diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000000..6ff3f8d48f
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,37 @@
+# Set default behavior to automatically normalize line endings (LF on check-in).
+* text=auto
+
+# Force batch scripts to always use CRLF line endings so that if a repo is accessed
+# in Windows via a file share from Linux, the scripts will work.
+*.{cmd,[cC][mM][dD]} text eol=crlf
+*.{bat,[bB][aA][tT]} text eol=crlf
+*.{ics,[iI][cC][sS]} text eol=crlf
+
+# Force bash scripts to always use LF line endings so that if a repo is accessed
+# in Unix via a file share from Windows, the scripts will work.
+*.sh text eol=lf
+
+# Ensure Spotless does not try to use CRLF line endings on Windows in the local repo.
+*.gradle text eol=lf
+*.java text eol=lf
+*.json text eol=lf
+*.md text eol=lf
+*.xml text eol=lf
+*.h text eol=lf
+*.hpp text eol=lf
+*.inc text eol=lf
+*.inl text eol=lf
+*.cpp text eol=lf
+
+# Frontend Files
+*.js text eol=lf
+*.vue text eol=lf
+
+# Denote all files that are truly binary and should not be modified.
+*.png binary
+*.jpg binary
+*.jpeg binary
+*.gif binary
+*.so binary
+*.dll binary
+*.webp binary
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index a4cfdd43b7..be57d9e0f5 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -204,8 +204,9 @@ jobs:
         include:
           - os: windows-2022
             artifact-name: Win64
-          - os: macos-11
-            artifact-name: macOS
+          # Mac builds are broken due to opencv class loading issues -- disable for now
+          # - os: macos-11
+          #   artifact-name: macOS
           - os: ubuntu-22.04
             artifact-name: Linux
 
diff --git a/.gitignore b/.gitignore
index bf87286f86..ca5a93289b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -145,6 +145,7 @@ build/spotlessJava
 build/*
 build
 photon-lib/src/main/java/org/photonvision/PhotonVersion.java
+photon-lib/bin/main/images/*
 /photonlib-java-examples/bin/
 photon-lib/src/generate/native/include/PhotonVersion.h
 .gitattributes
@@ -157,3 +158,4 @@ photonlib-java-examples/*/vendordeps/*
 photonlib-cpp-examples/*/vendordeps/*
 
 */networktables.json
+*.sqlite
diff --git a/.styleguide b/.styleguide
index 5b6275ca1f..13ce2512df 100644
--- a/.styleguide
+++ b/.styleguide
@@ -17,6 +17,7 @@ modifiableFileExclude {
   \.so$
   \.dll$
   \.webp$
+  gradlew
 }
 
 includeProject {
diff --git a/photon-client/src/App.vue b/photon-client/src/App.vue
index 6e0ecd001d..053635c21d 100644
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -32,7 +32,7 @@
 
         <v-list-item
           link
-          to="dashboard"
+          to="/dashboard"
           @click="rollbackPipelineIndex()"
         >
           <v-list-item-icon>
@@ -45,7 +45,7 @@
         <v-list-item
           ref="camerasTabOpener"
           link
-          to="cameras"
+          to="/cameras"
           @click="switchToDriverMode()"
         >
           <v-list-item-icon>
@@ -57,7 +57,7 @@
         </v-list-item>
         <v-list-item
           link
-          to="settings"
+          to="/settings"
           @click="switchToSettingsTab()"
         >
           <v-list-item-icon>
@@ -69,7 +69,7 @@
         </v-list-item>
         <v-list-item
           link
-          to="docs"
+          to="/docs"
         >
           <v-list-item-icon>
             <v-icon>mdi-bookshelf</v-icon>
@@ -197,7 +197,7 @@
         <v-card-text>
           PhotonVision cannot connect to the NetworkTables Server. Please visit the
           <router-link
-            to="settings"
+            to="/settings"
             class="accent--text"
             @click="switchToSettingsTab"
           >
@@ -345,7 +345,7 @@ export default {
       this.previouslySelectedIndices = null;
     },
     switchToSettingsTab() {
-      this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
+      this.axios.post('http://' + this.$address + '/api/utils/publishMetrics')
     }
   }
 };
diff --git a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue b/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
index d0271a1a0d..66c7404ec8 100644
--- a/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
+++ b/photon-client/src/components/pipeline/CameraAndPipelineSelect.vue
@@ -1,5 +1,13 @@
 <template>
   <div>
+    <v-snackbar
+      v-model="snack"
+      top
+      :color="snackbar.color"
+      :timeout="2000"
+    >
+      <span>{{ snackbar.text }}</span>
+    </v-snackbar>
     <v-row
       align="center"
       style="padding: 12px 12px 12px 24px"
@@ -144,7 +152,7 @@
         </v-menu>
       </v-col>
       <v-col
-        v-if="currentPipelineType >= 0"
+        v-if="_currentPipelineType >= 0"
         cols="10"
         md="11"
         lg="10"
@@ -152,7 +160,7 @@
         class="pa-0"
       >
         <CVselect
-          v-model="currentPipelineType"
+          v-model="_currentPipelineType"
           name="Type"
           tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
           :list="['Reflective Tape', 'Colored Shape', 'AprilTag']"
@@ -269,7 +277,12 @@ export default {
             duplicateDialog: false,
             showPipeTypeDialog: false,
             proposedPipelineType : 0,
-            pipeIndexToDuplicate: undefined
+            pipeIndexToDuplicate: undefined,
+            snack: false,
+            snackbar: {
+              color: "success",
+              text: "",
+            }
         }
     },
     computed: {
@@ -321,7 +334,7 @@ export default {
                 this.$store.commit('currentPipelineIndex', value - (this.$store.getters.isDriverMode ? 1 : 0));
             }
         },
-        currentPipelineType: {
+        _currentPipelineType: {
             get() {
                 return this.$store.getters.currentPipelineSettings.pipelineType - 2;
             },
@@ -333,11 +346,11 @@ export default {
     methods: {
         showTypeDialog(idx) {
             // Only show the dialog if it's a new type
-            this.showPipeTypeDialog = idx !== this.currentPipelineType;
+            this.showPipeTypeDialog = idx !== this._currentPipelineType;
             this.proposedPipelineType = idx;
         },
         changePipeType(actuallyChange) {
-            const newIdx = actuallyChange ? this.proposedPipelineType : this.currentPipelineType
+            const newIdx = actuallyChange ? this.proposedPipelineType : this._currentPipelineType
             this.handleInputWithIndex('pipelineType', newIdx);
             this.showPipeTypeDialog = false;
         },
@@ -347,16 +360,37 @@ export default {
         },
         saveCameraNameChange() {
             if (this.checkCameraName === "") {
-                // this.handleInputWithIndex("changeCameraName", this.newCameraName);
-                this.axios.post('http://' + this.$address + '/api/setCameraNickname',
+                this.axios.post('http://' + this.$address + '/api/settings/camera/setNickname',
                     {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
-                    // eslint-disable-next-line
-                    .then(r => {
-                        this.$emit('camera-name-changed')
+                    .then(response => {
+                      this.$emit('camera-name-changed')
+
+                      this.snackbar = {
+                        color: "success",
+                        text: response.data.text || response.data
+                      }
+                      this.snack = true;
                     })
-                    .catch(e => {
-                        console.log("HTTP error while changing camera name " + e);
-                        this.$emit('camera-name-changed')
+                    .catch(error => {
+                      this.$emit('camera-name-changed')
+
+                      if(error.response) {
+                        this.snackbar = {
+                          color: "error",
+                          text:  error.response.data.text || error.response.data
+                        }
+                      } else if(error.request) {
+                        this.snackbar = {
+                          color: "error",
+                          text: "Error while trying to process the request! The backend didn't respond.",
+                        };
+                      } else {
+                        this.snackbar = {
+                          color: "error",
+                          text: "An error occurred while trying to process the request.",
+                        };
+                      }
+                      this.snack = true;
                     })
                 this.discardCameraNameChange();
             }
@@ -387,7 +421,7 @@ export default {
                 if (this.isPipelineNameEdit) {
                     this.handleInputWithIndex("changePipelineName", this.newPipelineName);
                 } else {
-                    this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this.currentPipelineType]); // 0 for reflective, 1 for colored shape
+                    this.handleInputWithIndex("addNewPipeline", [this.newPipelineName, this._currentPipelineType]); // 0 for reflective, 1 for colored shape
                 }
                 this.discardPipelineNameChange();
             }
@@ -404,7 +438,3 @@ export default {
 
 }
 </script>
-
-<style scoped>
-
-</style>
diff --git a/photon-client/src/views/CamerasView.vue b/photon-client/src/views/CamerasView.vue
index de5293a5ad..765832218f 100644
--- a/photon-client/src/views/CamerasView.vue
+++ b/photon-client/src/views/CamerasView.vue
@@ -302,6 +302,7 @@
               <v-col>
                 <v-btn
                   color="secondary"
+                  :disabled="isCalibrating"
                   small
                   style="width: 100%;"
                   @click="$refs.importCalibrationFromCalibdb.click()"
@@ -323,14 +324,14 @@
       >
         <template>
           <CVimage
-            :id="cameras-cal"
+            :id="'cameras-cal'"
             :idx="1"
             :disconnected="!$store.state.backendConnected"
             scale="100"
             style="border-radius: 5px;"
           />
           <v-dialog
-            v-model="snack"
+            v-model="calibrationDialog"
             width="500px"
             :persistent="true"
           >
@@ -399,12 +400,12 @@
     >
 
     <v-snackbar
-      v-model="uploadSnack"
+      v-model="snack"
       top
-      :color="uploadSnackData.color"
-      timeout="-1"
+      :color="snackbar.color"
+      timeout="2000"
     >
-      <span>{{ uploadSnackData.text }}</span>
+      <span>{{ snackbar.text }}</span>
     </v-snackbar>
   </div>
 </template>
@@ -431,17 +432,17 @@ export default {
     },
     data() {
         return {
-            snack: false,
+            calibrationDialog: false,
             calibrationInProgress: false,
             calibrationFailed: false,
             filteredVideomodeIndex: 0,
             settingsValid: true,
             unfilteredStreamDivisors: [1, 2, 4],
-            uploadSnackData: {
+            snackbar: {
               color: "success",
               text: "",
             },
-            uploadSnack: false,
+            snack: false,
         }
     },
     computed: {
@@ -479,13 +480,10 @@ export default {
           get() {
             return this.unfilteredStreamDivisors.filter(item => {
               const res = this.stringResolutionList[this.selectedFilteredResIndex].split(" X ").map(it => parseInt(it));
-              console.log(res);
-              console.log(item);
               // Realistically, we need more than 320x240, but lower than this is
               // basically unusable. For now, don't allow decimations that take us
               // below that
               const ret = ((res[0] / item) >= 300 && (res[1] / item) >= 220) || (item === 1);
-              console.log(ret);
               return ret;
             })
           }
@@ -620,43 +618,34 @@ export default {
               };
 
               this.axios
-                .post("http://" + this.$address + "/api/calibration/import", data, {
+                .post("http://" + this.$address + "/api/calibration/importFromCalibDB", data, {
                   headers: { "Content-Type": "text/plain" },
                 })
-                .then(() => {
-                  this.uploadSnackData = {
-                    color: "success",
-                    text:
-                      "Calibration imported successfully!",
-                  };
-                  this.uploadSnack = true;
+                .then((response) => {
+                    this.snackbar = {
+                      color: response.status === 200 ? "success" : "error",
+                      text: response.data.text || response.data
+                    }
+                    this.snack = true;
                 })
                 .catch((err) => {
-                  if (err.response) {
-                    this.uploadSnackData = {
+                  if (err.request) {
+                    this.snackbar = {
                       color: "error",
-                      text:
-                        "Error while uploading calibration file! Could not process provided file.",
-                    };
-                  } else if (err.request) {
-                    this.uploadSnackData = {
-                      color: "error",
-                      text:
-                        "Error while uploading calibration file! No respond to upload attempt.",
+                      text: "Error while uploading calibration file! The backend didn't respond to the upload attempt.",
                     };
                   } else {
-                    this.uploadSnackData = {
+                    this.snackbar = {
                       color: "error",
                       text: "Error while uploading calibration file!",
                     };
                   }
-                  this.uploadSnack = true;
+                  this.snack = true;
                 });
-
               })
     },
         closeDialog() {
-            this.snack = false;
+            this.calibrationDialog = false;
             this.calibrationInProgress = false;
             this.calibrationFailed = false;
         },
@@ -750,15 +739,33 @@ export default {
           doc.save(`calibrationTarget-${config.type}.pdf`)
         },
         sendCameraSettings() {
-            this.axios.post("http://" + this.$address + "/api/settings/camera", {
-                "settings": this.cameraSettings,
-                "index": this.$store.state.currentCameraIndex
-            }).then(response => {
-                    if (response.status === 200) {
-                        this.$store.state.saveBar = true;
+            this.axios.post("http://" + this.$address + "/api/settings/camera", {"settings": this.cameraSettings, "index": this.$store.state.currentCameraIndex})
+                .then(response => {
+                  this.snackbar = {
+                    color: "success",
+                    text: response.data.text || response.data
+                  }
+                  this.snack = true;
+                })
+                .catch(error => {
+                  if(error.response) {
+                    this.snackbar = {
+                      color: "error",
+                      text: error.response.data.text || error.response.data
                     }
-                }
-            )
+                  } else if(error.request) {
+                    this.snackbar = {
+                      color: "error",
+                      text: "Error while trying to process the request! The backend didn't respond.",
+                    };
+                  } else {
+                    this.snackbar = {
+                      color: "error",
+                      text: "An error occurred while trying to process the request.",
+                    };
+                  }
+                  this.snack = true;
+                })
         },
         isCalibrated(resolution) {
             return this.$store.getters.currentCameraSettings.calibrations
@@ -785,16 +792,13 @@ export default {
         sendCalibrationFinish() {
             console.log("finishing calibration for index " + this.$store.getters.currentCameraIndex);
 
-            this.snack = true;
+            this.calibrationDialog = true;
             this.calibrationInProgress = true;
 
-            this.axios.post("http://" + this.$address + "/api/settings/endCalibration", {idx: this.$store.getters.currentCameraIndex})
-                .then((response) => {
-                        if (response.status === 200) {
-                            this.calibrationInProgress = false;
-                        } else {
-                            this.calibrationFailed = true;
-                        }
+            this.axios.post("http://" + this.$address + "/api/calibration/end", {index: this.$store.getters.currentCameraIndex})
+                .then(() => {
+                  // End calibration will always return a 200 code on success
+                        this.calibrationInProgress = false;
                     }
                 ).catch(() => {
                     this.calibrationFailed = true;
diff --git a/photon-client/src/views/LogsView.vue b/photon-client/src/views/LogsView.vue
index fbb9c86d53..ca05a334b2 100644
--- a/photon-client/src/views/LogsView.vue
+++ b/photon-client/src/views/LogsView.vue
@@ -23,7 +23,7 @@
         <a
           ref="exportLogFile"
           style="color: black; text-decoration: none; display: none"
-          :href="'http://' + this.$address + '/api/settings/photonvision-journalctl.txt'"
+          :href="'http://' + this.$address + '/api/utils/logs/photonvision-journalctl.txt'"
           download="photonvision-journalctl.txt"
         />
       </v-btn>
diff --git a/photon-client/src/views/PipelineView.vue b/photon-client/src/views/PipelineView.vue
index 90c60f7e5e..848f3ef200 100644
--- a/photon-client/src/views/PipelineView.vue
+++ b/photon-client/src/views/PipelineView.vue
@@ -236,7 +236,7 @@
         <v-card-text>
           Because the current resolution {{ this.$store.getters.currentVideoFormat.width }} x {{ this.$store.getters.currentVideoFormat.height }} is not yet calibrated, 3D mode cannot be enabled. Please
           <a
-            href="/#/cameras"
+            href="/cameras"
             class="white--text"
             @click="$emit('switch-to-cameras')"
           > visit the Cameras tab</a> to calibrate this resolution. For now, SolvePNP will do nothing.
diff --git a/photon-client/src/views/PipelineViews/OutputTab.vue b/photon-client/src/views/PipelineViews/OutputTab.vue
index 66906ccc2b..7866b832b9 100644
--- a/photon-client/src/views/PipelineViews/OutputTab.vue
+++ b/photon-client/src/views/PipelineViews/OutputTab.vue
@@ -43,7 +43,7 @@
     />
     <v-snackbar
       v-model="snackbar"
-      :timeout="3000"
+      :timeout="2000"
       top
       color="error"
     >
diff --git a/photon-client/src/views/SettingsViews/DeviceControl.vue b/photon-client/src/views/SettingsViews/DeviceControl.vue
index c0e20e081a..ea4f7054d8 100644
--- a/photon-client/src/views/SettingsViews/DeviceControl.vue
+++ b/photon-client/src/views/SettingsViews/DeviceControl.vue
@@ -54,7 +54,7 @@
       >
         <v-btn
           color="secondary"
-          @click="$refs.importSettings.click()"
+          @click="() => showImportDialog = true"
         >
           <v-icon left>
             mdi-import
@@ -62,7 +62,6 @@
           Import Settings
         </v-btn>
       </v-col>
-
       <v-col
         cols="12"
         sm="6"
@@ -77,7 +76,6 @@
           Export Settings
         </v-btn>
       </v-col>
-
       <v-col
         cols="12"
         sm="6"
@@ -95,16 +93,11 @@
           <a
             ref="exportLogFile"
             style="color: black; text-decoration: none; display: none"
-            :href="
-              'http://' +
-                this.$address +
-                '/api/settings/photonvision-journalctl.txt'
-            "
+            :href="'http://' + this.$address + '/api/utils/logs/photonvision-journalctl.txt'"
             download="photonvision-journalctl.txt"
           />
         </v-btn>
       </v-col>
-
       <v-col
         cols="12"
         sm="6"
@@ -124,24 +117,71 @@
       v-model="snack"
       top
       :color="snackbar.color"
-      timeout="-1"
+      :timeout="snackbarTimeout"
     >
       <span>{{ snackbar.text }}</span>
     </v-snackbar>
-
-    <!-- Special hidden upload input that gets 'clicked' when the user imports settings -->
-    <input
-      ref="importSettings"
-      type="file"
-      accept=".zip, .json"
-      style="display: none;"
-      @change="readImportedSettings"
+    <v-dialog
+      v-model="showImportDialog"
+      width="600"
+      @input="() => {
+        importType = undefined;
+        importFile = null;
+      }"
     >
+      <v-card
+        color="primary"
+        dark
+      >
+        <v-card-title>Import Settings</v-card-title>
+        <v-card-text>
+          Upload and apply previously saved or exported PhotonVision settings to this device
+          <v-row
+            class="mt-6 ml-8"
+          >
+            <CVselect
+              v-model="importType"
+              name="Type"
+              tooltip="Select the type of settings file you are trying to upload"
+              :list="['All Settings', 'Hardware Config', 'Hardware Settings', 'Network Config']"
+              :select-cols="10"
+            />
+          </v-row>
+          <v-row
+            class="mt-6 ml-8 mr-8"
+          >
+            <v-file-input
+              :disabled="importType === undefined"
+              :error-messages="importType === undefined ? 'Settings type not selected' : ''"
+              :accept="importType === 0 ? '.zip' : '.json'"
+              @change="(file) => importFile = file"
+            />
+          </v-row>
+          <v-row
+            class="mt-12 ml-8 mr-8 mb-1"
+            style="display: flex; align-items: center; justify-content: center"
+            align="center"
+          >
+            <v-btn
+              color="secondary"
+              :disabled="importFile === null"
+              @click="uploadSettings"
+            >
+              <v-icon left>
+                mdi-import
+              </v-icon>
+              Import Settings
+            </v-btn>
+          </v-row>
+        </v-card-text>
+      </v-card>
+    </v-dialog>
+
     <!-- Special hidden link that gets 'clicked' when the user exports settings -->
     <a
       ref="exportSettings"
       style="color: black; text-decoration: none; display: none"
-      :href="'http://' + this.$address + '/api/settings/photonvision_config.zip'"
+      :href="`http://${this.$address}/api/settings/photonvision_config.zip`"
       download="photonvision-settings.zip"
     />
 
@@ -156,18 +196,28 @@
   </div>
 </template>
 
+
 <script>
+import CVselect from "../../components/common/cv-select";
+
 export default {
   // eslint-disable-next-line
-  name: "Device Control",
+  name: "DeviceControl",
+  components: {
+    CVselect
+  },
   data() {
     return {
       snack: false,
+      snackbarTimeout: 2000,
       uploadPercentage: 0.0,
+      showImportDialog: false,
+      importType: undefined,
+      importFile: null,
       snackbar: {
         color: "success",
         text: "",
-      },
+      }
     };
   },
   computed: {
@@ -197,51 +247,117 @@ export default {
     metrics() {
       // console.log(this.$store.state.metrics);
       return this.$store.state.metrics;
-    },
+    }
   },
   methods: {
     restartProgram() {
-      this.axios.post("http://" + this.$address + "/api/restartProgram", {});
+      this.axios.post("http://" + this.$address + "/api/utils/restartProgram")
+          .then(() => {
+            this.snackbar = {
+              color: "success",
+              text: "Successfully sent program restart request"
+            }
+            this.snack = true;
+          })
+          .catch(error => {
+            // This endpoint always return 204 regardless of outcome
+            if(error.request) {
+              this.snackbar = {
+                color: "error",
+                text: "Error while trying to process the request! The backend didn't respond.",
+              };
+            } else {
+              this.snackbar = {
+                color: "error",
+                text: "An error occurred while trying to process the request.",
+              };
+            }
+            this.snack = true;
+          })
     },
     restartDevice() {
-      this.axios.post("http://" + this.$address + "/api/restartDevice", {});
+      this.axios.post("http://" + this.$address + "/api/utils/restartDevice")
+          .then(() => {
+            this.snackbar = {
+              color: "success",
+              text: "Successfully dispatched the restart command. It isn't confirmed if a device restart will occur."
+            }
+            this.snack = true;
+          })
+          .catch(error => {
+            if(error.response) {
+              this.snackbar = {
+                color: "error",
+                text: "The backend is unable to fulfil the request to restart the device."
+              }
+            } else if(error.request) {
+              this.snackbar = {
+                color: "error",
+                text: "Error while trying to process the request! The backend didn't respond.",
+              };
+            } else {
+              this.snackbar = {
+                color: "error",
+                text: "An error occurred while trying to process the request.",
+              };
+            }
+            this.snack = true;
+          })
     },
-    readImportedSettings(event) {
+    uploadSettings() {
       let formData = new FormData();
-      formData.append("zipData", event.target.files[0]);
-      this.axios
-        .post("http://" + this.$address + "/api/settings/import", formData, {
-          headers: { "Content-Type": "multipart/form-data" },
-        })
-        .then(() => {
-          this.snackbar = {
-            color: "success",
-            text:
-              "Settings imported successfully! PhotonVision will restart in the background...",
-          };
-          this.snack = true;
-        })
-        .catch((err) => {
-          if (err.response) {
-            this.snackbar = {
-              color: "error",
-              text:
-                "Error while uploading settings file! Could not process provided file.",
-            };
-          } else if (err.request) {
-            this.snackbar = {
-              color: "error",
-              text:
-                "Error while uploading settings file! No respond to upload attempt.",
-            };
-          } else {
+      formData.append("data", this.importFile);
+
+      let settingsType
+      switch (this.importType) {
+        case 0:
+          settingsType = ""
+          break;
+        case 1:
+          settingsType = "/hardwareConfig"
+          break;
+        case 2:
+          settingsType = "/hardwareSettings"
+          break;
+        case 3:
+          settingsType = "/networkConfig"
+          break;
+      }
+
+      const requestUrl = `http://${this.$address}/api/settings${settingsType}`;
+      this.axios.post(requestUrl, formData, {
+        headers: { "Content-Type": "multipart/form-data" },
+      })
+          .then(response => {
             this.snackbar = {
-              color: "error",
-              text: "Error while uploading settings file!",
-            };
-          }
-          this.snack = true;
-        });
+              color: "success",
+              text: response.data.text || response.data
+            }
+            this.snack = true;
+          })
+          .catch(error => {
+            if(error.response) {
+              this.snackbar = {
+                color: "error",
+                text: error.response.data.text || error.response.data
+              }
+            } else if(error.request) {
+              this.snackbar = {
+                color: "error",
+                text: "Error while trying to process the request! The backend didn't respond.",
+              };
+            } else {
+              this.snackbar = {
+                color: "error",
+                text: "An error occurred while trying to process the request.",
+              };
+            }
+            this.snack = true;
+          })
+
+      this.showImportDialog = false
+      this.importType = undefined;
+      this.importFile = null;
     },
     doOfflineUpdate(event) {
       this.snackbar = {
@@ -249,12 +365,13 @@ export default {
         text: "New Software Upload in Process...",
       };
       this.snack = true;
+      this.snackbarTimeout = -1
 
       let formData = new FormData();
       formData.append("jarData", event.target.files[0]);
       this.axios
         .post(
-          "http://" + this.$address + "/api/settings/offlineUpdate",
+          "http://" + this.$address + "/api/utils/offlineUpdate",
           formData,
           {
             headers: { "Content-Type": "multipart/form-data" },
@@ -273,38 +390,37 @@ export default {
             }.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) {
+          .then(response => {
             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;
-        });
+              color: "success",
+              text: response.data.text || response.data
+            }
+            this.snack = true;
+          })
+          .catch(error => {
+            if(error.response) {
+              this.snackbar = {
+                color: "error",
+                text:  error.response.data.text || error.response.data
+              };
+            } else if(error.request) {
+              this.snackbar = {
+                color: "error",
+                text: "Error while trying to process the request! The backend didn't respond.",
+              };
+            } else {
+              this.snackbar = {
+                color: "error",
+                text: "An error occurred while trying to process the request.",
+              };
+            }
+            this.snack = true;
+          })
+
+      // Reset the timeout after the loading bar
+      this.snackbarTimeout = 2000
     },
-    showLogs(event) {
-      event;
+    showLogs() {
       this.$store.state.logsOverlay = true;
     },
   },
diff --git a/photon-client/src/views/SettingsViews/Lighting.vue b/photon-client/src/views/SettingsViews/Lighting.vue
index 07ba2a68a5..355127e651 100644
--- a/photon-client/src/views/SettingsViews/Lighting.vue
+++ b/photon-client/src/views/SettingsViews/Lighting.vue
@@ -17,7 +17,7 @@
 
     export default {
         // eslint-disable-next-line
-        name: 'LED Control',
+        name: 'LEDControl',
         components: {
             CVslider,
         },
diff --git a/photon-client/src/views/SettingsViews/Networking.vue b/photon-client/src/views/SettingsViews/Networking.vue
index 0669ea8281..83ce709f9e 100644
--- a/photon-client/src/views/SettingsViews/Networking.vue
+++ b/photon-client/src/views/SettingsViews/Networking.vue
@@ -75,7 +75,7 @@
       v-model="snack"
       top
       :color="snackbar.color"
-      timeout="5000"
+      timeout="2000"
     >
       <span>{{ snackbar.text }}</span>
     </v-snackbar>
@@ -230,31 +230,40 @@ export default {
             };
             this.snack = true;
 
-            this.axios.post("http://" + this.$address + "/api/settings/general", this.settings).then(
-                response => {
-                    if (response.status === 200) {
-                        this.snackbar = {
-                            color: "success",
-                            text: "Settings updated successfully"
-                        };
-                        this.snack = true;
+            this.axios.post("http://" + this.$address + "/api/settings/general", this.settings)
+                .then(response => {
+                  this.snackbar = {
+                    color: "success",
+                    text: response.data.text || response.data
+                  }
+                  this.snack = true;
+                })
+                .catch(error => {
+                  if(error.response) {
+                    if (error.status === 504 || changingStaticIp) {
+                      this.snackbar = {
+                        color: "error",
+                        text: `Connection lost! Try the new static IP at ${this.staticIp}:5800 or ${this.hostname}:5800?`
+                      };
+                    } else {
+                      this.snackbar = {
+                        color: "error",
+                        text: error.response.data.text || error.response.data
+                      }
                     }
-                },
-                error => {
-                  if (error.status === 504 || changingStaticIp) {
+                  } else if(error.request) {
                     this.snackbar = {
-                        color: "error",
-                        text: (error.response || {data: `Connection lost! Try the new static IP at ${this.staticIp}:5800 or ${this.hostname}:5800 ?`}).data
+                      color: "error",
+                      text: "Error while trying to process the request! The backend didn't respond.",
                     };
                   } else {
                     this.snackbar = {
-                        color: "error",
-                        text: (error.response || {data: "Couldn't save settings"}).data
+                      color: "error",
+                      text: "An error occurred while trying to process the request.",
                     };
                   }
-                    this.snack = true;
-                }
-            )
+                  this.snack = true;
+                })
         },
 
     },
diff --git a/photon-client/src/views/SettingsViews/Stats.vue b/photon-client/src/views/SettingsViews/Stats.vue
index efda4c85ac..3d24b8299e 100644
--- a/photon-client/src/views/SettingsViews/Stats.vue
+++ b/photon-client/src/views/SettingsViews/Stats.vue
@@ -117,31 +117,12 @@
         </tr>
       </table>
     </v-row>
-
-    <v-snackbar
-      v-model="snack"
-      top
-      :color="snackbar.color"
-      timeout="-1"
-    >
-      <span>{{ snackbar.text }}</span>
-    </v-snackbar>
   </div>
 </template>
 
 <script>
 export default {
     name: 'Stats',
-    data() {
-        return {
-            snack: false,
-            uploadPercentage: 0.0,
-            snackbar: {
-                color: "success",
-                text: ""
-            },
-        }
-    },
     computed: {
         settings() {
             return this.$store.state.settings.general;
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
index 782e16a21d..feaa5b0c74 100644
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -25,6 +25,8 @@ dependencies {
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
     implementation wpilibTools.deps.wpilibJava("apriltag")
+
+    implementation "org.xerial:sqlite-jdbc:3.41.0.0"
 }
 
 task writeCurrentVersionJava {
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
index 2690ef0859..ecec44054d 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -17,13 +17,11 @@
 
 package org.photonvision.common.configuration;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
+import java.nio.file.StandardCopyOption;
 import java.text.DateFormat;
 import java.text.ParseException;
 import java.text.SimpleDateFormat;
@@ -31,13 +29,9 @@
 import java.time.format.DateTimeFormatter;
 import java.time.temporal.TemporalAccessor;
 import java.util.*;
-import java.util.stream.Collectors;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.FileUtils;
-import org.photonvision.common.util.file.JacksonUtils;
-import org.photonvision.vision.pipeline.CVPipelineSettings;
-import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.VisionSource;
 import org.zeroturnaround.zip.ZipUtil;
 
@@ -48,337 +42,144 @@ public class ConfigManager {
     public static final String HW_CFG_FNAME = "hardwareConfig.json";
     public static final String HW_SET_FNAME = "hardwareSettings.json";
     public static final String NET_SET_FNAME = "networkSettings.json";
-    public static final String ATFL_SET_FNAME = "apriltagFieldLayout.json";
-
-    private PhotonConfiguration config;
-    private final File hardwareConfigFile;
-    private final File hardwareSettingsFile;
-    private final File networkConfigFile;
-    private final File apriltagFieldLayoutFile;
-    private final File camerasFolder;
 
     final File configDirectoryFile;
 
-    private long saveRequestTimestamp = -1;
+    private final ConfigProvider m_provider;
+
     private Thread settingsSaveThread;
+    private long saveRequestTimestamp = -1;
 
-    private static final Object m_settingsMutex = new Object();
+    enum ConfigSaveStrategy {
+        SQL,
+        LEGACY,
+        ATOMIC_ZIP;
+    }
+
+    // This logic decides which kind of ConfigManager we load as the default. If we want
+    // to switch back to the legacy config manager, change this constant
+    private static final ConfigSaveStrategy m_saveStrat = ConfigSaveStrategy.SQL;
 
     public static ConfigManager getInstance() {
         if (INSTANCE == null) {
-            INSTANCE = new ConfigManager(getRootFolder());
+            switch (m_saveStrat) {
+                case SQL:
+                    INSTANCE = new ConfigManager(getRootFolder(), new SqlConfigProvider(getRootFolder()));
+                    break;
+                case LEGACY:
+                    INSTANCE = new ConfigManager(getRootFolder(), new LegacyConfigProvider(getRootFolder()));
+                    break;
+                case ATOMIC_ZIP:
+                    // not yet done, fall through
+                default:
+                    break;
+            }
         }
         return INSTANCE;
     }
 
-    public static void saveUploadedSettingsZip(File uploadPath) {
-        var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
-        folderPath.mkdirs();
-        ZipUtil.unpack(uploadPath, folderPath);
-        FileUtils.deleteDirectory(getRootFolder());
-        try {
-            org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
-            logger.info("Copied settings successfully!");
-        } catch (IOException e) {
-            logger.error("Exception copying uploaded settings!", e);
+    private void translateLegacyIfPresent(Path folderPath) {
+        if (!(m_provider instanceof SqlConfigProvider)) {
+            // Cannot import into SQL if we aren't in SQL mode rn
             return;
         }
-    }
-
-    public PhotonConfiguration getConfig() {
-        return config;
-    }
-
-    private static Path getRootFolder() {
-        return Path.of("photonvision_config");
-    }
-
-    ConfigManager(Path configDirectoryFile) {
-        this.configDirectoryFile = new File(configDirectoryFile.toUri());
-        this.hardwareConfigFile =
-                new File(Path.of(configDirectoryFile.toString(), HW_CFG_FNAME).toUri());
-        this.hardwareSettingsFile =
-                new File(Path.of(configDirectoryFile.toString(), HW_SET_FNAME).toUri());
-        this.networkConfigFile =
-                new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri());
-        this.apriltagFieldLayoutFile =
-                new File(Path.of(configDirectoryFile.toString(), ATFL_SET_FNAME).toUri());
-        this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
-
-        settingsSaveThread = new Thread(this::saveAndWriteTask);
-        settingsSaveThread.start();
-    }
-
-    public void load() {
-        synchronized (m_settingsMutex) {
-            logger.info("Loading settings...");
-            if (!configDirectoryFile.exists()) {
-                if (configDirectoryFile.mkdirs()) {
-                    logger.debug("Root config folder did not exist. Created!");
-                } else {
-                    logger.error("Failed to create root config folder!");
-                }
-            }
-            if (!configDirectoryFile.canWrite()) {
-                logger.debug("Making root dir writeable...");
-                try {
-                    var success = configDirectoryFile.setWritable(true);
-                    if (success) logger.debug("Set root dir writeable!");
-                    else logger.error("Could not make root dir writeable!");
-                } catch (SecurityException e) {
-                    logger.error("Could not make root dir writeable!", e);
-                }
-            }
+        logger.info("Translating settings zip!");
 
-            HardwareConfig hardwareConfig;
-            HardwareSettings hardwareSettings;
-            NetworkConfig networkConfig;
-            AprilTagFieldLayout atfl = null;
+        var maybeCams = Path.of(folderPath.toAbsolutePath().toString(), "cameras").toFile();
+        var maybeCamsBak = Path.of(folderPath.toAbsolutePath().toString(), "cameras_backup").toFile();
 
-            if (hardwareConfigFile.exists()) {
-                try {
-                    hardwareConfig =
-                            JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class);
-                    if (hardwareConfig == null) {
-                        logger.error("Could not deserialize hardware config! Loading defaults");
-                        hardwareConfig = new HardwareConfig();
-                    }
-                } catch (IOException e) {
-                    logger.error("Could not deserialize hardware config! Loading defaults");
-                    hardwareConfig = new HardwareConfig();
-                }
-            } else {
-                logger.info("Hardware config does not exist! Loading defaults");
-                hardwareConfig = new HardwareConfig();
-            }
+        if (maybeCams.exists() && maybeCams.isDirectory()) {
+            var legacy = new LegacyConfigProvider(folderPath);
+            legacy.load();
+            var loadedConfig = legacy.getConfig();
 
