate system, given the position of the
+     * target relative to the camera, the target relative to the field, and the robot relative to the
+     * camera.
+     *
+     * @param cameraToTarget The position of the target relative to the camera.
+     * @param fieldToTarget The position of the target in the field.
+     * @param cameraToRobot The position of the robot relative to the camera. If the camera was
+     *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
+     *     Transform2d(3 inches, 0 inches, 0 degrees).
+     * @return The position of the robot in the field.
+     */
    public static Pose2d estimateFieldToRobot(
            Transform2d cameraToTarget, Pose2d fieldToTarget, Transform2d cameraToRobot) {
        return estimateFieldToCamera(cameraToTarget, fieldToTarget).transformBy(cameraToRobot);
    }

    /**
-    * Estimates the pose of the camera in the field coordinate system, given the position of the
-    * target relative to the camera, and the target relative to the field. This *only* tracks the
-    * position of the camera, not the position of the robot itself.
-    *
-    * @param cameraToTarget The position of the target relative to the camera.
-    * @param fieldToTarget The position of the target in the field.
-    * @return The position of the camera in the field.
-    */
+     * Estimates the pose of the camera in the field coordinate system, given the position of the
+     * target relative to the camera, and the target relative to the field. This *only* tracks the
+     * position of the camera, not the position of the robot itself.
+     *
+     * @param cameraToTarget The position of the target relative to the camera.
+     * @param fieldToTarget The position of the target in the field.
+     * @return The position of the camera in the field.
+     */
    public static Pose2d estimateFieldToCamera(Transform2d cameraToTarget, Pose2d fieldToTarget) {
        var targetToCamera = cameraToTarget.inverse();
        return fieldToTarget.transformBy(targetToCamera);
--- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
@@ -36,10 +36,10 @@ public class SimPhotonCamera extends PhotonCamera {
    private final NetworkTableEntry targetPoseEntry;

    /**
-    * Constructs a Simulated PhotonCamera from a root table.
-    *
-    * @param rootTable The root table that the camera is broadcasting information over.
-    */
+     * Constructs a Simulated PhotonCamera from a root table.
+     *
+     * @param rootTable The root table that the camera is broadcasting information over.
+     */
    public SimPhotonCamera(NetworkTable rootTable) {
        super(rootTable);

@@ -53,53 +53,53 @@ public class SimPhotonCamera extends PhotonCamera {
    }

    /**
-    * Constructs a Simulated PhotonCamera from the name of the camera.
-    *
-    * @param cameraName The nickname of the camera (found in the PhotonVision UI).
-    */
+     * Constructs a Simulated PhotonCamera from the name of the camera.
+     *
+     * @param cameraName The nickname of the camera (found in the PhotonVision UI).
+     */
    public SimPhotonCamera(String cameraName) {
        this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
    }

    /**
-    * Simulate one processed frame of vision data, putting one result to NT.
-    *
-    * @param latencyMillis Latency of the provided frame
-    * @param targets Each target detected
-    */
+     * Simulate one processed frame of vision data, putting one result to NT.
+     *
+     * @param latencyMillis Latency of the provided frame
+     * @param targets Each target detected
+     */
    public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) {
        submitProcessedFrame(latencyMillis, Arrays.asList(targets));
    }

    /**
-    * Simulate one processed frame of vision data, putting one result to NT.
-    *
-    * @param latencyMillis Latency of the provided frame
-    * @param sortMode Order in which to sort targets
-    * @param targets Each target detected
-    */
+     * Simulate one processed frame of vision data, putting one result to NT.
+     *
+     * @param latencyMillis Latency of the provided frame
+     * @param sortMode Order in which to sort targets
+     * @param targets Each target detected
+     */
    public void submitProcessedFrame(
            double latencyMillis, PhotonTargetSortMode sortMode, PhotonTrackedTarget... targets) {
        submitProcessedFrame(latencyMillis, sortMode, Arrays.asList(targets));
    }

    /**
-    * Simulate one processed frame of vision data, putting one result to NT.
-    *
-    * @param latencyMillis Latency of the provided frame
-    * @param targetList List of targets detected
-    */
+     * Simulate one processed frame of vision data, putting one result to NT.
+     *
+     * @param latencyMillis Latency of the provided frame
+     * @param targetList List of targets detected
+     */
    public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> targetList) {
        submitProcessedFrame(latencyMillis, null, targetList);
    }

    /**
-    * Simulate one processed frame of vision data, putting one result to NT.
-    *
-    * @param latencyMillis Latency of the provided frame
-    * @param sortMode Order in which to sort targets
-    * @param targetList List of targets detected
-    */
+     * Simulate one processed frame of vision data, putting one result to NT.
+     *
+     * @param latencyMillis Latency of the provided frame
+     * @param sortMode Order in which to sort targets
+     * @param targetList List of targets detected
+     */
    public void submitProcessedFrame(
            double latencyMillis, PhotonTargetSortMode sortMode, List<PhotonTrackedTarget> targetList) {
        latencyMillisEntry.setDouble(latencyMillis);
--- a/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
+++ b/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
@@ -20,7 +20,9 @@ import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.util.Units;
 import java.util.ArrayList;
+import java.util.List;
 import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;

 public class SimVisionSystem {
    SimPhotonCamera cam;
@@ -38,28 +40,28 @@ public class SimVisionSystem {
    ArrayList<SimVisionTarget> tgtList;

    /**
-    * Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
-    * running PhotonVision, detecting one or more targets scattered around the field. This assumes a
-    * fairly simple and distortion-less pinhole camera model.
-    *
-    * @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
-    *     the PhotonVision GUI.
-    * @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
-    *     manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
-    *     page.
-    * @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
-    *     as whatever is configured in the PhotonVision Setting page.
-    * @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
-    *     position
-    * @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
-    * @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
-    *     make it visible. Set to 9000 or more if your vision system does not rely on LED's.
-    * @param cameraResWidth Width of your camera's image sensor in pixels
-    * @param cameraResHeight Height of your camera's image sensor in pixels
-    * @param minTargetArea Minimum area that that the target should be before it's recognized as a
-    *     target by the camera. Match this with your contour filtering settings in the PhotonVision
-    *     GUI.
-    */
+     * Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
+     * running PhotonVision, detecting one or more targets scattered around the field. This assumes a
+     * fairly simple and distortion-less pinhole camera model.
+     *
+     * @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
+     *     the PhotonVision GUI.
+     * @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
+     *     manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
+     *     page.
+     * @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
+     *     as whatever is configured in the PhotonVision Setting page.
+     * @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
+     *     position
+     * @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
+     * @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
+     *     make it visible. Set to 9000 or more if your vision system does not rely on LED's.
+     * @param cameraResWidth Width of your camera's image sensor in pixels
+     * @param cameraResHeight Height of your camera's image sensor in pixels
+     * @param minTargetArea Minimum area that that the target should be before it's recognized as a
+     *     target by the camera. Match this with your contour filtering settings in the PhotonVision
+     *     GUI.
+     */
    public SimVisionSystem(
            String camName,
            double camDiagFOVDegrees,
@@ -88,24 +90,24 @@ public class SimVisionSystem {
    }