-            if (hardwareSettingsFile.exists()) {
-                try {
-                    hardwareSettings =
-                            JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
-                    if (hardwareSettings == null) {
-                        logger.error("Could not deserialize hardware settings! Loading defaults");
-                        hardwareSettings = new HardwareSettings();
-                    }
-                } catch (IOException e) {
-                    logger.error("Could not deserialize hardware settings! Loading defaults");
-                    hardwareSettings = new HardwareSettings();
-                }
-            } else {
-                logger.info("Hardware settings does not exist! Loading defaults");
-                hardwareSettings = new HardwareSettings();
+            // yeet our current cameras directory, not needed anymore
+            if (maybeCamsBak.exists()) FileUtils.deleteDirectory(maybeCamsBak.toPath());
+            if (!maybeCams.canWrite()) {
+                maybeCams.setWritable(true);
             }
 
-            if (networkConfigFile.exists()) {
-                try {
-                    networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
-                    if (networkConfig == null) {
-                        logger.error("Could not deserialize network config! Loading defaults");
-                        networkConfig = new NetworkConfig();
-                    }
-                } catch (IOException e) {
-                    logger.error("Could not deserialize network config! Loading defaults");
-                    networkConfig = new NetworkConfig();
-                }
-            } else {
-                logger.info("Network config file does not exist! Loading defaults");
-                networkConfig = new NetworkConfig();
-            }
+            try {
+                Files.move(maybeCams.toPath(), maybeCamsBak.toPath(), StandardCopyOption.REPLACE_EXISTING);
+            } catch (IOException e) {
+                logger.error("Exception moving cameras to cameras_bak!", e);
 
-            if (apriltagFieldLayoutFile.exists()) {
-                try {
-                    atfl =
-                            JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class);
-                    if (atfl == null) {
-                        logger.error("Could not deserialize apriltag field layout!");
-                    }
-                } catch (IOException e) {
-                    logger.error("Could not deserialize apriltag field layout!");
-                    atfl = null; // not required, nice to be explicit
-                }
-            } else {
-                logger.info("Apriltag layout file not saved!");
-                atfl = null; // not required, nice to be explicit
-            }
-            if (atfl == null) {
-                logger.info("Loading default for 2023 field...");
+                // Try to just copy from cams to cams-bak instead of moving? Windows sometimes needs us to
+                // do that
                 try {
-                    atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField();
-                } catch (IOException e) {
-                    logger.error("Error loading WPILib field", e);
-                    atfl = null;
+                    org.apache.commons.io.FileUtils.copyDirectory(maybeCams, maybeCamsBak);
+                } catch (IOException e1) {
+                    // So we can't move to cams_bak, and we can't copy and delete either? We just have to give
+                    // up here on preserving the old folder
+                    logger.error("Exception while backup-copying cameras to cameras_bak!", e);
+                    e1.printStackTrace();
                 }
-                if (atfl == null) {
-                    // what do we even do here lmao -- wpilib should always work
-                    logger.error("Field layout is *still* null??????");
-                }
-            }
 
-            if (!camerasFolder.exists()) {
-                if (camerasFolder.mkdirs()) {
-                    logger.debug("Cameras config folder did not exist. Created!");
-                } else {
-                    logger.error("Failed to create cameras config folder!");
-                }
+                // So we can't save the old config, and we couldn't copy the folder
+                // But we've loaded the config. So just try to delete the directory so we don't try to load
+                // form it next time. That does mean we have no backup recourse, tho
+                if (maybeCams.exists()) FileUtils.deleteDirectory(maybeCams.toPath());
             }
 
-            HashMap<String, CameraConfiguration> cameraConfigurations = loadCameraConfigs();
-
-            this.config =
-                    new PhotonConfiguration(
-                            hardwareConfig, hardwareSettings, networkConfig, atfl, cameraConfigurations);
+            // Save the same config out using SQL loader
+            var sql = new SqlConfigProvider(getRootFolder());
+            sql.setConfig(loadedConfig);
+            sql.saveToDisk();
         }
     }
 
-    public void saveToDisk() {
-        synchronized (m_settingsMutex) {
-            // Delete old configs
-            FileUtils.deleteDirectory(camerasFolder.toPath());
+    public static boolean saveUploadedSettingsZip(File uploadPath) {
+        // Unpack to /tmp/something/photonvision
+        var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
+        folderPath.mkdirs();
+        ZipUtil.unpack(uploadPath, folderPath);
 
-            try {
-                JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
-            } catch (IOException e) {
-                logger.error("Could not save network config!", e);
-            }
-            try {
-                JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
-            } catch (IOException e) {
-                logger.error("Could not save hardware config!", e);
-            }
+        // Nuke the current settings directory
+        FileUtils.deleteDirectory(getRootFolder());
 
+        // If there's a cameras folder in the upload, we know we need to import from the
+        // old style
+        var maybeCams = Path.of(folderPath.getAbsolutePath(), "cameras").toFile();
+        if (maybeCams.exists() && maybeCams.isDirectory()) {
+            var legacy = new LegacyConfigProvider(folderPath.toPath());
+            legacy.load();
+            var loadedConfig = legacy.getConfig();
+
+            var sql = new SqlConfigProvider(getRootFolder());
+            sql.setConfig(loadedConfig);
+            return sql.saveToDisk();
+        } else {
+            // new structure -- just copy and save like we used to
             try {
-                JacksonUtils.serialize(apriltagFieldLayoutFile.toPath(), config.getApriltagFieldLayout());
+                org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
+                logger.info("Copied settings successfully!");
+                return true;
             } catch (IOException e) {
-                logger.error("Could not save AprilTag Field Layout!", e);
+                logger.error("Exception copying uploaded settings!", e);
+                return false;
             }
+        }
+    }
 
-            // save all of our cameras
-            var cameraConfigMap = config.getCameraConfigurations();
-            for (var subdirName : cameraConfigMap.keySet()) {
-                var camConfig = cameraConfigMap.get(subdirName);
-                var subdir = Path.of(camerasFolder.toPath().toString(), subdirName);
-
-                if (!subdir.toFile().exists()) {
-                    // TODO: check for error
-                    subdir.toFile().mkdirs();
-                }
-
-                try {
-                    JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
-                } catch (IOException e) {
-                    logger.error("Could not save config.json for " + subdir, e);
-                }
-
-                try {
-                    JacksonUtils.serialize(
-                            Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings);
-                } catch (IOException e) {
-                    logger.error("Could not save drivermode.json for " + subdir, e);
-                }
-
-                for (var pipe : camConfig.pipelineSettings) {
-                    var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json");
-
-                    if (!pipePath.getParent().toFile().exists()) {
-                        // TODO: check for error
-                        pipePath.getParent().toFile().mkdirs();
-                    }
+    public PhotonConfiguration getConfig() {
+        return m_provider.getConfig();
+    }
 
-                    try {
-                        JacksonUtils.serialize(pipePath, pipe);
-                    } catch (IOException e) {
-                        logger.error("Could not save " + pipe.pipelineNickname + ".json!", e);
-                    }
-                }
-            }
-            logger.info("Settings saved!");
-        }
+    private static Path getRootFolder() {
+        return Path.of("photonvision_config");
     }
 
-    private HashMap<String, CameraConfiguration> loadCameraConfigs() {
-        HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
-        try {
-            var subdirectories =
-                    Files.list(camerasFolder.toPath())
-                            .filter(f -> f.toFile().isDirectory())
-                            .collect(Collectors.toList());
-
-            for (var subdir : subdirectories) {
-                var cameraConfigPath = Path.of(subdir.toString(), "config.json");
-                CameraConfiguration loadedConfig = null;
-                try {
-                    loadedConfig =
-                            JacksonUtils.deserialize(
-                                    cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
-                } catch (JsonProcessingException e) {
-                    logger.error("Camera config deserialization failed!", e);
-                    e.printStackTrace();
-                }
-                if (loadedConfig == null) { // If the file could not be deserialized
-                    logger.warn("Could not load camera " + subdir + "'s config.json! Loading " + "default");
-                    continue; // TODO how do we later try to load this camera if it gets reconnected?
-                }
+    ConfigManager(Path configDirectory, ConfigProvider provider) {
+        this.configDirectoryFile = new File(configDirectory.toUri());
+        m_provider = provider;
 
-                // At this point we have only loaded the base stuff
-                // We still need to deserialize pipelines, as well as
-                // driver mode settings
-                var driverModeFile = Path.of(subdir.toString(), "drivermode.json");
-                DriverModePipelineSettings driverMode;
-                try {
-                    driverMode =
-                            JacksonUtils.deserialize(
-                                    driverModeFile.toAbsolutePath(), DriverModePipelineSettings.class);
-                } catch (JsonProcessingException e) {
-                    logger.error("Could not deserialize drivermode.json! Loading defaults");
-                    logger.debug(Arrays.toString(e.getStackTrace()));
-                    driverMode = new DriverModePipelineSettings();
-                }
-                if (driverMode == null) {
-                    logger.warn(
-                            "Could not load camera " + subdir + "'s drivermode.json! Loading" + " default");
-                    driverMode = new DriverModePipelineSettings();
-                }
+        settingsSaveThread = new Thread(this::saveAndWriteTask);
+        settingsSaveThread.start();
+    }
 
-                // Load pipelines by mapping the files within the pipelines subdir
-                // to their deserialized equivalents
-                var pipelineSubdirectory = Path.of(subdir.toString(), "pipelines");
-                List<CVPipelineSettings> settings =
-                        pipelineSubdirectory.toFile().exists()
-                                ? Files.list(pipelineSubdirectory)
-                                        .filter(p -> p.toFile().isFile())
-                                        .map(
-                                                p -> {
-                                                    var relativizedFilePath =
-                                                            configDirectoryFile
-                                                                    .toPath()
-                                                                    .toAbsolutePath()
-                                                                    .relativize(p)
-                                                                    .toString();
-                                                    try {
-                                                        return JacksonUtils.deserialize(p, CVPipelineSettings.class);
-                                                    } catch (JsonProcessingException e) {
-                                                        logger.error("Exception while deserializing " + relativizedFilePath, e);
-                                                    } catch (IOException e) {
-                                                        logger.warn(
-                                                                "Could not load pipeline at "
-                                                                        + relativizedFilePath
-                                                                        + "! Skipping...");
-                                                    }
-                                                    return null;
-                                                })
-                                        .filter(Objects::nonNull)
-                                        .collect(Collectors.toList())
-                                : Collections.emptyList();
-
-                loadedConfig.driveModeSettings = driverMode;
-                loadedConfig.addPipelineSettings(settings);
-
-                loadedConfigurations.put(subdir.toFile().getName(), loadedConfig);
-            }
-        } catch (IOException e) {
-            logger.error("Error loading camera configs!", e);
-        }
-        return loadedConfigurations;
+    public void load() {
+        translateLegacyIfPresent(this.configDirectoryFile.toPath());
+        m_provider.load();
     }
 
     public void addCameraConfigurations(List<VisionSource> sources) {
@@ -442,41 +243,29 @@ public Path getImageSavePath() {
         return imgFilePath.toPath();
     }
 
-    public Path getHardwareConfigFile() {
-        return this.hardwareConfigFile.toPath();
-    }
-
-    public Path getHardwareSettingsFile() {
-        return this.hardwareSettingsFile.toPath();
+    public boolean saveUploadedHardwareConfig(Path uploadPath) {
+        return m_provider.saveUploadedHardwareConfig(uploadPath);
     }
 
-    public Path getNetworkConfigFile() {
-        return this.networkConfigFile.toPath();
+    public boolean saveUploadedHardwareSettings(Path uploadPath) {
+        return m_provider.saveUploadedHardwareSettings(uploadPath);
     }
 
-    public void saveUploadedHardwareConfig(Path uploadPath) {
-        FileUtils.deleteFile(this.getHardwareConfigFile());
-        FileUtils.copyFile(uploadPath, this.getHardwareConfigFile());
+    public boolean saveUploadedNetworkConfig(Path uploadPath) {
+        return m_provider.saveUploadedNetworkConfig(uploadPath);
     }
 
-    public void saveUploadedHardwareSettings(Path uploadPath) {
-        FileUtils.deleteFile(this.getHardwareSettingsFile());
-        FileUtils.copyFile(uploadPath, this.getHardwareSettingsFile());
-    }
-
-    public void saveUploadedNetworkConfig(Path uploadPath) {
-        FileUtils.deleteFile(this.getNetworkConfigFile());
-        FileUtils.copyFile(uploadPath, this.getNetworkConfigFile());
+    public void requestSave() {
+        logger.trace("Requesting save...");
+        saveRequestTimestamp = System.currentTimeMillis();
     }
 
-    public void saveUploadedApriltagLayout(Path uploadPath) {
-        FileUtils.deleteFile(this.apriltagFieldLayoutFile.toPath());
-        FileUtils.copyFile(uploadPath, this.apriltagFieldLayoutFile.toPath());
+    public void unloadCameraConfigs() {
+        this.getConfig().getCameraConfigurations().clear();
     }
 
-    public void requestSave() {
-        logger.trace("Requesting save...");
-        saveRequestTimestamp = System.currentTimeMillis();
+    public void saveToDisk() {
+        m_provider.saveToDisk();
     }
 
     private void saveAndWriteTask() {
@@ -495,8 +284,4 @@ private void saveAndWriteTask() {
             }
         }
     }
-
-    public void unloadCameraConfigs() {
-        this.config.getCameraConfigurations().clear();
-    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java
new file mode 100644
index 0000000000..f827a99360
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java
@@ -0,0 +1,38 @@
+/*
+ * 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.configuration;
+
+import java.nio.file.Path;
+
+public abstract class ConfigProvider {
+    private PhotonConfiguration config;
+
+    abstract void load();
+
+    abstract boolean saveToDisk();
+
+    PhotonConfiguration getConfig() {
+        return config;
+    }
+
+    public abstract boolean saveUploadedHardwareConfig(Path uploadPath);
+
+    public abstract boolean saveUploadedHardwareSettings(Path uploadPath);
+
+    public abstract boolean saveUploadedNetworkConfig(Path uploadPath);
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
index 8ec2a21db9..2c8323f159 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
@@ -150,4 +150,53 @@ public final boolean hasCommandsConfigured() {
                 || gpuMemUsageCommand != ""
                 || diskUsageCommand != "";
     }
+
+    @Override
+    public String toString() {
+        return "HardwareConfig [deviceName="
+                + deviceName
+                + ", deviceLogoPath="
+                + deviceLogoPath
+                + ", supportURL="
+                + supportURL
+                + ", ledPins="
+                + ledPins
+                + ", ledSetCommand="
+                + ledSetCommand
+                + ", ledsCanDim="
+                + ledsCanDim
+                + ", ledBrightnessRange="
+                + ledBrightnessRange
+                + ", ledDimCommand="
+                + ledDimCommand
+                + ", ledBlinkCommand="
+                + ledBlinkCommand
+                + ", statusRGBPins="
+                + statusRGBPins
+                + ", cpuTempCommand="
+                + cpuTempCommand
+                + ", cpuMemoryCommand="
+                + cpuMemoryCommand
+                + ", cpuUtilCommand="
+                + cpuUtilCommand
+                + ", cpuThrottleReasonCmd="
+                + cpuThrottleReasonCmd
+                + ", cpuUptimeCommand="
+                + cpuUptimeCommand
+                + ", gpuMemoryCommand="
+                + gpuMemoryCommand
+                + ", ramUtilCommand="
+                + ramUtilCommand
+                + ", gpuMemUsageCommand="
+                + gpuMemUsageCommand
+                + ", diskUsageCommand="
+                + diskUsageCommand
+                + ", restartHardwareCommand="
+                + restartHardwareCommand
+                + ", vendorFOV="
+                + vendorFOV
+                + ", blacklistedResIndices="
+                + blacklistedResIndices
+                + "]";
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
index f5578bb74a..3ef424dfe2 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
@@ -19,4 +19,9 @@
 
 public class HardwareSettings {
     public int ledBrightnessPercentage = 100;
+
+    @Override
+    public String toString() {
+        return "HardwareSettings [ledBrightnessPercentage=" + ledBrightnessPercentage + "]";
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
new file mode 100644
index 0000000000..7051ab7ef9
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
@@ -0,0 +1,444 @@
+/*
+ * 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.configuration;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.text.DateFormat;
+import java.text.ParseException;
+import java.text.SimpleDateFormat;
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.time.temporal.TemporalAccessor;
+import java.util.*;
+import java.util.stream.Collectors;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.file.FileUtils;
+import org.photonvision.common.util.file.JacksonUtils;
+import org.photonvision.vision.pipeline.CVPipelineSettings;
+import org.photonvision.vision.pipeline.DriverModePipelineSettings;
+import org.photonvision.vision.processes.VisionSource;
+import org.zeroturnaround.zip.ZipUtil;
+
+class LegacyConfigProvider extends ConfigProvider {
+    private static final Logger logger = new Logger(LegacyConfigProvider.class, LogGroup.General);
+
+    public static final String HW_CFG_FNAME = "hardwareConfig.json";
+    public static final String HW_SET_FNAME = "hardwareSettings.json";
+    public static final String NET_SET_FNAME = "networkSettings.json";
+
+    private PhotonConfiguration config;
+    private final File hardwareConfigFile;
+    private final File hardwareSettingsFile;
+    private final File networkConfigFile;
+    private final File camerasFolder;
+
+    final File configDirectoryFile;
+
+    private long saveRequestTimestamp = -1;
+    private Thread settingsSaveThread;
+
+    public static void saveUploadedSettingsZip(File uploadPath) {
+        var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
+        folderPath.mkdirs();
+        ZipUtil.unpack(uploadPath, folderPath);
+        FileUtils.deleteDirectory(getRootFolder());
+        try {
+            org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
+            logger.info("Copied settings successfully!");
+        } catch (IOException e) {
+            logger.error("Exception copying uploaded settings!", e);
+            return;
+        }
+    }
+
+    public PhotonConfiguration getConfig() {
+        return config;
+    }
+
+    private static Path getRootFolder() {
+        return Path.of("photonvision_config");
+    }
+
+    protected LegacyConfigProvider(Path configDirectoryFile) {
+        this.configDirectoryFile = new File(configDirectoryFile.toUri());
+        this.hardwareConfigFile =
+                new File(Path.of(configDirectoryFile.toString(), HW_CFG_FNAME).toUri());
+        this.hardwareSettingsFile =
+                new File(Path.of(configDirectoryFile.toString(), HW_SET_FNAME).toUri());
+        this.networkConfigFile =
+                new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri());
+        this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
+
+        settingsSaveThread = new Thread(this::saveAndWriteTask);
+        settingsSaveThread.start();
+    }
+
+    @Override
+    public void load() {
+        logger.info("Loading settings...");
+        if (!configDirectoryFile.exists()) {
+            if (configDirectoryFile.mkdirs()) {
+                logger.debug("Root config folder did not exist. Created!");
+            } else {
+                logger.error("Failed to create root config folder!");
+            }
+        }
+        if (!configDirectoryFile.canWrite()) {
+            logger.debug("Making root dir writeable...");
+            try {
+                var success = configDirectoryFile.setWritable(true);
+                if (success) logger.debug("Set root dir writeable!");
+                else logger.error("Could not make root dir writeable!");
+            } catch (SecurityException e) {
+                logger.error("Could not make root dir writeable!", e);
+            }
+        }
+
+        HardwareConfig hardwareConfig;
+        HardwareSettings hardwareSettings;
+        NetworkConfig networkConfig;
+
+        if (hardwareConfigFile.exists()) {
+            try {
+                hardwareConfig =
+                        JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class);
+                if (hardwareConfig == null) {
+                    logger.error("Could not deserialize hardware config! Loading defaults");
+                    hardwareConfig = new HardwareConfig();
+                }
+            } catch (IOException e) {
+                logger.error("Could not deserialize hardware config! Loading defaults");
+                hardwareConfig = new HardwareConfig();
+            }
+        } else {
+            logger.info("Hardware config does not exist! Loading defaults");
+            hardwareConfig = new HardwareConfig();
+        }
+
+        if (hardwareSettingsFile.exists()) {
+            try {
+                hardwareSettings =
+                        JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
+                if (hardwareSettings == null) {
+                    logger.error("Could not deserialize hardware settings! Loading defaults");
+                    hardwareSettings = new HardwareSettings();
+                }
+            } catch (IOException e) {
+                logger.error("Could not deserialize hardware settings! Loading defaults");
+                hardwareSettings = new HardwareSettings();
+            }
+        } else {
+            logger.info("Hardware settings does not exist! Loading defaults");
+            hardwareSettings = new HardwareSettings();
+        }
+
+        if (networkConfigFile.exists()) {
+            try {
+                networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
+                if (networkConfig == null) {
+                    logger.error("Could not deserialize network config! Loading defaults");
+                    networkConfig = new NetworkConfig();
+                }
+            } catch (IOException e) {
+                logger.error("Could not deserialize network config! Loading defaults");
+                networkConfig = new NetworkConfig();
+            }
+        } else {
+            logger.info("Network config file does not exist! Loading defaults");
+            networkConfig = new NetworkConfig();
+        }
+
+        if (!camerasFolder.exists()) {
+            if (camerasFolder.mkdirs()) {
+                logger.debug("Cameras config folder did not exist. Created!");
+            } else {
+                logger.error("Failed to create cameras config folder!");
+            }
+        }
+
+        HashMap<String, CameraConfiguration> cameraConfigurations = loadCameraConfigs();
+
+        this.config =
+                new PhotonConfiguration(
+                        hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations);
+    }
+
+    @Override
+    public boolean saveToDisk() {
+        // Delete old configs
+        FileUtils.deleteDirectory(camerasFolder.toPath());
+
+        try {
+            JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
+        } catch (IOException e) {
+            logger.error("Could not save network config!", e);
+        }
+        try {
+            JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
+        } catch (IOException e) {
+            logger.error("Could not save hardware config!", e);
+        }
+
+        // save all of our cameras
+        var cameraConfigMap = config.getCameraConfigurations();
+        for (var subdirName : cameraConfigMap.keySet()) {
+            var camConfig = cameraConfigMap.get(subdirName);
+            var subdir = Path.of(camerasFolder.toPath().toString(), subdirName);
+
+            if (!subdir.toFile().exists()) {
+                // TODO: check for error
+                subdir.toFile().mkdirs();
+            }
+
+            try {
+                JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
+            } catch (IOException e) {
+                logger.error("Could not save config.json for " + subdir, e);
+            }
+
+            try {
+                JacksonUtils.serialize(
+                        Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings);
+            } catch (IOException e) {
+                logger.error("Could not save drivermode.json for " + subdir, e);
+            }
+
+            for (var pipe : camConfig.pipelineSettings) {
+                var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json");
+
+                if (!pipePath.getParent().toFile().exists()) {
+                    // TODO: check for error
+                    pipePath.getParent().toFile().mkdirs();
+                }
+
+                try {
+                    JacksonUtils.serialize(pipePath, pipe);
+                } catch (IOException e) {
+                    logger.error("Could not save " + pipe.pipelineNickname + ".json!", e);
+                }
+            }
+        }
+        logger.info("Settings saved!");
+        return false; // TODO, deal with this. Do I need to?
+    }
+
+    private HashMap<String, CameraConfiguration> loadCameraConfigs() {
+        HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
+        try {
+            var subdirectories =
+                    Files.list(camerasFolder.toPath())
+                            .filter(f -> f.toFile().isDirectory())
+                            .collect(Collectors.toList());
+
+            for (var subdir : subdirectories) {
+                var cameraConfigPath = Path.of(subdir.toString(), "config.json");
+                CameraConfiguration loadedConfig = null;
+                try {
+                    loadedConfig =
+                            JacksonUtils.deserialize(
+                                    cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
+                } catch (JsonProcessingException e) {
+                    logger.error("Camera config deserialization failed!", e);
+                    e.printStackTrace();
+                }
+                if (loadedConfig == null) { // If the file could not be deserialized
+                    logger.warn("Could not load camera " + subdir + "'s config.json! Loading " + "default");
+                    continue; // TODO how do we later try to load this camera if it gets reconnected?
+                }
+
+                // At this point we have only loaded the base stuff
+                // We still need to deserialize pipelines, as well as
+                // driver mode settings
+                var driverModeFile = Path.of(subdir.toString(), "drivermode.json");
+                DriverModePipelineSettings driverMode;
+                try {
+                    driverMode =
+                            JacksonUtils.deserialize(
+                                    driverModeFile.toAbsolutePath(), DriverModePipelineSettings.class);
+                } catch (JsonProcessingException e) {
+                    logger.error("Could not deserialize drivermode.json! Loading defaults");
+                    logger.debug(Arrays.toString(e.getStackTrace()));
+                    driverMode = new DriverModePipelineSettings();
+                }
+                if (driverMode == null) {
+                    logger.warn(
+                            "Could not load camera " + subdir + "'s drivermode.json! Loading" + " default");
+                    driverMode = new DriverModePipelineSettings();
+                }
+
+                // Load pipelines by mapping the files within the pipelines subdir
+                // to their deserialized equivalents
+                var pipelineSubdirectory = Path.of(subdir.toString(), "pipelines");
+                List<CVPipelineSettings> settings =
+                        pipelineSubdirectory.toFile().exists()
+                                ? Files.list(pipelineSubdirectory)
+                                        .filter(p -> p.toFile().isFile())
+                                        .map(
+                                                p -> {
+                                                    var relativizedFilePath =
+                                                            configDirectoryFile
+                                                                    .toPath()
+                                                                    .toAbsolutePath()
+                                                                    .relativize(p)
+                                                                    .toString();
+                                                    try {
+                                                        return JacksonUtils.deserialize(p, CVPipelineSettings.class);
+                                                    } catch (JsonProcessingException e) {
+                                                        logger.error("Exception while deserializing " + relativizedFilePath, e);
+                                                    } catch (IOException e) {
+                                                        logger.warn(
+                                                                "Could not load pipeline at "
+                                                                        + relativizedFilePath
+                                                                        + "! Skipping...");
+                                                    }
+                                                    return null;
+                                                })
+                                        .filter(Objects::nonNull)
+                                        .collect(Collectors.toList())
+                                : Collections.emptyList();
+
+                loadedConfig.driveModeSettings = driverMode;
+                loadedConfig.addPipelineSettings(settings);
+
+                loadedConfigurations.put(subdir.toFile().getName(), loadedConfig);
+            }
+        } catch (IOException e) {
+            logger.error("Error loading camera configs!", e);
+        }
+        return loadedConfigurations;
+    }
+
+    public void addCameraConfigurations(List<VisionSource> sources) {
+        getConfig().addCameraConfigs(sources);
+        requestSave();
+    }
+
+    public void saveModule(CameraConfiguration config, String uniqueName) {
+        getConfig().addCameraConfig(uniqueName, config);
+        requestSave();
+    }
+
+    public File getSettingsFolderAsZip() {
+        File out = Path.of(System.getProperty("java.io.tmpdir"), "photonvision-settings.zip").toFile();
+        try {
+            ZipUtil.pack(configDirectoryFile, out);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return out;
+    }
+
+    public void setNetworkSettings(NetworkConfig networkConfig) {
+        getConfig().setNetworkConfig(networkConfig);
+        requestSave();
+    }
+
+    public Path getLogsDir() {
+        return Path.of(configDirectoryFile.toString(), "logs");
+    }
+
+    public Path getCalibDir() {
+        return Path.of(configDirectoryFile.toString(), "calibImgs");
+    }
+
+    public static final String LOG_PREFIX = "photonvision-";
+    public static final String LOG_EXT = ".log";
+    public static final String LOG_DATE_TIME_FORMAT = "yyyy-M-d_hh-mm-ss";
+
+    public String taToLogFname(TemporalAccessor date) {
+        var dateString = DateTimeFormatter.ofPattern(LOG_DATE_TIME_FORMAT).format(date);
+        return LOG_PREFIX + dateString + LOG_EXT;
+    }
+
+    public Date logFnameToDate(String fname) throws ParseException {
+        // Strip away known unneded portions of the log file name
+        fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
+        DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
+        return format.parse(fname);
+    }
+
+    public Path getLogPath() {
+        var logFile = Path.of(this.getLogsDir().toString(), taToLogFname(LocalDateTime.now())).toFile();
+        if (!logFile.getParentFile().exists()) logFile.getParentFile().mkdirs();
+        return logFile.toPath();
+    }
+
+    public Path getImageSavePath() {
+        var imgFilePath = Path.of(configDirectoryFile.toString(), "imgSaves").toFile();
+        if (!imgFilePath.exists()) imgFilePath.mkdirs();
+        return imgFilePath.toPath();
+    }
+
+    public Path getHardwareConfigFile() {
+        return this.hardwareConfigFile.toPath();
+    }
+
+    public Path getHardwareSettingsFile() {
+        return this.hardwareSettingsFile.toPath();
+    }
+
+    public Path getNetworkConfigFile() {
+        return this.networkConfigFile.toPath();
+    }
+
+    @Override
+    public boolean saveUploadedHardwareConfig(Path uploadPath) {
+        return FileUtils.replaceFile(uploadPath, this.getHardwareConfigFile());
+    }
+
+    @Override
+    public boolean saveUploadedHardwareSettings(Path uploadPath) {
+        return FileUtils.replaceFile(uploadPath, this.getHardwareSettingsFile());
+    }
+
+    @Override
+    public boolean saveUploadedNetworkConfig(Path uploadPath) {
+        return FileUtils.replaceFile(uploadPath, this.getNetworkConfigFile());
+    }
+
+    public void requestSave() {
+        logger.trace("Requesting save...");
+        saveRequestTimestamp = System.currentTimeMillis();
+    }
+
+    private void saveAndWriteTask() {
+        // Only save if 1 second has past since the request was made
+        while (!Thread.currentThread().isInterrupted()) {
+            if (saveRequestTimestamp > 0 && (System.currentTimeMillis() - saveRequestTimestamp) > 1000L) {
+                saveRequestTimestamp = -1;
+                logger.debug("Saving to disk...");
+                saveToDisk();
+            }
+
+            try {
+                Thread.sleep(1000);
+            } catch (InterruptedException e) {
+                logger.error("Exception waiting for settings semaphore", e);
+            }
+        }
+    }
+
+    public void unloadCameraConfigs() {
+        this.config.getCameraConfigurations().clear();
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
index 0ff570abc0..c60086b095 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -31,6 +31,7 @@
 import org.photonvision.common.util.file.JacksonUtils;
 
 public class NetworkConfig {
+    // Can be a integer team number, or a IP address
     public String ntServerAddress = "0";
     public NetworkMode connectionType = NetworkMode.DHCP;
     public String staticIp = "";
@@ -78,15 +79,6 @@ public NetworkConfig(
         setShouldManage(shouldManage);
     }
 