    /**
-    * Add a target on the field which your vision system is designed to detect. The PhotonCamera from
-    * this system will report the location of the robot relative to the subset of these targets which
-    * are visible from the given robot position.
-    *
-    * @param target Target to add to the simulated field
-    */
+     * Add a target on the field which your vision system is designed to detect. The PhotonCamera from
+     * this system will report the location of the robot relative to the subset of these targets which
+     * are visible from the given robot position.
+     *
+     * @param target Target to add to the simulated field
+     */
    public void addSimVisionTarget(SimVisionTarget target) {
        tgtList.add(target);
    }

    /**
-    * Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
-    * turret or some other mobile platform.
-    *
-    * @param newCameraToRobot New Transform from the robot to the camera
-    * @param newCamHeightMeters New height of the camera off the floor
-    * @param newCamPitchDegrees New pitch of the camera axis back from horizontal
-    */
+     * Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
+     * turret or some other mobile platform.
+     *
+     * @param newCameraToRobot New Transform from the robot to the camera
+     * @param newCamHeightMeters New height of the camera off the floor
+     * @param newCamPitchDegrees New pitch of the camera axis back from horizontal
+     */
    public void moveCamera(
            Transform2d newCameraToRobot, double newCamHeightMeters, double newCamPitchDegrees) {
        this.cameraToRobot = newCameraToRobot;
@@ -114,13 +116,13 @@ public class SimVisionSystem {
    }

    /**
-    * Periodic update. Call this once per frame of image data you wish to process and send to
-    * NetworkTables
-    *
-    * @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
-    *     targets are actually in view, where they are at relative to the robot, and relevant
-    *     PhotonVision parameters.
-    */
+     * Periodic update. Call this once per frame of image data you wish to process and send to
+     * NetworkTables
+     *
+     * @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
+     *     targets are actually in view, where they are at relative to the robot, and relevant
+     *     PhotonVision parameters.
+     */
    public void processFrame(Pose2d robotPoseMeters) {
        Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse());

@@ -151,8 +153,17 @@ public class SimVisionSystem {
                                    - this.camPitchDegrees;

                    if (camCanSeeTarget(distMeters, yawDegrees, pitchDegrees, area)) {
+                        // TODO simulate target corners
                        visibleTgtList.add(
-                                new PhotonTrackedTarget(yawDegrees, pitchDegrees, area, 0.0, camToTargetTrans));
+                                new PhotonTrackedTarget(
+                                        yawDegrees,
+                                        pitchDegrees,
+                                        area,
+                                        0.0,
+                                        camToTargetTrans,
+                                        List.of(
+                                                new TargetCorner(0, 0), new TargetCorner(0, 0),
+                                                new TargetCorner(0, 0), new TargetCorner(0, 0))));
                    }
                });

--- a/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java
+++ b/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java
@@ -26,15 +26,15 @@ public class SimVisionTarget {
    double tgtAreaMeters2;

    /**
-    * Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
-    *
-    * @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on
-    *     the middle of the field facing the target, the Y axis points to your left, and the X axis
-    *     points away from you.
-    * @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
-    * @param targetWidthMeters Width of the outer bounding box of the target in meters.
-    * @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
-    */
+     * Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
+     *
+     * @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on
+     *     the middle of the field facing the target, the Y axis points to your left, and the X axis
+     *     points away from you.
+     * @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
+     * @param targetWidthMeters Width of the outer bounding box of the target in meters.
+     * @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
+     */
    public SimVisionTarget(
            Pose2d targetPos,
            double targetHeightAboveGroundMeters,
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
@@ -26,11 +26,7 @@ PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
      inputSaveImgEntry(rootTable->GetEntry("inputSaveImgCmd")),
      outputSaveImgEntry(rootTable->GetEntry("outputSaveImgCmd")),
      pipelineIndexEntry(rootTable->GetEntry("pipelineIndex")),
-      ledModeEntry(mainTable->GetEntry("ledMode")) {
-  driverMode = driverModeEntry.GetBoolean(false);
-  pipelineIndex = static_cast<int>(pipelineIndexEntry.GetDouble(0.0));
-  mode = GetLEDMode();
-}
+      ledModeEntry(mainTable->GetEntry("ledMode")) {}

 PhotonCamera::PhotonCamera(const std::string& cameraName)
    : PhotonCamera(nt::NetworkTableInstance::GetDefault()
@@ -58,36 +54,30 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() const {
 }

 void PhotonCamera::SetDriverMode(bool driverMode) {
-  if (this->driverMode != driverMode) {
-    this->driverMode = driverMode;
-    driverModeEntry.SetBoolean(this->driverMode);
-  }
+  driverModeEntry.SetBoolean(driverMode);
 }

 void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.SetBoolean(true); }

 void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.SetBoolean(true); }

-bool PhotonCamera::GetDriverMode() const { return driverMode; }
+bool PhotonCamera::GetDriverMode() const {
+  return driverModeEntry.GetBoolean(false);
+}

 void PhotonCamera::SetPipelineIndex(int index) {
-  if (index != pipelineIndex) {
-    pipelineIndex = index;
-    pipelineIndexEntry.SetDouble(static_cast<double>(pipelineIndex));
-  }
+  pipelineIndexEntry.SetDouble(static_cast<double>(index));
 }

-int PhotonCamera::GetPipelineIndex() const { return pipelineIndex; }
+int PhotonCamera::GetPipelineIndex() const {
+  return static_cast<int>(pipelineIndexEntry.GetDouble(0));
+}

 LEDMode PhotonCamera::GetLEDMode() const {
-  mode = static_cast<LEDMode>(static_cast<int>(ledModeEntry.GetDouble(-1.0)));
-  return mode;
+  return static_cast<LEDMode>(static_cast<int>(ledModeEntry.GetDouble(-1.0)));
 }

-void PhotonCamera::SetLEDMode(LEDMode led) {
-  if (led != mode) {
-    mode = led;
-    ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
-  }
+void PhotonCamera::SetLEDMode(LEDMode mode) {
+  ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
 }
 }  // namespace photonlib
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp
@@ -18,19 +18,28 @@
 #include "photonlib/PhotonTrackedTarget.h"

 #include <iostream>
+#include <utility>

 #include <frc/geometry/Translation2d.h>
+#include <wpi/SmallVector.h>

 namespace photonlib {

-PhotonTrackedTarget::PhotonTrackedTarget(double yaw, double pitch, double area,
-                                         double skew,
-                                         const frc::Transform2d& pose)
-    : yaw(yaw), pitch(pitch), area(area), skew(skew), cameraToTarget(pose) {}
+PhotonTrackedTarget::PhotonTrackedTarget(
+    double yaw, double pitch, double area, double skew,
+    const frc::Transform2d& pose,
+    const wpi::SmallVector<std::pair<double, double>, 4> corners)
+    : yaw(yaw),
+      pitch(pitch),
+      area(area),
+      skew(skew),
+      cameraToTarget(pose),
+      corners(corners) {}

 bool PhotonTrackedTarget::operator==(const PhotonTrackedTarget& other) const {
  return other.yaw == yaw && other.pitch == pitch && other.area == area &&
-         other.skew == skew && other.cameraToTarget == cameraToTarget;
+         other.skew == skew && other.cameraToTarget == cameraToTarget &&
+         other.corners == corners;
 }

 bool PhotonTrackedTarget::operator!=(const PhotonTrackedTarget& other) const {
@@ -38,10 +47,16 @@ bool PhotonTrackedTarget::operator!=(const PhotonTrackedTarget& other) const {
 }

 Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
-  return packet << target.yaw << target.pitch << target.area << target.skew
-                << target.cameraToTarget.Translation().X().value()
-                << target.cameraToTarget.Translation().Y().value()
-                << target.cameraToTarget.Rotation().Degrees().value();
+  packet << target.yaw << target.pitch << target.area << target.skew
+         << target.cameraToTarget.Translation().X().value()
+         << target.cameraToTarget.Translation().Y().value()
+         << target.cameraToTarget.Rotation().Degrees().value();
+
+  for (int i = 0; i < 4; i++) {
+    packet << target.corners[i].first << target.corners[i].second;
+  }
+
+  return packet;
 }

 Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
@@ -54,6 +69,15 @@ Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
  target.cameraToTarget =
      frc::Transform2d(frc::Translation2d(units::meter_t(x), units::meter_t(y)),
                       units::degree_t(rot));
+
+  target.corners.clear();
+  for (int i = 0; i < 4; i++) {
+    double first = 0;
+    double second = 0;
+    packet >> first >> second;
+    target.corners.emplace_back(first, second);
+  }
+
  return packet;
 }

--- a/photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp
@@ -86,7 +86,8 @@ void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {

    if (CamCanSeeTarget(distHypot, yawAngle, pitchAngle, area)) {
      PhotonTrackedTarget newTgt = PhotonTrackedTarget(
-          yawAngle.value(), pitchAngle.value(), area, 0.0, camToTargetTrans);
+          yawAngle.value(), pitchAngle.value(), area, 0.0, camToTargetTrans,
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}});
      visibleTgtList.push_back(newTgt);
    }
  }
--- a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
+++ b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
@@ -139,10 +139,6 @@ class PhotonCamera {
  nt::NetworkTableEntry ledModeEntry;

  mutable Packet packet;
-
-  bool driverMode;
-  double pipelineIndex;
-  mutable LEDMode mode;
 };

 }  // namespace photonlib
--- a/photon-lib/src/main/native/include/photonlib/PhotonTrackedTarget.h
+++ b/photon-lib/src/main/native/include/photonlib/PhotonTrackedTarget.h
@@ -19,9 +19,11 @@

 #include <cstddef>
 #include <string>
+#include <utility>
 #include <vector>

 #include <frc/geometry/Transform2d.h>
+#include <wpi/SmallVector.h>

 #include "photonlib/Packet.h"

@@ -43,9 +45,12 @@ class PhotonTrackedTarget {
   * @param area The area of the target.
   * @param skew The skew of the target.
   * @param pose The camera-relative pose of the target.
+   * @Param corners The corners of the bounding rectangle.
   */
-  PhotonTrackedTarget(double yaw, double pitch, double area, double skew,
-                      const frc::Transform2d& pose);
+  PhotonTrackedTarget(
+      double yaw, double pitch, double area, double skew,
+      const frc::Transform2d& pose,
+      const wpi::SmallVector<std::pair<double, double>, 4> corners);

  /**
   * Returns the target yaw (positive-left).
@@ -71,6 +76,13 @@ class PhotonTrackedTarget {
   */
  double GetSkew() const { return skew; }

+  /**
+   * Returns the corners of the minimum area rectangle bounding this target.
+   */
+  wpi::SmallVector<std::pair<double, double>, 4> GetCorners() const {
+    return corners;
+  }
+
  /**
   * Returns the pose of the target relative to the robot.
   * @return The pose of the target relative to the robot.
@@ -89,5 +101,6 @@ class PhotonTrackedTarget {
  double area = 0;
  double skew = 0;
  frc::Transform2d cameraToTarget;
+  wpi::SmallVector<std::pair<double, double>, 4> corners;
 };
 }  // namespace photonlib
--- a/photon-lib/src/test/java/org/photonvision/PacketTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PacketTest.java
@@ -26,13 +26,23 @@ import org.junit.jupiter.api.Test;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;

 class PacketTest {
    @Test
    void testSimpleTrackedTarget() {
        var target =
                new PhotonTrackedTarget(
-                        3.0, 4.0, 9.0, -5.0, new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)));
+                        3.0,
+                        4.0,
+                        9.0,
+                        -5.0,
+                        new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)),
+                        List.of(
+                                new TargetCorner(1, 2),
+                                new TargetCorner(3, 4),
+                                new TargetCorner(5, 6),
+                                new TargetCorner(7, 8)));
        var p = new Packet(PhotonTrackedTarget.PACK_SIZE_BYTES);
        target.populatePacket(p);

@@ -62,13 +72,23 @@ class PacketTest {
                                        -4.0,
                                        9.0,
                                        4.0,
-                                        new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5))),
+                                        new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8))),
                                new PhotonTrackedTarget(
                                        3.0,
                                        -4.0,
                                        9.1,
                                        6.7,
-                                        new Transform2d(new Translation2d(1, 5), new Rotation2d(1.5)))));
+                                        new Transform2d(new Translation2d(1, 5), new Rotation2d(1.5)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)))));
        var p2 = new Packet(result2.getPacketSize());
        result2.populatePacket(p2);

@@ -77,46 +97,4 @@ class PacketTest {

        Assertions.assertEquals(result2, b2);
    }
-
-    @Test
-    void testBytePackFromCpp() {
-        byte[] bytePack = {
-            64, 8, 0, 0, 0, 0, 0, 0, 64, 16, 0, 0, 0, 0, 0, 0, 64, 34, 0, 0, 0, 0, 0, 0, -64, 20, 0, 0, 0,
-            0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0, 0, 0, 64, 85, 124, 101, 19, -54, -47,
-            122
-        };
-        var t = new PhotonTrackedTarget();
-        t.createFromPacket(new Packet(bytePack));
-
-        var target =
-                new PhotonTrackedTarget(
-                        3.0, 4.0, 9.0, -5.0, new Transform2d(new Translation2d(1, 2), new Rotation2d(1.5)));
-
-        Assertions.assertEquals(t, target);
-    }
-
-    @Test
-    void testPacketv2021_1_6() {
-        // From v2021.1.6
-        var simplified =
-                new PhotonPipelineResult(
-                        12.34,
-                        List.of(
-                                new PhotonTrackedTarget(
-                                        -23, -10, 6, 1, new Transform2d(new Translation2d(1, 2), new Rotation2d(3)))));
-        byte[] bytes = {
-            64, 40, -82, 20, 122, -31, 71, -82, 1, -64, 55, 0, 0, 0, 0, 0, 0, -64, 36, 0, 0, 0, 0, 0, 0,
-            64, 24, 0, 0, 0, 0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 63, -16, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0,
-            0, 0, 0, 0, 64, 101, 124, 101, 19, -54, -47, 122, 0
-        };
-
-        // Let's check that those bytes still mean the same thing
-        Packet packet = new Packet(1);
-        packet.clear();
-        packet.setData(bytes);
-        var ret = new PhotonPipelineResult();
-        ret.createFromPacket(packet);
-        System.out.println(ret);
-        Assertions.assertEquals(simplified, ret);
-    }
 }
--- a/photon-lib/src/test/native/cpp/PacketTest.cpp
+++ b/photon-lib/src/test/native/cpp/PacketTest.cpp
@@ -25,8 +25,13 @@

 TEST(PacketTest, PhotonTrackedTarget) {
  photonlib::PhotonTrackedTarget target{
-      3.0, 4.0, 9.0, -5.0,
-      frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)};
+      3.0,
+      4.0,
+      9.0,
+      -5.0,
+      frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad),
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
+
  photonlib::Packet p;
  p << target;