-    public static NetworkConfig fromHashMap(Map<String, Object> map) {
-        try {
-            return new ObjectMapper().convertValue(map, NetworkConfig.class);
-        } catch (Exception e) {
-            e.printStackTrace();
-            return new NetworkConfig();
-        }
-    }
-
     public Map<String, Object> toHashMap() {
         try {
             return new ObjectMapper().convertValue(this, JacksonUtils.UIMap.class);
@@ -105,4 +97,29 @@ public boolean shouldManage() {
     public void setShouldManage(boolean shouldManage) {
         this.shouldManage = shouldManage || Platform.isLinux();
     }
+
+    @Override
+    public String toString() {
+        return "NetworkConfig [serverAddr="
+                + ntServerAddress
+                + ", connectionType="
+                + connectionType
+                + ", staticIp="
+                + staticIp
+                + ", hostname="
+                + hostname
+                + ", runNTServer="
+                + runNTServer
+                + ", networkManagerIface="
+                + networkManagerIface
+                + ", physicalInterface="
+                + physicalInterface
+                + ", setStaticCommand="
+                + setStaticCommand
+                + ", setDHCPcommand="
+                + setDHCPcommand
+                + ", shouldManage="
+                + shouldManage
+                + "]";
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index dcfb401a6b..c899d95771 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -149,4 +149,17 @@ public static class UICameraConfiguration {
         public List<HashMap<String, Object>> calibrations;
         public boolean isFovConfigurable = true;
     }
+
+    @Override
+    public String toString() {
+        return "PhotonConfiguration [hardwareConfig="
+                + hardwareConfig
+                + ", hardwareSettings="
+                + hardwareSettings
+                + ", networkConfig="
+                + networkConfig
+                + ", cameraConfigurations="
+                + cameraConfigurations
+                + "]";
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
new file mode 100644
index 0000000000..cad4325c4b
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
@@ -0,0 +1,483 @@
+/*
+ * 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.configuration;
+
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.sql.Connection;
+import java.sql.DriverManager;
+import java.sql.PreparedStatement;
+import java.sql.SQLException;
+import java.sql.Statement;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Objects;
+import java.util.stream.Collectors;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.file.JacksonUtils;
+import org.photonvision.vision.pipeline.CVPipelineSettings;
+import org.photonvision.vision.pipeline.DriverModePipelineSettings;
+
+/**
+ * Saves settings in a SQLite database file (called photon.sqlite).
+ *
+ * <p>Within this database we have a cameras database, which has one row per camera, and holds:
+ * unique_name, config_json, drivermode_json, pipeline_jsons.
+ *
+ * <p>Global has one row per global config file (like hardware settings and network settings)
+ */
+public class SqlConfigProvider extends ConfigProvider {
+    private final Logger logger = new Logger(SqlConfigProvider.class, LogGroup.Config);
+
+    static class TableKeys {
+        static final String CAM_UNIQUE_NAME = "unique_name";
+        static final String CONFIG_JSON = "config_json";
+        static final String DRIVERMODE_JSON = "drivermode_json";
+        static final String PIPELINE_JSONS = "pipeline_jsons";
+
+        static final String NETWORK_CONFIG = "networkConfig";
+        static final String HARDWARE_CONFIG = "hardwareConfig";
+        static final String HARDWARE_SETTINGS = "hardwareSettings";
+    }
+
+    private static final String dbName = "photon.sqlite";
+    private final String dbPath;
+
+    private PhotonConfiguration config;
+    private final Object m_mutex = new Object();
+    private final File rootFolder;
+
+    public SqlConfigProvider(Path rootFolder) {
+        this.rootFolder = rootFolder.toFile();
+        dbPath = Path.of(rootFolder.toString(), dbName).toAbsolutePath().toString();
+        logger.debug("Using database " + dbPath);
+        initDatabase();
+    }
+
+    public PhotonConfiguration getConfig() {
+        if (config == null) {
+            logger.warn("CONFIG IS NULL!");
+        }
+        return config;
+    }
+
+    private Connection createConn() {
+        String url = "jdbc:sqlite:" + dbPath;
+
+        try {
+            var conn = DriverManager.getConnection(url);
+            conn.setAutoCommit(false);
+            return conn;
+        } catch (SQLException e) {
+            logger.error("Error creating connection", e);
+            return null;
+        }
+    }
+
+    private void tryCommit(Connection conn) {
+        try {
+            conn.commit();
+        } catch (SQLException e) {
+            logger.error("Err committing changes: ", e);
+            try {
+                conn.rollback();
+            } catch (SQLException e1) {
+                logger.error("Err rolling back changes: ", e);
+            }
+        }
+    }
+
+    private void initDatabase() {
+        // Make sure root dir exists
+
+        if (!rootFolder.exists()) {
+            if (rootFolder.mkdirs()) {
+                logger.debug("Root config folder did not exist. Created!");
+            } else {
+                logger.error("Failed to create root config folder!");
+            }
+        }
+
+        Connection conn = null;
+        Statement createGlobalTableStatement = null, createCameraTableStatement = null;
+        try {
+            conn = createConn();
+            if (conn == null) {
+                logger.error("No connection, cannot init db");
+                return;
+            }
+
+            // Create global settings table. Just a dumb table with list of jsons and their
+            // name
+            try {
+                createGlobalTableStatement = conn.createStatement();
+                String sql =
+                        "CREATE TABLE IF NOT EXISTS global (\n"
+                                + " filename TINYTEXT PRIMARY KEY,\n"
+                                + " contents mediumtext NOT NULL\n"
+                                + ");";
+                createGlobalTableStatement.execute(sql);
+            } catch (SQLException e) {
+                logger.error("Err creating global table", e);
+            }
+
+            // Create cameras table, key is the camera unique name
+            try {
+                createCameraTableStatement = conn.createStatement();
+                var sql =
+                        "CREATE TABLE IF NOT EXISTS cameras (\n"
+                                + " unique_name TINYTEXT PRIMARY KEY,\n"
+                                + " config_json text NOT NULL,\n"
+                                + " drivermode_json text NOT NULL,\n"
+                                + " pipeline_jsons mediumtext NOT NULL\n"
+                                + ");";
+                createCameraTableStatement.execute(sql);
+            } catch (SQLException e) {
+                logger.error("Err creating cameras table", e);
+            }
+
+            this.tryCommit(conn);
+        } finally {
+            try {
+                if (createGlobalTableStatement != null) createGlobalTableStatement.close();
+                if (createCameraTableStatement != null) createCameraTableStatement.close();
+                if (conn != null) conn.close();
+            } catch (SQLException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    @Override
+    public boolean saveToDisk() {
+        logger.debug("Saving to disk");
+        var conn = createConn();
+        if (conn == null) return false;
+
+        synchronized (m_mutex) {
+            if (config == null) {
+                logger.error("Config null! Cannot save");
+                return false;
+            }
+
+            saveCameras(conn);
+            saveGlobal(conn);
+            tryCommit(conn);
+
+            try {
+                conn.close();
+            } catch (SQLException e) {
+                // TODO, does the file still save if the SQL connection isn't closed correctly? If so,
+                // return false here.
+                logger.error("SQL Err closing connection while saving to disk: ", e);
+            }
+        }
+
+        logger.info("Settings saved!");
+        return true;
+    }
+
+    @Override
+    public void load() {
+        logger.debug("Loading config...");
+        var conn = createConn();
+        if (conn == null) return;
+
+        synchronized (m_mutex) {
+            HardwareConfig hardwareConfig;
+            HardwareSettings hardwareSettings;
+            NetworkConfig networkConfig;
+
+            try {
+                hardwareConfig =
+                        JacksonUtils.deserialize(
+                                getOneConfigFile(conn, TableKeys.HARDWARE_CONFIG), HardwareConfig.class);
+            } catch (IOException e) {
+                logger.error("Could not deserialize hardware config! Loading defaults");
+                hardwareConfig = new HardwareConfig();
+            }
+
+            try {
+                hardwareSettings =
+                        JacksonUtils.deserialize(
+                                getOneConfigFile(conn, TableKeys.HARDWARE_SETTINGS), HardwareSettings.class);
+            } catch (IOException e) {
+                logger.error("Could not deserialize hardware settings! Loading defaults");
+                hardwareSettings = new HardwareSettings();
+            }
+
+            try {
+                networkConfig =
+                        JacksonUtils.deserialize(
+                                getOneConfigFile(conn, TableKeys.NETWORK_CONFIG), NetworkConfig.class);
+            } catch (IOException e) {
+                logger.error("Could not deserialize network config! Loading defaults");
+                networkConfig = new NetworkConfig();
+            }
+
+            var cams = loadCameraConfigs(conn);
+
+            try {
+                conn.close();
+            } catch (SQLException e) {
+                logger.error("SQL Err closing connection while loading: ", e);
+            }
+
+            this.config = new PhotonConfiguration(hardwareConfig, hardwareSettings, networkConfig, cams);
+        }
+    }
+
+    private String getOneConfigFile(Connection conn, String filename) {
+        // Query every single row of the global settings db
+        PreparedStatement query = null;
+        try {
+            query =
+                    conn.prepareStatement("SELECT contents FROM global where filename=\"" + filename + "\"");
+
+            var result = query.executeQuery();
+
+            while (result.next()) {
+                var contents = result.getString("contents");
+                return contents;
+            }
+        } catch (SQLException e) {
+            logger.error("SQL Err getting file " + filename, e);
+        } finally {
+            try {
+                if (query != null) query.close();
+            } catch (SQLException e) {
+                logger.error("SQL Err closing config file query " + filename, e);
+            }
+        }
+
+        return "";
+    }
+
+    private void saveCameras(Connection conn) {
+        try {
+            // Replace this camera's row with the new settings
+            var sqlString =
+                    "REPLACE INTO cameras (unique_name, config_json, drivermode_json, pipeline_jsons) VALUES "
+                            + "(?,?,?,?);";
+
+            for (var c : config.getCameraConfigurations().entrySet()) {
+                PreparedStatement statement = conn.prepareStatement(sqlString);
+
+                var config = c.getValue();
+                statement.setString(1, c.getKey());
+                statement.setString(2, JacksonUtils.serializeToString(config));
+                statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
+
+                // Serializing a list of abstract classes sucks. Instead, make it into a array
+                // of strings, which we can later unpack back into individual settings
+                List<String> settings =
+                        config.pipelineSettings.stream()
+                                .map(
+                                        it -> {
+                                            try {
+                                                return JacksonUtils.serializeToString(it);
+                                            } catch (IOException e) {
+                                                e.printStackTrace();
+                                                return null;
+                                            }
+                                        })
+                                .filter(Objects::nonNull)
+                                .collect(Collectors.toList());
+                statement.setString(4, JacksonUtils.serializeToString(settings));
+
+                statement.executeUpdate();
+            }
+        } catch (SQLException | IOException e) {
+            logger.error("Err saving cameras", e);
+            try {
+                conn.rollback();
+            } catch (SQLException e1) {
+                logger.error("Err rolling back changes: ", e);
+            }
+        }
+    }
+
+    private void addFile(PreparedStatement ps, String key, String value) throws SQLException {
+        ps.setString(1, key);
+        ps.setString(2, value);
+    }
+
+    private void saveGlobal(Connection conn) {
+        PreparedStatement statement1 = null;
+        PreparedStatement statement2 = null;
+        PreparedStatement statement3 = null;
+        try {
+            // Replace this camera's row with the new settings
+            var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
+
+            statement1 = conn.prepareStatement(sqlString);
+            addFile(
+                    statement1,
+                    TableKeys.HARDWARE_SETTINGS,
+                    JacksonUtils.serializeToString(config.getHardwareSettings()));
+            statement1.executeUpdate();
+
+            statement2 = conn.prepareStatement(sqlString);
+            addFile(
+                    statement2,
+                    TableKeys.NETWORK_CONFIG,
+                    JacksonUtils.serializeToString(config.getNetworkConfig()));
+            statement2.executeUpdate();
+            statement2.close();
+
+            statement3 = conn.prepareStatement(sqlString);
+            addFile(
+                    statement3,
+                    TableKeys.HARDWARE_CONFIG,
+                    JacksonUtils.serializeToString(config.getHardwareConfig()));
+            statement3.executeUpdate();
+            statement3.close();
+
+        } catch (SQLException | IOException e) {
+            logger.error("Err saving global", e);
+            try {
+                conn.rollback();
+            } catch (SQLException e1) {
+                logger.error("Err rolling back changes: ", e);
+            }
+        } finally {
+            try {
+                if (statement1 != null) statement1.close();
+                if (statement2 != null) statement2.close();
+                if (statement3 != null) statement3.close();
+            } catch (SQLException e) {
+                logger.error("SQL Err closing global settings query ", e);
+            }
+        }
+    }
+
+    private boolean saveOneFile(String fname, Path path) {
+        Connection conn = null;
+        PreparedStatement statement1 = null;
+
+        try {
+            conn = createConn();
+            if (conn == null) {
+                return false;
+            }
+
+            // Replace this camera's row with the new settings
+            var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
+
+            statement1 = conn.prepareStatement(sqlString);
+            addFile(statement1, fname, Files.readString(path));
+            statement1.executeUpdate();
+
+            conn.commit();
+            return true;
+        } catch (SQLException | IOException e) {
+            logger.error("Error while saving file to global: ", e);
+            try {
+                conn.rollback();
+            } catch (SQLException e1) {
+                logger.error("Error rolling back changes: ", e);
+            }
+            return false;
+        } finally {
+            try {
+                if (statement1 != null) statement1.close();
+                conn.close();
+            } catch (SQLException e) {
+                logger.error("SQL Error saving file " + fname, e);
+            }
+        }
+    }
+
+    @Override
+    public boolean saveUploadedHardwareConfig(Path uploadPath) {
+        return saveOneFile(TableKeys.HARDWARE_CONFIG, uploadPath);
+    }
+
+    @Override
+    public boolean saveUploadedHardwareSettings(Path uploadPath) {
+        return saveOneFile(TableKeys.HARDWARE_SETTINGS, uploadPath);
+    }
+
+    @Override
+    public boolean saveUploadedNetworkConfig(Path uploadPath) {
+        return saveOneFile(TableKeys.NETWORK_CONFIG, uploadPath);
+    }
+
+    private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
+        HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
+
+        // Querry every single row of the cameras db
+        PreparedStatement query = null;
+        try {
+            query =
+                    conn.prepareStatement(
+                            String.format(
+                                    "SELECT %s, %s, %s, %s FROM cameras",
+                                    TableKeys.CAM_UNIQUE_NAME,
+                                    TableKeys.CONFIG_JSON,
+                                    TableKeys.DRIVERMODE_JSON,
+                                    TableKeys.PIPELINE_JSONS));
+
+            var result = query.executeQuery();
+
+            // Iterate over every row/"camera" in the table
+            while (result.next()) {
+                List<String> dummyList = new ArrayList<>();
+
+                var uniqueName = result.getString(TableKeys.CAM_UNIQUE_NAME);
+                var config =
+                        JacksonUtils.deserialize(
+                                result.getString(TableKeys.CONFIG_JSON), CameraConfiguration.class);
+                var driverMode =
+                        JacksonUtils.deserialize(
+                                result.getString(TableKeys.DRIVERMODE_JSON), DriverModePipelineSettings.class);
+                List<?> pipelineSettings =
+                        JacksonUtils.deserialize(
+                                result.getString(TableKeys.PIPELINE_JSONS), dummyList.getClass());
+
+                List<CVPipelineSettings> loadedSettings = new ArrayList<>();
+                for (var str : pipelineSettings) {
+                    if (str instanceof String) {
+                        loadedSettings.add(JacksonUtils.deserialize((String) str, CVPipelineSettings.class));
+                    }
+                }
+
+                config.pipelineSettings = loadedSettings;
+                config.driveModeSettings = driverMode;
+                loadedConfigurations.put(uniqueName, config);
+            }
+        } catch (SQLException | IOException e) {
+            logger.error("Err loading cameras: ", e);
+        } finally {
+            try {
+                if (query != null) query.close();
+            } catch (SQLException e) {
+                logger.error("SQL Err closing connection while loading cameras ", e);
+            }
+        }
+        return loadedConfigurations;
+    }
+
+    public void setConfig(PhotonConfiguration config) {
+        this.config = config;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java b/photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java
index cfdd918613..50524db63f 100644
--- a/photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java
@@ -22,5 +22,6 @@ public enum LogGroup {
     WebServer,
     VisionModule,
     Data,
-    General
+    General,
+    Config
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
index 50d0b8fb56..5972e3c750 100644
--- a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
@@ -102,6 +102,7 @@ public static String format(
         levelMap.put(LogGroup.WebServer, LogLevel.INFO);
         levelMap.put(LogGroup.Data, LogLevel.INFO);
         levelMap.put(LogGroup.VisionModule, LogLevel.INFO);
+        levelMap.put(LogGroup.Config, LogLevel.INFO);
     }
 
     static {
@@ -240,7 +241,7 @@ public void error(String message) {
      * @param t
      */
     public void error(String message, Throwable t) {
-        log(message, LogLevel.ERROR);
+        log(message + ": " + t.getMessage(), LogLevel.ERROR);
         log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.DEBUG);
     }
 
diff --git 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
index 23b3056c39..9d4cce6569 100644
--- 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
@@ -42,14 +42,13 @@ private FileUtils() {}
 
     public static void deleteDirectory(Path path) {
         try {
-            // create a stream
             var files = Files.walk(path);
 
             // delete directory including files and sub-folders
             files
                     .sorted(Comparator.reverseOrder())
                     .map(Path::toFile)
-                    .filter(File::isFile)
+                    // .filter(File::isFile) // we want to delete directories and sub-dirs, too
                     .forEach((var file) -> deleteFile(file.toPath()));
 
             // close the stream
@@ -59,24 +58,55 @@ public static void deleteDirectory(Path path) {
         }
     }
 
-    public static void deleteFile(Path path) {
+    /**
+     * Delete the file at the path.
+     *
+     * @param path file path to delete.
+     * @return whether the operation was successful.
+     */
+    public static boolean deleteFile(Path path) {
         try {
             Files.delete(path);
+            return true;
         } catch (FileNotFoundException | NoSuchFileException fe) {
             logger.warn("Tried to delete file \"" + path + "\" but it did not exist");
+            return false;
         } catch (IOException e) {
             logger.error("Exception deleting file \"" + path + "\"!", e);
+            return false;
         }
     }
 
-    public static void copyFile(Path src, Path dst) {
+    /**
+     * Copy a file from a source to a new destination.
+     *
+     * @param src the file path to copy.
+     * @param dst the file path to replace.
+     * @return whether the operation was successful.
+     */
+    public static boolean copyFile(Path src, Path dst) {
         try {
             Files.copy(src, dst);
+            return true;
         } catch (IOException e) {
             logger.error("Exception copying file " + src + " to " + dst + "!", e);
+            return false;
         }
     }
 
+    /**
+     * Replace the destination file with a new source.
+     *
+     * @param src the file path to replace with.
+     * @param dst the file path to replace.
+     * @return whether the operation was successful.
+     */
+    public static boolean replaceFile(Path src, Path dst) {
+        boolean fileDeleted = deleteFile(dst);
+        boolean fileCopied = copyFile(src, dst);
+        return fileDeleted && fileCopied;
+    }
+
     public static void setFilePerms(Path path) throws IOException {
         if (Platform.isLinux()) {
             File thisFile = path.toFile();
diff --git a/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java b/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
index dd792c4971..818a0e51ec 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
@@ -40,6 +40,16 @@ public static <T> void serialize(Path path, T object) throws IOException {
         serialize(path, object, true);
     }
 
+    public static <T> String serializeToString(T object) throws IOException {
+        PolymorphicTypeValidator ptv =
+                BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
+        ObjectMapper objectMapper =
+                JsonMapper.builder()
+                        .activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
+                        .build();
+        return objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(object);
+    }
+
     public static <T> void serialize(Path path, T object, boolean forceSync) throws IOException {
         PolymorphicTypeValidator ptv =
                 BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
@@ -51,6 +61,19 @@ public static <T> void serialize(Path path, T object, boolean forceSync) throws
         saveJsonString(json, path, forceSync);
     }
 
+    public static <T> T deserialize(String s, Class<T> ref) throws IOException {
+        PolymorphicTypeValidator ptv =
+                BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();
+        ObjectMapper objectMapper =
+                JsonMapper.builder()
+                        .configure(JsonReadFeature.ALLOW_JAVA_COMMENTS, true)
+                        .configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false)
+                        .activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
+                        .build();
+
+        return objectMapper.readValue(s, ref);
+    }
+
     public static <T> T deserialize(Path path, Class<T> ref) throws IOException {
         PolymorphicTypeValidator ptv =
                 BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
index f44f6aceee..f898aad573 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -261,7 +261,7 @@ public boolean getDriverMode() {
     /**
      * 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)_/¯
+     * I don't like this but I have no other ideas, and it works so
      */
     private void reassignIndexes() {
         userPipelineSettings.sort(PipelineSettingsIndexComparator);
diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
index e9a6e391d6..8aa1456002 100644
--- a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -46,7 +46,8 @@ public class ConfigTest {
     @BeforeAll
     public static void init() {
         TestUtils.loadLibraries();
-        configMgr = new ConfigManager(Path.of("testconfigdir"));
+        var path = Path.of("testconfigdir");
+        configMgr = new ConfigManager(path, new LegacyConfigProvider(path));
         configMgr.load();
 
         Logger.setLevel(LogGroup.General, LogLevel.TRACE);
diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java
index 701ba3cf80..7c9d6d6f42 100644
--- a/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java
@@ -37,14 +37,14 @@ public void testSerialization() throws IOException {
     @Test
     public void testDeserializeTeamNumberOrNtServerAddress() {
         {
-            ConfigManager configMgr =
-                    new ConfigManager(Path.of("test-resources/network-old-team-number"));
+            var folder = Path.of("test-resources/network-old-team-number");
+            var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
             configMgr.load();
             Assertions.assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
         }
         {
-            ConfigManager configMgr =
-                    new ConfigManager(Path.of("test-resources/network-new-team-number"));
+            var folder = Path.of("test-resources/network-new-team-number");
+            var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
             configMgr.load();
             Assertions.assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
         }
diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
new file mode 100644
index 0000000000..ad2567bc3f
--- /dev/null
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
@@ -0,0 +1,68 @@
+/*
+ * 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.configuration;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import java.nio.file.Path;
+import java.util.List;
+import org.junit.jupiter.api.*;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
+import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
+import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
+
+public class SQLConfigTest {
+    @BeforeAll
+    public static void init() {
+        TestUtils.loadLibraries();
+    }
+
+    @Test
+    public void testLoad() {
+        var cfgLoader = new SqlConfigProvider(Path.of("jdbc_test"));
+
+        cfgLoader.load();
+
+        var testcamcfg =
+                new CameraConfiguration(
+                        "basename",
+                        "a_unique_name",
+                        "a_nick_name",
+                        69,
+                        "a/path/idk",
+                        CameraType.UsbCamera,
+                        List.of(),
+                        0);
+        testcamcfg.pipelineSettings =
+                List.of(
+                        new ReflectivePipelineSettings(),
+                        new AprilTagPipelineSettings(),
+                        new ColoredShapePipelineSettings());
+
+        cfgLoader.getConfig().addCameraConfig(testcamcfg);
+        cfgLoader.getConfig().getNetworkConfig().ntServerAddress = "5940";
+        cfgLoader.saveToDisk();
+
+        cfgLoader.load();
+        System.out.println(cfgLoader.getConfig());
+
+        assertEquals(cfgLoader.getConfig().getNetworkConfig().ntServerAddress, "5940");
+    }
+}
diff --git a/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java b/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java
index 126d426834..bfd36a6aea 100644
--- a/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java
@@ -33,13 +33,13 @@
 
 public class LogFileManagementTest {
     @Test
-    public void fileCleanupTest() throws IOException {
+    public void fileCleanupTest() {
         // Ensure we instantiate the new log correctly
         ConfigManager.getInstance();
 
         String testDir = ConfigManager.getInstance().getLogsDir().toString() + "/test";
 
-        Files.createDirectories(Path.of(testDir));
+        Assertions.assertDoesNotThrow(() -> Files.createDirectories(Path.of(testDir)));
 
         // Create a bunch of log files with dummy contents.
         for (int fileIdx = 0; fileIdx < Logger.MAX_LOGS_TO_KEEP + 5; fileIdx++) {
@@ -71,7 +71,11 @@ public void fileCleanupTest() throws IOException {
 
         // Clean uptest directory
         org.photonvision.common.util.file.FileUtils.deleteDirectory(Path.of(testDir));
-        Files.delete(Path.of(testDir));
+        try {
+            Files.delete(Path.of(testDir));
+        } catch (IOException e) {
+            // it's OK if this fails
+        }
     }
 
     private int countLogFiles(String testDir) {
diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
index 741117401b..a14f09c398 100644
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -34,7 +34,10 @@ nativeUtils.platformConfigs.linuxathena.cppCompiler.args.add("-Wno-deprecated-an
 dependencies {
     implementation project(":photon-targeting")
 
+    // WPILib deps
     implementation wpilibTools.deps.wpilibJava("wpiutil")
+    implementation wpilibTools.deps.wpilibJava("cameraserver")
+    implementation wpilibTools.deps.wpilibJava("cscore")
     implementation wpilibTools.deps.wpilibJava("wpimath")
     implementation wpilibTools.deps.wpilibJava("wpinet")
     implementation wpilibTools.deps.wpilibJava("hal")
@@ -42,12 +45,18 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("wpilibj")
     implementation wpilibTools.deps.wpilibJava("apriltag")
 
-    testImplementation wpilibTools.deps.wpilibJava("cscore")
+    // Jackson
+    implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
+    implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
+    implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
+
     implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-java:$opencvVersion"
     implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-jni:$opencvVersion:$jniPlatform"
+
     implementation "org.ejml:ejml-simple:0.41"
 
     // Junit
+    testImplementation wpilibTools.deps.wpilibJava("cscore")
     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")
@@ -157,6 +166,7 @@ def testNativeTasks = wpilibTools.createExtractionTasks {
 
 testNativeTasks.addToSourceSetResources(sourceSets.test)
 
+testNativeConfig.dependencies.add wpilibTools.deps.cscore()
 testNativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
 testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
index dc0052912d..b9978a8021 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -51,10 +51,10 @@
 import org.photonvision.targeting.PhotonPipelineResult;
 
 /** Represents a camera that is connected to PhotonVision. */
-public class PhotonCamera {
-    static final String kTableName = "photonvision";
+public class PhotonCamera implements AutoCloseable {
+    public static final String kTableName = "photonvision";
 
-    protected final NetworkTable cameraTable;
+    private final NetworkTable cameraTable;
     RawSubscriber rawBytesEntry;
     BooleanPublisher driverModePublisher;
     BooleanSubscriber driverModeSubscriber;
@@ -73,6 +73,7 @@ public class PhotonCamera {
     private DoubleArraySubscriber cameraIntrinsicsSubscriber;
     private DoubleArraySubscriber cameraDistortionSubscriber;
 
+    @Override
     public void close() {
         rawBytesEntry.close();
         driverModePublisher.close();
@@ -151,9 +152,7 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
 
         m_topicNameSubscriber =
                 new MultiSubscriber(
-                        instance,
-                        new String[] {"/photonvision/"},
-                        new PubSubOption[] {PubSubOption.topicsOnly(true)});
+                        instance, new String[] {"/photonvision/"}, PubSubOption.topicsOnly(true));
     }
 
     /**
@@ -186,7 +185,7 @@ public PhotonPipelineResult getLatestResult() {
         ret.createFromPacket(packet);
 
         // Set the timestamp of the result.
-        // getLatestChange returns in microseconds so we divide by 1e6 to convert to seconds.
+        // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
         ret.setTimestampSeconds((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
 
         // Return result.
@@ -334,6 +333,14 @@ public Optional<Matrix<N5, N1>> getDistCoeffs() {
         } else return Optional.empty();
     }
 
+    /**
+     * Gets the NetworkTable representing this camera's subtable. You probably don't ever need to call
+     * this.
+     */
+    public final NetworkTable getCameraTable() {
+        return cameraTable;
+    }
+
     private void verifyVersion() {
         if (!VERSION_CHECK_ENABLED) return;
 
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 119aa31551..8bbdaf5744 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -24,7 +24,6 @@
 
 package org.photonvision;
 
-import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Pair;
@@ -45,7 +44,6 @@
 import org.photonvision.estimation.VisionEstimation;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
-import org.photonvision.targeting.TargetCorner;
 
 /**
  * The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a
@@ -177,7 +175,7 @@ public void setMultiTagFallbackStrategy(PoseStrategy strategy) {
         checkUpdate(this.multiTagFallbackStrategy, strategy);
         if (strategy == PoseStrategy.MULTI_TAG_PNP) {
             DriverStation.reportWarning(
-                    "Fallback cannot be set to MULTI_TAG_PNP! Setting to lowest ambiguity", null);
+                    "Fallback cannot be set to MULTI_TAG_PNP! Setting to lowest ambiguity", false);
             strategy = PoseStrategy.LOWEST_AMBIGUITY;
         }
         this.multiTagFallbackStrategy = strategy;
@@ -364,57 +362,25 @@ private Optional<EstimatedRobotPose> multiTagPNPStrategy(
             PhotonPipelineResult result,
             Optional<Matrix<N3, N3>> cameraMatrixOpt,
             Optional<Matrix<N5, N1>> distCoeffsOpt) {
-        // Arrays we need declared up front
-        var visCorners = new ArrayList<TargetCorner>();
-        var knownVisTags = new ArrayList<AprilTag>();
-        var fieldToCams = new ArrayList<Pose3d>();
-        var fieldToCamsAlt = new ArrayList<Pose3d>();
-
-        if (result.getTargets().size() < 2) {
-            // Run fallback strategy instead
+        boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent();
+        // cannot run multitagPNP, use fallback strategy
+        if (!hasCalibData || result.getTargets().size() < 2) {
             return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);
         }
 
-        for (var target : result.getTargets()) {
-            visCorners.addAll(target.getDetectedCorners());
-
-            var tagPoseOpt = fieldTags.getTagPose(target.getFiducialId());
-            if (tagPoseOpt.isEmpty()) {
-                reportFiducialPoseError(target.getFiducialId());
-                continue;
-            }
-
-            var tagPose = tagPoseOpt.get();
-
-            // actual layout poses of visible tags -- not exposed, so have to recreate
-            knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose));
-
-            fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse()));
-            fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse()));
-        }
-
-        boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent();
+        var pnpResults =
+                VisionEstimation.estimateCamPosePNP(
+                        cameraMatrixOpt.get(), distCoeffsOpt.get(), result.getTargets(), fieldTags);
+        // try fallback strategy if solvePNP fails for some reason
+        if (!pnpResults.isPresent)
+            return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);
+        var best =
+                new Pose3d()
+                        .plus(pnpResults.best) // field-to-camera
+                        .plus(robotToCamera.inverse()); // field-to-robot
 
-        // multi-target solvePNP
-        if (hasCalibData) {
-            var cameraMatrix = cameraMatrixOpt.get();
-            var distCoeffs = distCoeffsOpt.get();
-            var pnpResults =
-                    VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags);
-            var best =
-                    new Pose3d()
-                            .plus(pnpResults.best) // field-to-camera
-                            .plus(robotToCamera.inverse()); // field-to-robot
-            // var alt = new Pose3d()
-            // .plus(pnpResults.alt) // field-to-camera
-            // .plus(robotToCamera.inverse()); // field-to-robot
-
-            return Optional.of(
-                    new EstimatedRobotPose(best, result.getTimestampSeconds(), result.getTargets()));
-        } else {
-            // TODO fallback strategy? Should we just always do solvePNP?
-            return Optional.empty();
-        }
+        return Optional.of(
+                new EstimatedRobotPose(best, result.getTimestampSeconds(), result.getTargets()));
     }
 
     /**
diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java
index 7844fcaa38..98dbb5b2e3 100644
--- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java
+++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java
@@ -286,7 +286,7 @@ public static List<TargetCorner> projectPoints(
     /**
      * Undistort 2d image points using a given camera's intrinsics and distortion.
      *
-     * <p>2d image points from projectPoints(CameraProperties, Pose3d, List) projectPoints} will
+     * <p>2d image points from projectPoints(CameraProperties, Pose3d, List) projectPoints will
      * naturally be distorted, so this operation is important if the image points need to be directly
      * used (e.g. 2d yaw/pitch).
      *
@@ -374,9 +374,10 @@ public static double getContourAreaPx(List<TargetCorner> corners) {
     }
 
     /**
-     * Finds the transformation(s) that map the camera's pose to the target pose. The camera's pose
+     * Finds the transformation(s) that map the camera's pose to the target's pose. The camera's pose
      * relative to the target is determined by the supplied 3d points of the target's model and their
-     * associated 2d points imaged by the camera.
+     * associated 2d points imaged by the camera. The supplied model translations must be relative to
+     * the target's pose.
      *
      * <p>For planar targets, there may be an alternate solution which is plausible given the 2d image
      * points. This has an associated "ambiguity" which describes the ratio of reprojection error
@@ -385,8 +386,8 @@ public static double getContourAreaPx(List<TargetCorner> corners) {
      * <p>This method is intended for use with individual AprilTags, and will not work unless 4 points
      * are provided.
      *
-     * @param cameraMatrix the camera intrinsics matrix in standard opencv form
-     * @param distCoeffs the camera distortion matrix in standard opencv form
+     * @param cameraMatrix The camera intrinsics matrix in standard opencv form
+     * @param distCoeffs The camera distortion matrix in standard opencv form
      * @param modelTrls The translations of the object corners. These should have the object pose as
      *     their origin. These must come in a specific, pose-relative order (in NWU):
      *     <ul>
@@ -406,68 +407,102 @@ public static PNPResults solvePNP_SQUARE(
             Matrix<N5, N1> distCoeffs,
             List<Translation3d> modelTrls,
             List<TargetCorner> imageCorners) {
-        // IPPE_SQUARE expects our corners in a specific order
-        modelTrls = reorderCircular(modelTrls, true, -1);
-        imageCorners = reorderCircular(imageCorners, true, -1);
-        // translate to opencv classes
-        var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0]));
-        var imagePoints = targetCornersToMat(imageCorners);
-        var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage());
-        var distCoeffsMat = matrixToMat(distCoeffs.getStorage());
+        // solvepnp inputs
+        MatOfPoint3f objectPoints = new MatOfPoint3f();
+        MatOfPoint2f imagePoints = new MatOfPoint2f();
+        MatOfDouble cameraMatrixMat = new MatOfDouble();
+        MatOfDouble distCoeffsMat = new MatOfDouble();
         var rvecs = new ArrayList<Mat>();
         var tvecs = new ArrayList<Mat>();
-        var rvec = Mat.zeros(3, 1, CvType.CV_32F);
-        var tvec = Mat.zeros(3, 1, CvType.CV_32F);
-        var reprojectionError = new Mat();
-        // calc rvecs/tvecs and associated reprojection error from image points
-        Calib3d.solvePnPGeneric(
-                objectPoints,
-                imagePoints,
-                cameraMatrixMat,
-                distCoeffsMat,
-                rvecs,
-                tvecs,
-                false,
-                Calib3d.SOLVEPNP_IPPE_SQUARE,
-                rvec,
-                tvec,
-                reprojectionError);
-
-        float[] errors = new float[2];
-        reprojectionError.get(0, 0, errors);
-        // convert to wpilib coordinates
-        var best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0)));
-
-        Transform3d alt = null;
-        if (tvecs.size() > 1) {
-            alt = new Transform3d(tvecToTranslation(tvecs.get(1)), rvecToRotation(rvecs.get(1)));
+        Mat rvec = Mat.zeros(3, 1, CvType.CV_32F);
+        Mat tvec = Mat.zeros(3, 1, CvType.CV_32F);
+        Mat reprojectionError = Mat.zeros(2, 1, CvType.CV_32F);
+        try {
+            // IPPE_SQUARE expects our corners in a specific order
+            modelTrls = reorderCircular(modelTrls, true, -1);
+            imageCorners = reorderCircular(imageCorners, true, -1);
+            // translate to opencv classes
+            translationToTvec(modelTrls.toArray(new Translation3d[0])).assignTo(objectPoints);
+            targetCornersToMat(imageCorners).assignTo(imagePoints);
+            matrixToMat(cameraMatrix.getStorage()).assignTo(cameraMatrixMat);
+            matrixToMat(distCoeffs.getStorage()).assignTo(distCoeffsMat);
+
+            float[] errors = new float[2];
+            Transform3d best = null;
+            Transform3d alt = null;
+
+            for (int tries = 0; tries < 2; tries++) {
+                // calc rvecs/tvecs and associated reprojection error from image points
+                Calib3d.solvePnPGeneric(
+                        objectPoints,
+                        imagePoints,
+                        cameraMatrixMat,
+                        distCoeffsMat,
+                        rvecs,
+                        tvecs,
+                        false,
+                        Calib3d.SOLVEPNP_IPPE_SQUARE,
+                        rvec,
+                        tvec,
+                        reprojectionError);
+
+                reprojectionError.get(0, 0, errors);
+                // convert to wpilib coordinates
+                best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0)));
+
+                if (tvecs.size() > 1) {
+                    alt = new Transform3d(tvecToTranslation(tvecs.get(1)), rvecToRotation(rvecs.get(1)));
+                }
+
+                // check if we got a NaN result
+                if (!Double.isNaN(errors[0])) break;
+                else { // add noise and retry
+                    double[] br = imagePoints.get(0, 0);
+                    br[0] -= 0.001;
+                    br[1] -= 0.001;
+                    imagePoints.put(0, 0, br);
+                }
+            }
+
+            // check if solvePnP failed with NaN results and retrying failed
+            if (Double.isNaN(errors[0])) throw new Exception("SolvePNP_SQUARE NaN result");
+
+            if (alt != null)
+                return new PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]);
+            else return new PNPResults(best, errors[0]);
+        }
+        // solvePnP failed
+        catch (Exception e) {
+            System.err.println("SolvePNP_SQUARE failed!");
+            e.printStackTrace();
+            return new PNPResults();
+        } finally {
+            // release our Mats from native memory
+            objectPoints.release();
+            imagePoints.release();
+            cameraMatrixMat.release();
+            distCoeffsMat.release();
+            for (var v : rvecs) v.release();
+            for (var v : tvecs) v.release();
+            rvec.release();
+            tvec.release();
+            reprojectionError.release();
         }
-
-        // release our Mats from native memory
-        objectPoints.release();
-        imagePoints.release();
-        cameraMatrixMat.release();
-        distCoeffsMat.release();
-        for (var v : rvecs) v.release();
-        for (var v : tvecs) v.release();
-        rvec.release();
-        tvec.release();
-        reprojectionError.release();
-
-        if (alt != null) return new PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]);
-        else return new PNPResults(best, errors[0]);
     }
 