@@ -52,11 +57,20 @@ TEST(PacketTest, PhotonPipelineResult) {

  wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
      photonlib::PhotonTrackedTarget{
-          3.0, -4.0, 9.0, 4.0,
-          frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)},
+          3.0,
+          -4.0,
+          9.0,
+          4.0,
+          frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad),
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
      photonlib::PhotonTrackedTarget{
-          3.0, -4.0, 9.1, 6.7,
-          frc::Transform2d(frc::Translation2d(1_m, 5_m), 1.5_rad)}};
+          3.0,
+          -4.0,
+          9.1,
+          6.7,
+          frc::Transform2d(frc::Translation2d(1_m, 5_m), 1.5_rad),
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
+           std::pair{7, 8}}}};

  photonlib::PhotonPipelineResult result2{2_s, targets};
  photonlib::Packet p2;
@@ -67,25 +81,3 @@ TEST(PacketTest, PhotonPipelineResult) {

  EXPECT_EQ(result2, b2);
 }
-
-TEST(PacketTest, BytePackFromJava) {
-  std::vector<signed char> bytePack{
-      64, 8, 0,  0,  0,  0,   0,  0,  64,  16,  0,   0,   0,   0,
-      0,  0, 64, 34, 0,  0,   0,  0,  0,   0,   -64, 20,  0,   0,
-      0,  0, 0,  0,  63, -16, 0,  0,  0,   0,   0,   0,   64,  0,
-      0,  0, 0,  0,  0,  0,   64, 85, 124, 101, 19,  -54, -47, 122};
-
-  std::vector<char> bytes;
-  for (auto a : bytePack) bytes.emplace_back(static_cast<char>(a));
-
-  photonlib::Packet packet{bytes};
-
-  photonlib::PhotonTrackedTarget res;
-  packet >> res;
-
-  photonlib::PhotonTrackedTarget target{
-      3.0, 4.0, 9.0, -5.0,
-      frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad)};
-
-  EXPECT_EQ(res, target);
-}
--- a/photon-server/build.gradle
+++ b/photon-server/build.gradle
@@ -7,24 +7,25 @@ evaluationDependsOn(':photon-core')
 mainClassName = 'org.photonvision.Main'

 group 'org.photonvision'
-version versionString
+version versionString + (project.hasProperty('pionly') ? "-raspi" : "")

 apply from: "${rootDir}/shared/common.gradle"

 dependencies {
    implementation project(':photon-core')

-    implementation "io.javalin:javalin:3.7.0"
+    implementation "io.javalin:javalin:4.2.0"

-    implementation "org.msgpack:msgpack-core:0.8.20"
-    implementation "org.msgpack:jackson-dataformat-msgpack:0.8.20"
+    implementation "org.msgpack:msgpack-core:0.9.0"
+    implementation "org.msgpack:jackson-dataformat-msgpack:0.9.0"

    implementation "org.slf4j:slf4j-simple:1.8.0-beta4"
 }

 shadowJar {
    configurations = [project.configurations.runtimeClasspath]
-    archiveFileName.set("photonvision-${project.version}.jar")
+    String name = "photonvision-${project.version}"
+    archiveFileName.set("${name}.jar")
 }

 task runNpmOnClient(type: Exec) {
@@ -92,7 +93,7 @@ task findDeployTarget {
                boolean canContact = false;
                try {
                    InetAddress testAddr = InetAddress.getByName(testRmt.host)
-                    canContact = testAddr.isReachable(5000)
+                    canContact = testAddr.isReachable(2000)
                } catch(UnknownHostException e) {
                    canContact = false;
                }
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -87,62 +87,100 @@ public class Main {
    }

    private static void addTestModeSources() {
-        var collectedSources = new ArrayList<VisionSource>();
+        ConfigManager.getInstance().load();

        var camConf2019 =
-                new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
-        camConf2019.FOV = TestUtils.WPI2019Image.FOV;
-        camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
+                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2019");
+        if (camConf2019 == null) {
+            camConf2019 =
+                    new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
+            camConf2019.FOV = TestUtils.WPI2019Image.FOV;
+            camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));

-        var pipeline2019 = new ReflectivePipelineSettings();
-        pipeline2019.pipelineNickname = "CargoShip";
-        pipeline2019.targetModel = TargetModel.k2019DualTarget;
-        pipeline2019.outputShowMultipleTargets = true;
-        pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;
+            var pipeline2019 = new ReflectivePipelineSettings();
+            pipeline2019.pipelineNickname = "CargoShip";
+            pipeline2019.targetModel = TargetModel.k2019DualTarget;
+            pipeline2019.outputShowMultipleTargets = true;
+            pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;
+            pipeline2019.inputShouldShow = true;

-        var psList2019 = new ArrayList<CVPipelineSettings>();
-        psList2019.add(pipeline2019);
-
-        var fvs2019 = new FileVisionSource(camConf2019);
+            var psList2019 = new ArrayList<CVPipelineSettings>();
+            psList2019.add(pipeline2019);
+            camConf2019.pipelineSettings = psList2019;
+        }

        var camConf2020 =
-                new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
-        camConf2020.FOV = TestUtils.WPI2020Image.FOV;
-        camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
+                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2020");
+        if (camConf2020 == null) {
+            camConf2020 =
+                    new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
+            camConf2020.FOV = TestUtils.WPI2020Image.FOV;
+            camConf2020.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));

-        var pipeline2020 = new ReflectivePipelineSettings();
-        pipeline2020.pipelineNickname = "OuterPort";
-        pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
-        camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
+            var pipeline2020 = new ReflectivePipelineSettings();
+            pipeline2020.pipelineNickname = "OuterPort";
+            pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
+            camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
+            pipeline2020.inputShouldShow = true;

-        var psList2020 = new ArrayList<CVPipelineSettings>();
-        psList2020.add(pipeline2020);
+            var psList2020 = new ArrayList<CVPipelineSettings>();
+            psList2020.add(pipeline2020);
+            camConf2020.pipelineSettings = psList2020;
+        }

-        var fvs2020 = new FileVisionSource(camConf2020);
+        var camConf2022 =
+                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2022");
+        if (camConf2022 == null) {
+            camConf2022 =
+                    new CameraConfiguration("WPI2022", TestUtils.getTestMode2022ImagePath().toString());
+            camConf2022.FOV = TestUtils.WPI2022Image.FOV;
+            camConf2022.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));

-        fvs2019.getCameraConfiguration().pipelineSettings = psList2019;
-        fvs2020.getCameraConfiguration().pipelineSettings = psList2020;
-        collectedSources.add(fvs2019);
-        collectedSources.add(fvs2020);
+            var pipeline2022 = new ReflectivePipelineSettings();
+            pipeline2022.pipelineNickname = "OuterPort";
+            pipeline2022.targetModel = TargetModel.k2020HighGoalOuter;
+            pipeline2022.inputShouldShow = true;
+            //        camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
+
+            var psList2022 = new ArrayList<CVPipelineSettings>();
+            psList2022.add(pipeline2022);
+            camConf2022.pipelineSettings = psList2022;
+        }