     /**
-     * Finds the transformation that maps the camera's pose to the target pose. The camera's pose
-     * relative to the target is determined by the supplied 3d points of the target's model and their
-     * associated 2d points imaged by the camera.
+     * Finds the transformation that maps the camera's pose to the origin of the supplied object. An
+     * "object" is simply a set of known 3d translations that correspond to the given 2d points. If,
+     * for example, the object translations are given relative to close-right corner of the blue
+     * alliance(the default origin), a camera-to-origin transformation is returned. If the
+     * translations are relative to a target's pose, a camera-to-target transformation is returned.
      *
-     * <p>This method is intended for use with multiple targets and has no alternate solutions. There
-     * must be at least 3 points.
+     * <p>There must be at least 3 points to use this method. This does not return an alternate
+     * solution-- if you are intending to use solvePNP on a single AprilTag, see {@link
+     * #solvePNP_SQUARE} instead.
      *
-     * @param cameraMatrix the camera intrinsics matrix in standard opencv form
-     * @param distCoeffs the camera distortion matrix in standard opencv form
+     * @param cameraMatrix The camera intrinsics matrix in standard opencv form
+     * @param distCoeffs The camera distortion matrix in standard opencv form
      * @param objectTrls The translations of the object corners, relative to the field.
      * @param imageCorners The projection of these 3d object points into the 2d camera image. The
      *     order should match the given object point translations.
@@ -480,46 +515,55 @@ public static PNPResults solvePNP_SQPNP(
             Matrix<N5, N1> distCoeffs,
             List<Translation3d> objectTrls,
             List<TargetCorner> imageCorners) {
-        // translate to opencv classes
-        var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0]));
-        var imagePoints = targetCornersToMat(imageCorners);
-        var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage());
-        var distCoeffsMat = matrixToMat(distCoeffs.getStorage());
-        var rvecs = new ArrayList<Mat>();
-        var tvecs = new ArrayList<Mat>();
-        var rvec = Mat.zeros(3, 1, CvType.CV_32F);
-        var tvec = Mat.zeros(3, 1, CvType.CV_32F);
-        var reprojectionError = new Mat();
-        // calc rvec/tvec from image points
-        Calib3d.solvePnPGeneric(
-                objectPoints,
-                imagePoints,
-                cameraMatrixMat,
-                distCoeffsMat,
-                rvecs,
-                tvecs,
-                false,
-                Calib3d.SOLVEPNP_SQPNP,
-                rvec,
-                tvec,
-                reprojectionError);
-
-        float[] error = new float[1];
-        reprojectionError.get(0, 0, error);
-        // convert to wpilib coordinates
-        var best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0)));
-
-        // release our Mats from native memory
-        objectPoints.release();
-        imagePoints.release();
-        cameraMatrixMat.release();
-        distCoeffsMat.release();
-        for (var v : rvecs) v.release();
-        for (var v : tvecs) v.release();
-        rvec.release();
-        tvec.release();
-        reprojectionError.release();
-
-        return new PNPResults(best, error[0]);
+        try {
+            // translate to opencv classes
+            MatOfPoint3f objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0]));
+            MatOfPoint2f imagePoints = targetCornersToMat(imageCorners);
+            MatOfDouble cameraMatrixMat = matrixToMat(cameraMatrix.getStorage());
+            MatOfDouble distCoeffsMat = matrixToMat(distCoeffs.getStorage());
+            var rvecs = new ArrayList<Mat>();
+            var tvecs = new ArrayList<Mat>();
+            Mat rvec = Mat.zeros(3, 1, CvType.CV_32F);
+            Mat tvec = Mat.zeros(3, 1, CvType.CV_32F);
+            Mat reprojectionError = new Mat();
+            // calc rvec/tvec from image points
+            Calib3d.solvePnPGeneric(
+                    objectPoints,
+                    imagePoints,
+                    cameraMatrixMat,
+                    distCoeffsMat,
+                    rvecs,
+                    tvecs,
+                    false,
+                    Calib3d.SOLVEPNP_SQPNP,
+                    rvec,
+                    tvec,
+                    reprojectionError);
+
+            float[] error = new float[1];
+            reprojectionError.get(0, 0, error);
+            // convert to wpilib coordinates
+            var best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0)));
+
+            // release our Mats from native memory
+            objectPoints.release();
+            imagePoints.release();
+            cameraMatrixMat.release();
+            distCoeffsMat.release();
+            for (var v : rvecs) v.release();
+            for (var v : tvecs) v.release();
+            rvec.release();
+            tvec.release();
+            reprojectionError.release();
+
+            // check if solvePnP failed with NaN results
+            if (Double.isNaN(error[0])) throw new Exception("SolvePNP_SQPNP NaN result");
+
+            return new PNPResults(best, error[0]);
+        } catch (Exception e) {
+            System.err.println("SolvePNP_SQPNP failed!");
+            e.printStackTrace();
+            return new PNPResults();
+        }
     }
 }
diff --git a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java b/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java
new file mode 100644
index 0000000000..89adf94bcf
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java
@@ -0,0 +1,93 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision.estimation;
+
+import edu.wpi.first.math.geometry.Transform3d;
+
+/**
+ * The best estimated transformation from solvePnP, and possibly an alternate transformation
+ * depending on the solvePNP method. If an alternate solution is present, the ambiguity value
+ * represents the ratio of reprojection error in the best solution to the alternate (best /
+ * alternate).
+ *
+ * <p>Note that the coordinate frame of these transforms depends on the implementing solvePnP
+ * method.
+ */
+public class PNPResults {
+    /**
+     * If this result is valid. A false value indicates there was an error in estimation, and this
+     * result should not be used.
+     */
+    public final boolean isPresent;
+
+    /**
+     * The best-fit transform. The coordinate frame of this transform depends on the method which gave
+     * this result.
+     */
+    public final Transform3d best;
+
+    /** Reprojection error of the best solution, in pixels */
+    public final double bestReprojErr;
+
+    /**
+     * Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal
+     * to the best solution.
+     */
+    public final Transform3d alt;
+
+    /** If no alternate solution is found, this is bestReprojErr */
+    public final double altReprojErr;
+
+    /** If no alternate solution is found, this is 0 */
+    public final double ambiguity;
+
+    /** An empty (invalid) result. */
+    public PNPResults() {
+        this.isPresent = false;
+        this.best = new Transform3d();
+        this.alt = new Transform3d();
+        this.ambiguity = 0;
+        this.bestReprojErr = 0;
+        this.altReprojErr = 0;
+    }
+
+    public PNPResults(Transform3d best, double bestReprojErr) {
+        this(best, best, 0, bestReprojErr, bestReprojErr);
+    }
+
+    public PNPResults(
+            Transform3d best,
+            Transform3d alt,
+            double ambiguity,
+            double bestReprojErr,
+            double altReprojErr) {
+        this.isPresent = true;
+        this.best = best;
+        this.alt = alt;
+        this.ambiguity = ambiguity;
+        this.bestReprojErr = bestReprojErr;
+        this.altReprojErr = altReprojErr;
+    }
+}
diff --git a/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java b/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java
index 549614de87..41c3e36d97 100644
--- a/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java
+++ b/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java
@@ -106,7 +106,7 @@ public Translation3d apply(Translation3d trl) {
     ;
 
     public List<Translation3d> applyTrls(List<Translation3d> trls) {
-        return trls.stream().map(t -> apply(t)).collect(Collectors.toList());
+        return trls.stream().map(this::apply).collect(Collectors.toList());
     }
 
     public Pose3d apply(Pose3d pose) {
@@ -114,6 +114,6 @@ public Pose3d apply(Pose3d pose) {
     }
 
     public List<Pose3d> applyPoses(List<Pose3d> poses) {
-        return poses.stream().map(p -> apply(p)).collect(Collectors.toList());
+        return poses.stream().map(this::apply).collect(Collectors.toList());
     }
 }
diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
index 041d738914..1acf65743a 100644
--- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
+++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
@@ -25,68 +25,83 @@
 package org.photonvision.estimation;
 
 import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.numbers.*;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.targeting.PNPResults;
+import java.util.Objects;
+import java.util.stream.Collectors;
+import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.TargetCorner;
 
 public class VisionEstimation {
-    public static final TargetModel kTagModel =
-            new TargetModel(Units.inchesToMeters(6), Units.inchesToMeters(6));
+    /** Get the visible {@link AprilTag}s which are in the tag layout using the visible tag IDs. */
+    public static List<AprilTag> getVisibleLayoutTags(
+            List<PhotonTrackedTarget> visTags, AprilTagFieldLayout tagLayout) {
+        return visTags.stream()
+                .map(
+                        t -> {
+                            int id = t.getFiducialId();
+                            var maybePose = tagLayout.getTagPose(id);
+                            return maybePose.map(pose3d -> new AprilTag(id, pose3d)).orElse(null);
+                        })
+                .filter(Objects::nonNull)
+                .collect(Collectors.toList());
+    }
 
     /**
-     * Performs solvePNP using 3d-2d point correspondences to estimate the field-to-camera
-     * transformation. If only one tag is visible, the result may have an alternate solution.
+     * Performs solvePNP using 3d-2d point correspondences of visible AprilTags to estimate the
+     * field-to-camera transformation. If only one tag is visible, the result may have an alternate
+     * solution.
      *
      * <p><b>Note:</b> The returned transformation is from the field origin to the camera pose!
      *
-     * @param cameraMatrix the camera intrinsics matrix in standard opencv form
-     * @param distCoeffs the camera distortion matrix in standard opencv form
-     * @param corners The visible tag corners in the 2d image
-     * @param knownTags The known tag field poses corresponding to the visible tag IDs
-     * @return The transformation that maps the field origin to the camera pose
+     * <p>With only one tag: {@link OpenCVHelp#solvePNP_SQUARE}
+     *
+     * <p>With multiple tags: {@link OpenCVHelp#solvePNP_SQPNP}
+     *
+     * @param cameraMatrix The camera intrinsics matrix in standard opencv form
+     * @param distCoeffs The camera distortion matrix in standard opencv form
+     * @param visTags The visible tags reported by PV
+     * @param tagLayout The known tag layout on the field
+     * @return The transformation that maps the field origin to the camera pose. Ensure the {@link
+     *     PNPResults} are present before utilizing them.
      */
     public static PNPResults estimateCamPosePNP(
             Matrix<N3, N3> cameraMatrix,
             Matrix<N5, N1> distCoeffs,
-            List<TargetCorner> corners,
-            List<AprilTag> knownTags) {
-        if (knownTags == null
-                || corners == null
-                || corners.size() != knownTags.size() * 4
-                || knownTags.size() == 0) {
+            List<PhotonTrackedTarget> visTags,
+            AprilTagFieldLayout tagLayout) {
+        if (tagLayout == null
+                || visTags == null
+                || tagLayout.getTags().size() == 0
+                || visTags.size() == 0) {
+            return new PNPResults();
+        }
+
+        var corners = new ArrayList<TargetCorner>();
+        for (var tag : visTags) corners.addAll(tag.getDetectedCorners());
+        var knownTags = getVisibleLayoutTags(visTags, tagLayout);
+        if (knownTags.size() == 0 || corners.size() == 0 || corners.size() % 4 != 0) {
             return new PNPResults();
         }
+
         // single-tag pnp
-        if (corners.size() == 4) {
+        if (visTags.size() == 1) {
             var camToTag =
                     OpenCVHelp.solvePNP_SQUARE(
-                            cameraMatrix, distCoeffs, kTagModel.getFieldVertices(knownTags.get(0).pose), corners);
+                            cameraMatrix, distCoeffs, TargetModel.kTag16h5.vertices, corners);
+            if (!camToTag.isPresent) return new PNPResults();
             var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse());
             var altPose = new Pose3d();
             if (camToTag.ambiguity != 0)
                 altPose = knownTags.get(0).pose.transformBy(camToTag.alt.inverse());
 
-            var bestTagToCam = camToTag.best.inverse();
-            SmartDashboard.putNumberArray(
-                    "multiTagBest_internal",
-                    new double[] {
-                        bestTagToCam.getX(),
-                        bestTagToCam.getY(),
-                        bestTagToCam.getZ(),
-                        bestTagToCam.getRotation().getQuaternion().getW(),
-                        bestTagToCam.getRotation().getQuaternion().getX(),
-                        bestTagToCam.getRotation().getQuaternion().getY(),
-                        bestTagToCam.getRotation().getQuaternion().getZ()
-                    });
-
             var o = new Pose3d();
             return new PNPResults(
                     new Transform3d(o, bestPose),
@@ -98,9 +113,9 @@ public static PNPResults estimateCamPosePNP(
         // multi-tag pnp
         else {
             var objectTrls = new ArrayList<Translation3d>();
-            for (var tag : knownTags) objectTrls.addAll(kTagModel.getFieldVertices(tag.pose));
+            for (var tag : knownTags) objectTrls.addAll(TargetModel.kTag16h5.getFieldVertices(tag.pose));
             var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, corners);
-            // var camToOrigin = OpenCVHelp.solveTagsPNPRansac(prop, objectTrls, corners);
+            if (!camToOrigin.isPresent) return new PNPResults();
             return new PNPResults(
                     camToOrigin.best.inverse(),
                     camToOrigin.alt.inverse(),
@@ -109,62 +124,4 @@ public static PNPResults estimateCamPosePNP(
                     camToOrigin.altReprojErr);
         }
     }
-
-    // /**
-    //  * The best estimated transformation to the target, and possibly an alternate
-    //  * transformation
-    //  * depending on the solvePNP method. If an alternate solution is present, the
-    //  * ambiguity value
-    //  * represents the ratio of reprojection error in the best solution to the
-    //  * alternate (best / alternate).
-    //  */
-    // public static class PNPResults {
-    //     public final Transform3d best;
-    //     public final double bestReprojErr;
-
-    //     /**
-    //      * Alternate, ambiguous solution from solvepnp. This may be empty
-    //      * if no alternate solution is found.
-    //      */
-    //     public final Transform3d alt;
-    //     /** If no alternate solution is found, this is 0 */
-    //     public final double altReprojErr;
-
-    //     /** If no alternate solution is found, this is 0 */
-    //     public final double ambiguity;
-
-    //     public PNPResults() {
-    //         this(new Transform3d(), new Transform3d(), 0, 0, 0);
-    //     }
-
-    //     public PNPResults(
-    //             Transform3d best, Transform3d alt,
-    //             double ambiguity, double bestReprojErr, double altReprojErr) {
-    //         this.best = best;
-    //         this.alt = alt;
-    //         this.ambiguity = ambiguity;
-    //         this.bestReprojErr = bestReprojErr;
-    //         this.altReprojErr = altReprojErr;
-    //     }
-    // }
-
-    /**
-     * The best estimated transformation (Rotation-translation composition) that maps a set of
-     * translations onto another with point correspondences, and its RMSE.
-     */
-    public static class SVDResults {
-        public final RotTrlTransform3d trf;
-
-        /** If the result is invalid, this value is -1 */
-        public final double rmse;
-
-        public SVDResults() {
-            this(new RotTrlTransform3d(), -1);
-        }
-
-        public SVDResults(RotTrlTransform3d trf, double rmse) {
-            this.trf = trf;
-            this.rmse = rmse;
-        }
-    }
 }
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
new file mode 100644
index 0000000000..81a20d0d36
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -0,0 +1,467 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision.simulation;
+
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.CvSource;
+import edu.wpi.first.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.Pair;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.util.RuntimeLoader;
+import edu.wpi.first.util.WPIUtilJNI;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Optional;
+import org.opencv.core.Core;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+import org.opencv.core.Point;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonTargetSortMode;
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.common.networktables.NTTopicSet;
+import org.photonvision.estimation.CameraTargetRelation;
+import org.photonvision.estimation.OpenCVHelp;
+import org.photonvision.estimation.PNPResults;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
+
+/**
+ * A handle for simulating {@link PhotonCamera} values. Processing simulated targets through this
+ * class will change the associated PhotonCamera's results.
+ */
+@SuppressWarnings("unused")
+public class PhotonCameraSim implements AutoCloseable {
+    private final PhotonCamera cam;
+
+    NTTopicSet ts = new NTTopicSet();
+    private long heartbeatCounter = 0;
+
+    /** This simulated camera's {@link SimCameraProperties} */
+    public final SimCameraProperties prop;
+
+    private long nextNTEntryTime = WPIUtilJNI.now();
+
+    private double maxSightRangeMeters = Double.MAX_VALUE;
+    private static final double kDefaultMinAreaPx = 100;
+    private double minTargetAreaPercent;
+    private PhotonTargetSortMode sortMode = PhotonTargetSortMode.Largest;
+
+    // video stream simulation
+    private final CvSource videoSimRaw;
+    private final Mat videoSimFrameRaw = new Mat();
+    private boolean videoSimRawEnabled = true;
+    private final CvSource videoSimProcessed;
+    private final Mat videoSimFrameProcessed = new Mat();
+    private boolean videoSimProcEnabled = true;
+
+    static {
+        try {
+            var loader =
+                    new RuntimeLoader<>(
+                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+            loader.loadLibrary();
+        } catch (Exception e) {
+            throw new RuntimeException("Failed to load native libraries!", e);
+        }
+    }
+
+    @Override
+    public void close() {
+        videoSimRaw.close();
+        videoSimFrameRaw.release();
+        videoSimProcessed.close();
+        videoSimFrameProcessed.release();
+    }
+
+    /**
+     * Constructs a handle for simulating {@link PhotonCamera} values. Processing simulated targets
+     * through this class will change the associated PhotonCamera's results.
+     *
+     * <p><b>This constructor's camera has a 90 deg FOV with no simulated lag!</b>
+     *
+     * <p>By default, the minimum target area is 100 pixels and there is no maximum sight range.
+     *
+     * @param camera The camera to be simulated
+     */
+    public PhotonCameraSim(PhotonCamera camera) {
+        this(camera, SimCameraProperties.PERFECT_90DEG());
+    }
+
+    /**
+     * Constructs a handle for simulating {@link PhotonCamera} values. Processing simulated targets
+     * through this class will change the associated PhotonCamera's results.
+     *
+     * <p>By default, the minimum target area is 100 pixels and there is no maximum sight range.
+     *
+     * @param camera The camera to be simulated
+     * @param prop Properties of this camera such as FOV and FPS
+     */
+    public PhotonCameraSim(PhotonCamera camera, SimCameraProperties prop) {
+        this.cam = camera;
+        this.prop = prop;
+        setMinTargetAreaPixels(kDefaultMinAreaPx);
+
+        videoSimRaw =
+                CameraServer.putVideo(camera.getName() + "-raw", prop.getResWidth(), prop.getResHeight());
+        videoSimRaw.setPixelFormat(PixelFormat.kGray);
+        videoSimProcessed =
+                CameraServer.putVideo(
+                        camera.getName() + "-processed", prop.getResWidth(), prop.getResHeight());
+
+        ts.removeEntries();
+        ts.subTable = camera.getCameraTable();
+        ts.updateEntries();
+    }
+
+    /**
+     * Constructs a handle for simulating {@link PhotonCamera} values. Processing simulated targets
+     * through this class will change the associated PhotonCamera's results.
+     *
+     * @param camera The camera to be simulated
+     * @param prop Properties of this camera such as FOV and FPS
+     * @param minTargetAreaPercent The minimum percentage(0 - 100) a detected target must take up of
+     *     the camera's image to be processed. Match this with your contour filtering settings in the
+     *     PhotonVision GUI.
+     * @param maxSightRangeMeters Maximum distance at which the target is illuminated to your camera.
+     *     Note that minimum target area of the image is separate from this.
+     */
+    public PhotonCameraSim(
+            PhotonCamera camera,
+            SimCameraProperties prop,
+            double minTargetAreaPercent,
+            double maxSightRangeMeters) {
+        this(camera, prop);
+        this.minTargetAreaPercent = minTargetAreaPercent;
+        this.maxSightRangeMeters = maxSightRangeMeters;
+    }
+
+    public PhotonCamera getCamera() {
+        return cam;
+    }
+
+    public double getMinTargetAreaPercent() {
+        return minTargetAreaPercent;
+    }
+
+    public double getMinTargetAreaPixels() {
+        return minTargetAreaPercent / 100.0 * prop.getResArea();
+    }
+
+    public double getMaxSightRangeMeters() {
+        return maxSightRangeMeters;
+    }
+
+    public PhotonTargetSortMode getTargetSortMode() {
+        return sortMode;
+    }
+
+    public CvSource getVideoSimRaw() {
+        return videoSimRaw;
+    }
+
+    public Mat getVideoSimFrameRaw() {
+        return videoSimFrameRaw;
+    }
+
+    /**
+     * Determines if this target's pose should be visible to the camera without considering its
+     * projected image points. Does not account for image area.
+     *
+     * @param camPose Camera's 3d pose
+     * @param target Vision target containing pose and shape
+     * @return If this vision target can be seen before image projection.
+     */
+    public boolean canSeeTargetPose(Pose3d camPose, VisionTargetSim target) {
+        var rel = new CameraTargetRelation(camPose, target.getPose());
+        return (
+        // target translation is outside of camera's FOV
+        (Math.abs(rel.camToTargYaw.getDegrees()) < prop.getHorizFOV().getDegrees() / 2)
+                && (Math.abs(rel.camToTargPitch.getDegrees()) < prop.getVertFOV().getDegrees() / 2)
+                && (!target.getModel().isPlanar
+                        || Math.abs(rel.targToCamAngle.getDegrees())
+                                < 90) // camera is behind planar target and it should be occluded
+                && (rel.camToTarg.getTranslation().getNorm() <= maxSightRangeMeters)); // target is too far
+    }
+
+    /**
+     * Determines if all target corners are inside the camera's image.
+     *
+     * @param corners The corners of the target as image points(x,y)
+     */
+    public boolean canSeeCorners(List<TargetCorner> corners) {
+        // corner is outside of resolution
+        for (var corner : corners) {
+            if (MathUtil.clamp(corner.x, 0, prop.getResWidth()) != corner.x
+                    || MathUtil.clamp(corner.y, 0, prop.getResHeight()) != corner.y) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Determine if this camera should process a new frame based on performance metrics and the time
+     * since the last update. This returns an Optional which is either empty if no update should occur
+     * or a Long of the timestamp in microseconds of when the frame which should be received by NT. If
+     * a timestamp is returned, the last frame update time becomes that timestamp.
+     *
+     * @return Optional long which is empty while blocked or the NT entry timestamp in microseconds if
+     *     ready
+     */
+    public Optional<Long> consumeNextEntryTime() {
+        // check if this camera is ready for another frame update
+        long now = WPIUtilJNI.now();
+        long timestamp = -1;
+        int iter = 0;
+        // prepare next latest update
+        while (now >= nextNTEntryTime) {
+            timestamp = nextNTEntryTime;
+            long frameTime = (long) (prop.estMsUntilNextFrame() * 1e3);
+            nextNTEntryTime += frameTime;
+
+            // if frame time is very small, avoid blocking
+            if (iter++ > 50) {
+                timestamp = now;
+                nextNTEntryTime = now + frameTime;
+                break;
+            }
+        }
+        // return the timestamp of the latest update
+        if (timestamp >= 0) return Optional.of(timestamp);
+        // or this camera isn't ready to process yet
+        else return Optional.empty();
+    }
+
+    /**
+     * The minimum percentage(0 - 100) a detected target must take up of the camera's image to be
+     * processed.
+     */
+    public void setMinTargetAreaPercent(double areaPercent) {
+        this.minTargetAreaPercent = areaPercent;
+    }
+
+    /**
+     * The minimum number of pixels a detected target must take up in the camera's image to be
+     * processed.
+     */
+    public void setMinTargetAreaPixels(double areaPx) {
+        this.minTargetAreaPercent = areaPx / prop.getResArea() * 100;
+    }
+
+    /**
+     * Maximum distance at which the target is illuminated to your camera. Note that minimum target
+     * area of the image is separate from this.
+     */
+    public void setMaxSightRange(double rangeMeters) {
+        this.maxSightRangeMeters = rangeMeters;
+    }
+
+    /** Defines the order the targets are sorted in the pipeline result. */
+    public void setTargetSortMode(PhotonTargetSortMode sortMode) {
+        if (sortMode != null) this.sortMode = sortMode;
+    }
+
+    /** Sets whether the raw video stream simulation is enabled. */
+    public void enableRawStream(boolean enabled) {
+        videoSimRawEnabled = enabled;
+    }
+
+    /** Sets whether the processed video stream simulation is enabled. */
+    public void enableProcessedStream(boolean enabled) {
+        videoSimProcEnabled = enabled;
+    }
+
+    public PhotonPipelineResult process(
+            double latencyMillis, Pose3d cameraPose, List<VisionTargetSim> targets) {
+        // sort targets by distance to camera
+        targets = new ArrayList<>(targets);
+        targets.sort(
+                (t1, t2) -> {
+                    double dist1 = t1.getPose().getTranslation().getDistance(cameraPose.getTranslation());
+                    double dist2 = t2.getPose().getTranslation().getDistance(cameraPose.getTranslation());
+                    if (dist1 == dist2) return 0;
+                    return dist1 < dist2 ? 1 : -1;
+                });
+        // all targets visible (in FOV)
+        var visibleTags = new ArrayList<Pair<Integer, List<TargetCorner>>>();
+        // all targets actually detectable to the camera
+        var detectableTgts = new ArrayList<PhotonTrackedTarget>();
+
+        // reset our frame
+        VideoSimUtil.updateVideoProp(videoSimRaw, prop);
+        VideoSimUtil.updateVideoProp(videoSimProcessed, prop);
+        Size videoFrameSize = new Size(prop.getResWidth(), prop.getResHeight());
+        Mat.zeros(videoFrameSize, CvType.CV_8UC1).assignTo(videoSimFrameRaw);
+
+        for (var tgt : targets) {
+            // pose isn't visible, skip to next
+            if (!canSeeTargetPose(cameraPose, tgt)) continue;
+
+            // find target's 3d corner points
+            // TODO: Handle spherical targets
+            var fieldCorners = tgt.getFieldVertices();
+
+            // project 3d target points into 2d image points
+            var targetCorners =
+                    OpenCVHelp.projectPoints(
+                            prop.getIntrinsics(), prop.getDistCoeffs(), cameraPose, fieldCorners);
+            // save visible tags for stream simulation
+            if (tgt.fiducialID >= 0) {
+                visibleTags.add(new Pair<>(tgt.fiducialID, targetCorners));
+            }
+            // estimate pixel noise
+            var noisyTargetCorners = prop.estPixelNoise(targetCorners);
+            // find the (naive) 2d yaw/pitch
+            var centerPt = OpenCVHelp.getMinAreaRect(noisyTargetCorners).center;
+            var centerRot = prop.getPixelRot(new TargetCorner(centerPt.x, centerPt.y));
+            // find contour area
+            double areaPercent = prop.getContourAreaPercent(noisyTargetCorners);
+
+            // projected target can't be detected, skip to next
+            if (!(canSeeCorners(noisyTargetCorners) && areaPercent >= minTargetAreaPercent)) continue;
+
+            var pnpSim = new PNPResults();
+            if (tgt.fiducialID >= 0 && tgt.getFieldVertices().size() == 4) { // single AprilTag solvePNP
+                pnpSim =
+                        OpenCVHelp.solvePNP_SQUARE(
+                                prop.getIntrinsics(),
+                                prop.getDistCoeffs(),
+                                tgt.getModel().vertices,
+                                noisyTargetCorners);
+                if (!pnpSim.isPresent) continue;
+                centerRot =
+                        prop.getPixelRot(
+                                OpenCVHelp.projectPoints(
+                                                prop.getIntrinsics(),
+                                                prop.getDistCoeffs(),
+                                                new Pose3d(),
+                                                List.of(pnpSim.best.getTranslation()))
+                                        .get(0));
+            }
+
+            Point[] minAreaRectPts = new Point[noisyTargetCorners.size()];
+            OpenCVHelp.getMinAreaRect(noisyTargetCorners).points(minAreaRectPts);
+
+            detectableTgts.add(
+                    new PhotonTrackedTarget(
+                            Math.toDegrees(centerRot.getZ()),
+                            -Math.toDegrees(centerRot.getY()),
+                            areaPercent,
+                            Math.toDegrees(centerRot.getX()),
+                            tgt.fiducialID,
+                            pnpSim.best,
+                            pnpSim.alt,
+                            pnpSim.ambiguity,
+                            List.of(OpenCVHelp.pointsToTargetCorners(minAreaRectPts)),
+                            noisyTargetCorners));
+        }
+        // render visible tags to raw video frame
+        if (videoSimRawEnabled) {
+            for (var tag : visibleTags) {
+                VideoSimUtil.warp16h5TagImage(
+                        tag.getFirst(), OpenCVHelp.targetCornersToMat(tag.getSecond()), videoSimFrameRaw, true);
+            }
+            videoSimRaw.putFrame(videoSimFrameRaw);
+        } else videoSimRaw.setConnectionStrategy(ConnectionStrategy.kForceClose);
+        // draw/annotate tag detection outline on processed view
+        if (videoSimProcEnabled) {
+            Imgproc.cvtColor(videoSimFrameRaw, videoSimFrameProcessed, Imgproc.COLOR_GRAY2BGR);
+            for (var tgt : detectableTgts) {
+                if (tgt.getFiducialId() >= 0) {
+                    VideoSimUtil.drawTagDetection(
+                            tgt.getFiducialId(),
+                            OpenCVHelp.targetCornersToMat(tgt.getDetectedCorners()),
+                            videoSimFrameProcessed);
+                }
+            }
+            videoSimProcessed.putFrame(videoSimFrameProcessed);
+        } else videoSimProcessed.setConnectionStrategy(ConnectionStrategy.kForceClose);
+
+        // put this simulated data to NT
+        if (sortMode != null) {
+            detectableTgts.sort(sortMode.getComparator());
+        }
+        return new PhotonPipelineResult(latencyMillis, detectableTgts);
+    }
+
+    /**
+     * Simulate one processed frame of vision data, putting one result to NT at current timestamp.
+     * Image capture time is assumed be (current time - latency).
+     *
+     * @param result The pipeline result to submit
+     */
+    public void submitProcessedFrame(PhotonPipelineResult result) {
+        submitProcessedFrame(result, WPIUtilJNI.now());
+    }
+
+    /**
+     * Simulate one processed frame of vision data, putting one result to NT. Image capture timestamp
+     * overrides {@link PhotonPipelineResult#getTimestampSeconds() getTimestampSeconds()} for more
+     * precise latency simulation.
+     *
+     * @param result The pipeline result to submit
+     * @param receiveTimestamp The (sim) timestamp when this result was read by NT in microseconds
+     */
+    public void submitProcessedFrame(PhotonPipelineResult result, long receiveTimestamp) {
+        ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
+
+        var newPacket = new Packet(result.getPacketSize());
+        result.populatePacket(newPacket);
+        ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp);
+
+        boolean hasTargets = result.hasTargets();
+        ts.hasTargetEntry.set(hasTargets, receiveTimestamp);
+        if (!hasTargets) {
+            ts.targetPitchEntry.set(0.0, receiveTimestamp);
+            ts.targetYawEntry.set(0.0, receiveTimestamp);
+            ts.targetAreaEntry.set(0.0, receiveTimestamp);
+            ts.targetPoseEntry.set(new double[] {0.0, 0.0, 0.0}, receiveTimestamp);
+            ts.targetSkewEntry.set(0.0, receiveTimestamp);
+        } else {
+            var bestTarget = result.getBestTarget();
+
+            ts.targetPitchEntry.set(bestTarget.getPitch(), receiveTimestamp);
+            ts.targetYawEntry.set(bestTarget.getYaw(), receiveTimestamp);
+            ts.targetAreaEntry.set(bestTarget.getArea(), receiveTimestamp);
+            ts.targetSkewEntry.set(bestTarget.getSkew(), receiveTimestamp);
+
+            var transform = bestTarget.getBestCameraToTarget();
+            double[] poseData = {
+                transform.getX(), transform.getY(), transform.getRotation().toRotation2d().getDegrees()
+            };
+            ts.targetPoseEntry.set(poseData, receiveTimestamp);
+        }
+
+        ts.cameraIntrinsicsPublisher.set(prop.getIntrinsics().getData(), receiveTimestamp);
+        ts.cameraDistortionPublisher.set(prop.getDistCoeffs().getData(), receiveTimestamp);
+        ts.heartbeatPublisher.set(heartbeatCounter++, receiveTimestamp);
+    }
+}
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
new file mode 100644
index 0000000000..336c7d5029
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
@@ -0,0 +1,601 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision.simulation;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.Nat;
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.Vector;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.numbers.*;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.io.IOException;
+import java.nio.file.Path;
+import java.util.List;
+import java.util.Random;
+import java.util.stream.Collectors;
+import org.photonvision.estimation.OpenCVHelp;
+import org.photonvision.targeting.TargetCorner;
+
+/**
+ * Calibration and performance values for this camera.
+ *
+ * <p>The resolution will affect the accuracy of projected(3d to 2d) target corners and similarly
+ * the severity of image noise on estimation(2d to 3d).
+ *
+ * <p>The camera intrinsics and distortion coefficients describe the results of calibration, and how
+ * to map between 3d field points and 2d image points.
+ *
+ * <p>The performance values (framerate/exposure time, latency) determine how often results should
+ * be updated and with how much latency in simulation. High exposure time causes motion blur which
+ * can inhibit target detection while moving. Note that latency estimation does not account for
+ * network latency and the latency reported will always be perfect.
+ */
+public class SimCameraProperties {
+    private final Random rand = new Random();
+    // calibration
+    private int resWidth;
+    private int resHeight;
+    private Matrix<N3, N3> camIntrinsics;
+    private Matrix<N5, N1> distCoeffs;
+    private double avgErrorPx;
+    private double errorStdDevPx;
+    // performance
+    private double frameSpeedMs = 0;
+    private double exposureTimeMs = 0;
+    private double avgLatencyMs = 0;
+    private double latencyStdDevMs = 0;
+
+    /** Default constructor which is the same as {@link #PERFECT_90DEG} */
+    public SimCameraProperties() {
+        setCalibration(960, 720, Rotation2d.fromDegrees(90));
+    }
+
+    /**
+     * Reads camera properties from a photonvision <code>config.json</code> file. This is only the
+     * resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error.
+     * Other camera properties must be set.
+     *
+     * @param path Path to the <code>config.json</code> file
+     * @param width The width of the desired resolution in the JSON
+     * @param height The height of the desired resolution in the JSON
+     * @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid
+     *     calibrated resolution.
+     */
+    public SimCameraProperties(String path, int width, int height) throws IOException {
+        this(Path.of(path), width, height);
+    }
+
+    /**
+     * Reads camera properties from a photonvision <code>config.json</code> file. This is only the
+     * resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error.
+     * Other camera properties must be set.
+     *
+     * @param path Path to the <code>config.json</code> file
+     * @param width The width of the desired resolution in the JSON
+     * @param height The height of the desired resolution in the JSON
+     * @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid
+     *     calibrated resolution.
+     */
+    public SimCameraProperties(Path path, int width, int height) throws IOException {
+        var mapper = new ObjectMapper();
+        var json = mapper.readTree(path.toFile());
+        json = json.get("calibrations");
+        boolean success = false;
+        try {
+            for (int i = 0; i < json.size() && !success; i++) {
+                // check if this calibration entry is our desired resolution
+                var calib = json.get(i);
+                int jsonWidth = calib.get("resolution").get("width").asInt();
+                int jsonHeight = calib.get("resolution").get("height").asInt();
+                if (jsonWidth != width || jsonHeight != height) continue;
+                // get the relevant calibration values
+                var jsonIntrinsicsNode = calib.get("cameraIntrinsics").get("data");
+                double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()];
+                for (int j = 0; j < jsonIntrinsicsNode.size(); j++) {
+                    jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble();
+                }
+                var jsonDistortNode = calib.get("cameraExtrinsics").get("data");
+                double[] jsonDistortion = new double[jsonDistortNode.size()];
+                for (int j = 0; j < jsonDistortNode.size(); j++) {
+                    jsonDistortion[j] = jsonDistortNode.get(j).asDouble();
+                }
+                var jsonViewErrors = calib.get("perViewErrors");
+                double jsonAvgError = 0;
+                for (int j = 0; j < jsonViewErrors.size(); j++) {
+                    jsonAvgError += jsonViewErrors.get(j).asDouble();
+                }
+                jsonAvgError /= jsonViewErrors.size();
+                double jsonErrorStdDev = calib.get("standardDeviation").asDouble();
+                // assign the read JSON values to this CameraProperties
+                setCalibration(
+                        jsonWidth,
+                        jsonHeight,
+                        Matrix.mat(Nat.N3(), Nat.N3()).fill(jsonIntrinsics),
+                        Matrix.mat(Nat.N5(), Nat.N1()).fill(jsonDistortion));
+                setCalibError(jsonAvgError, jsonErrorStdDev);
+                success = true;
+            }
+        } catch (Exception e) {
+            throw new IOException("Invalid calibration JSON");
+        }
+        if (!success) throw new IOException("Requested resolution not found in calibration");
+    }
+
+    public void setRandomSeed(long seed) {
+        rand.setSeed(seed);
+    }
+
+    public void setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) {
+        double s = Math.sqrt(resWidth * resWidth + resHeight * resHeight);
+        var fovWidth = new Rotation2d(fovDiag.getRadians() * (resWidth / s));
+        var fovHeight = new Rotation2d(fovDiag.getRadians() * (resHeight / s));
+
+        double maxFovDeg = Math.max(fovWidth.getDegrees(), fovHeight.getDegrees());
+        if (maxFovDeg > 179) {
+            double scale = 179.0 / maxFovDeg;
+            fovWidth = new Rotation2d(fovWidth.getRadians() * scale);
+            fovHeight = new Rotation2d(fovHeight.getRadians() * scale);
+            DriverStation.reportError(
+                    "Requested FOV width/height too large! Scaling below 180 degrees...", false);
+        }
+
+        // assume no distortion
+        var distCoeff = VecBuilder.fill(0, 0, 0, 0, 0);
+
+        // assume centered principal point (pixels)
+        double cx = resWidth / 2.0;
+        double cy = resHeight / 2.0;
+
+        // use given fov to determine focal point (pixels)
+        double fx = cx / Math.tan(fovWidth.getRadians() / 2.0);
+        double fy = cy / Math.tan(fovHeight.getRadians() / 2.0);
+
+        // create camera intrinsics matrix
+        var camIntrinsics = Matrix.mat(Nat.N3(), Nat.N3()).fill(fx, 0, cx, 0, fy, cy, 0, 0, 1);
+        setCalibration(resWidth, resHeight, camIntrinsics, distCoeff);
+    }
+
+    public void setCalibration(
+            int resWidth, int resHeight, Matrix<N3, N3> camIntrinsics, Matrix<N5, N1> distCoeffs) {
+        this.resWidth = resWidth;
+        this.resHeight = resHeight;
+        this.camIntrinsics = camIntrinsics;
+        this.distCoeffs = distCoeffs;
+    }
+
+    public void setCameraIntrinsics(Matrix<N3, N3> camIntrinsics) {
+        this.camIntrinsics = camIntrinsics;
+    }
+
+    public void setDistortionCoeffs(Matrix<N5, N1> distCoeffs) {
+        this.distCoeffs = distCoeffs;
+    }
+
+    public void setCalibError(double avgErrorPx, double errorStdDevPx) {
+        this.avgErrorPx = avgErrorPx;
+        this.errorStdDevPx = errorStdDevPx;
+    }
+
+    /**
+     * @param fps The average frames per second the camera should process at. <b>Exposure time limits
+     *     FPS if set!</b>
+     */
+    public void setFPS(double fps) {
+        frameSpeedMs = Math.max(1000.0 / fps, exposureTimeMs);
+    }
+
+    /**
+     * @param exposureTimeMs The amount of time the "shutter" is open for one frame. Affects motion
+     *     blur. <b>Frame speed(from FPS) is limited to this!</b>
+     */
+    public void setExposureTimeMs(double exposureTimeMs) {
+        this.exposureTimeMs = exposureTimeMs;
+        frameSpeedMs = Math.max(frameSpeedMs, exposureTimeMs);
+    }
+
+    /**
+     * @param avgLatencyMs The average latency (from image capture to data published) in milliseconds
+     *     a frame should have
+     */
+    public void setAvgLatencyMs(double avgLatencyMs) {
+        this.avgLatencyMs = avgLatencyMs;
+    }
+
+    /**
+     * @param latencyStdDevMs The standard deviation in milliseconds of the latency
+     */
+    public void setLatencyStdDevMs(double latencyStdDevMs) {
+        this.latencyStdDevMs = latencyStdDevMs;
+    }
+
+    public int getResWidth() {
+        return resWidth;
+    }
+
+    public int getResHeight() {
+        return resHeight;
+    }
+
+    public int getResArea() {
+        return resWidth * resHeight;
+    }
+
+    public Matrix<N3, N3> getIntrinsics() {
+        return camIntrinsics.copy();
+    }
+
+    public Vector<N5> getDistCoeffs() {
+        return new Vector<>(distCoeffs);
+    }
+
+    public double getFPS() {
+        return 1000.0 / frameSpeedMs;
+    }
+
+    public double getFrameSpeedMs() {
+        return frameSpeedMs;
+    }
+
+    public double getExposureTimeMs() {
+        return exposureTimeMs;
+    }
+
+    public double getAvgLatencyMs() {
+        return avgLatencyMs;
+    }
+
+    public double getLatencyStdDevMs() {
+        return latencyStdDevMs;
+    }
+
+    public SimCameraProperties copy() {
+        var newProp = new SimCameraProperties();
+        newProp.setCalibration(resWidth, resHeight, camIntrinsics, distCoeffs);
+        newProp.setCalibError(avgErrorPx, errorStdDevPx);
+        newProp.setFPS(getFPS());
+        newProp.setExposureTimeMs(exposureTimeMs);
+        newProp.setAvgLatencyMs(avgLatencyMs);
+        newProp.setLatencyStdDevMs(latencyStdDevMs);
+        return newProp;
+    }
+
+    public List<TargetCorner> undistort(List<TargetCorner> points) {
+        return OpenCVHelp.undistortPoints(camIntrinsics, distCoeffs, points);
+    }
+
+    /**
+     * The percentage(0 - 100) of this camera's resolution the contour takes up in pixels of the
+     * image.
+     *
+     * @param corners Corners of the contour
+     */
+    public double getContourAreaPercent(List<TargetCorner> corners) {
+        return OpenCVHelp.getContourAreaPx(corners) / getResArea() * 100;
+    }
+
+    /** The yaw from the principal point of this camera to the pixel x value. Positive values left. */
+    public Rotation2d getPixelYaw(double pixelX) {
+        double fx = camIntrinsics.get(0, 0);
+        // account for principal point not being centered
+        double cx = camIntrinsics.get(0, 2);
+        double xOffset = cx - pixelX;
+        return new Rotation2d(fx, xOffset);
+    }
+
+    /**
+     * The pitch from the principal point of this camera to the pixel y value. Pitch is positive down.
+     *
+     * <p>Note that this angle is naively computed and may be incorrect. See {@link
+     * #getCorrectedPixelRot(TargetCorner)}.
+     */
+    public Rotation2d getPixelPitch(double pixelY) {
+        double fy = camIntrinsics.get(1, 1);
+        // account for principal point not being centered
+        double cy = camIntrinsics.get(1, 2);
+        double yOffset = cy - pixelY;
+        return new Rotation2d(fy, -yOffset);
+    }
+
+    /**
+     * Finds the yaw and pitch to the given image point. Yaw is positive left, and pitch is positive
+     * down.
+     *
+     * <p>Note that pitch is naively computed and may be incorrect. See {@link
+     * #getCorrectedPixelRot(TargetCorner)}.
+     */
+    public Rotation3d getPixelRot(TargetCorner point) {
+        return new Rotation3d(
+                0, getPixelPitch(point.y).getRadians(), getPixelYaw(point.x).getRadians());
+    }
+
+    /**
+     * Gives the yaw and pitch of the line intersecting the camera lens and the given pixel
+     * coordinates on the sensor. Yaw is positive left, and pitch positive down.
+     *
+     * <p>The pitch traditionally calculated from pixel offsets do not correctly account for non-zero
+     * values of yaw because of perspective distortion (not to be confused with lens distortion)-- for
+     * example, the pitch angle is naively calculated as:
+     *
+     * <pre>pitch = arctan(pixel y offset / focal length y)</pre>
+     *
+     * However, using focal length as a side of the associated right triangle is not correct when the
+     * pixel x value is not 0, because the distance from this pixel (projected on the x-axis) to the
+     * camera lens increases. Projecting a line back out of the camera with these naive angles will
+     * not intersect the 3d point that was originally projected into this 2d pixel. Instead, this
+     * length should be:
+     *
+     * <pre>focal length y ⟶ (focal length y / cos(arctan(pixel x offset / focal length x)))</pre>
+     *
+     * @return Rotation3d with yaw and pitch of the line projected out of the camera from the given
+     *     pixel (roll is zero).
+     */
+    public Rotation3d getCorrectedPixelRot(TargetCorner point) {
+        double fx = camIntrinsics.get(0, 0);
+        double cx = camIntrinsics.get(0, 2);
+        double xOffset = cx - point.x;
+
+        double fy = camIntrinsics.get(1, 1);
+        double cy = camIntrinsics.get(1, 2);
+        double yOffset = cy - point.y;
+
+        // calculate yaw normally
+        var yaw = new Rotation2d(fx, xOffset);
+        // correct pitch based on yaw
+        var pitch = new Rotation2d(fy / Math.cos(Math.atan(xOffset / fx)), -yOffset);
+
+        return new Rotation3d(0, pitch.getRadians(), yaw.getRadians());
+    }
+
+    public Rotation2d getHorizFOV() {
+        // sum of FOV left and right principal point
+        var left = getPixelYaw(0);
+        var right = getPixelYaw(resWidth);
+        return left.minus(right);
+    }
+
+    public Rotation2d getVertFOV() {
+        // sum of FOV above and below principal point
+        var above = getPixelPitch(0);
+        var below = getPixelPitch(resHeight);
+        return below.minus(above);
+    }
+
+    public Rotation2d getDiagFOV() {
+        return new Rotation2d(Math.hypot(getHorizFOV().getRadians(), getVertFOV().getRadians()));
+    }
+
+    /** Width:height */
+    public double getAspectRatio() {
+        return (double) resWidth / resHeight;
+    }
+
+    /**
+     * Returns these pixel points as fractions of a 1x1 square image. This means the camera's aspect
+     * ratio and resolution will be used, and the points' x and y may not reach all portions(e.g. a
+     * wide aspect ratio means some of the top and bottom of the square image is unreachable).
+     *
+     * @param points Pixel points on this camera's image
+     * @return Points mapped to an image of 1x1 resolution
+     */
+    public List<TargetCorner> getPixelFraction(List<TargetCorner> points) {
+        double resLarge = getAspectRatio() > 1 ? resWidth : resHeight;
+
+        return points.stream()
+                .map(
+                        p -> {
+                            // offset to account for aspect ratio
+                            return new TargetCorner(
+                                    (p.x + (resLarge - resWidth) / 2.0) / resLarge,
+                                    (p.y + (resLarge - resHeight) / 2.0) / resLarge);
+                        })
+                .collect(Collectors.toList());
+    }
+
+    /** Returns these points after applying this camera's estimated noise. */
+    public List<TargetCorner> estPixelNoise(List<TargetCorner> points) {
+        if (avgErrorPx == 0 && errorStdDevPx == 0) return points;
+
+        return points.stream()
+                .map(
+                        p -> {
+                            // error pixels in random direction
+                            double error = avgErrorPx + rand.nextGaussian() * errorStdDevPx;
+                            double errorAngle = rand.nextDouble() * 2 * Math.PI - Math.PI;
+                            return new TargetCorner(
+                                    p.x + error * Math.cos(errorAngle), p.y + error * Math.sin(errorAngle));
+                        })
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * @return Noisy estimation of a frame's processing latency in milliseconds
+     */
+    public double estLatencyMs() {
+        return Math.max(avgLatencyMs + rand.nextGaussian() * latencyStdDevMs, 0);
+    }
+
+    /**
+     * @return Estimate how long until the next frame should be processed in milliseconds
+     */
+    public double estMsUntilNextFrame() {
+        // exceptional processing latency blocks the next frame
+        return frameSpeedMs + Math.max(0, estLatencyMs() - frameSpeedMs);
+    }
+
+    // pre-calibrated example cameras
+
+    /** 960x720 resolution, 90 degree FOV, "perfect" lagless camera */
+    public static SimCameraProperties PERFECT_90DEG() {
+        return new SimCameraProperties();
+    }
+
+    public static SimCameraProperties PI4_LIFECAM_320_240() {
+        var prop = new SimCameraProperties();
+        prop.setCalibration(
+                320,
+                240,
+                Matrix.mat(Nat.N3(), Nat.N3())
+                        .fill( // intrinsic
+                                328.2733242048587,
+                                0.0,
+                                164.8190261141906,
+                                0.0,
+                                318.0609794305216,
+                                123.8633838438093,
+                                0.0,
+                                0.0,
+                                1.0),
+                VecBuilder.fill( // distort
+                        0.09957946553445934,
+                        -0.9166265114485799,
+                        0.0019519890627236526,
+                        -0.0036071725380870333,
+                        1.5627234622420942));
+        prop.setCalibError(0.21, 0.0124);
+        prop.setFPS(30);
+        prop.setAvgLatencyMs(30);
+        prop.setLatencyStdDevMs(10);
+        return prop;
+    }
+
+    public static SimCameraProperties PI4_LIFECAM_640_480() {
+        var prop = new SimCameraProperties();
+        prop.setCalibration(
+                640,
+                480,
+                Matrix.mat(Nat.N3(), Nat.N3())
+                        .fill( // intrinsic
+                                669.1428078983059,
+                                0.0,
+                                322.53377249329213,
+                                0.0,
+                                646.9843137061716,
+                                241.26567383784163,
+                                0.0,
+                                0.0,
+                                1.0),
+                VecBuilder.fill( // distort
+                        0.12788470750464645,
+                        -1.2350335805796528,
+                        0.0024990767286192732,
+                        -0.0026958287600230705,
+                        2.2951386729115537));
+        prop.setCalibError(0.26, 0.046);
+        prop.setFPS(15);
+        prop.setAvgLatencyMs(65);
+        prop.setLatencyStdDevMs(15);
+        return prop;
+    }
+
+    public static SimCameraProperties LL2_640_480() {
+        var prop = new SimCameraProperties();
+        prop.setCalibration(
+                640,
+                480,
+                Matrix.mat(Nat.N3(), Nat.N3())
+                        .fill( // intrinsic
+                                511.22843367007755,
+                                0.0,
+                                323.62049380211096,
+                                0.0,
+                                514.5452336723849,
+                                261.8827920543568,
+                                0.0,
+                                0.0,
+                                1.0),
+                VecBuilder.fill( // distort
+                        0.1917469998873756,
+                        -0.5142936883324216,
+                        0.012461562046896614,
+                        0.0014084973492408186,
+                        0.35160648971214437));
+        prop.setCalibError(0.25, 0.05);
+        prop.setFPS(15);
+        prop.setAvgLatencyMs(35);
+        prop.setLatencyStdDevMs(8);
+        return prop;
+    }
+
+    public static SimCameraProperties LL2_960_720() {
+        var prop = new SimCameraProperties();
+        prop.setCalibration(
+                960,
+                720,
+                Matrix.mat(Nat.N3(), Nat.N3())
+                        .fill( // intrinsic
+                                769.6873145148892,
+                                0.0,
+                                486.1096609458122,
+                                0.0,
+                                773.8164483705323,
+                                384.66071662358354,
+                                0.0,
+                                0.0,
+                                1.0),
+                VecBuilder.fill( // distort
+                        0.189462064814501,
+                        -0.49903003669627627,
+                        0.007468423590519429,
+                        0.002496885298683693,
+                        0.3443122090208624));
+        prop.setCalibError(0.35, 0.10);
+        prop.setFPS(10);
+        prop.setAvgLatencyMs(50);
+        prop.setLatencyStdDevMs(15);
+        return prop;
+    }
+
+    public static SimCameraProperties LL2_1280_720() {
+        var prop = new SimCameraProperties();
+        prop.setCalibration(
+                1280,
+                720,
+                Matrix.mat(Nat.N3(), Nat.N3())
+                        .fill( // intrinsic
+                                1011.3749416937393,
+                                0.0,
+                                645.4955139388737,
+                                0.0,
+                                1008.5391755084075,
+                                508.32877656020196,
+                                0.0,
+                                0.0,
+                                1.0),
+                VecBuilder.fill( // distort
+                        0.13730101577061535,
+                        -0.2904345656989261,
+                        8.32475714507539E-4,
+                        -3.694397782014239E-4,
+                        0.09487962227027584));
+        prop.setCalibError(0.37, 0.06);
+        prop.setFPS(7);
+        prop.setAvgLatencyMs(60);
+        prop.setLatencyStdDevMs(20);
+        return prop;
+    }
+}
diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
similarity index 97%
rename from photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
rename to photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
index 54a09d0eb9..3f53b34a14 100644
--- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
@@ -22,7 +22,7 @@
  * SOFTWARE.
  */
 
-package org.photonvision;
+package org.photonvision.simulation;
 
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.numbers.N1;
@@ -31,12 +31,18 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.Arrays;
 import java.util.List;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonTargetSortMode;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.networktables.NTTopicSet;
 import org.photonvision.targeting.PNPResults;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
+/**
+ * @deprecated Use {@link PhotonCameraSim} instead
+ */
+@Deprecated
 @SuppressWarnings("unused")
 public class SimPhotonCamera {
     NTTopicSet ts = new NTTopicSet();
diff --git a/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java b/photon-lib/src/main/java/org/photonvision/simulation/SimVisionSystem.java
similarity index 99%
rename from photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
rename to photon-lib/src/main/java/org/photonvision/simulation/SimVisionSystem.java
index 4ae091475e..52756f4727 100644
--- a/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimVisionSystem.java
@@ -22,7 +22,7 @@
  * SOFTWARE.
  */
 
-package org.photonvision;
+package org.photonvision.simulation;
 
 import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
@@ -41,6 +41,10 @@
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.TargetCorner;
 
+/**
+ * @deprecated Use {@link VisionSystemSim} instead
+ */
+@Deprecated
 public class SimVisionSystem {
     SimPhotonCamera cam;
 
diff --git a/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java b/photon-lib/src/main/java/org/photonvision/simulation/SimVisionTarget.java
similarity index 95%
rename from photon-lib/src/main/java/org/photonvision/SimVisionTarget.java
rename to photon-lib/src/main/java/org/photonvision/simulation/SimVisionTarget.java
index 2b5c2ceab7..0d66154d9f 100644
--- a/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimVisionTarget.java
@@ -22,10 +22,14 @@
  * SOFTWARE.
  */
 
-package org.photonvision;
+package org.photonvision.simulation;
 
 import edu.wpi.first.math.geometry.Pose3d;
 
+/**
+ * @deprecated Use {@link VisionTargetSim} instead
+ */
+@Deprecated
 public class SimVisionTarget {
     Pose3d targetPose;
     double targetWidthMeters;
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
new file mode 100644
index 0000000000..d142347a9a
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
@@ -0,0 +1,330 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision.simulation;
+
+import edu.wpi.first.cscore.CvSource;
+import edu.wpi.first.util.RuntimeLoader;
+import java.awt.image.BufferedImage;
+import java.io.IOException;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import javax.imageio.ImageIO;
+import org.opencv.core.Core;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfPoint;
+import org.opencv.core.MatOfPoint2f;
+import org.opencv.core.Point;
+import org.opencv.core.Rect;
+import org.opencv.core.Scalar;
+import org.opencv.core.Size;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.Imgproc;
+import org.photonvision.estimation.OpenCVHelp;
+
+public class VideoSimUtil {
+    public static final String kLocalTagImagesPath = "./src/main/resources/images/apriltags/";
+    public static final String kResourceTagImagesPath = "/images/apriltags/";
+    public static final String kTag16h5ImageName = "tag16_05_00000";
+    public static final int kNumTags16h5 = 30;
+
+    // All 16h5 tag images
+    private static final Map<Integer, Mat> kTag16h5Images = new HashMap<>();
+    // Points corresponding to marker(black square) corners of 8x8 16h5 tag images
+    public static final Point[] kTag16h5MarkerPts;
+
+    static {
+        try {
+            var loader =
+                    new RuntimeLoader<>(
+                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+            loader.loadLibrary();
+        } catch (Exception e) {
+            throw new RuntimeException("Failed to load native libraries!", e);
+        }
+
+        // create Mats of 8x8 apriltag images
+        for (int i = 0; i < VideoSimUtil.kNumTags16h5; i++) {
+            Mat tagImage = VideoSimUtil.get16h5TagImage(i);
+            kTag16h5Images.put(i, tagImage);
+        }
+
+        kTag16h5MarkerPts = get16h5MarkerPts();
+    }
+
+    /** Updates the properties of this CvSource video stream with the given camera properties. */
+    public static void updateVideoProp(CvSource video, SimCameraProperties prop) {
+        video.setResolution(prop.getResWidth(), prop.getResHeight());
+        video.setFPS((int) prop.getFPS());
+    }
+
+    /**
+     * Gets the points representing the corners of this image. Because image pixels are accessed
+     * through a Mat, the point (0,0) actually represents the center of the top-left pixel and not the
+     * actual top-left corner.
+     *
+     * @param size Size of image
+     */
+    public static Point[] getImageCorners(Size size) {
+        return new Point[] {
+            new Point(-0.5, -0.5),
+            new Point(size.width - 0.5, -0.5),
+            new Point(size.width - 0.5, size.height - 0.5),
+            new Point(-0.5, size.height - 0.5)
+        };
+    }
+
+    /**
+     * Gets the 8x8 (grayscale) image of a specific 16h5 AprilTag.
+     *
+     * @param id The fiducial id of the desired tag
+     */
+    public static Mat get16h5TagImage(int id) {
+        String name = kTag16h5ImageName;
+        String idString = String.valueOf(id);
+        name = name.substring(0, name.length() - idString.length()) + idString;
+
+        var resource = VideoSimUtil.class.getResource(kResourceTagImagesPath + name + ".png");
+
+        Mat result = new Mat();
+        // reading jar file
+        if (resource != null && resource.getPath().startsWith("file")) {
+            BufferedImage buf;
+            try {
+                buf = ImageIO.read(resource);
+            } catch (IOException e) {
+                System.err.println("Couldn't read tag image!");
+                return result;
+            }
+
+            result = new Mat(buf.getHeight(), buf.getWidth(), CvType.CV_8UC1);
+
+            byte[] px = new byte[1];
+            for (int y = 0; y < result.height(); y++) {
+                for (int x = 0; x < result.width(); x++) {
+                    px[0] = (byte) (buf.getRGB(x, y) & 0xFF);
+                    result.put(y, x, px);
+                }
+            }
+        }
+        // local IDE tests
+        else result = Imgcodecs.imread(kLocalTagImagesPath + name + ".png", Imgcodecs.IMREAD_GRAYSCALE);
+        return result;
+    }
+
+    /** Gets the points representing the marker(black square) corners. */
+    public static Point[] get16h5MarkerPts() {
+        return get16h5MarkerPts(1);
+    }
+
+    /**
+     * Gets the points representing the marker(black square) corners.
+     *
+     * @param scale The scale of the tag image (8*scale x 8*scale image)
+     */
+    public static Point[] get16h5MarkerPts(int scale) {
+        var roi16h5 = new Rect(new Point(1, 1), new Size(6, 6));
+        roi16h5.x *= scale;
+        roi16h5.y *= scale;
+        roi16h5.width *= scale;
+        roi16h5.height *= scale;
+        var pts = getImageCorners(roi16h5.size());
+        for (int i = 0; i < pts.length; i++) {
+            var pt = pts[i];
+            pts[i] = new Point(roi16h5.tl().x + pt.x, roi16h5.tl().y + pt.y);
+        }
+        return pts;
+    }
+
+    /**
+     * Warps the image of a specific 16h5 AprilTag onto the destination image at the given points.
+     *
+     * @param tagId The id of the specific tag to warp onto the destination image
+     * @param dstPoints Points(4) in destination image where the tag marker(black square) corners
+     *     should be warped onto.
+     * @param destination The destination image to place the warped tag image onto.
+     * @param antialiasing If antialiasing should be performed by automatically
+     *     supersampling/interpolating the warped image. This should be used if better stream quality
+     *     is desired or target detection is being done on the stream, but can hurt performance.
+     * @see OpenCVHelp#targetCornersToMat(org.photonvision.targeting.TargetCorner...)
+     */
+    public static void warp16h5TagImage(
+            int tagId, MatOfPoint2f dstPoints, Mat destination, boolean antialiasing) {
+        Mat tagImage = kTag16h5Images.get(tagId);
+        if (tagImage == null || tagImage.empty()) return;
+        var tagPoints = new MatOfPoint2f(kTag16h5MarkerPts);
+        // points of tag image corners
+        var tagImageCorners = new MatOfPoint2f(getImageCorners(tagImage.size()));
+        // the rectangle describing the rectangle-of-interest(ROI)
+        var boundingRect = Imgproc.boundingRect(dstPoints);
+        // find the perspective transform from the tag image to the warped destination points
+        Mat perspecTrf = Imgproc.getPerspectiveTransform(tagPoints, dstPoints);
+        // check extreme image corners after transform to check if we need to expand bounding rect
+        var extremeCorners = new MatOfPoint2f();
+        Core.perspectiveTransform(tagImageCorners, extremeCorners, perspecTrf);
+        // dilate ROI to fit full tag
+        boundingRect = Imgproc.boundingRect(extremeCorners);
+
+        // adjust interpolation strategy based on size of warped tag compared to tag image
+        var warpedContourArea = Imgproc.contourArea(extremeCorners);
+        double warpedTagUpscale = Math.sqrt(warpedContourArea) / Math.sqrt(tagImage.size().area());
+        int warpStrategy = Imgproc.INTER_NEAREST;
+        // automatically determine the best supersampling of warped image and scale of tag image
+        /*
+        (warpPerspective does not properly resample, so this is used to avoid aliasing in the
+        warped image. Supersampling is used when the warped tag is small, but is very slow
+        when the warped tag is large-- scaling the tag image up and using linear interpolation
+        instead can be performant while still effectively antialiasing. Some combination of these
+        two can be used in between those extremes.)
+
+        TODO: Simplify magic numbers to one or two variables, or use a more proper approach?
+        */
+        int supersampling = 6;
+        supersampling = (int) Math.ceil(supersampling / warpedTagUpscale);
+        supersampling = Math.max(Math.min(supersampling, 8), 1);
+
+        Mat scaledTagImage = new Mat();
+        if (warpedTagUpscale > 2.0) {
+            warpStrategy = Imgproc.INTER_LINEAR;
+            int scaleFactor = (int) (warpedTagUpscale / 3.0) + 2;
+            scaleFactor = Math.max(Math.min(scaleFactor, 40), 1);
+            scaleFactor *= supersampling;
+            Imgproc.resize(
+                    tagImage, scaledTagImage, new Size(), scaleFactor, scaleFactor, Imgproc.INTER_NEAREST);
+            tagPoints.fromArray(get16h5MarkerPts(scaleFactor));
+        } else tagImage.assignTo(scaledTagImage);
+
+        // constrain the bounding rect inside of the destination image
+        boundingRect.x -= 1;
+        boundingRect.y -= 1;
+        boundingRect.width += 2;
+        boundingRect.height += 2;
+        if (boundingRect.x < 0) {
+            boundingRect.width += boundingRect.x;
+            boundingRect.x = 0;
+        }
+        if (boundingRect.y < 0) {
+            boundingRect.height += boundingRect.y;
+            boundingRect.y = 0;
+        }
+        boundingRect.width = Math.min(destination.width() - boundingRect.x, boundingRect.width);
+        boundingRect.height = Math.min(destination.height() - boundingRect.y, boundingRect.height);
+        if (boundingRect.width <= 0 || boundingRect.height <= 0) return;
+
+        // upscale if supersampling
+        Mat scaledDstPts = new Mat();
+        if (supersampling > 1) {
+            Core.multiply(dstPoints, new Scalar(supersampling, supersampling), scaledDstPts);
+            boundingRect.x *= supersampling;
+            boundingRect.y *= supersampling;
+            boundingRect.width *= supersampling;
+            boundingRect.height *= supersampling;
+        } else dstPoints.assignTo(scaledDstPts);
+
+        // update transform relative to expanded, scaled bounding rect
+        Core.subtract(scaledDstPts, new Scalar(boundingRect.tl().x, boundingRect.tl().y), scaledDstPts);
+        perspecTrf = Imgproc.getPerspectiveTransform(tagPoints, scaledDstPts);
+
+        // warp (scaled) tag image onto (scaled) ROI image representing the portion of
+        // the destination image encapsulated by boundingRect
+        Mat tempROI = new Mat();
+        Imgproc.warpPerspective(scaledTagImage, tempROI, perspecTrf, boundingRect.size(), warpStrategy);
+
+        // downscale ROI with interpolation if supersampling
+        if (supersampling > 1) {
+            boundingRect.x /= supersampling;
+            boundingRect.y /= supersampling;
+            boundingRect.width /= supersampling;
+            boundingRect.height /= supersampling;
+            Imgproc.resize(tempROI, tempROI, boundingRect.size(), 0, 0, Imgproc.INTER_AREA);
+        }
+
+        // we want to copy ONLY the transformed tag to the result image, not the entire bounding rect
+        // using a mask only copies the source pixels which have an associated non-zero value in the
+        // mask
+        Mat tempMask = Mat.zeros(tempROI.size(), CvType.CV_8UC1);
+        Core.subtract(
+                extremeCorners, new Scalar(boundingRect.tl().x, boundingRect.tl().y), extremeCorners);
+        Point tempCenter = new Point();
+        tempCenter.x =
+                Arrays.stream(extremeCorners.toArray()).mapToDouble(p -> p.x).average().getAsDouble();
+        tempCenter.y =
+                Arrays.stream(extremeCorners.toArray()).mapToDouble(p -> p.y).average().getAsDouble();
+        // dilate tag corners
+        Arrays.stream(extremeCorners.toArray())
+                .forEach(
+                        p -> {
+                            double xdiff = p.x - tempCenter.x;
+                            double ydiff = p.y - tempCenter.y;
+                            xdiff += 1 * Math.signum(xdiff);
+                            ydiff += 1 * Math.signum(ydiff);
+                            new Point(tempCenter.x + xdiff, tempCenter.y + ydiff);
+                        });
+        // (make inside of tag completely white in mask)
+        Imgproc.fillConvexPoly(tempMask, new MatOfPoint(extremeCorners.toArray()), new Scalar(255));
+
+        // copy transformed tag onto result image
+        tempROI.copyTo(destination.submat(boundingRect), tempMask);
+    }
+
+    /**
+     * Draws a contour around the given points and text of the id onto the destination image.
+     *
+     * @param id Fiducial ID number to draw
+     * @param dstPoints Points representing the four corners of the tag marker(black square) in the
+     *     destination image.
+     * @param destination The destination image to draw onto. The image should be in the BGR color
+     *     space.
+     */
+    public static void drawTagDetection(int id, MatOfPoint2f dstPoints, Mat destination) {
+        var dstPointsd = new MatOfPoint(dstPoints.toArray());
+        double scaleX = destination.width() / 640.0;
+        double scaleY = destination.height() / 480.0;
+        double minScale = Math.min(scaleX, scaleY);
+        int thickness = (int) (1 * minScale);
+        // for(var pt : dstPoints.toArray()) {
+        //     Imgproc.circle(destination, pt, 4, new Scalar(255), 1, Imgproc.LINE_AA);
+        // }
+        // Imgproc.rectangle(destination, extremeRect, new Scalar(255), 1, Imgproc.LINE_AA);
+        // Imgproc.rectangle(destination, Imgproc.boundingRect(dstPoints), new Scalar(255), 1,
+        // Imgproc.LINE_AA);
+        Imgproc.polylines(
+                destination, List.of(dstPointsd), true, new Scalar(0, 0, 255), thickness, Imgproc.LINE_AA);
+        var textPt = Imgproc.boundingRect(dstPoints).tl();
+        textPt.x -= 10.0 * scaleX;
+        textPt.y -= 12.0 * scaleY;
+        Imgproc.putText(
+                destination,
+                String.valueOf(id),
+                textPt,
+                Imgproc.FONT_HERSHEY_PLAIN,
+                1.5 * minScale,
+                new Scalar(0, 0, 255),
+                thickness,
+                Imgproc.LINE_AA);
+    }
+}
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java b/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
new file mode 100644
index 0000000000..81736d2dde
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
@@ -0,0 +1,377 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision.simulation;
+
+import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.interpolation.TimeInterpolatableBuffer;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+import java.util.Set;
+import java.util.stream.Collectors;
+import org.photonvision.PhotonCamera;
+import org.photonvision.estimation.TargetModel;
+
+/**
+ * A simulated vision system involving a camera(s) and coprocessor(s) mounted on a mobile robot
+ * running PhotonVision, detecting targets placed on the field. {@link VisionTargetSim}s added to
+ * this class will be detected by the {@link PhotonCameraSim}s added to this class. This class
+ * should be updated periodically with the robot's current pose in order to publish the simulated
+ * camera target info.
+ */
+public class VisionSystemSim {
+    private final Map<String, PhotonCameraSim> camSimMap = new HashMap<>();
+    private static final double kBufferLengthSeconds = 1.5;
+    // save robot-to-camera for each camera over time (Pose3d is easily interpolatable)
+    private final Map<PhotonCameraSim, TimeInterpolatableBuffer<Pose3d>> camTrfMap = new HashMap<>();
+
+    // interpolate drivetrain with twists
+    private final TimeInterpolatableBuffer<Pose3d> robotPoseBuffer =
+            TimeInterpolatableBuffer.createBuffer(kBufferLengthSeconds);
+
+    private final Map<String, Set<VisionTargetSim>> targetSets = new HashMap<>();
+
+    private final Field2d dbgField;
+
+    /**
+     * A simulated vision system involving a camera(s) and coprocessor(s) mounted on a mobile robot
+     * running PhotonVision, detecting targets placed on the field. {@link VisionTargetSim}s added to
+     * this class will be detected by the {@link PhotonCameraSim}s added to this class. This class
+     * should be updated periodically with the robot's current pose in order to publish the simulated
+     * camera target info.
+     *
+     * @param visionSystemName The specific identifier for this vision system in NetworkTables.
+     */
+    public VisionSystemSim(String visionSystemName) {
+        dbgField = new Field2d();
+        String tableName = "VisionSystemSim-" + visionSystemName;
+        SmartDashboard.putData(tableName + "/Sim Field", dbgField);
+    }
+
+    /** Get one of the simulated cameras. */
+    public Optional<PhotonCameraSim> getCameraSim(String name) {
+        return Optional.ofNullable(camSimMap.get(name));
+    }
+
+    /** Get all the simulated cameras. */
+    public Collection<PhotonCameraSim> getCameraSims() {
+        return camSimMap.values();
+    }
+
+    /**
+     * Adds a simulated camera to this vision system with a specified robot-to-camera transformation.
+     * The vision targets registered with this vision system simulation will be observed by the
+     * simulated {@link PhotonCamera}.
+     *
+     * @param cameraSim The camera simulation
+     * @param robotToCamera The transform from the robot pose to the camera pose
+     */
+    public void addCamera(PhotonCameraSim cameraSim, Transform3d robotToCamera) {
+        var existing = camSimMap.putIfAbsent(cameraSim.getCamera().getName(), cameraSim);
+        if (existing == null) {
+            camTrfMap.put(cameraSim, TimeInterpolatableBuffer.createBuffer(kBufferLengthSeconds));
+            camTrfMap
+                    .get(cameraSim)
+                    .addSample(Timer.getFPGATimestamp(), new Pose3d().plus(robotToCamera));
+        }
+    }
+
+    /** Remove all simulated cameras from this vision system. */
+    public void clearCameras() {
+        camSimMap.clear();
+        camTrfMap.clear();
+    }
+
+    /**
+     * Remove a simulated camera from this vision system.
+     *
+     * @return If the camera was present and removed
+     */
+    public boolean removeCamera(PhotonCameraSim cameraSim) {
+        boolean success = camSimMap.remove(cameraSim.getCamera().getName()) != null;
+        camTrfMap.remove(cameraSim);
+        return success;
+    }
+
+    /**
+     * Get a simulated camera's position relative to the robot. If the requested camera is invalid, an
+     * empty optional is returned.
+     *
+     * @return The transform of this cameraSim, or an empty optional if it is invalid
+     */
+    public Optional<Transform3d> getRobotToCamera(PhotonCameraSim cameraSim) {
+        return getRobotToCamera(cameraSim, Timer.getFPGATimestamp());
+    }
+
+    /**
+     * Get a simulated camera's position relative to the robot. If the requested camera is invalid, an
+     * empty optional is returned.
+     *
+     * @param cameraSim Specific camera to get the robot-to-camera transform of
+     * @param timeSeconds Timestamp in seconds of when the transform should be observed
+     * @return The transform of this cameraSim, or an empty optional if it is invalid
+     */
+    public Optional<Transform3d> getRobotToCamera(PhotonCameraSim cameraSim, double timeSeconds) {
+        var trfBuffer = camTrfMap.get(cameraSim);
+        if (trfBuffer == null) return Optional.empty();
+        var sample = trfBuffer.getSample(timeSeconds);
+        if (sample.isEmpty()) return Optional.empty();
+        return Optional.of(new Transform3d(new Pose3d(), sample.orElse(new Pose3d())));
+    }
+
+    /**
+     * Adjust a camera's position relative to the robot. Use this if your camera is on a gimbal or
+     * turret or some other mobile platform.
+     *
+     * @param cameraSim The simulated camera to change the relative position of
+     * @param robotToCamera New transform from the robot to the camera
+     * @return If the cameraSim was valid and transform was adjusted
+     */
+    public boolean adjustCamera(PhotonCameraSim cameraSim, Transform3d robotToCamera) {
+        var trfBuffer = camTrfMap.get(cameraSim);
+        if (trfBuffer == null) return false;
+        trfBuffer.addSample(Timer.getFPGATimestamp(), new Pose3d().plus(robotToCamera));
+        return true;
+    }
+
+    /** Reset the previous transforms for all cameras to their current transform. */
+    public void resetCameraTransforms() {
+        for (var cam : camTrfMap.keySet()) resetCameraTransforms(cam);
+    }
+
+    /**
+     * Reset the transform history for this camera to just the current transform.
+     *
+     * @return If the cameraSim was valid and transforms were reset
+     */
+    public boolean resetCameraTransforms(PhotonCameraSim cameraSim) {
+        double now = Timer.getFPGATimestamp();
+        var trfBuffer = camTrfMap.get(cameraSim);
+        if (trfBuffer == null) return false;
+        var lastTrf = new Transform3d(new Pose3d(), trfBuffer.getSample(now).orElse(new Pose3d()));
+        trfBuffer.clear();
+        adjustCamera(cameraSim, lastTrf);
+        return true;
+    }
+
+    public Set<VisionTargetSim> getVisionTargets() {
+        var all = new HashSet<VisionTargetSim>();
+        for (var entry : targetSets.entrySet()) {
+            all.addAll(entry.getValue());
+        }
+        return all;
+    }
+
+    public Set<VisionTargetSim> getVisionTargets(String type) {
+        return targetSets.get(type);
+    }
+
+    /**
+     * Adds targets on the field which your vision system is designed to detect. The {@link
+     * PhotonCamera}s simulated from this system will report the location of the camera relative to
+     * the subset of these targets which are visible from the given camera position.
+     *
+     * <p>By default these are added under the type "targets".
+     *
+     * @param targets Targets to add to the simulated field
+     */
+    public void addVisionTargets(VisionTargetSim... targets) {
+        addVisionTargets("targets", targets);
+    }
+
+    /**
+     * Adds targets on the field which your vision system is designed to detect. The {@link
+     * PhotonCamera}s simulated from this system will report the location of the camera relative to
+     * the subset of these targets which are visible from the given camera position.
+     *
+     * <p>The AprilTags from this layout will be added as vision targets under the type "apriltags".
+     * The poses added preserve the tag layout's current alliance origin.
+     *
+     * @param tagLayout The field tag layout to get Apriltag poses and IDs from
+     */
+    public void addVisionTargets(AprilTagFieldLayout tagLayout) {
+        for (AprilTag tag : tagLayout.getTags()) {
+            addVisionTargets(
+                    "apriltags",
+                    new VisionTargetSim(
+                            tagLayout.getTagPose(tag.ID).get(), // preserve alliance rotation
+                            TargetModel.kTag16h5,
+                            tag.ID));
+        }
+    }
+
+    /**
+     * Adds targets on the field which your vision system is designed to detect. The {@link
+     * PhotonCamera}s simulated from this system will report the location of the camera relative to
+     * the subset of these targets which are visible from the given camera position.
+     *
+     * @param type Type of target (e.g. "cargo").
+     * @param targets Targets to add to the simulated field
+     */
+    public void addVisionTargets(String type, VisionTargetSim... targets) {
+        targetSets.computeIfAbsent(type, k -> new HashSet<>());
+        for (var tgt : targets) {
+            targetSets.get(type).add(tgt);
+        }
+    }
+
+    public void clearVisionTargets() {
+        targetSets.clear();
+    }
+
+    public Set<VisionTargetSim> removeVisionTargets(String type) {
+        return targetSets.remove(type);
+    }
+
+    public Set<VisionTargetSim> removeVisionTargets(VisionTargetSim... targets) {
+        var removeList = List.of(targets);
+        var removedSet = new HashSet<VisionTargetSim>();
+        for (var entry : targetSets.entrySet()) {
+            entry
+                    .getValue()
+                    .removeIf(
+                            t -> {
+                                if (removeList.contains(t)) {
+                                    removedSet.add(t);
+                                    return true;
+                                } else return false;
+                            });
+        }
+        return removedSet;
+    }
+
+    /** Get the latest robot pose in meters saved by the vision system. */
+    public Pose3d getRobotPose() {
+        return getRobotPose(Timer.getFPGATimestamp());
+    }
+
+    /**
+     * Get the robot pose in meters saved by the vision system at this timestamp.
+     *
+     * @param timestamp Timestamp of the desired robot pose
+     */
+    public Pose3d getRobotPose(double timestamp) {
+        return robotPoseBuffer.getSample(timestamp).orElse(new Pose3d());
+    }
+
+    /** Clears all previous robot poses and sets robotPose at current time. */
+    public void resetRobotPose(Pose2d robotPose) {
+        resetRobotPose(new Pose3d(robotPose));
+    }
+
+    /** Clears all previous robot poses and sets robotPose at current time. */
+    public void resetRobotPose(Pose3d robotPose) {
+        robotPoseBuffer.clear();
+        robotPoseBuffer.addSample(Timer.getFPGATimestamp(), robotPose);
+    }
+
+    public Field2d getDebugField() {
+        return dbgField;
+    }
+
+    /**
+     * Periodic update. Ensure this is called repeatedly-- camera performance is used to automatically
+     * determine if a new frame should be submitted.
+     *
+     * @param robotPoseMeters The current robot pose in meters
+     */
+    public void update(Pose2d robotPoseMeters) {
+        update(new Pose3d(robotPoseMeters));
+    }
+
+    /**
+     * Periodic update. Ensure this is called repeatedly-- camera performance is used to automatically
+     * determine if a new frame should be submitted.
+     *
+     * @param robotPoseMeters The current robot pose in meters
+     */
+    public void update(Pose3d robotPoseMeters) {
+        var targetTypes = targetSets.entrySet();
+        // update vision targets on field
+        targetTypes.forEach(
+                entry ->
+                        dbgField
+                                .getObject(entry.getKey())
+                                .setPoses(
+                                        entry.getValue().stream()
+                                                .map(t -> t.getPose().toPose2d())
+                                                .collect(Collectors.toList())));
+
+        if (robotPoseMeters == null) return;
+
+        // save "real" robot poses over time
+        double now = Timer.getFPGATimestamp();
+        robotPoseBuffer.addSample(now, robotPoseMeters);
+        dbgField.setRobotPose(robotPoseMeters.toPose2d());
+
+        var allTargets = new ArrayList<VisionTargetSim>();
+        targetTypes.forEach((entry) -> allTargets.addAll(entry.getValue()));
+        var visibleTargets = new ArrayList<Pose3d>();
+        var cameraPose2ds = new ArrayList<Pose2d>();
+        // process each camera
+        for (var camSim : camSimMap.values()) {
+            // check if this camera is ready to process and get latency
+            var optTimestamp = camSim.consumeNextEntryTime();
+            if (optTimestamp.isEmpty()) continue;
+            // when this result "was" read by NT
+            long timestampNT = optTimestamp.get();
+            // this result's processing latency in milliseconds
+            double latencyMillis = camSim.prop.estLatencyMs();
+            // the image capture timestamp in seconds of this result
+            double timestampCapture = timestampNT / 1e6 - latencyMillis / 1e3;
+
+            // use camera pose from the image capture timestamp
+            Pose3d lateRobotPose = getRobotPose(timestampCapture);
+            Pose3d lateCameraPose = lateRobotPose.plus(getRobotToCamera(camSim, timestampCapture).get());
+            cameraPose2ds.add(lateCameraPose.toPose2d());
+
+            // process a PhotonPipelineResult with visible targets
+            var camResult = camSim.process(latencyMillis, lateCameraPose, allTargets);
+            // publish this info to NT at estimated timestamp of receive
+            camSim.submitProcessedFrame(camResult, timestampNT);
+            // display debug results
+            for (var target : camResult.getTargets()) {
+                visibleTargets.add(lateCameraPose.transformBy(target.getBestCameraToTarget()));
+            }
+        }
+        if (visibleTargets.size() != 0) {
+            dbgField
+                    .getObject("visibleTargetPoses")
+                    .setPoses(visibleTargets.stream().map(Pose3d::toPose2d).collect(Collectors.toList()));
+        }
+        if (cameraPose2ds.size() != 0) dbgField.getObject("cameras").setPoses(cameraPose2ds);
+    }
+}
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VisionTargetSim.java b/photon-lib/src/main/java/org/photonvision/simulation/VisionTargetSim.java
new file mode 100644
index 0000000000..88d19756c3
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VisionTargetSim.java
@@ -0,0 +1,94 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision.simulation;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.List;
+import org.photonvision.estimation.TargetModel;
+
+/** Describes a vision target located somewhere on the field that your vision system can detect. */
+public class VisionTargetSim {
+    private Pose3d pose;
+    private TargetModel model;
+
+    public final int fiducialID;
+
+    /**
+     * Describes a vision target located somewhere on the field that your vision system can detect.
+     *
+     * @param pose Pose3d of the tag in field-relative coordinates
+     * @param model TargetModel which describes the shape of the target
+     */
+    public VisionTargetSim(Pose3d pose, TargetModel model) {
+        this.pose = pose;
+        this.model = model;
+        this.fiducialID = -1;
+    }
+
+    /**
+     * Describes a fiducial tag located somewhere on the field that your vision system can detect.
+     *
+     * @param pose Pose3d of the tag in field-relative coordinates
+     * @param model TargetModel which describes the shape of the target(tag)
+     * @param id The ID of this fiducial tag
+     */
+    public VisionTargetSim(Pose3d pose, TargetModel model, int id) {
+        this.pose = pose;
+        this.model = model;
+        this.fiducialID = id;
+    }
+
+    public void setPose(Pose3d pose) {
+        this.pose = pose;
+    }
+
+    public void setModel(TargetModel model) {
+        this.model = model;
+    }
+
+    public Pose3d getPose() {
+        return pose;
+    }
+
+    public TargetModel getModel() {
+        return model;
+    }
+
+    /** This target's vertices offset from its field pose. */
+    public List<Translation3d> getFieldVertices() {
+        return model.getFieldVertices(pose);
+    }
+
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj instanceof VisionTargetSim) {
+            var o = (VisionTargetSim) obj;
+            return pose.equals(o.pose) && model.equals(o.model);
+        }
+        return false;
+    }
+}
diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
index 3a06ca9a71..c2dc8bac50 100644
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
@@ -359,11 +359,17 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagPnpStrategy(
     std::optional<cv::Mat> distCoeffs) {
   using namespace frc;
 