        // Colored shape testing
        var camConfShape =
-                new CameraConfiguration(
-                        "Shape",
-                        TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
-                                .toString());
-        var settings = new ColoredShapePipelineSettings();
-        settings.hsvHue = new IntegerCouple(0, 35);
-        settings.hsvSaturation = new IntegerCouple(82, 255);
-        settings.hsvValue = new IntegerCouple(62, 255);
-        settings.contourShape = ContourShape.Triangle;
-        settings.outputShowMultipleTargets = true;
-        settings.circleAccuracy = 15;
-        camConfShape.addPipelineSetting(settings);
-        var fvsShape = new FileVisionSource(camConfShape);
-        collectedSources.add(fvsShape);
+                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
+
+        // If we haven't saved shape settings, create a new one
+        if (camConfShape == null) {
+            camConfShape =
+                    new CameraConfiguration(
+                            "Shape",
+                            TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
+                                    .toString());
+            var settings = new ColoredShapePipelineSettings();
+            settings.hsvHue = new IntegerCouple(0, 35);
+            settings.hsvSaturation = new IntegerCouple(82, 255);
+            settings.hsvValue = new IntegerCouple(62, 255);
+            settings.contourShape = ContourShape.Triangle;
+            settings.outputShowMultipleTargets = true;
+            settings.circleAccuracy = 15;
+            settings.inputShouldShow = true;
+            camConfShape.addPipelineSetting(settings);
+        }
+
+        var collectedSources = new ArrayList<VisionSource>();
+
+        var fvsShape = new FileVisionSource(camConfShape);
+        var fvs2019 = new FileVisionSource(camConf2019);
+        var fvs2020 = new FileVisionSource(camConf2020);
+        var fvs2022 = new FileVisionSource(camConf2022);
+
+        collectedSources.add(fvs2022);
+        collectedSources.add(fvsShape);
+        collectedSources.add(fvs2020);
+        collectedSources.add(fvs2019);

-        //                logger.info("Adding " + allSources.size() + " configs to VMM.");
        VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
        ConfigManager.getInstance().addCameraConfigurations(collectedSources);
    }
@@ -169,7 +207,8 @@ public class Main {
                "Starting PhotonVision version "
                        + PhotonVersion.versionString
                        + " on "
-                        + Platform.CurrentPlatform.toString());
+                        + Platform.currentPlatform.toString()
+                        + (Platform.isRaspberryPi() ? (" (Pi " + Platform.currentPiVersion.name() + ")") : ""));

        try {
            CameraServerCvJNI.forceLoad();
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -22,8 +22,11 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import io.javalin.http.Context;
 import java.io.File;
 import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+import java.io.FileOutputStream;
 import java.io.IOException;
 import java.nio.file.Path;
+import java.nio.file.Paths;
 import java.util.HashMap;
 import java.util.Map;
 import org.apache.commons.io.FileUtils;
@@ -37,6 +40,8 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.ShellExec;
+import org.photonvision.common.util.TimedTaskManager;
+import org.photonvision.common.util.file.ProgramDirectoryUtilities;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.target.TargetModel;

@@ -95,14 +100,56 @@ public class RequestHandler {

            ctx.status(200);
            logger.info("Settings uploaded, going down for restart.");
-            restartProgram(ctx);
-
+            restartProgram();
        } else {
            logger.error("Couldn't read uploaded file! Ignoring.");
            ctx.status(500);
        }
    }

+    public static void onOfflineUpdate(Context ctx) {
+        logger.info("Handling offline update .jar upload...");
+        var file = ctx.uploadedFile("jarData");
+        logger.info("New .jar uploaded successfully.");
+
+        if (file != null) {
+            if (Platform.isRaspberryPi()) {
+                try {
+                    Path filePath =
+                            Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "photonvision.jar");
+                    File targetFile = new File(filePath.toString());
+                    var stream = new FileOutputStream(targetFile);
+
+                    logger.info(
+                            "Streaming user-provided " + file.getFilename() + " into " + targetFile.toString());
+
+                    file.getContent().transferTo(stream);
+                    stream.close();
+
+                    ctx.status(200);
+                    logger.info("New .jar in place, going down for restart...");
+                    restartProgram();
+
+                } catch (FileNotFoundException e) {
+                    logger.error(
+                            ".jar of this program could not be found. How the heck this program started in the first place is a mystery.");
+                    ctx.status(500);
+                } catch (IOException e) {
+                    logger.error("Could not overwrite the .jar for this instance of photonvision.");
+                    ctx.status(500);
+                }
+
+            } else {
+                logger.error("Hot .jar replace currently only supported on Raspberry pi. Ignoring.");
+                ctx.status(500);
+            }
+
+        } else {
+            logger.error("Couldn't read provided file for new .jar! Ignoring.");
+            ctx.status(500);
+        }
+    }
+
    @SuppressWarnings("unchecked")
    public static void onGeneralSettings(Context context) throws JsonProcessingException {
        Map<String, Object> map =
@@ -177,13 +224,19 @@ public class RequestHandler {
        ctx.status(HardwareManager.getInstance().restartDevice() ? 200 : 500);
    }

-    /**
-    * Note that this doesn't actually restart the program itself -- instead, it relies on systemd or
-    * an equivalent.
-    */
    public static void restartProgram(Context ctx) {
-        ctx.status(200);
+        restartProgram();
+    }

+    public static void restartProgram() {
+        TimedTaskManager.getInstance().addOneShotTask(RequestHandler::restartProgramInternal, 0);
+    }
+
+    /**
+     * Note that this doesn't actually restart the program itself -- instead, it relies on systemd or
+     * an equivalent.
+     */
+    public static void restartProgramInternal() {
        if (Platform.isRaspberryPi()) {
            try {
                new ShellExec().executeBashCommand("systemctl restart photonvision.service");
--- a/photon-server/src/main/java/org/photonvision/server/Server.java
+++ b/photon-server/src/main/java/org/photonvision/server/Server.java
@@ -17,6 +17,7 @@
 package org.photonvision.server;

 import io.javalin.Javalin;
+import io.javalin.http.staticfiles.Location;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

@@ -28,7 +29,7 @@ public class Server {
                Javalin.create(
                        config -> {
                            config.showJavalinBanner = false;
-                            config.addStaticFiles("web");
+                            config.addStaticFiles("web", Location.CLASSPATH);
                            config.enableCorsForAllOrigins();

                            config.requestLogger(
@@ -71,6 +72,7 @@ public class Server {
                });
        /*API Events*/
        app.post("/api/settings/import", RequestHandler::onSettingUpload);
+        app.post("/api/settings/offlineUpdate", RequestHandler::onOfflineUpdate);
        app.get("/api/settings/photonvision_config.zip", RequestHandler::onSettingsDownload);
        app.post("/api/settings/camera", RequestHandler::onCameraSettingsSave);
        app.post("/api/settings/general", RequestHandler::onGeneralSettings);
--- a/photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java
+++ b/photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java
@@ -29,8 +29,8 @@ import org.photonvision.common.logging.Logger;

@SuppressWarnings("rawtypes")
 /*
-* DO NOT use logging in this class. If you do, the logs will recurse forever!
-*/
+ * DO NOT use logging in this class. If you do, the logs will recurse forever!
+ */
 class UIOutboundSubscriber extends DataChangeSubscriber {
    Logger logger = new Logger(UIOutboundSubscriber.class, LogGroup.WebServer);

--- a/photon-server/src/main/resources/web/index.html
+++ b/photon-server/src/main/resources/web/index.html
@@ -1 +1 @@
-<p>UI has not been copied!</p>
+<p>UI has not been copied!</p>
--- a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
+++ b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
@@ -26,20 +26,20 @@ public class Packet {
    int readPos, writePos;