+  // Need at least 2 targets
   if (!result.HasTargets() || result.GetTargets().size() < 2) {
     return Update(result, std::nullopt, std::nullopt,
                   this->multiTagFallbackStrategy);
   }
 
+  if (!camMat || !distCoeffs) {
+    return Update(result, std::nullopt, std::nullopt,
+                  this->multiTagFallbackStrategy);
+  }
+
   auto const targets = result.GetTargets();
 
   // List of corners mapped from 3d space (meters) to the 2d camera screen
@@ -385,18 +391,15 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagPnpStrategy(
     }
   }
 
-  if (imagePoints.empty()) {
-    return std::nullopt;
+  // We should only do multi-tag if at least 2 tags (* 4 corners/tag)
+  if (imagePoints.size() < 8) {
+    return Update(result, camMat, distCoeffs, this->multiTagFallbackStrategy);
   }
 
   // Use OpenCV ITERATIVE solver
   cv::Mat const rvec(3, 1, cv::DataType<double>::type);
   cv::Mat const tvec(3, 1, cv::DataType<double>::type);
 
-  if (!camMat || !distCoeffs) {
-    return std::nullopt;
-  }
-
   cv::solvePnP(objectPoints, imagePoints, camMat.value(), distCoeffs.value(),
                rvec, tvec, false, cv::SOLVEPNP_SQPNP);
 
diff --git a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
index 863c572501..44ab0917a2 100644
--- a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
+++ b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
@@ -25,6 +25,7 @@
 #pragma once
 
 #include <algorithm>
+#include <functional>
 #include <memory>
 #include <string>
 #include <vector>
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00000.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00000.png
new file mode 100644
index 0000000000..f6f22a9c97
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00000.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00001.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00001.png
new file mode 100644
index 0000000000..9b66b7d59b
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00001.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00002.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00002.png
new file mode 100644
index 0000000000..856d4f163f
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00002.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00003.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00003.png
new file mode 100644
index 0000000000..df0cc4ab3c
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00003.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00004.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00004.png
new file mode 100644
index 0000000000..b5537da0b1
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00004.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00005.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00005.png
new file mode 100644
index 0000000000..13574f8d5e
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00005.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00006.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00006.png
new file mode 100644
index 0000000000..6c8b797ca1
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00006.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00007.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00007.png
new file mode 100644
index 0000000000..e0d18241dd
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00007.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00008.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00008.png
new file mode 100644
index 0000000000..30827b6f94
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00008.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00009.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00009.png
new file mode 100644
index 0000000000..702990646c
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00009.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00010.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00010.png
new file mode 100644
index 0000000000..71beaa9626
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00010.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00011.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00011.png
new file mode 100644
index 0000000000..06e0c94a3f
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00011.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00012.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00012.png
new file mode 100644
index 0000000000..11a9a0016c
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00012.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00013.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00013.png
new file mode 100644
index 0000000000..7443d8030f
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00013.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00014.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00014.png
new file mode 100644
index 0000000000..bad5efedc9
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00014.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00015.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00015.png
new file mode 100644
index 0000000000..3b4f564d44
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00015.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00016.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00016.png
new file mode 100644
index 0000000000..cf5fa68c27
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00016.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00017.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00017.png
new file mode 100644
index 0000000000..13ed6b2cc7
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00017.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00018.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00018.png
new file mode 100644
index 0000000000..27ccc3324f
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00018.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00019.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00019.png
new file mode 100644
index 0000000000..97a521c47c
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00019.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00020.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00020.png
new file mode 100644
index 0000000000..f7c1f0d4ed
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00020.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00021.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00021.png
new file mode 100644
index 0000000000..aade7b3320
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00021.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00022.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00022.png
new file mode 100644
index 0000000000..ae9c0be5e8
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00022.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00023.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00023.png
new file mode 100644
index 0000000000..d4122e6001
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00023.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00024.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00024.png
new file mode 100644
index 0000000000..46f9c98121
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00024.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00025.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00025.png
new file mode 100644
index 0000000000..29d3bf8aa7
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00025.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00026.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00026.png
new file mode 100644
index 0000000000..4e86541296
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00026.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00027.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00027.png
new file mode 100644
index 0000000000..a14c4a7331
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00027.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00028.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00028.png
new file mode 100644
index 0000000000..5adc09082b
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00028.png differ
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00029.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00029.png
new file mode 100644
index 0000000000..9639d1cec3
Binary files /dev/null and b/photon-lib/src/main/resources/images/apriltags/tag16_05_00029.png differ
diff --git a/photon-lib/src/test/java/org/photonvision/OpenCVTest.java b/photon-lib/src/test/java/org/photonvision/OpenCVTest.java
new file mode 100644
index 0000000000..594439e847
--- /dev/null
+++ b/photon-lib/src/test/java/org/photonvision/OpenCVTest.java
@@ -0,0 +1,229 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.cscore.CameraServerCvJNI;
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.hal.JNIWrapper;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.net.WPINetJNI;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+import edu.wpi.first.util.RuntimeLoader;
+import edu.wpi.first.util.WPIUtilJNI;
+import java.util.List;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Test;
+import org.opencv.core.Core;
+import org.photonvision.estimation.CameraTargetRelation;
+import org.photonvision.estimation.OpenCVHelp;
+import org.photonvision.estimation.TargetModel;
+import org.photonvision.simulation.SimCameraProperties;
+import org.photonvision.simulation.VisionSystemSim;
+import org.photonvision.simulation.VisionTargetSim;
+
+public class OpenCVTest {
+    private static final double kTrlDelta = 0.005;
+    private static final double kRotDeltaDeg = 0.25;
+
+    public static void assertSame(Translation3d trl1, Translation3d trl2) {
+        assertEquals(0, trl1.getX() - trl2.getX(), kTrlDelta, "Trl X Diff");
+        assertEquals(0, trl1.getY() - trl2.getY(), kTrlDelta, "Trl Y Diff");
+        assertEquals(0, trl1.getZ() - trl2.getZ(), kTrlDelta, "Trl Z Diff");
+    }
+
+    public static void assertSame(Rotation3d rot1, Rotation3d rot2) {
+        assertEquals(0, MathUtil.angleModulus(rot1.getX() - rot2.getX()), kRotDeltaDeg, "Rot X Diff");
+        assertEquals(0, MathUtil.angleModulus(rot1.getY() - rot2.getY()), kRotDeltaDeg, "Rot Y Diff");
+        assertEquals(0, MathUtil.angleModulus(rot1.getZ() - rot2.getZ()), kRotDeltaDeg, "Rot Z Diff");
+        assertEquals(
+                0, MathUtil.angleModulus(rot1.getAngle() - rot2.getAngle()), kRotDeltaDeg, "Rot W Diff");
+    }
+
+    public static void assertSame(Pose3d pose1, Pose3d pose2) {
+        assertSame(pose1.getTranslation(), pose2.getTranslation());
+        assertSame(pose1.getRotation(), pose2.getRotation());
+    }
+
+    public static void assertSame(Transform3d trf1, Transform3d trf2) {
+        assertSame(trf1.getTranslation(), trf2.getTranslation());
+        assertSame(trf1.getRotation(), trf2.getRotation());
+    }
+
+    private static final SimCameraProperties prop = new SimCameraProperties();
+
+    @BeforeAll
+    public static void setUp() {
+        JNIWrapper.Helper.setExtractOnStaticLoad(false);
+        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
+        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
+        WPINetJNI.Helper.setExtractOnStaticLoad(false);
+        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
+        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
+        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
+
+        try {
+            CombinedRuntimeLoader.loadLibraries(
+                    VisionSystemSim.class,
+                    "wpiutiljni",
+                    "ntcorejni",
+                    "wpinetjni",
+                    "wpiHaljni",
+                    "cscorejni",
+                    "cscorejnicvstatic");
+
+            var loader =
+                    new RuntimeLoader<>(
+                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+            loader.loadLibrary();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        // NT live for debug purposes
+        NetworkTableInstance.getDefault().startServer();
+
+        // No version check for testing
+        PhotonCamera.setVersionCheckEnabled(false);
+    }
+
+    @Test
+    public void testTrlConvert() {
+        var trl = new Translation3d(0.75, -0.4, 0.1);
+        var tvec = OpenCVHelp.translationToTvec(trl);
+        var result = OpenCVHelp.tvecToTranslation(tvec);
+        tvec.release();
+        assertSame(trl, result);
+    }
+
+    @Test
+    public void testRotConvert() {
+        var rot = new Rotation3d(0.5, 1, -1);
+        var rvec = OpenCVHelp.rotationToRvec(rot);
+        var result = OpenCVHelp.rvecToRotation(rvec);
+        rvec.release();
+        var diff = result.minus(rot);
+        assertSame(new Rotation3d(), diff);
+    }
+
+    @Test
+    public void testProjection() {
+        var target =
+                new VisionTargetSim(
+                        new Pose3d(1, 0, 0, new Rotation3d(0, 0, Math.PI)), TargetModel.kTag16h5, 0);
+        var cameraPose = new Pose3d(0, 0, 0, new Rotation3d());
+        var targetCorners =
+                OpenCVHelp.projectPoints(
+                        prop.getIntrinsics(), prop.getDistCoeffs(), cameraPose, target.getFieldVertices());
+        // find circulation (counter/clockwise-ness)
+        double circulation = 0;
+        for (int i = 0; i < targetCorners.size(); i++) {
+            double xDiff = targetCorners.get((i + 1) % 4).x - targetCorners.get(i).x;
+            double ySum = targetCorners.get((i + 1) % 4).y + targetCorners.get(i).y;
+            circulation += xDiff * ySum;
+        }
+        assertTrue(circulation > 0, "2d fiducial points aren't counter-clockwise");
+        // undo projection distortion
+        targetCorners = prop.undistort(targetCorners);
+        var avgCenterRot1 = prop.getPixelRot(OpenCVHelp.averageCorner(targetCorners));
+        cameraPose =
+                cameraPose.plus(new Transform3d(new Translation3d(), new Rotation3d(0, 0.25, 0.25)));
+        targetCorners =
+                OpenCVHelp.projectPoints(
+                        prop.getIntrinsics(), prop.getDistCoeffs(), cameraPose, target.getFieldVertices());
+        var avgCenterRot2 = prop.getPixelRot(OpenCVHelp.averageCorner(targetCorners));
+        var yaw2d = new Rotation2d(avgCenterRot2.getZ());
+        var pitch2d = new Rotation2d(avgCenterRot2.getY());
+        var yawDiff = yaw2d.minus(new Rotation2d(avgCenterRot1.getZ()));
+        var pitchDiff = pitch2d.minus(new Rotation2d(avgCenterRot1.getY()));
+        assertTrue(yawDiff.getRadians() < 0, "2d points don't follow yaw");
+        assertTrue(pitchDiff.getRadians() < 0, "2d points don't follow pitch");
+        var actualRelation = new CameraTargetRelation(cameraPose, target.getPose());
+        assertEquals(
+                actualRelation.camToTargPitch.getDegrees(),
+                pitchDiff.getDegrees() * Math.cos(yaw2d.getRadians()), // adjust for perpsective distortion
+                kRotDeltaDeg,
+                "2d pitch doesn't match 3d");
+        assertEquals(
+                actualRelation.camToTargYaw.getDegrees(),
+                yawDiff.getDegrees(),
+                kRotDeltaDeg,
+                "2d yaw doesn't match 3d");
+    }
+
+    @Test
+    public void testSolvePNP_SQUARE() {
+        var target =
+                new VisionTargetSim(
+                        new Pose3d(5, 0.5, 1, new Rotation3d(0, 0, Math.PI)), TargetModel.kTag16h5, 0);
+        var cameraPose = new Pose3d(0, 0, 0, new Rotation3d());
+        var actualRelation = new CameraTargetRelation(cameraPose, target.getPose());
+        var targetCorners =
+                OpenCVHelp.projectPoints(
+                        prop.getIntrinsics(), prop.getDistCoeffs(), cameraPose, target.getFieldVertices());
+        var pnpSim =
+                OpenCVHelp.solvePNP_SQUARE(
+                        prop.getIntrinsics(), prop.getDistCoeffs(), target.getModel().vertices, targetCorners);
+        var estRelation = new CameraTargetRelation(cameraPose, cameraPose.plus(pnpSim.best));
+        assertSame(actualRelation.camToTarg, estRelation.camToTarg);
+    }
+
+    @Test
+    public void testSolvePNP_SQPNP() {
+        var target =
+                new VisionTargetSim(
+                        new Pose3d(5, 0.5, 1, new Rotation3d(0, 0, Math.PI)),
+                        new TargetModel(
+                                List.of(
+                                        new Translation3d(0, 0, 0),
+                                        new Translation3d(1, 0, 0),
+                                        new Translation3d(0, 1, 0),
+                                        new Translation3d(0, 0, 1),
+                                        new Translation3d(0.125, 0.25, 0.5),
+                                        new Translation3d(0, 0, -1),
+                                        new Translation3d(0, -1, 0),
+                                        new Translation3d(-1, 0, 0))),
+                        0);
+        var cameraPose = new Pose3d(0, 0, 0, new Rotation3d());
+        var actualRelation = new CameraTargetRelation(cameraPose, target.getPose());
+        var targetCorners =
+                OpenCVHelp.projectPoints(
+                        prop.getIntrinsics(), prop.getDistCoeffs(), cameraPose, target.getFieldVertices());
+        var pnpSim =
+                OpenCVHelp.solvePNP_SQPNP(
+                        prop.getIntrinsics(), prop.getDistCoeffs(), target.getModel().vertices, targetCorners);
+        var estRelation = new CameraTargetRelation(cameraPose, cameraPose.plus(pnpSim.best));
+        assertSame(actualRelation.camToTarg, estRelation.camToTarg);
+    }
+}
diff --git a/photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java b/photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
deleted file mode 100644
index 524e8eff5a..0000000000
--- a/photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
+++ /dev/null
@@ -1,430 +0,0 @@
-/*
- * MIT License
- *
- * Copyright (c) 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.
- */
-
-package org.photonvision;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-import edu.wpi.first.hal.JNIWrapper;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.net.WPINetJNI;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.WPIUtilJNI;
-import java.util.List;
-import java.util.stream.Stream;
-import org.junit.jupiter.api.AfterAll;
-import org.junit.jupiter.api.Assertions;
-import org.junit.jupiter.api.BeforeAll;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
-import org.junit.jupiter.params.provider.ValueSource;
-import org.photonvision.targeting.PhotonTrackedTarget;
-
-class SimVisionSystemTest {
-    @Test
-    public void testEmpty() {
-        Assertions.assertDoesNotThrow(
-                () -> {
-                    var sysUnderTest =
-                            new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 320, 240, 0);
-                    sysUnderTest.addSimVisionTarget(new SimVisionTarget(new Pose3d(), 1.0, 1.0, 42));
-                    for (int loopIdx = 0; loopIdx < 100; loopIdx++) {
-                        sysUnderTest.processFrame(new Pose2d());
-                    }
-                });
-    }
-
-    @BeforeAll
-    public static void setUp() {
-        JNIWrapper.Helper.setExtractOnStaticLoad(false);
-        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-        WPINetJNI.Helper.setExtractOnStaticLoad(false);
-
-        try {
-            CombinedRuntimeLoader.loadLibraries(
-                    SimVisionSystem.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
-        } catch (Exception e) {
-            // TODO Auto-generated catch block
-            e.printStackTrace();
-        }
-
-        // NT live for debug purposes
-        NetworkTableInstance.getDefault().startServer();
-
-        // No version check for testing
-        PhotonCamera.setVersionCheckEnabled(false);
-    }
-
-    @AfterAll
-    public static void shutDown() {}
-
-    // @ParameterizedTest
-    // @ValueSource(doubles = {5, 10, 15, 20, 25, 30})
-    // public void testDistanceAligned(double dist) {
-    //     final var targetPose = new Pose2d(new Translation2d(15.98, 0), new Rotation2d());
-    //     var sysUnderTest =
-    //             new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);
-    //     sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 1.0, 1.0));
-
-    //     final var robotPose = new Pose2d(new Translation2d(35 - dist, 0), new Rotation2d());
-    //     sysUnderTest.processFrame(robotPose);
-
-    //     var result = sysUnderTest.cam.getLatestResult();
-
-    //     assertTrue(result.hasTargets());
-    //     assertEquals(result.getBestTarget().getCameraToTarget().getTranslation().getNorm(), dist);
-    // }
-
-    @Test
-    public void testVisibilityCupidShuffle() {
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 2), new Rotation3d(0, 0, Math.PI));
-        var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3));
-
-        // To the right, to the right
-        var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(-70));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // To the right, to the right
-        robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(-95));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // To the left, to the left
-        robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(90));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // To the left, to the left
-        robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(65));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // now kick, now kick
-        robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // now kick, now kick
-        robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(-5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // now walk it by yourself
-        robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(-179));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // now walk it by yourself
-        sysUnderTest.moveCamera(new Transform3d(new Translation3d(), new Rotation3d(0, 0, Math.PI)));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
-    }
-
-    @Test
-    public void testNotVisibleVert1() {
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
-        var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3));
-
-        var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        sysUnderTest.moveCamera(
-                new Transform3d(
-                        new Translation3d(0, 0, 5000), new Rotation3d(0, 0, Math.PI))); // vooop selfie stick
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-    }
-
-    @Test
-    public void testNotVisibleVert2() {
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 2), new Rotation3d(0, 0, Math.PI));
-        var robotToCamera =
-                new Transform3d(new Translation3d(0, 0, 1), new Rotation3d(0, Math.PI / 4, 0));
-        var sysUnderTest = new SimVisionSystem("Test", 80.0, robotToCamera, 99999, 1234, 1234, 0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 3.0, 0.5, 1736));
-
-        var robotPose = new Pose2d(new Translation2d(14.98, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        // Pitched back camera should mean target goes out of view below the robot as distance increases
-        robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-    }
-
-    @Test
-    public void testNotVisibleTgtSize() {
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
-        var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 20.0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.1, 0.025, 24));
-
-        var robotPose = new Pose2d(new Translation2d(12, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-    }
-
-    @Test
-    public void testNotVisibleTooFarForLEDs() {
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
-        var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 10, 640, 480, 1.0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 0.25, 78));
-
-        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
-
-        robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
-    }
-
-    @ParameterizedTest
-    @ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23})
-    public void testYawAngles(double testYaw) {
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, 3 * Math.PI / 4));
-        var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.5, 0.5, 3));
-
-        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
-        sysUnderTest.processFrame(robotPose);
-        var res = sysUnderTest.cam.getLatestResult();
-        assertTrue(res.hasTargets());
-        var tgt = res.getBestTarget();
-        assertEquals(tgt.getYaw(), testYaw, 0.0001);
-    }
-
-    @ParameterizedTest
-    @ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23, 20.21, -19.999})
-    public void testCameraPitch(double testPitch) {
-        testPitch = testPitch * -1;
-
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 0), new Rotation3d(0, 0, 3 * Math.PI / 4));
-        final var robotPose = new Pose2d(new Translation2d(10, 0), new Rotation2d(0));
-        var sysUnderTest = new SimVisionSystem("Test", 120.0, new Transform3d(), 99999, 640, 480, 0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.5, 0.5, 23));
-
-        // Transform is now robot -> camera
-        sysUnderTest.moveCamera(
-                new Transform3d(
-                        new Translation3d(), new Rotation3d(0, Units.degreesToRadians(testPitch), 0)));
-        sysUnderTest.processFrame(robotPose);
-        var res = sysUnderTest.cam.getLatestResult();
-        assertTrue(res.hasTargets());
-        var tgt = res.getBestTarget();
-
-        // Since the camera is level with the target, a positive-upward point will mean the target is in
-        // the
-        // lower half of the image
-        // which should produce negative pitch.
-        assertEquals(testPitch * -1, tgt.getPitch(), 0.0001);
-    }
-
-    private static Stream<Arguments> distCalCParamProvider() {
-        // Arbitrary and fairly random assortment of distances, camera pitches, and heights
-        return Stream.of(
-                Arguments.of(5, 15.98, 0),
-                Arguments.of(6, 15.98, 1),
-                Arguments.of(10, 15.98, 0),
-                Arguments.of(15, 15.98, 2),
-                Arguments.of(19.95, 15.98, 0),
-                Arguments.of(20, 15.98, 0),
-                Arguments.of(5, 42, 1),
-                Arguments.of(6, 42, 0),
-                Arguments.of(10, 42, 2),
-                Arguments.of(15, 42, 0.5),
-                Arguments.of(19.42, 15.98, 0),
-                Arguments.of(20, 42, 0),
-                Arguments.of(5, 55, 2),
-                Arguments.of(6, 55, 0),
-                Arguments.of(10, 54, 2.2),
-                Arguments.of(15, 53, 0),
-                Arguments.of(19.52, 15.98, 1.1));
-    }
-
-    @ParameterizedTest
-    @MethodSource("distCalCParamProvider")
-    public void testDistanceCalc(double testDist, double testPitch, double testHeight) {
-        // Assume dist along ground and tgt height the same. Iterate over other parameters.
-
-        final var targetPose =
-                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI * 0.98));
-        final var robotPose =
-                new Pose3d(new Translation3d(15.98 - Units.feetToMeters(testDist), 0, 0), new Rotation3d());
-        final var robotToCamera =
-                new Transform3d(
-                        new Translation3d(0, 0, Units.feetToMeters(testHeight)),
-                        new Rotation3d(0, Units.degreesToRadians(testPitch), 0));
-
-        var sysUnderTest =
-                new SimVisionSystem(
-                        "absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysohowsyourdaygoingihopegoodhaveagreatrestofyourlife!",
-                        160.0,
-                        robotToCamera,
-                        99999,
-                        640,
-                        480,
-                        0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.5, 0.5, 0));
-
-        sysUnderTest.processFrame(robotPose);
-        var res = sysUnderTest.cam.getLatestResult();
-        assertTrue(res.hasTargets());
-        var tgt = res.getBestTarget();
-        assertEquals(tgt.getYaw(), 0.0, 0.0001);
-        double distMeas =
-                PhotonUtils.calculateDistanceToTargetMeters(
-                        robotToCamera.getZ(),
-                        targetPose.getZ(),
-                        Units.degreesToRadians(testPitch),
-                        Units.degreesToRadians(tgt.getPitch()));
-        assertEquals(Units.feetToMeters(testDist), distMeas, 0.001);
-    }
-
-    @Test
-    public void testMultipleTargets() {
-        final var targetPoseL =
-                new Pose3d(new Translation3d(15.98, 2, 0), new Rotation3d(0, 0, Math.PI));
-        final var targetPoseC =
-                new Pose3d(new Translation3d(15.98, 0, 0), new Rotation3d(0, 0, Math.PI));
-        final var targetPoseR =
-                new Pose3d(new Translation3d(15.98, -2, 0), new Rotation3d(0, 0, Math.PI));
-        var sysUnderTest = new SimVisionSystem("Test", 160.0, new Transform3d(), 99999, 640, 480, 20.0);
-
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseL.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        1));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseC.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        2));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseR.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        3));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseL.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        4));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseC.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        5));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseR.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        6));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseL.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        7));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseC.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        8));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseL.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        9));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseR.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        10));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseL.transformBy(
-                                new Transform3d(new Translation3d(0, 0, 0.25), new Rotation3d())),
-                        0.25,
-                        0.25,
-                        11));
-
-        var robotPose = new Pose2d(new Translation2d(6.0, 0), Rotation2d.fromDegrees(0.25));
-        sysUnderTest.processFrame(robotPose);
-        var res = sysUnderTest.cam.getLatestResult();
-        assertTrue(res.hasTargets());
-        List<PhotonTrackedTarget> tgtList;
-        tgtList = res.getTargets();
-        assertEquals(tgtList.size(), 11);
-    }
-}
diff --git a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
new file mode 100644
index 0000000000..6f7720a666
--- /dev/null
+++ b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
@@ -0,0 +1,542 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 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.
+ */
+
+package org.photonvision;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.cscore.CameraServerCvJNI;
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.hal.JNIWrapper;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.net.WPINetJNI;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+import edu.wpi.first.util.RuntimeLoader;
+import edu.wpi.first.util.WPIUtilJNI;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.stream.Stream;
+import org.junit.jupiter.api.AfterAll;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+import org.junit.jupiter.params.provider.ValueSource;
+import org.opencv.core.Core;
+import org.photonvision.estimation.TargetModel;
+import org.photonvision.estimation.VisionEstimation;
+import org.photonvision.simulation.PhotonCameraSim;
+import org.photonvision.simulation.VisionSystemSim;
+import org.photonvision.simulation.VisionTargetSim;
+import org.photonvision.targeting.PhotonTrackedTarget;
+
+class VisionSystemSimTest {
+    private static final double kTrlDelta = 0.005;
+    private static final double kRotDeltaDeg = 0.25;
+
+    @Test
+    public void testEmpty() {
+        Assertions.assertDoesNotThrow(
+                () -> {
+                    var sysUnderTest = new VisionSystemSim("Test");
+                    sysUnderTest.addVisionTargets(
+                            new VisionTargetSim(new Pose3d(), new TargetModel(1.0, 1.0)));
+                    for (int loopIdx = 0; loopIdx < 100; loopIdx++) {
+                        sysUnderTest.update(new Pose2d());
+                    }
+                });
+    }
+
+    @BeforeAll
+    public static void setUp() {
+        JNIWrapper.Helper.setExtractOnStaticLoad(false);
+        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
+        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
+        WPINetJNI.Helper.setExtractOnStaticLoad(false);
+        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
+        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
+        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
+
+        try {
+            CombinedRuntimeLoader.loadLibraries(
+                    VisionSystemSim.class,
+                    "wpiutiljni",
+                    "ntcorejni",
+                    "wpinetjni",
+                    "wpiHaljni",
+                    "cscorejni",
+                    "cscorejnicvstatic");
+
+            var loader =
+                    new RuntimeLoader<>(
+                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+            loader.loadLibrary();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        // NT live for debug purposes
+        NetworkTableInstance.getDefault().startServer();
+
+        // No version check for testing
+        PhotonCamera.setVersionCheckEnabled(false);
+    }
+
+    @AfterAll
+    public static void shutDown() {}
+
+    // @ParameterizedTest
+    // @ValueSource(doubles = {5, 10, 15, 20, 25, 30})
+    // public void testDistanceAligned(double dist) {
+    //     final var targetPose = new Pose2d(new Translation2d(15.98, 0), new Rotation2d());
+    //     var sysUnderTest =
+    //             new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);
+    //     sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 1.0, 1.0));
+
+    //     final var robotPose = new Pose2d(new Translation2d(35 - dist, 0), new Rotation2d());
+    //     sysUnderTest.processFrame(robotPose);
+
+    //     var result = sysUnderTest.cam.getLatestResult();
+
+    //     assertTrue(result.hasTargets());
+    //     assertEquals(result.getBestTarget().getCameraToTarget().getTranslation().getNorm(), dist);
+    // }
+
+    @Test
+    public void testVisibilityCupidShuffle() {
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 2), new Rotation3d(0, 0, Math.PI));
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 1.0), 3));
+
+        // To the right, to the right
+        var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(-70));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+
+        // To the right, to the right
+        robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(-95));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+
+        // To the left, to the left
+        robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(90));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+
+        // To the left, to the left
+        robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(65));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+
+        // now kick, now kick
+        robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
+
+        // now kick, now kick
+        robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(-5));
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
+
+        // now walk it by yourself
+        robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(-179));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+
+        // now walk it by yourself
+        visionSysSim.adjustCamera(
+                cameraSim, new Transform3d(new Translation3d(), new Rotation3d(0, 0, Math.PI)));
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
+    }
+
+    @Test
+    public void testNotVisibleVert1() {
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 3.0), 3));
+
+        var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
+
+        visionSysSim.adjustCamera( // vooop selfie stick
+                cameraSim, new Transform3d(new Translation3d(0, 0, 5000), new Rotation3d(0, 0, Math.PI)));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+    }
+
+    @Test
+    public void testNotVisibleVert2() {
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 2), new Rotation3d(0, 0, Math.PI));
+        var robotToCamera =
+                new Transform3d(new Translation3d(0, 0, 1), new Rotation3d(0, -Math.PI / 4, 0));
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, robotToCamera);
+        cameraSim.prop.setCalibration(1234, 1234, Rotation2d.fromDegrees(80));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 0.5), 1736));
+
+        var robotPose = new Pose2d(new Translation2d(13.98, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
+
+        // Pitched back camera should mean target goes out of view below the robot as distance increases
+        robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+    }
+
+    @Test
+    public void testNotVisibleTgtSize() {
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
+        cameraSim.setMinTargetAreaPixels(20.0);
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.1, 0.025), 24));
+
+        var robotPose = new Pose2d(new Translation2d(12, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
+
+        robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+    }
+
+    @Test
+    public void testNotVisibleTooFarForLEDs() {
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
+        cameraSim.setMaxSightRange(10);
+        cameraSim.setMinTargetAreaPixels(1.0);
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 0.25), 78));
+
+        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
+
+        robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
+    }
+
+    @ParameterizedTest
+    @ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23})
+    public void testYawAngles(double testYaw) {
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, 3 * Math.PI / 4));
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
+        cameraSim.setMinTargetAreaPixels(0.0);
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
+
+        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
+        visionSysSim.update(robotPose);
+        var res = camera.getLatestResult();
+        assertTrue(res.hasTargets());
+        var tgt = res.getBestTarget();
+        assertEquals(tgt.getYaw(), testYaw, kRotDeltaDeg);
+    }
+
+    @ParameterizedTest
+    @ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23, 20.21, -19.999})
+    public void testCameraPitch(double testPitch) {
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 0), new Rotation3d(0, 0, 3 * Math.PI / 4));
+        final var robotPose = new Pose2d(new Translation2d(10, 0), new Rotation2d(0));
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(120));
+        cameraSim.setMinTargetAreaPixels(0.0);
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 23));
+
+        // Transform is now robot -> camera
+        visionSysSim.adjustCamera(
+                cameraSim,
+                new Transform3d(
+                        new Translation3d(), new Rotation3d(0, Units.degreesToRadians(testPitch), 0)));
+        visionSysSim.update(robotPose);
+        var res = camera.getLatestResult();
+        assertTrue(res.hasTargets());
+        var tgt = res.getBestTarget();
+
+        // Since the camera is level with the target, a positive-upward point will mean the target is in
+        // the
+        // lower half of the image
+        // which should produce negative pitch.
+        assertEquals(testPitch, tgt.getPitch(), kRotDeltaDeg);
+    }
+
+    private static Stream<Arguments> distCalCParamProvider() {
+        // Arbitrary and fairly random assortment of distances, camera pitches, and heights
+        return Stream.of(
+                Arguments.of(5, -15.98, 0),
+                Arguments.of(6, -15.98, 1),
+                Arguments.of(10, -15.98, 0),
+                Arguments.of(15, -15.98, 2),
+                Arguments.of(19.95, -15.98, 0),
+                Arguments.of(20, -15.98, 0),
+                Arguments.of(5, -42, 1),
+                Arguments.of(6, -42, 0),
+                Arguments.of(10, -42, 2),
+                Arguments.of(15, -42, 0.5),
+                Arguments.of(19.42, -15.98, 0),
+                Arguments.of(20, -42, 0),
+                Arguments.of(5, -35, 2),
+                Arguments.of(6, -35, 0),
+                Arguments.of(10, -34, 3.2),
+                Arguments.of(15, -33, 0),
+                Arguments.of(19.52, -15.98, 1.1));
+    }
+
+    @ParameterizedTest
+    @MethodSource("distCalCParamProvider")
+    public void testDistanceCalc(double testDist, double testPitch, double testHeight) {
+        // Assume dist along ground and tgt height the same. Iterate over other parameters.
+
+        final var targetPose =
+                new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI * 0.98));
+        final var robotPose =
+                new Pose3d(new Translation3d(15.98 - Units.feetToMeters(testDist), 0, 0), new Rotation3d());
+        final var robotToCamera =
+                new Transform3d(
+                        new Translation3d(0, 0, Units.feetToMeters(testHeight)),
+                        new Rotation3d(0, Units.degreesToRadians(testPitch), 0));
+
+        var visionSysSim =
+                new VisionSystemSim(
+                        "absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysohowsyourdaygoingihopegoodhaveagreatrestofyourlife!");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(160));
+        cameraSim.setMinTargetAreaPixels(0.0);
+        visionSysSim.adjustCamera(cameraSim, robotToCamera);
+        // note that non-fiducial targets have different center point calculation and will
+        // return slightly inaccurate yaw/pitch values
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 0));
+
+        visionSysSim.update(robotPose);
+        var res = camera.getLatestResult();
+        assertTrue(res.hasTargets());
+        var tgt = res.getBestTarget();
+        assertEquals(0.0, tgt.getYaw(), kRotDeltaDeg);
+
+        double distMeas =
+                PhotonUtils.calculateDistanceToTargetMeters(
+                        robotToCamera.getZ(),
+                        targetPose.getZ(),
+                        Units.degreesToRadians(-testPitch),
+                        Units.degreesToRadians(tgt.getPitch()));
+        assertEquals(Units.feetToMeters(testDist), distMeas, kTrlDelta);
+    }
+
+    @Test
+    public void testMultipleTargets() {
+        final var targetPoseL =
+                new Pose3d(new Translation3d(15.98, 2, 0), new Rotation3d(0, 0, Math.PI));
+        final var targetPoseC =
+                new Pose3d(new Translation3d(15.98, 0, 0), new Rotation3d(0, 0, Math.PI));
+        final var targetPoseR =
+                new Pose3d(new Translation3d(15.98, -2, 0), new Rotation3d(0, 0, Math.PI));
+
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
+        cameraSim.setMinTargetAreaPixels(20.0);
+
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseL.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        1));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseC.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        2));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseR.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        3));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseL.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        4));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseC.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        5));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseR.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        6));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseL.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        7));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseC.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        8));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseL.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        9));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseR.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        10));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseL.transformBy(
+                                new Transform3d(new Translation3d(0, 0, 0.25), new Rotation3d())),
+                        TargetModel.kTag16h5,
+                        11));
+
+        var robotPose = new Pose2d(new Translation2d(6.0, 0), Rotation2d.fromDegrees(0.25));
+        visionSysSim.update(robotPose);
+        var res = camera.getLatestResult();
+        assertTrue(res.hasTargets());
+        List<PhotonTrackedTarget> tgtList;
+        tgtList = res.getTargets();
+        assertEquals(11, tgtList.size());
+    }
+
+    @Test
+    public void testPoseEstimation() {
+        var visionSysSim = new VisionSystemSim("Test");
+        var camera = new PhotonCamera("camera");
+        var cameraSim = new PhotonCameraSim(camera);
+        visionSysSim.addCamera(cameraSim, new Transform3d());
+        cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(90));
+        cameraSim.setMinTargetAreaPixels(20.0);
+
+        List<AprilTag> tagList = new ArrayList<>();
+        tagList.add(new AprilTag(0, new Pose3d(12, 3, 1, new Rotation3d(0, 0, Math.PI))));
+        tagList.add(new AprilTag(1, new Pose3d(12, 1, -1, new Rotation3d(0, 0, Math.PI))));
+        tagList.add(new AprilTag(2, new Pose3d(11, 0, 2, new Rotation3d(0, 0, Math.PI))));
+        double fieldLength = Units.feetToMeters(54.0);
+        double fieldWidth = Units.feetToMeters(27.0);
+        AprilTagFieldLayout layout = new AprilTagFieldLayout(tagList, fieldLength, fieldWidth);
+        Pose2d robotPose = new Pose2d(5, 1, Rotation2d.fromDegrees(5));
+
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(tagList.get(0).pose, TargetModel.kTag16h5, 0));
+
+        visionSysSim.update(robotPose);
+        var results =
+                VisionEstimation.estimateCamPosePNP(
+                        camera.getCameraMatrix().get(),
+                        camera.getDistCoeffs().get(),
+                        camera.getLatestResult().getTargets(),
+                        layout);
+        Pose3d pose = new Pose3d().plus(results.best);
+        assertEquals(5, pose.getX(), .01);
+        assertEquals(1, pose.getY(), .01);
+        assertEquals(0, pose.getZ(), .01);
+        assertEquals(Math.toRadians(5), pose.getRotation().getZ(), 0.01);
+
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(tagList.get(1).pose, TargetModel.kTag16h5, 1));
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(tagList.get(2).pose, TargetModel.kTag16h5, 2));
+
+        visionSysSim.update(robotPose);
+        results =
+                VisionEstimation.estimateCamPosePNP(
+                        camera.getCameraMatrix().get(),
+                        camera.getDistCoeffs().get(),
+                        camera.getLatestResult().getTargets(),
+                        layout);
+        pose = new Pose3d().plus(results.best);
+        assertEquals(5, pose.getX(), .01);
+        assertEquals(1, pose.getY(), .01);
+        assertEquals(0, pose.getZ(), .01);
+        assertEquals(Math.toRadians(5), pose.getRotation().getZ(), 0.01);
+    }
+}
diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
index 175ee27037..7e363ac8c5 100644
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -334,6 +334,7 @@ public static void main(String[] args) {
         Logger.setLevel(LogGroup.WebServer, logLevel);
         Logger.setLevel(LogGroup.VisionModule, logLevel);
         Logger.setLevel(LogGroup.Data, logLevel);
+        Logger.setLevel(LogGroup.Config, logLevel);
         Logger.setLevel(LogGroup.General, logLevel);
         logger.info("Logging initialized in debug mode.");
 