    /**
-    * Constructs an empty packet.
-    *
-    * @param size The size of the packet buffer.
-    */
+     * Constructs an empty packet.
+     *
+     * @param size The size of the packet buffer.
+     */
    public Packet(int size) {
        this.size = size;
        packetData = new byte[size];
    }

    /**
-    * Constructs a packet with the given data.
-    *
-    * @param data The packet data.
-    */
+     * Constructs a packet with the given data.
+     *
+     * @param data The packet data.
+     */
    public Packet(byte[] data) {
        packetData = data;
        size = packetData.length;
@@ -57,38 +57,38 @@ public class Packet {
    }

    /**
-    * Returns the packet data.
-    *
-    * @return The packet data.
-    */
+     * Returns the packet data.
+     *
+     * @return The packet data.
+     */
    public byte[] getData() {
        return packetData;
    }

    /**
-    * Sets the packet data.
-    *
-    * @param data The packet data.
-    */
+     * Sets the packet data.
+     *
+     * @param data The packet data.
+     */
    public void setData(byte[] data) {
        packetData = data;
        size = data.length;
    }

    /**
-    * Encodes the byte into the packet.
-    *
-    * @param src The byte to encode.
-    */
+     * Encodes the byte into the packet.
+     *
+     * @param src The byte to encode.
+     */
    public void encode(byte src) {
        packetData[writePos++] = src;
    }

    /**
-    * Encodes the integer into the packet.
-    *
-    * @param src The integer to encode.
-    */
+     * Encodes the integer into the packet.
+     *
+     * @param src The integer to encode.
+     */
    public void encode(int src) {
        packetData[writePos++] = (byte) (src >>> 24);
        packetData[writePos++] = (byte) (src >>> 16);
@@ -97,10 +97,10 @@ public class Packet {
    }

    /**
-    * Encodes the double into the packet.
-    *
-    * @param src The double to encode.
-    */
+     * Encodes the double into the packet.
+     *
+     * @param src The double to encode.
+     */
    public void encode(double src) {
        long data = Double.doubleToRawLongBits(src);
        packetData[writePos++] = (byte) ((data >> 56) & 0xff);
@@ -114,28 +114,28 @@ public class Packet {
    }

    /**
-    * Encodes the boolean into the packet.
-    *
-    * @param src The boolean to encode.
-    */
+     * Encodes the boolean into the packet.
+     *
+     * @param src The boolean to encode.
+     */
    public void encode(boolean src) {
        packetData[writePos++] = src ? (byte) 1 : (byte) 0;
    }

    /**
-    * Returns a decoded byte from the packet.
-    *
-    * @return A decoded byte from the packet.
-    */
+     * Returns a decoded byte from the packet.
+     *
+     * @return A decoded byte from the packet.
+     */
    public byte decodeByte() {
        return packetData[readPos++];
    }

    /**
-    * Returns a decoded int from the packet.
-    *
-    * @return A decoded int from the packet.
-    */
+     * Returns a decoded int from the packet.
+     *
+     * @return A decoded int from the packet.
+     */
    public int decodeInt() {
        return (0xff & packetData[readPos++]) << 24
                | (0xff & packetData[readPos++]) << 16
@@ -144,10 +144,10 @@ public class Packet {
    }

    /**
-    * Returns a decoded double from the packet.
-    *
-    * @return A decoded double from the packet.
-    */
+     * Returns a decoded double from the packet.
+     *
+     * @return A decoded double from the packet.
+     */
    public double decodeDouble() {
        long data =
                (long) (0xff & packetData[readPos++]) << 56
@@ -162,10 +162,10 @@ public class Packet {
    }

    /**
-    * Returns a decoded boolean from the packet.
-    *
-    * @return A decoded boolean from the packet.
-    */
+     * Returns a decoded boolean from the packet.
+     *
+     * @return A decoded boolean from the packet.
+     */
    public boolean decodeBoolean() {
        return packetData[readPos++] == 1;
    }
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
@@ -35,31 +35,31 @@ public class PhotonPipelineResult {
    public PhotonPipelineResult() {}

    /**
-    * Constructs a pipeline result.
-    *
-    * @param latencyMillis The latency in the pipeline.
-    * @param targets The list of targets identified by the pipeline.
-    */
+     * Constructs a pipeline result.
+     *
+     * @param latencyMillis The latency in the pipeline.
+     * @param targets The list of targets identified by the pipeline.
+     */
    public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets) {
        this.latencyMillis = latencyMillis;
        this.targets.addAll(targets);
    }

    /**
-    * Returns the size of the packet needed to store this pipeline result.
-    *
-    * @return The size of the packet needed to store this pipeline result.
-    */
+     * Returns the size of the packet needed to store this pipeline result.
+     *
+     * @return The size of the packet needed to store this pipeline result.
+     */
    public int getPacketSize() {
        return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2;
    }

    /**
-    * Returns the best target in this pipeline result. If there are no targets, this method will
-    * return null. The best target is determined by the target sort mode in the PhotonVision UI.
-    *
-    * @return The best target of the pipeline result.
-    */
+     * Returns the best target in this pipeline result. If there are no targets, this method will
+     * return null. The best target is determined by the target sort mode in the PhotonVision UI.
+     *
+     * @return The best target of the pipeline result.
+     */
    public PhotonTrackedTarget getBestTarget() {
        if (!hasTargets() && !HAS_WARNED) {
            String errStr =
@@ -74,28 +74,28 @@ public class PhotonPipelineResult {
    }

    /**
-    * Returns the latency in the pipeline.
-    *
-    * @return The latency in the pipeline.
-    */
+     * Returns the latency in the pipeline.
+     *
+     * @return The latency in the pipeline.
+     */
    public double getLatencyMillis() {
        return latencyMillis;
    }

    /**
-    * Returns whether the pipeline has targets.
-    *
-    * @return Whether the pipeline has targets.
-    */
+     * Returns whether the pipeline has targets.
+     *
+     * @return Whether the pipeline has targets.
+     */
    public boolean hasTargets() {
        return targets.size() > 0;
    }

    /**
-    * Returns a copy of the vector of targets.
-    *
-    * @return A copy of the vector of targets.
-    */
+     * Returns a copy of the vector of targets.
+     *
+     * @return A copy of the vector of targets.
+     */
    public List<PhotonTrackedTarget> getTargets() {
        return new ArrayList<>(targets);
    }
@@ -116,11 +116,11 @@ public class PhotonPipelineResult {
    }

    /**
-    * Populates the fields of the pipeline result from the packet.
-    *
-    * @param packet The incoming packet.
-    * @return The incoming packet.
-    */
+     * Populates the fields of the pipeline result from the packet.
+     *
+     * @param packet The incoming packet.
+     * @return The incoming packet.
+     */
    public Packet createFromPacket(Packet packet) {
        // Decode latency, existence of targets, and number of targets.
        latencyMillis = packet.decodeDouble();
@@ -139,11 +139,11 @@ public class PhotonPipelineResult {
    }

    /**
-    * Populates the outgoing packet with information from this pipeline result.
-    *
-    * @param packet The outgoing packet.
-    * @return The outgoing packet.
-    */
+     * Populates the outgoing packet with information from this pipeline result.
+     *
+     * @param packet The outgoing packet.
+     * @return The outgoing packet.
+     */
    public Packet populatePacket(Packet packet) {
        // Encode latency, existence of targets, and number of targets.
        packet.encode(latencyMillis);
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
@@ -19,26 +19,38 @@ package org.photonvision.targeting;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.geometry.Translation2d;
+import java.util.ArrayList;
+import java.util.List;
 import java.util.Objects;
 import org.photonvision.common.dataflow.structures.Packet;

 public class PhotonTrackedTarget {
-    public static final int PACK_SIZE_BYTES = Double.BYTES * 7;
+    public static final int PACK_SIZE_BYTES = Double.BYTES * (7 + 2 * 4);

    private double yaw;
    private double pitch;
    private double area;
    private double skew;
    private Transform2d cameraToTarget = new Transform2d();
+    private List<TargetCorner> targetCorners;

    public PhotonTrackedTarget() {}

-    public PhotonTrackedTarget(double yaw, double pitch, double area, double skew, Transform2d pose) {
+    /** Construct a tracked target, given exactly 4 corners */
+    public PhotonTrackedTarget(
+            double yaw,
+            double pitch,
+            double area,
+            double skew,
+            Transform2d pose,
+            List<TargetCorner> corners) {
+        assert corners.size() == 4;
        this.yaw = yaw;
        this.pitch = pitch;
        this.area = area;
        this.skew = skew;
-        cameraToTarget = pose;
+        this.cameraToTarget = pose;
+        this.targetCorners = corners;
    }

    public double getYaw() {
@@ -57,6 +69,14 @@ public class PhotonTrackedTarget {
        return skew;
    }

+    /**
+     * Return a list of the 4 corners in image space (origin top left, x left, y down), in no
+     * particular order, of the minimum area bounding rectangle of this target
+     */
+    public List<TargetCorner> getCorners() {
+        return targetCorners;
+    }
+
    public Transform2d getCameraToTarget() {
        return cameraToTarget;
    }
@@ -69,7 +89,8 @@ public class PhotonTrackedTarget {
        return Double.compare(that.yaw, yaw) == 0
                && Double.compare(that.pitch, pitch) == 0
                && Double.compare(that.area, area) == 0
-                && Objects.equals(cameraToTarget, that.cameraToTarget);
+                && Objects.equals(cameraToTarget, that.cameraToTarget)
+                && Objects.equals(targetCorners, that.targetCorners);
    }

    @Override
@@ -78,32 +99,39 @@ public class PhotonTrackedTarget {
    }

    /**
-    * Populates the fields of this class with information from the incoming packet.
-    *
-    * @param packet The incoming packet.
-    * @return The incoming packet.
-    */
+     * Populates the fields of this class with information from the incoming packet.
+     *
+     * @param packet The incoming packet.
+     * @return The incoming packet.
+     */
    public Packet createFromPacket(Packet packet) {
-        yaw = packet.decodeDouble();
-        pitch = packet.decodeDouble();
-        area = packet.decodeDouble();
-        skew = packet.decodeDouble();
+        this.yaw = packet.decodeDouble();
+        this.pitch = packet.decodeDouble();
+        this.area = packet.decodeDouble();
+        this.skew = packet.decodeDouble();

        double x = packet.decodeDouble();
        double y = packet.decodeDouble();
        double r = packet.decodeDouble();

-        cameraToTarget = new Transform2d(new Translation2d(x, y), Rotation2d.fromDegrees(r));
+        this.targetCorners = new ArrayList<>(4);
+        for (int i = 0; i < 4; i++) {
+            double cx = packet.decodeDouble();
+            double cy = packet.decodeDouble();
+            targetCorners.add(new TargetCorner(cx, cy));
+        }
+
+        this.cameraToTarget = new Transform2d(new Translation2d(x, y), Rotation2d.fromDegrees(r));

        return packet;
    }

    /**
-    * Populates the outgoing packet with information from the current target.
-    *
-    * @param packet The outgoing packet.
-    * @return The outgoing packet.
-    */
+     * Populates the outgoing packet with information from the current target.
+     *
+     * @param packet The outgoing packet.
+     * @return The outgoing packet.
+     */
    public Packet populatePacket(Packet packet) {
        packet.encode(yaw);
        packet.encode(pitch);
@@ -113,6 +141,11 @@ public class PhotonTrackedTarget {
        packet.encode(cameraToTarget.getTranslation().getY());
        packet.encode(cameraToTarget.getRotation().getDegrees());

+        for (int i = 0; i < 4; i++) {
+            packet.encode(targetCorners.get(i).x);
+            packet.encode(targetCorners.get(i).y);
+        }
+
        return packet;
    }
 }
--- a/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * 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.targeting;
+
+import java.util.Objects;
+
+/**
+ * Represents a point in an image at the corner of the minimum-area bounding rectangle, in pixels.
+ * Origin at the top left, plus-x to the right, plus-y down.
+ */
+public class TargetCorner {
+    public final double x;
+    public final double y;
+
+    public TargetCorner(double cx, double cy) {
+        this.x = cx;
+        this.y = cy;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        TargetCorner that = (TargetCorner) o;
+        return Double.compare(that.x, x) == 0 && Double.compare(that.y, y) == 0;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(x, y);
+    }
+
+    @Override
+    public String toString() {
+        return "(" + x + "," + y + ')';
+    }
+}
--- a/photonlib-java-examples/bin/main/org/photonlib/examples/examples.json
+++ b/photonlib-java-examples/bin/main/org/photonlib/examples/examples.json
@@ -59,4 +59,4 @@
    "dependencies": [],
    "foldername": "simposeest"
  }
-]
+]
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java
@@ -19,18 +19,18 @@ package org.photonlib.examples.aimandrange;
 import edu.wpi.first.wpilibj.RobotBase;

 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
    private Main() {}

    /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
    public static void main(String... args) {
        RobotBase.startRobot(Robot::new);
    }
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java
@@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;

 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
    // Constants such as camera and target height stored. Change per robot and goal!
    final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java
@@ -19,18 +19,18 @@ package org.photonlib.examples.aimattarget;
 import edu.wpi.first.wpilibj.RobotBase;

 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
    private Main() {}

    /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
    public static void main(String... args) {
        RobotBase.startRobot(Robot::new);
    }
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java
@@ -25,11 +25,11 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.photonvision.PhotonCamera;

 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
    // Constants such as camera and target height stored. Change per robot and goal!
    final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java
@@ -19,18 +19,18 @@ package org.photonlib.examples.getinrange;
 import edu.wpi.first.wpilibj.RobotBase;

 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
    private Main() {}

    /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
    public static void main(String... args) {
        RobotBase.startRobot(Robot::new);
    }
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java
@@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;

 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
    // Constants such as camera and target height stored. Change per robot and goal!
    final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java
@@ -19,18 +19,18 @@ package org.photonlib.examples.simaimandrange;
 import edu.wpi.first.wpilibj.RobotBase;

 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
    private Main() {}

    /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
    public static void main(String... args) {
        RobotBase.startRobot(Robot::new);
    }
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java
@@ -27,11 +27,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;

 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
    // 2020 High goal target height above ground
    public static final double TARGET_HEIGHT_METERS = Units.inchesToMeters(81.19);
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java
@@ -36,12 +36,12 @@ import org.photonvision.SimVisionSystem;
 import org.photonvision.SimVisionTarget;

 /**
-* Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
-* PhotonVision system and one vision target.
-*
-* <p>This class and its methods are only relevant during simulation. While on the real robot, the
-* real motors/sensors/physics are used instead.
-*/
+ * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
+ * PhotonVision system and one vision target.
+ *
+ * <p>This class and its methods are only relevant during simulation. While on the real robot, the
+ * real motors/sensors/physics are used instead.
+ */
 public class DrivetrainSim {
    // Simulated Motor Controllers
    PWMSim leftLeader = new PWMSim(0);
@@ -108,9 +108,9 @@ public class DrivetrainSim {
    }