@@ -369,6 +370,6 @@ public static void main(String[] args) {
             }
         }
 
-        Server.main(DEFAULT_WEBPORT);
+        Server.start(DEFAULT_WEBPORT);
     }
 }
diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index 5a6a2a9d64..14bebe2887 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -18,9 +18,9 @@
 package org.photonvision.server;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import io.javalin.http.Context;
+import io.javalin.http.UploadedFile;
 import java.io.File;
 import java.io.FileInputStream;
 import java.io.FileNotFoundException;
@@ -29,8 +29,7 @@
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
-import java.util.HashMap;
-import java.util.Map;
+import java.util.Optional;
 import org.apache.commons.io.FileUtils;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
@@ -48,176 +47,312 @@
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.processes.VisionModuleManager;
-import org.photonvision.vision.target.TargetModel;
 
 public class RequestHandler {
+    // Treat all 2XX calls as "INFO"
+    // Treat all 4XX calls as "ERROR"
+    // Treat all 5XX calls as "ERROR"
+
     private static final Logger logger = new Logger(RequestHandler.class, LogGroup.WebServer);
 
     private static final ObjectMapper kObjectMapper = new ObjectMapper();
 
-    public static void onSettingUpload(Context ctx) {
-        var file = ctx.uploadedFile("zipData");
-        if (file != null) {
-            // Copy the file from the client to a temporary location
-            var tempFilePath =
-                    new File(Path.of(System.getProperty("java.io.tmpdir"), file.getFilename()).toString());
-            tempFilePath.getParentFile().mkdirs();
-            try {
-                FileUtils.copyInputStreamToFile(file.getContent(), tempFilePath);
-            } catch (IOException e) {
-                logger.error("Exception while uploading settings file to temp folder!");
-                e.printStackTrace();
-                return;
-            }
+    public static void onSettingsImportRequest(Context ctx) {
+        var file = ctx.uploadedFile("data");
 
-            // Process the file by its extension
-            if (file.getExtension().contains("zip")) {
-                // .zip files are assumed to be full packages of configuration files
-                logger.debug("Processing uploaded settings zip " + file.getFilename());
-                ConfigManager.saveUploadedSettingsZip(tempFilePath);
-
-            } else if (file.getFilename().equals(ConfigManager.HW_CFG_FNAME)) {
-                // Filenames matching the hardware config .json file are assumed to be
-                // hardware config .json's
-                logger.debug("Processing uploaded hardware config " + file.getFilename());
-                ConfigManager.getInstance().saveUploadedHardwareConfig(tempFilePath.toPath());
-
-            } else if (file.getFilename().equals(ConfigManager.HW_SET_FNAME)) {
-                // Filenames matching the hardware settings .json file are assumed to be
-                // hardware settings.json's
-                logger.debug("Processing uploaded hardware settings" + file.getFilename());
-                ConfigManager.getInstance().saveUploadedHardwareSettings(tempFilePath.toPath());
-
-            } else if (file.getFilename().equals(ConfigManager.ATFL_SET_FNAME)) {
-                // Filenames matching the tag layout .json file are assumed to be
-                // network config .json's
-                logger.debug("Processing uploaded tag layout " + file.getFilename());
-                ConfigManager.getInstance().saveUploadedApriltagLayout(tempFilePath.toPath());
-
-            } else if (file.getFilename().equals(ConfigManager.NET_SET_FNAME)) {
-                // Filenames matching the network config .json file are assumed to be
-                // network config .json's
-                logger.debug("Processing uploaded network config " + file.getFilename());
-                ConfigManager.getInstance().saveUploadedNetworkConfig(tempFilePath.toPath());
+        if (file == null) {
+            ctx.status(400);
+            ctx.result(
+                    "No File was sent with the request. Make sure that the settings zip is sent at the key 'data'");
+            logger.error(
+                    "No File was sent with the request. Make sure that the settings zip is sent at the key 'data'");
+            return;
+        }
 
-            } else {
-                logger.error(
-                        "Couldn't apply provided settings file - did not recognize "
-                                + file.getFilename()
-                                + " as a supported file.");
-                ctx.status(500);
-                return;
-            }
+        if (!file.getExtension().contains("zip")) {
+            ctx.status(400);
+            ctx.result(
+                    "The uploaded file was not of type 'zip'. The uploaded file should be a .zip file.");
+            logger.error(
+                    "The uploaded file was not of type 'zip'. The uploaded file should be a .zip file.");
+            return;
+        }
 
+        // Create a temp file
+        var tempFilePath = handleTempFileCreation(file);
+
+        if (tempFilePath.isEmpty()) {
+            ctx.status(500);
+            ctx.result("There was an error while creating a temporary copy of the file");
+            logger.error("There was an error while creating a temporary copy of the file");
+            return;
+        }
+
+        if (ConfigManager.saveUploadedSettingsZip(tempFilePath.get())) {
             ctx.status(200);
-            logger.info("Settings uploaded, going down for restart.");
-            restartProgram();
+            ctx.result("Successfully saved the uploaded settings zip");
+            logger.info("Successfully saved the uploaded settings zip");
         } else {
-            logger.error("Couldn't read uploaded file! Ignoring.");
             ctx.status(500);
+            ctx.result("There was an error while saving the uploaded zip file");
+            logger.error("There was an error while saving the uploaded zip file");
         }
     }
 
-    public static void onOfflineUpdate(Context ctx) {
-        logger.info("Handling offline update .jar upload...");
-        var file = ctx.uploadedFile("jarData");
-        logger.info("New .jar uploaded successfully.");
+    public static void onSettingsExportRequest(Context ctx) {
+        logger.info("Exporting Settings to ZIP Archive");
 
-        if (file != null) {
-            try {
-                Path filePath =
-                        Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "photonvision.jar");
-                File targetFile = new File(filePath.toString());
-                var stream = new FileOutputStream(targetFile);
+        try {
+            var zip = ConfigManager.getInstance().getSettingsFolderAsZip();
+            var stream = new FileInputStream(zip);
+            logger.info("Uploading settings with size " + stream.available());
 
-                logger.info(
-                        "Streaming user-provided " + file.getFilename() + " into " + targetFile.toString());
+            ctx.contentType("application/zip");
+            ctx.header(
+                    "Content-Disposition", "attachment; filename=\"photonvision-settings-export.zip\"");
 
-                file.getContent().transferTo(stream);
-                stream.close();
+            ctx.result(stream);
+            ctx.status(200);
+        } catch (IOException e) {
+            logger.error("Unable to export settings archive, bad recode from zip to byte");
+            ctx.status(500);
+            ctx.result("There was an error while exporting the settings archive");
+        }
+    }
 
-                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);
-            }
+    public static void onHardwareConfigRequest(Context ctx) {
+        var file = ctx.uploadedFile("data");
+
+        if (file == null) {
+            ctx.status(400);
+            ctx.result(
+                    "No File was sent with the request. Make sure that the hardware config json is sent at the key 'data'");
+            logger.error(
+                    "No File was sent with the request. Make sure that the hardware config json is sent at the key 'data'");
+            return;
+        }
+
+        if (!file.getExtension().contains("json")) {
+            ctx.status(400);
+            ctx.result(
+                    "The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
+            logger.error(
+                    "The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
+            return;
+        }
+
+        // Create a temp file
+        var tempFilePath = handleTempFileCreation(file);
+
+        if (tempFilePath.isEmpty()) {
+            ctx.status(500);
+            ctx.result("There was an error while creating a temporary copy of the file");
+            logger.error("There was an error while creating a temporary copy of the file");
+            return;
+        }
+
+        if (ConfigManager.getInstance().saveUploadedHardwareConfig(tempFilePath.get().toPath())) {
+            ctx.status(200);
+            ctx.result("Successfully saved the uploaded hardware config");
+            logger.info("Successfully saved the uploaded hardware config");
+        } else {
+            ctx.status(500);
+            ctx.result("There was an error while saving the uploaded hardware config");
+            logger.error("There was an error while saving the uploaded hardware config");
+        }
+    }
+
+    public static void onHardwareSettingsRequest(Context ctx) {
+        var file = ctx.uploadedFile("data");
+
+        if (file == null) {
+            ctx.status(400);
+            ctx.result(
+                    "No File was sent with the request. Make sure that the hardware settings json is sent at the key 'data'");
+            logger.error(
+                    "No File was sent with the request. Make sure that the hardware settings json is sent at the key 'data'");
+            return;
+        }
+
+        if (!file.getExtension().contains("json")) {
+            ctx.status(400);
+            ctx.result(
+                    "The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
+            logger.error(
+                    "The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
+            return;
+        }
+
+        // Create a temp file
+        var tempFilePath = handleTempFileCreation(file);
+
+        if (tempFilePath.isEmpty()) {
+            ctx.status(500);
+            ctx.result("There was an error while creating a temporary copy of the file");
+            logger.error("There was an error while creating a temporary copy of the file");
+            return;
+        }
+
+        if (ConfigManager.getInstance().saveUploadedHardwareSettings(tempFilePath.get().toPath())) {
+            ctx.status(200);
+            ctx.result("Successfully saved the uploaded hardware settings");
+            logger.info("Successfully saved the uploaded hardware settings");
         } else {
-            logger.error("Couldn't read provided file for new .jar! Ignoring.");
             ctx.status(500);
+            ctx.result("There was an error while saving the uploaded hardware settings");
+            logger.error("There was an error while saving the uploaded hardware settings");
         }
     }
 
-    @SuppressWarnings("unchecked")
-    public static void onGeneralSettings(Context context) throws JsonProcessingException {
-        Map<String, Object> map =
-                (Map<String, Object>) kObjectMapper.readValue(context.body(), Map.class);
+    public static void onNetworkConfigRequest(Context ctx) {
+        var file = ctx.uploadedFile("data");
+
+        if (file == null) {
+            ctx.status(400);
+            ctx.result(
+                    "No File was sent with the request. Make sure that the network config json is sent at the key 'data'");
+            logger.error(
+                    "No File was sent with the request. Make sure that the network config json is sent at the key 'data'");
+            return;
+        }
+
+        if (!file.getExtension().contains("json")) {
+            ctx.status(400);
+            ctx.result(
+                    "The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
+            logger.error(
+                    "The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
+            return;
+        }
+
+        // Create a temp file
+        var tempFilePath = handleTempFileCreation(file);
+
+        if (tempFilePath.isEmpty()) {
+            ctx.status(500);
+            ctx.result("There was an error while creating a temporary copy of the file");
+            logger.error("There was an error while creating a temporary copy of the file");
+            return;
+        }
+
+        if (ConfigManager.getInstance().saveUploadedNetworkConfig(tempFilePath.get().toPath())) {
+            ctx.status(200);
+            ctx.result("Successfully saved the uploaded network config");
+            logger.info("Successfully saved the uploaded network config");
+        } else {
+            ctx.status(500);
+            ctx.result("There was an error while saving the uploaded network config");
+            logger.error("There was an error while saving the uploaded network config");
+        }
+    }
+
+    public static void onOfflineUpdateRequest(Context ctx) {
+        var file = ctx.uploadedFile("jarData");
+
+        if (file == null) {
+            ctx.status(400);
+            ctx.result(
+                    "No File was sent with the request. Make sure that the new jar is sent at the key 'jarData'");
+            logger.error(
+                    "No File was sent with the request. Make sure that the new jar is sent at the key 'jarData'");
+            return;
+        }
+
+        if (!file.getExtension().contains("jar")) {
+            ctx.status(400);
+            ctx.result(
+                    "The uploaded file was not of type 'jar'. The uploaded file should be a .jar file.");
+            logger.error(
+                    "The uploaded file was not of type 'jar'. The uploaded file should be a .jar file.");
+            return;
+        }
+
+        try {
+            Path filePath =
+                    Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "photonvision.jar");
+            File targetFile = new File(filePath.toString());
+            var stream = new FileOutputStream(targetFile);
+
+            file.getContent().transferTo(stream);
+            stream.close();
 
-        var networkConfig = NetworkConfig.fromHashMap(map);
-        ConfigManager.getInstance().setNetworkSettings(networkConfig);
+            ctx.status(200);
+            ctx.result(
+                    "Offline update successfully complete. PhotonVision will restart in the background.");
+            logger.info(
+                    "Offline update successfully complete. PhotonVision will restart in the background.");
+            restartProgram();
+        } catch (FileNotFoundException e) {
+            ctx.result("The current program jar file couldn't be found.");
+            ctx.status(500);
+            logger.error("The current program jar file couldn't be found.", e);
+        } catch (IOException e) {
+            ctx.result("Unable to overwrite the existing program with the new program.");
+            ctx.status(500);
+            logger.error("Unable to overwrite the existing program with the new program.", e);
+        }
+    }
+
+    public static void onGeneralSettingsRequest(Context ctx) {
+        NetworkConfig config;
+        try {
+            config = kObjectMapper.readValue(ctx.body(), NetworkConfig.class);
+
+            ctx.status(200);
+            ctx.result("Successfully saved general settings");
+            logger.info("Successfully saved general settings");
+        } catch (JsonProcessingException e) {
+            // If the settings can't be parsed, use the default network settings
+            config = new NetworkConfig();
+
+            ctx.status(400);
+            ctx.result("The provided general settings were malformed");
+            logger.error("The provided general settings were malformed", e);
+        }
+
+        ConfigManager.getInstance().setNetworkSettings(config);
         ConfigManager.getInstance().requestSave();
+
         NetworkManager.getInstance().reinitialize();
-        NetworkTablesManager.getInstance().setConfig(networkConfig);
 
-        context.status(200);
+        NetworkTablesManager.getInstance().setConfig(config);
     }
 
-    @SuppressWarnings("unchecked")
-    public static void onCameraSettingsSave(Context context) {
+    public static void onCameraSettingsRequest(Context ctx) {
         try {
-            var settingsAndIndex = kObjectMapper.readValue(context.body(), Map.class);
-            logger.info("Got cam setting json from frontend!\n" + settingsAndIndex.toString());
-            var settings = (HashMap<String, Object>) settingsAndIndex.get("settings");
-            int index = (Integer) settingsAndIndex.get("index");
+            var data = kObjectMapper.readTree(ctx.body());
 
-            // The only settings we actually care about are FOV
-            var fov = Double.parseDouble(settings.get("fov").toString());
+            int index = data.get("index").asInt();
+            double fov = kObjectMapper.readTree(data.get("settings").asText()).get("fov").asDouble();
 
-            logger.info(String.format("Setting camera %s's fov to %s", index, fov));
             var module = VisionModuleManager.getInstance().getModule(index);
             module.setFov(fov);
+
             module.saveModule();
-        } catch (JsonProcessingException e) {
-            logger.error("Got invalid camera setting JSON from frontend!");
-            e.printStackTrace();
-        }
-    }
 
-    public static void onSettingsDownload(Context ctx) {
-        logger.info("exporting settings to download...");
-        try {
-            var zip = ConfigManager.getInstance().getSettingsFolderAsZip();
-            var stream = new FileInputStream(zip);
-            logger.info("Uploading settings with size " + stream.available());
-            ctx.result(stream);
-            ctx.contentType("application/zip");
-            ctx.header("Content-Disposition: attachment; filename=\"photonvision-settings-export.zip\"");
             ctx.status(200);
-        } catch (IOException e) {
-            e.printStackTrace();
-            ctx.status(501);
-            logger.error("Got bad recode from zip to byte");
+            ctx.result("Successfully saved camera settings");
+            logger.info("Successfully saved camera settings");
+        } catch (JsonProcessingException e) {
+            ctx.status(400);
+            ctx.result("The provided camera settings were malformed");
+            logger.error("The provided camera settings were malformed", e);
         }
     }
 
-    private static ShellExec shell = new ShellExec();
-
-    public static void onExportCurrentLogs(Context ctx) {
+    public static void onLogExportRequest(Context ctx) {
         if (!Platform.isLinux()) {
-            logger.warn("Cannot export journalctl on non-Linux platforms! Ignoring");
-            ctx.status(500);
+            ctx.status(405);
+            ctx.result("Logs can only be exported on a Linux platform");
+            // INFO only log because this isn't ERROR worthy
+            logger.info("Logs can only be exported on a Linux platform");
             return;
         }
 
         try {
+            ShellExec shell = new ShellExec();
             var tempPath = Files.createTempFile("photonvision-journalctl", ".txt");
-            shell.executeBashCommand(
-                    "journalctl -u photonvision.service > " + tempPath.toAbsolutePath().toString());
+            shell.executeBashCommand("journalctl -u photonvision.service > " + tempPath.toAbsolutePath());
 
             while (!shell.isOutputCompleted()) {
                 // TODO: add timeout
@@ -226,150 +361,170 @@ public static void onExportCurrentLogs(Context ctx) {
             if (shell.getExitCode() == 0) {
                 // Wrote to the temp file! Add it to the ctx
                 var stream = new FileInputStream(tempPath.toFile());
-                logger.info("Uploading settings with size " + stream.available());
-                ctx.result(stream);
-                ctx.contentType("application/zip");
-                ctx.header("Content-Disposition: attachment; filename=\"photonvision-journalctl.txt\"");
+                ctx.contentType("text/plain");
+                ctx.header("Content-Disposition", "attachment; filename=\"photonvision-journalctl.txt\"");
                 ctx.status(200);
+                ctx.result(stream);
+                logger.info("Uploading settings with size " + stream.available());
             } else {
-                logger.error("Could not export journactl logs! (exit code != 0)");
                 ctx.status(500);
+                ctx.result("The journalctl service was unable to export logs");
+                logger.error("The journalctl service was unable to export logs");
             }
         } catch (IOException e) {
-            // TODO Auto-generated catch block
-            logger.error("Could not export journactl logs! (IOexception)", e);
             ctx.status(500);
+            ctx.result("There was an error while exporting journactl logs");
+            logger.error("There was an error while exporting journactl logs", e);
         }
     }
 
-    public static void onCalibrationEnd(Context ctx) {
+    public static void onCalibrationEndRequest(Context ctx) {
         logger.info("Calibrating camera! This will take a long time...");
 
         int index;
+
         try {
-            index = (int) kObjectMapper.readValue(ctx.body(), HashMap.class).get("idx");
+            index = kObjectMapper.readTree(ctx.body()).get("index").asInt();
+
+            var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
+            if (calData == null) {
+                ctx.result("The calibration process failed");
+                ctx.status(500);
+                logger.error(
+                        "The calibration process failed. Calibration data for module at index ("
+                                + index
+                                + ") was null");
+                return;
+            }
+
+            ctx.result("Camera calibration successfully completed!");
+            ctx.status(200);
+            logger.info("Camera calibration successfully completed!");
+        } catch (JsonProcessingException e) {
+            ctx.status(400);
+            ctx.result(
+                    "The 'index' field was not found in the request. Please make sure the index of the vision module is specified with the 'index' key.");
+            logger.error(
+                    "The 'index' field was not found in the request. Please make sure the index of the vision module is specified with the 'index' key.",
+                    e);
         } catch (Exception e) {
-            logger.error("Cannot parse calibration idx", e);
             ctx.status(500);
-            return;
+            ctx.result("There was an error while ending calibration");
+            logger.error("There was an error while ending calibration", e);
         }
-
-        var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
-        if (calData == null) {
-            ctx.status(500);
-            return;
-        }
-
-        ctx.result(String.valueOf(calData.standardDeviation));
-        ctx.status(200);
-        logger.info("Camera calibrated!");
     }
 
-    public static void restartDevice(Context ctx) {
-        ctx.status(HardwareManager.getInstance().restartDevice() ? 200 : 500);
-    }
+    public static void onCalibrationImportRequest(Context ctx) {
+        var data = ctx.body();
 
-    public static void restartProgram(Context ctx) {
-        restartProgram();
-    }
+        try {
+            var actualObj = kObjectMapper.readTree(data);
 
-    public static void restartProgram() {
-        TimedTaskManager.getInstance().addOneShotTask(RequestHandler::restartProgramInternal, 0);
-    }
+            int cameraIndex = actualObj.get("cameraIndex").asInt();
+            var payload = kObjectMapper.readTree(actualObj.get("payload").asText());
+            var coeffs = CameraCalibrationCoefficients.parseFromCalibdbJson(payload);
 
-    /**
-     * Note that this doesn't actually restart the program itself -- instead, it relies on systemd or
-     * an equivalent.
-     */
-    public static void restartProgramInternal() {
-        if (Platform.isLinux()) {
-            try {
-                new ShellExec().executeBashCommand("systemctl restart photonvision.service");
-            } catch (IOException e) {
-                logger.error("Could not restart device!", e);
-                System.exit(0);
-            }
-        } else {
-            System.exit(0);
+            var uploadCalibrationEvent =
+                    new IncomingWebSocketEvent<>(
+                            DataChangeDestination.DCD_ACTIVEMODULE,
+                            "calibrationUploaded",
+                            coeffs,
+                            cameraIndex,
+                            null);
+            DataChangeService.getInstance().publishEvent(uploadCalibrationEvent);
+
+            ctx.status(200);
+            ctx.result("Calibration imported successfully from CalibDB data!");
+            logger.info("Calibration imported successfully from CalibDB data!");
+        } catch (JsonProcessingException e) {
+            ctx.status(400);
+            ctx.result(
+                    "The Provided CalibDB data is malformed and cannot be parsed for the required fields.");
+            logger.error(
+                    "The Provided CalibDB data is malformed and cannot be parsed for the required fields.",
+                    e);
         }
     }
 
-    public static void importCalibrationFromCalibdb(Context ctx) {
-        var file = ctx.body();
+    public static void onProgramRestartRequest(Context ctx) {
+        // TODO, check if this was successful or not
+        ctx.status(204);
+        restartProgram();
+    }
 
-        if (file != null) {
-            // check if it's a JSON file
-            // Load using Jackson
-            try {
-                ObjectMapper mapper = new ObjectMapper();
-                JsonNode actualObj = mapper.readTree(file);
+    public static void onDeviceRestartRequest(Context ctx) {
+        ctx.status(HardwareManager.getInstance().restartDevice() ? 204 : 500);
+    }
 
-                int cameraIndex = actualObj.get("cameraIndex").asInt();
-                String filename = actualObj.get("filename").asText();
-                var payload = mapper.readTree(actualObj.get("payload").asText());
+    public static void onCameraNicknameChangeRequest(Context ctx) {
+        try {
+            var data = kObjectMapper.readTree(ctx.body());
 
-                var coeffs = CameraCalibrationCoefficients.parseFromCalibdbJson(payload);
+            String name = data.get("name").asText();
+            int idx = data.get("cameraIndex").asInt();
 
-                var uploadCalibrationEvent =
-                        new IncomingWebSocketEvent<CameraCalibrationCoefficients>(
-                                DataChangeDestination.DCD_ACTIVEMODULE,
-                                "calibrationUploaded",
-                                coeffs,
-                                (Integer) cameraIndex,
-                                null);
-                DataChangeService.getInstance().publishEvent(uploadCalibrationEvent);
+            VisionModuleManager.getInstance().getModule(idx).setCameraNickname(name);
+            ctx.status(200);
+            ctx.result("Successfully changed the camera name to: " + name);
+            logger.info("Successfully changed the camera name to: " + name);
+        } catch (JsonProcessingException e) {
+            ctx.status(400);
+            ctx.result("The provided nickname data was malformed");
+            logger.error("The provided nickname data was malformed", e);
 
-                ctx.status(200);
-                logger.info("Calibration added!");
-            } catch (Exception e) {
-                logger.warn("Could not parse cal metaJSON!");
-                e.printStackTrace();
-                return;
-            }
-        } else {
+        } catch (Exception e) {
             ctx.status(500);
-            return;
+            ctx.result("An error occurred while changing the camera's nickname");
+            logger.error("An error occurred while changing the camera's nickname", e);
         }
     }
 