    /**
-    * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
-    * physics forward by a single 20ms step.
-    */
+     * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
+     * physics forward by a single 20ms step.
+     */
    public void update() {
        double leftMotorCmd = 0;
        double rightMotorCmd = 0;
@@ -132,11 +132,11 @@ public class DrivetrainSim {
    }

    /**
-    * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
-    * robot onto a specific spot in the field (IE, at the start of each match).
-    *
-    * @param pose
-    */
+     * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
+     * robot onto a specific spot in the field (IE, at the start of each match).
+     *
+     * @param pose
+     */
    public void resetPose(Pose2d pose) {
        drivetrainSimulator.setPose(pose);
    }
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java
@@ -20,18 +20,18 @@ import edu.wpi.first.wpilibj.RobotBase;
 import org.photonlib.examples.simposeest.robot.Robot;

 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
    private Main() {}

    /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
    public static void main(String... args) {
        RobotBase.startRobot(Robot::new);
    }
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java
@@ -27,11 +27,11 @@ import edu.wpi.first.wpilibj.Timer;
 import java.util.List;

 /**
-* Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current
-* estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain.
-* The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it
-* thinks it ought to be.
-*/
+ * Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current
+ * estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain.
+ * The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it
+ * thinks it ought to be.
+ */
 public class AutoController {
    private Trajectory trajectory;

@@ -72,13 +72,13 @@ public class AutoController {
    }

    /**
-    * Given the current estimate of the robot's position, calculate drivetrain speed commands which
-    * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this
-    * method.
-    *
-    * @param curEstPose Current estimate of drivetrain pose on the field
-    * @return The commanded drivetrain motion
-    */
+     * Given the current estimate of the robot's position, calculate drivetrain speed commands which
+     * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this
+     * method.
+     *
+     * @param curEstPose Current estimate of drivetrain pose on the field
+     * @return The commanded drivetrain motion
+     */
    public ChassisSpeeds getCurMotorCmds(Pose2d curEstPose) {
        if (isRunning) {
            double elapsed = timer.get();
@@ -91,9 +91,9 @@ public class AutoController {
    }

    /**
-    * @return The position which the auto controller is attempting to move the drivetrain to right
-    *     now.
-    */
+     * @return The position which the auto controller is attempting to move the drivetrain to right
+     *     now.
+     */
    public Pose2d getCurPose2d() {
        return desiredDtState.poseMeters;
    }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Chris Gerth	4ddb9aa08f	Create new pipelines with same type as current (#398 )	2022-01-15 10:11:12 -05:00
Banks T	4aadebdbb2	Change PhotonLib License to MIT (#394 ) * Change PhotonLib License to MIT * Remove extraneous newline in license	2022-01-14 22:05:49 -05:00
Matt	da8d70f887	Ensure cameras with gain will always have it enabled (#388 )	2022-01-11 17:12:30 -08:00
Tyler Veness	80a0d8de1c	Fix test resources path (#386 )	2022-01-10 21:40:43 -08:00
Matt	3ad476bc28	Send corners of min area rectangles (#382 ) Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. Co-authored-by: Tyler Veness <calcmogul@gmail.com>	2022-01-10 20:31:36 -08:00
Matt	e6d8e05b91	2022 grouping and test mode updates (#381 ) Add 2022 images, "2orMore" grouping mode, and 2022 test mode Test mode now preserves old settings	2022-01-10 16:51:06 -08:00
Tyler Veness	46fa17dfd8	Upgrade spotless and shadow (#385 ) Fixes Log4J vulnerability	2022-01-10 11:56:45 -08:00
Matt	43c35286f3	Reword restart modal (#374 ) Clarifies that photon will restart (when running as service)	2022-01-09 16:02:32 -08:00
Matt	3d317f7035	Switch to Releaser from eine/tip (#379 )	2022-01-09 09:00:25 -08:00
Tyler Veness	a161bd5be9	Upgrade all maven dependencies for 2022 (#377 ) This also fixes compilation with JDK 17.	2022-01-08 10:17:28 -08:00
Matt	0f730fc28d	Update WPILib to 2022.1.1 rc 1 (#376 )	2022-01-06 20:14:51 -08:00
Matt	12e06b09c3	Add Pi zero 2 W to PiVersion enum (#373 ) This approach is quite brittle, but it's easy to get working and can ship in an initial 2022 release. It's necessary to prevent GPU acceleration from happening on Pi 4s though. Let's try to put together something better for future releases.	2022-01-05 20:34:42 -08:00
Matt	641101f574	Fix NetworkTables team connection bug (#375 )	2021-12-31 22:55:32 -06:00
Matt	6a1201432c	Hard-code picam resolutions (#366 ) * Hard-code picam resolutions * Address review comment	2021-12-30 23:19:25 -08:00
Matt	e77a06bfa6	Remove pipeline type select (#371 )	2021-12-23 20:27:59 -08:00
dependabot[bot]	8b0b18bd07	Bump y18n from 4.0.0 to 4.0.3 in /photon-client (#372 ) Bumps [y18n](https://github.com/yargs/y18n) from 4.0.0 to 4.0.3. - [Release notes](https://github.com/yargs/y18n/releases) - [Changelog](https://github.com/yargs/y18n/blob/y18n-v4.0.3/CHANGELOG.md) - [Commits](https://github.com/yargs/y18n/compare/v4.0.0...y18n-v4.0.3) --- updated-dependencies: - dependency-name: y18n dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2021-12-20 10:39:21 -08:00
Matt	1766f3bf0f	Add picam resolution type, remove k prefix (#365 ) Changes "kUnknown" to "Picam" in resolution dropdown; similarly "kBGR" -> "BGR"	2021-12-20 10:08:17 -08:00
Matt	4578fa756c	Null-check files to be cleaned in Logger (#367 )	2021-12-19 06:52:13 -06:00
Matt	d6e1e28fc2	Add pi version check (#360 ) Should prevent GPU acceleration on Pi 4	2021-12-18 13:12:53 -05:00
Matt	49048c3998	Don't limit divisors in driver mode (#363 )	2021-12-18 12:56:52 -05:00
Matt	8b079d9b20	Add pi-only JAR createion (#362 )	2021-12-18 12:53:08 -05:00
icemannie	1522adaa0e	Remove pipeline index/driver mode/led mode caching in PhotonCamera	2021-12-15 12:16:09 -05:00
Matt	3cd57b8b43	Don't generate Pi images on PRs (#350 )	2021-12-03 23:19:20 -05:00
Chris Gerth	c944967476	Offline Update (.jar replace) (#340 ) Allows users to upload a new JAR to a Pi. Also bumps the pi image to increase the heap size.	2021-12-03 23:08:51 -05:00
Matt	dbd631da61	Suffix pi image zips with "-image.zip" (#339 ) * Suffix pi image zips with "-image.zip" * Update main.yml	2021-11-29 21:43:41 -06:00
mdurrani808	f731ae37d2	Updated README.md (#344 )	2021-11-29 21:20:46 -06:00
Matt	0a8da1a0bd	Fix image glob in dev releases (#338 ) Should now upload pi images to dev releases	2021-11-28 18:32:33 -05:00