-    public static void setCameraNickname(Context ctx) {
-        try {
-            var data = kObjectMapper.readValue(ctx.body(), HashMap.class);
-            String name = String.valueOf(data.get("name"));
-            int idx = Integer.parseInt(String.valueOf(data.get("cameraIndex")));
-            VisionModuleManager.getInstance().getModule(idx).setCameraNickname(name);
-            ctx.status(200);
-            return;
-        } catch (JsonProcessingException e) {
-            e.printStackTrace();
-        }
-        ctx.status(500);
+    public static void onMetricsPublishRequest(Context ctx) {
+        HardwareManager.getInstance().publishMetrics();
+        ctx.status(204);
     }
 
-    public static void uploadPnpModel(Context ctx) {
-        UITargetData data;
+    /**
+     * Create a temporary file using the UploadedFile from Javalin.
+     *
+     * @param file the uploaded file.
+     * @return Temporary file. Empty if the temporary file was unable to be created.
+     */
+    private static Optional<File> handleTempFileCreation(UploadedFile file) {
+        var tempFilePath =
+                new File(Path.of(System.getProperty("java.io.tmpdir"), file.getFilename()).toString());
+        tempFilePath.getParentFile().mkdirs();
+
         try {
-            data = kObjectMapper.readValue(ctx.body(), UITargetData.class);
-        } catch (JsonProcessingException e) {
-            e.printStackTrace();
-            ctx.status(500);
-            return;
+            FileUtils.copyInputStreamToFile(file.getContent(), tempFilePath);
+        } catch (IOException e) {
+            logger.error(
+                    "There was an error while uploading " + file.getFilename() + " to the temp folder!");
+            return Optional.empty();
         }
 
-        VisionModuleManager.getInstance().getModule(data.index).setTargetModel(data.targetModel);
-        ctx.status(200);
+        return Optional.of(tempFilePath);
     }
 
-    public static void sendMetrics(Context ctx) {
-        HardwareManager.getInstance().publishMetrics();
-        // TimedTaskManager.getInstance().addOneShotTask(() ->
-        // RoborioFinder.getInstance().findRios(),
-        // 0);
-        ctx.status(200);
-    }
-
-    public static class UITargetData {
-        public int index;
-        public TargetModel targetModel;
+    /**
+     * Restart the running program. Note that this doesn't actually restart the program itself,
+     * instead, it relies on systemd or an equivalent.
+     */
+    private static void restartProgram() {
+        TimedTaskManager.getInstance()
+                .addOneShotTask(
+                        () -> {
+                            if (Platform.isLinux()) {
+                                try {
+                                    new ShellExec().executeBashCommand("systemctl restart photonvision.service");
+                                } catch (IOException e) {
+                                    logger.error("Could not restart device!", e);
+                                    System.exit(0);
+                                }
+                            } else {
+                                System.exit(0);
+                            }
+                        },
+                        0);
     }
 }
diff --git a/photon-server/src/main/java/org/photonvision/server/Server.java b/photon-server/src/main/java/org/photonvision/server/Server.java
index a67dae8a10..7a025d2b6e 100644
--- a/photon-server/src/main/java/org/photonvision/server/Server.java
+++ b/photon-server/src/main/java/org/photonvision/server/Server.java
@@ -19,13 +19,14 @@
 
 import io.javalin.Javalin;
 import io.javalin.http.staticfiles.Location;
+import java.util.StringJoiner;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public class Server {
     private static final Logger logger = new Logger(Server.class, LogGroup.WebServer);
 
-    public static void main(int port) {
+    public static void start(int port) {
         Javalin app =
                 Javalin.create(
                         config -> {
@@ -34,15 +35,21 @@ public static void main(int port) {
                             config.enableCorsForAllOrigins();
 
                             config.requestLogger(
-                                    (ctx, ms) ->
-                                            logger.debug(
-                                                    "Handled HTTP "
-                                                            + ctx.req.getMethod()
-                                                            + " request from "
-                                                            + ctx.req.getRemoteHost()
-                                                            + " in "
-                                                            + ms.toString()
-                                                            + "ms"));
+                                    (ctx, ms) -> {
+                                        StringJoiner joiner =
+                                                new StringJoiner(" ")
+                                                        .add("Handled HTTP request of type")
+                                                        .add(ctx.req.getMethod())
+                                                        .add("from endpoint")
+                                                        .add(ctx.path())
+                                                        .add("for host")
+                                                        .add(ctx.req.getRemoteHost())
+                                                        .add("in")
+                                                        .add(ms.toString())
+                                                        .add("ms");
+
+                                        logger.debug(joiner.toString());
+                                    });
 
                             config.wsLogger(
                                     ws ->
@@ -61,7 +68,7 @@ public static void main(int port) {
                                                                     })));
                         });
 
-        /*Web Socket Events for Data Exchage */
+        /*Web Socket Events for Data Exchange */
         var dsHandler = DataSocketHandler.getInstance();
         app.ws(
                 "/websocket_data",
@@ -70,6 +77,7 @@ public static void main(int port) {
                     ws.onClose(dsHandler::onClose);
                     ws.onBinaryMessage(dsHandler::onBinaryMessage);
                 });
+
         /*Web Socket Events for Camera Streaming */
         var camDsHandler = CameraSocketHandler.getInstance();
         app.ws(
@@ -80,20 +88,28 @@ public static void main(int port) {
                     ws.onBinaryMessage(camDsHandler::onBinaryMessage);
                     ws.onMessage(camDsHandler::onMessage);
                 });
+
         /*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.get("/api/settings/photonvision-journalctl.txt", RequestHandler::onExportCurrentLogs);
-        app.post("/api/settings/camera", RequestHandler::onCameraSettingsSave);
-        app.post("/api/settings/general", RequestHandler::onGeneralSettings);
-        app.post("/api/settings/endCalibration", RequestHandler::onCalibrationEnd);
-        app.post("/api/restartDevice", RequestHandler::restartDevice);
-        app.post("api/restartProgram", RequestHandler::restartProgram);
-        app.post("api/vision/pnpModel", RequestHandler::uploadPnpModel);
-        app.post("api/sendMetrics", RequestHandler::sendMetrics);
-        app.post("api/setCameraNickname", RequestHandler::setCameraNickname);
-        app.post("api/calibration/import", RequestHandler::importCalibrationFromCalibdb);
+        // Settings
+        app.post("/api/settings", RequestHandler::onSettingsImportRequest);
+        app.get("/api/settings/photonvision_config.zip", RequestHandler::onSettingsExportRequest);
+        app.post("/api/settings/hardwareConfig", RequestHandler::onHardwareConfigRequest);
+        app.post("/api/settings/hardwareSettings", RequestHandler::onHardwareSettingsRequest);
+        app.post("/api/settings/networkConfig", RequestHandler::onNetworkConfigRequest);
+        app.post("/api/settings/general", RequestHandler::onGeneralSettingsRequest);
+        app.post("/api/settings/camera", RequestHandler::onCameraSettingsRequest);
+        app.post("/api/settings/camera/setNickname", RequestHandler::onCameraNicknameChangeRequest);
+
+        // Utilities
+        app.post("/api/utils/offlineUpdate", RequestHandler::onOfflineUpdateRequest);
+        app.get("/api/utils/logs/photonvision-journalctl.txt", RequestHandler::onLogExportRequest);
+        app.post("/api/utils/restartProgram", RequestHandler::onProgramRestartRequest);
+        app.post("/api/utils/restartDevice", RequestHandler::onDeviceRestartRequest);
+        app.post("/api/utils/publishMetrics", RequestHandler::onMetricsPublishRequest);
+
+        // Calibration
+        app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);
+        app.post("/api/calibration/importFromCalibDB", RequestHandler::onCalibrationImportRequest);
 
         app.start(port);
     }
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
index f077f26611..40263f5cc5 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
@@ -116,14 +116,14 @@ public List<TargetCorner> getMinAreaRectCorners() {
      * Return a list of the n corners in image space (origin top left, x right, y down), in no
      * particular order, detected for this target.
      *
-     * <p>For fiducials, the order is known and is always counter-clock wise around the tag, like so
+     * <p>For fiducials, the order is known and is always counter-clock wise around the tag, like so:
      *
-     * <p>spotless:off
-     * -> +X  3 ----- 2
+     * <pre>​
+     * ⟶ +X  3 ----- 2
      * |      |       |
      * V      |       |
      * +Y     0 ----- 1
-     * spotless:on
+     * </pre>
      */
     public List<TargetCorner> getDetectedCorners() {
         return detectedCorners;
diff --git a/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
index cf67d2d09f..a6e62683de 100644
--- a/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 5
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2023",
+    "teamNumber": 5
+}
diff --git a/photonlib-cpp-examples/aimandrange/WPILib-License.md b/photonlib-cpp-examples/aimandrange/WPILib-License.md
index ba35a02c5c..3d5a824cad 100644
--- a/photonlib-cpp-examples/aimandrange/WPILib-License.md
+++ b/photonlib-cpp-examples/aimandrange/WPILib-License.md
@@ -1,24 +1,24 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
-   * Neither the name of FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/photonlib-cpp-examples/aimandrange/build.gradle b/photonlib-cpp-examples/aimandrange/build.gradle
index 05cfb9f914..67e4323b4c 100644
--- a/photonlib-cpp-examples/aimandrange/build.gradle
+++ b/photonlib-cpp-examples/aimandrange/build.gradle
@@ -1,116 +1,116 @@
-plugins {
-    id "cpp"
-    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
-}
-
-repositories {
-    mavenLocal()
-    jcenter()
-}
-
-apply from: "${rootDir}/../shared/examples_common.gradle"
-
-// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project DeployUtils.
-deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = project.frc.getTeamOrDefault(5940)
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
-                }
-
-                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                }
-            }
-        }
-    }
-}
-
-def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
-
-// Set this to true to enable desktop support.
-def includeDesktopSupport = true
-
-// Set to true to run simulation in debug mode
-wpi.cpp.debugSimulation = false
-
-// Default enable simgui
-wpi.sim.addGui().defaultEnabled = true
-// Enable DS but not by default
-wpi.sim.addDriverstation()
-
-model {
-    components {
-        frcUserProgram(NativeExecutableSpec) {
-            // We don't need to build for roborio -- if we do, we need to install
-            // a roborio toolchain every time we build in CI
-            // Ideally, we'd be able to set the roborio toolchain as optional, but
-            // I can't figure out how to set that environment variable from build.gradle
-            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
-            // for now, commented out
-
-            // targetPlatform wpi.platforms.roborio
-
-            if (includeDesktopSupport) {
-                targetPlatform wpi.platforms.desktop
-            }
-
-            sources.cpp {
-                source {
-                    srcDir 'src/main/cpp'
-                    include '**/*.cpp', '**/*.cc'
-                }
-                exportedHeaders {
-                    srcDir 'src/main/include'
-                }
-            }
-
-            // Set deploy task to deploy this component
-            deployArtifact.component = it
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            // Enable simulation for this component
-            wpi.sim.enable(it)
-            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-        }
-    }
-    testSuites {
-        frcUserProgramTest(GoogleTestTestSuiteSpec) {
-            testing $.components.frcUserProgram
-
-            sources.cpp {
-                source {
-                    srcDir 'src/test/cpp'
-                    include '**/*.cpp'
-                }
-            }
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-            wpi.cpp.deps.googleTest(it)
-        }
-    }
-}
+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+
+    id "com.dorongold.task-tree" version "2.1.0"
+}
+
+repositories {
+    mavenLocal()
+    jcenter()
+}
+
+apply from: "${rootDir}/../shared/examples_common.gradle"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamOrDefault(5940)
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Set to true to run simulation in debug mode
+wpi.cpp.debugSimulation = false
+
+// Default enable simgui
+wpi.sim.addGui().defaultEnabled = true
+// Enable DS but not by default
+wpi.sim.addDriverstation()
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            // We don't need to build for roborio -- if we do, we need to install
+            // a roborio toolchain every time we build in CI
+            // Ideally, we'd be able to set the roborio toolchain as optional, but
+            // I can't figure out how to set that environment variable from build.gradle
+            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
+            // for now, commented out
+
+            // targetPlatform wpi.platforms.roborio
+
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                }
+            }
+
+            // Set deploy task to deploy this component
+            deployArtifact.component = it
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            // Enable simulation for this component
+            wpi.sim.enable(it)
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+            wpi.cpp.deps.googleTest(it)
+        }
+    }
+}
diff --git a/photonlib-cpp-examples/aimandrange/settings.gradle b/photonlib-cpp-examples/aimandrange/settings.gradle
index bf0580f4a5..e387260182 100644
--- a/photonlib-cpp-examples/aimandrange/settings.gradle
+++ b/photonlib-cpp-examples/aimandrange/settings.gradle
@@ -1,30 +1,30 @@
-import org.gradle.internal.os.OperatingSystem
-
-rootProject.name = 'aimandrange'
-
-pluginManagement {
-    repositories {
-        mavenLocal()
-        jcenter()
-        gradlePluginPortal()
-        String frcYear = '2023'
-        File frcHome
-        if (OperatingSystem.current().isWindows()) {
-            String publicFolder = System.getenv('PUBLIC')
-            if (publicFolder == null) {
-                publicFolder = "C:\\Users\\Public"
-            }
-            def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        } else {
-            def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        }
-        def frcHomeMaven = new File(frcHome, 'maven')
-        maven {
-            name 'frcHome'
-            url frcHomeMaven
-        }
-    }
-}
+import org.gradle.internal.os.OperatingSystem
+
+rootProject.name = 'aimandrange'
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        jcenter()
+        gradlePluginPortal()
+        String frcYear = '2023'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
diff --git a/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
index cf67d2d09f..a6e62683de 100644
--- a/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 5
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2023",
+    "teamNumber": 5
+}
diff --git a/photonlib-cpp-examples/aimattarget/WPILib-License.md b/photonlib-cpp-examples/aimattarget/WPILib-License.md
index ba35a02c5c..3d5a824cad 100644
--- a/photonlib-cpp-examples/aimattarget/WPILib-License.md
+++ b/photonlib-cpp-examples/aimattarget/WPILib-License.md
@@ -1,24 +1,24 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
-   * Neither the name of FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/photonlib-cpp-examples/aimattarget/build.gradle b/photonlib-cpp-examples/aimattarget/build.gradle
index 05cfb9f914..67e4323b4c 100644
--- a/photonlib-cpp-examples/aimattarget/build.gradle
+++ b/photonlib-cpp-examples/aimattarget/build.gradle
@@ -1,116 +1,116 @@
-plugins {
-    id "cpp"
-    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
-}
-
-repositories {
-    mavenLocal()
-    jcenter()
-}
-
-apply from: "${rootDir}/../shared/examples_common.gradle"
-
-// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project DeployUtils.
-deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = project.frc.getTeamOrDefault(5940)
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
-                }
-
-                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                }
-            }
-        }
-    }
-}
-
-def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
-
-// Set this to true to enable desktop support.
-def includeDesktopSupport = true
-
-// Set to true to run simulation in debug mode
-wpi.cpp.debugSimulation = false
-
-// Default enable simgui
-wpi.sim.addGui().defaultEnabled = true
-// Enable DS but not by default
-wpi.sim.addDriverstation()
-
-model {
-    components {
-        frcUserProgram(NativeExecutableSpec) {
-            // We don't need to build for roborio -- if we do, we need to install
-            // a roborio toolchain every time we build in CI
-            // Ideally, we'd be able to set the roborio toolchain as optional, but
-            // I can't figure out how to set that environment variable from build.gradle
-            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
-            // for now, commented out
-
-            // targetPlatform wpi.platforms.roborio
-
-            if (includeDesktopSupport) {
-                targetPlatform wpi.platforms.desktop
-            }
-
-            sources.cpp {
-                source {
-                    srcDir 'src/main/cpp'
-                    include '**/*.cpp', '**/*.cc'
-                }
-                exportedHeaders {
-                    srcDir 'src/main/include'
-                }
-            }
-
-            // Set deploy task to deploy this component
-            deployArtifact.component = it
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            // Enable simulation for this component
-            wpi.sim.enable(it)
-            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-        }
-    }
-    testSuites {
-        frcUserProgramTest(GoogleTestTestSuiteSpec) {
-            testing $.components.frcUserProgram
-
-            sources.cpp {
-                source {
-                    srcDir 'src/test/cpp'
-                    include '**/*.cpp'
-                }
-            }
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-            wpi.cpp.deps.googleTest(it)
-        }
-    }
-}
+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+
+    id "com.dorongold.task-tree" version "2.1.0"
+}
+
+repositories {
+    mavenLocal()
+    jcenter()
+}
+
+apply from: "${rootDir}/../shared/examples_common.gradle"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamOrDefault(5940)
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Set to true to run simulation in debug mode
+wpi.cpp.debugSimulation = false
+
+// Default enable simgui
+wpi.sim.addGui().defaultEnabled = true
+// Enable DS but not by default
+wpi.sim.addDriverstation()
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            // We don't need to build for roborio -- if we do, we need to install
+            // a roborio toolchain every time we build in CI
+            // Ideally, we'd be able to set the roborio toolchain as optional, but
+            // I can't figure out how to set that environment variable from build.gradle
+            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
+            // for now, commented out
+
+            // targetPlatform wpi.platforms.roborio
+
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                }
+            }
+
+            // Set deploy task to deploy this component
+            deployArtifact.component = it
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            // Enable simulation for this component
+            wpi.sim.enable(it)
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+            wpi.cpp.deps.googleTest(it)
+        }
+    }
+}
diff --git a/photonlib-cpp-examples/aimattarget/settings.gradle b/photonlib-cpp-examples/aimattarget/settings.gradle
index adeb0f45c4..2f39cd03ad 100644
--- a/photonlib-cpp-examples/aimattarget/settings.gradle
+++ b/photonlib-cpp-examples/aimattarget/settings.gradle
@@ -1,30 +1,30 @@
-import org.gradle.internal.os.OperatingSystem
-
-rootProject.name = 'aimattarget'
-
-pluginManagement {
-    repositories {
-        mavenLocal()
-        jcenter()
-        gradlePluginPortal()
-        String frcYear = '2023'
-        File frcHome
-        if (OperatingSystem.current().isWindows()) {
-            String publicFolder = System.getenv('PUBLIC')
-            if (publicFolder == null) {
-                publicFolder = "C:\\Users\\Public"
-            }
-            def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        } else {
-            def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        }
-        def frcHomeMaven = new File(frcHome, 'maven')
-        maven {
-            name 'frcHome'
-            url frcHomeMaven
-        }
-    }
-}
+import org.gradle.internal.os.OperatingSystem
+
+rootProject.name = 'aimattarget'
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        jcenter()
+        gradlePluginPortal()
+        String frcYear = '2023'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
diff --git a/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json
index cf67d2d09f..a6e62683de 100644
--- a/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 5
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2023",
+    "teamNumber": 5
+}
diff --git a/photonlib-cpp-examples/apriltagExample/WPILib-License.md b/photonlib-cpp-examples/apriltagExample/WPILib-License.md
index ba35a02c5c..3d5a824cad 100644
--- a/photonlib-cpp-examples/apriltagExample/WPILib-License.md
+++ b/photonlib-cpp-examples/apriltagExample/WPILib-License.md
@@ -1,24 +1,24 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
-   * Neither the name of FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/photonlib-cpp-examples/apriltagExample/build.gradle b/photonlib-cpp-examples/apriltagExample/build.gradle
index 05cfb9f914..67e4323b4c 100644
--- a/photonlib-cpp-examples/apriltagExample/build.gradle
+++ b/photonlib-cpp-examples/apriltagExample/build.gradle
@@ -1,116 +1,116 @@
-plugins {
-    id "cpp"
-    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
-}
-
-repositories {
-    mavenLocal()
-    jcenter()
-}
-
-apply from: "${rootDir}/../shared/examples_common.gradle"
-
-// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project DeployUtils.
-deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = project.frc.getTeamOrDefault(5940)
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
-                }
-
-                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                }
-            }
-        }
-    }
-}
-
-def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
-
-// Set this to true to enable desktop support.
-def includeDesktopSupport = true
-
-// Set to true to run simulation in debug mode
-wpi.cpp.debugSimulation = false
-
-// Default enable simgui
-wpi.sim.addGui().defaultEnabled = true
-// Enable DS but not by default
-wpi.sim.addDriverstation()
-
-model {
-    components {
-        frcUserProgram(NativeExecutableSpec) {
-            // We don't need to build for roborio -- if we do, we need to install
-            // a roborio toolchain every time we build in CI
-            // Ideally, we'd be able to set the roborio toolchain as optional, but
-            // I can't figure out how to set that environment variable from build.gradle
-            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
-            // for now, commented out
-
-            // targetPlatform wpi.platforms.roborio
-
-            if (includeDesktopSupport) {
-                targetPlatform wpi.platforms.desktop
-            }
-
-            sources.cpp {
-                source {
-                    srcDir 'src/main/cpp'
-                    include '**/*.cpp', '**/*.cc'
-                }
-                exportedHeaders {
-                    srcDir 'src/main/include'
-                }
-            }
-
-            // Set deploy task to deploy this component
-            deployArtifact.component = it
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            // Enable simulation for this component
-            wpi.sim.enable(it)
-            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-        }
-    }
-    testSuites {
-        frcUserProgramTest(GoogleTestTestSuiteSpec) {
-            testing $.components.frcUserProgram
-
-            sources.cpp {
-                source {
-                    srcDir 'src/test/cpp'
-                    include '**/*.cpp'
-                }
-            }
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-            wpi.cpp.deps.googleTest(it)
-        }
-    }
-}
+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+
+    id "com.dorongold.task-tree" version "2.1.0"
+}
+
+repositories {
+    mavenLocal()
+    jcenter()
+}
+
+apply from: "${rootDir}/../shared/examples_common.gradle"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamOrDefault(5940)
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Set to true to run simulation in debug mode
+wpi.cpp.debugSimulation = false
+
+// Default enable simgui
+wpi.sim.addGui().defaultEnabled = true
+// Enable DS but not by default
+wpi.sim.addDriverstation()
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            // We don't need to build for roborio -- if we do, we need to install
+            // a roborio toolchain every time we build in CI
+            // Ideally, we'd be able to set the roborio toolchain as optional, but
+            // I can't figure out how to set that environment variable from build.gradle
+            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
+            // for now, commented out
+
+            // targetPlatform wpi.platforms.roborio
+
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                }
+            }
+
+            // Set deploy task to deploy this component
+            deployArtifact.component = it
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            // Enable simulation for this component
+            wpi.sim.enable(it)
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+            wpi.cpp.deps.googleTest(it)
+        }
+    }
+}
diff --git a/photonlib-cpp-examples/apriltagExample/gradlew b/photonlib-cpp-examples/apriltagExample/gradlew
old mode 100755
new mode 100644
diff --git a/photonlib-cpp-examples/apriltagExample/settings.gradle b/photonlib-cpp-examples/apriltagExample/settings.gradle
index adeb0f45c4..2f39cd03ad 100644
--- a/photonlib-cpp-examples/apriltagExample/settings.gradle
+++ b/photonlib-cpp-examples/apriltagExample/settings.gradle
@@ -1,30 +1,30 @@
-import org.gradle.internal.os.OperatingSystem
-
-rootProject.name = 'aimattarget'
-
-pluginManagement {
-    repositories {
-        mavenLocal()
-        jcenter()
-        gradlePluginPortal()
-        String frcYear = '2023'
-        File frcHome
-        if (OperatingSystem.current().isWindows()) {
-            String publicFolder = System.getenv('PUBLIC')
-            if (publicFolder == null) {
-                publicFolder = "C:\\Users\\Public"
-            }
-            def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        } else {
-            def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        }
-        def frcHomeMaven = new File(frcHome, 'maven')
-        maven {
-            name 'frcHome'
-            url frcHomeMaven
-        }
-    }
-}
+import org.gradle.internal.os.OperatingSystem
+
+rootProject.name = 'aimattarget'
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        jcenter()
+        gradlePluginPortal()
+        String frcYear = '2023'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
diff --git a/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json
index cf67d2d09f..a6e62683de 100644
--- a/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/getinrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
-    "enableCppIntellisense": true,
-    "currentLanguage": "cpp",
-    "projectYear": "2023",
-    "teamNumber": 5
-}
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2023",
+    "teamNumber": 5
+}
diff --git a/photonlib-cpp-examples/getinrange/WPILib-License.md b/photonlib-cpp-examples/getinrange/WPILib-License.md
index ba35a02c5c..3d5a824cad 100644
--- a/photonlib-cpp-examples/getinrange/WPILib-License.md
+++ b/photonlib-cpp-examples/getinrange/WPILib-License.md
@@ -1,24 +1,24 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
-   * Neither the name of FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/photonlib-cpp-examples/getinrange/build.gradle b/photonlib-cpp-examples/getinrange/build.gradle
index 05cfb9f914..67e4323b4c 100644
--- a/photonlib-cpp-examples/getinrange/build.gradle
+++ b/photonlib-cpp-examples/getinrange/build.gradle
@@ -1,116 +1,116 @@
-plugins {
-    id "cpp"
-    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
-}
-
-repositories {
-    mavenLocal()
-    jcenter()
-}
-
-apply from: "${rootDir}/../shared/examples_common.gradle"
-
-// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project DeployUtils.
-deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = project.frc.getTeamOrDefault(5940)
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
-                }
-
-                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                }
-            }
-        }
-    }
-}
-
-def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
-
-// Set this to true to enable desktop support.
-def includeDesktopSupport = true
-
-// Set to true to run simulation in debug mode
-wpi.cpp.debugSimulation = false
-
-// Default enable simgui
-wpi.sim.addGui().defaultEnabled = true
-// Enable DS but not by default
-wpi.sim.addDriverstation()
-
-model {
-    components {
-        frcUserProgram(NativeExecutableSpec) {
-            // We don't need to build for roborio -- if we do, we need to install
-            // a roborio toolchain every time we build in CI
-            // Ideally, we'd be able to set the roborio toolchain as optional, but
-            // I can't figure out how to set that environment variable from build.gradle
-            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
-            // for now, commented out
-
-            // targetPlatform wpi.platforms.roborio
-
-            if (includeDesktopSupport) {
-                targetPlatform wpi.platforms.desktop
-            }
-
-            sources.cpp {
-                source {
-                    srcDir 'src/main/cpp'
-                    include '**/*.cpp', '**/*.cc'
-                }
-                exportedHeaders {
-                    srcDir 'src/main/include'
-                }
-            }
-
-            // Set deploy task to deploy this component
-            deployArtifact.component = it
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            // Enable simulation for this component
-            wpi.sim.enable(it)
-            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-        }
-    }
-    testSuites {
-        frcUserProgramTest(GoogleTestTestSuiteSpec) {
-            testing $.components.frcUserProgram
-
-            sources.cpp {
-                source {
-                    srcDir 'src/test/cpp'
-                    include '**/*.cpp'
-                }
-            }
-
-            // Enable run tasks for this component
-            wpi.cpp.enableExternalTasks(it)
-
-            wpi.cpp.vendor.cpp(it)
-            wpi.cpp.deps.wpilib(it)
-            wpi.cpp.deps.googleTest(it)
-        }
-    }
-}
+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+
+    id "com.dorongold.task-tree" version "2.1.0"
+}
+
+repositories {
+    mavenLocal()
+    jcenter()
+}
+
+apply from: "${rootDir}/../shared/examples_common.gradle"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamOrDefault(5940)
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Set to true to run simulation in debug mode
+wpi.cpp.debugSimulation = false
+
+// Default enable simgui
+wpi.sim.addGui().defaultEnabled = true
+// Enable DS but not by default
+wpi.sim.addDriverstation()
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            // We don't need to build for roborio -- if we do, we need to install
+            // a roborio toolchain every time we build in CI
+            // Ideally, we'd be able to set the roborio toolchain as optional, but
+            // I can't figure out how to set that environment variable from build.gradle
+            // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
+            // for now, commented out
+
+            // targetPlatform wpi.platforms.roborio
+
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                }
+            }
+
+            // Set deploy task to deploy this component
+            deployArtifact.component = it
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            // Enable simulation for this component
+            wpi.sim.enable(it)
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            // Enable run tasks for this component
+            wpi.cpp.enableExternalTasks(it)
+
+            wpi.cpp.vendor.cpp(it)
+            wpi.cpp.deps.wpilib(it)
+            wpi.cpp.deps.googleTest(it)
+        }
+    }
+}
diff --git a/photonlib-cpp-examples/getinrange/settings.gradle b/photonlib-cpp-examples/getinrange/settings.gradle
index bf1225d1d3..8301f6020c 100644
--- a/photonlib-cpp-examples/getinrange/settings.gradle
+++ b/photonlib-cpp-examples/getinrange/settings.gradle
@@ -1,30 +1,30 @@
-import org.gradle.internal.os.OperatingSystem
-
-rootProject.name = 'getinrange'
-
-pluginManagement {
-    repositories {
-        mavenLocal()
-        jcenter()
-        gradlePluginPortal()
-        String frcYear = '2023'
-        File frcHome
-        if (OperatingSystem.current().isWindows()) {
-            String publicFolder = System.getenv('PUBLIC')
-            if (publicFolder == null) {
-                publicFolder = "C:\\Users\\Public"
-            }
-            def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        } else {
-            def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        }
-        def frcHomeMaven = new File(frcHome, 'maven')
-        maven {
-            name 'frcHome'
-            url frcHomeMaven
-        }
-    }
-}
+import org.gradle.internal.os.OperatingSystem
+
+rootProject.name = 'getinrange'
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        jcenter()
+        gradlePluginPortal()
+        String frcYear = '2023'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
diff --git a/photonlib-java-examples/apriltagExample/simgui-ds.json b/photonlib-java-examples/apriltagExample/simgui-ds.json
index 69b1a3cbcd..25e298be7f 100644
--- a/photonlib-java-examples/apriltagExample/simgui-ds.json
+++ b/photonlib-java-examples/apriltagExample/simgui-ds.json
@@ -1,11 +1,13 @@
 {
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
-        {
-          "decKey": 65,
-          "incKey": 68
-        },
+        {},
         {
           "decKey": 87,
           "incKey": 83
@@ -15,9 +17,14 @@
           "decayRate": 0.0,
           "incKey": 82,
           "keyRate": 0.009999999776482582
+        },
+        {},
+        {
+          "decKey": 65,
+          "incKey": 68
         }
       ],
-      "axisCount": 3,
+      "axisCount": 5,
       "buttonCount": 4,
       "buttonKeys": [
         90,
diff --git a/photonlib-java-examples/apriltagExample/simgui.json b/photonlib-java-examples/apriltagExample/simgui.json
index ec51dae2b0..5c06de417f 100644
--- a/photonlib-java-examples/apriltagExample/simgui.json
+++ b/photonlib-java-examples/apriltagExample/simgui.json
@@ -1,20 +1,46 @@
 {
+  "HALProvider": {
+    "Other Devices": {
+      "AnalogGyro[0]": {
+        "header": {
+          "open": true
+        }
+      }
+    }
+  },
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
-      "/SmartDashboard/Field": "Field2d"
+      "/LiveWindow/Ungrouped/AnalogGyro[0]": "Gyro",
+      "/LiveWindow/Ungrouped/MotorControllerGroup[1]": "Motor Controller",
+      "/LiveWindow/Ungrouped/MotorControllerGroup[2]": "Motor Controller",
+      "/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[2]": "PIDController",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/VisionSystemSim-Test/Sim Field": "Field2d",
+      "/SmartDashboard/VisionSystemSim-YOUR CAMERA NAME/Sim Field": "Field2d"
     },
     "windows": {
       "/SmartDashboard/Field": {
         "window": {
           "visible": true
         }
+      },
+      "/SmartDashboard/VisionSystemSim-Test/Sim Field": {
+        "window": {
+          "visible": true
+        }
+      },
+      "/SmartDashboard/VisionSystemSim-YOUR CAMERA NAME/Sim Field": {
+        "window": {
+          "visible": true
+        }
       }
     }
   },
   "NetworkTables": {
     "transitory": {
-      "Shuffleboard": {
+      "LiveWindow": {
         "open": true
       },
       "photonvision": {
@@ -24,6 +50,9 @@
         "USB_Camera": {
           "open": true
         },
+        "YOUR CAMERA NAME": {
+          "open": true
+        },
         "open": true,
         "testCamera": {
           "open": true
diff --git a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Drivetrain.java b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Drivetrain.java
index b470437ee7..f33d9f0510 100644
--- a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Drivetrain.java
+++ b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Drivetrain.java
@@ -38,6 +38,7 @@
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
@@ -50,6 +51,9 @@
 import frc.robot.Constants.DriveTrainConstants;
 import java.util.Optional;
 import org.photonvision.EstimatedRobotPose;
+import org.photonvision.simulation.PhotonCameraSim;
+import org.photonvision.simulation.SimCameraProperties;
+import org.photonvision.simulation.VisionSystemSim;
 
 /** Represents a differential drive style drivetrain. */
 public class Drivetrain {
@@ -94,7 +98,7 @@ public class Drivetrain {
     private final EncoderSim m_rightEncoderSim = new EncoderSim(m_rightEncoder);
     private final Field2d m_fieldSim = new Field2d();
     private final LinearSystem<N2, N2, N2> m_drivetrainSystem =
-            LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
+            LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.8);
     private final DifferentialDrivetrainSim m_drivetrainSimulator =
             new DifferentialDrivetrainSim(
                     m_drivetrainSystem,
@@ -104,6 +108,9 @@ public class Drivetrain {
                     DriveTrainConstants.kWheelRadius,
                     null);
 
+    // Simulated PhotonCamera -- only used in sim!
+    VisionSystemSim m_visionSystemSim;
+
     /**
      * Constructs a differential drive object. Sets the encoder distance per pulse and resets the
      * gyro.
@@ -128,6 +135,15 @@ public Drivetrain() {
         m_rightEncoder.reset();
 
         SmartDashboard.putData("Field", m_fieldSim);
+
+        // Only simulate our PhotonCamera in simulation
+        if (RobotBase.isSimulation()) {
+            m_visionSystemSim = new VisionSystemSim(Constants.VisionConstants.cameraName);
+            var cameraSim =
+                    new PhotonCameraSim(pcw.photonCamera, SimCameraProperties.PI4_LIFECAM_640_480());
+            m_visionSystemSim.addCamera(cameraSim, Constants.VisionConstants.robotToCam);
+            m_visionSystemSim.addVisionTargets(pcw.photonPoseEstimator.getFieldTags());
+        }
     }
 
     /**
@@ -174,6 +190,9 @@ public void simulationPeriodic() {
         m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPositionMeters());
         m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocityMetersPerSecond());
         m_gyroSim.setAngle(-m_drivetrainSimulator.getHeading().getDegrees());
+
+        // Update results from vision as well
+        m_visionSystemSim.update(m_drivetrainSimulator.getPose());
     }
 
     /** Updates the field-relative position. */
diff --git a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java
index a29737a0ff..d46957886c 100644
--- a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java
+++ b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java
@@ -37,8 +37,8 @@
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
 
 public class PhotonCameraWrapper {
-    private PhotonCamera photonCamera;
-    private PhotonPoseEstimator photonPoseEstimator;
+    PhotonCamera photonCamera;
+    PhotonPoseEstimator photonPoseEstimator;
 
     public PhotonCameraWrapper() {
         // Change the name of your camera here to whatever it is in the PhotonVision UI.
diff --git a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Robot.java b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Robot.java
index 8f93274573..78f0f50ab9 100644
--- a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Robot.java
+++ b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Robot.java
@@ -42,6 +42,9 @@ public class Robot extends TimedRobot {
     public void robotInit() {
         if (Robot.isSimulation()) {
             NetworkTableInstance instance = NetworkTableInstance.getDefault();
+
+            // We have to have Photon running and set to NT server mode for it to connect
+            // to our computer instead of to a roboRIO.
             instance.stopServer();
             // set the NT server if simulating this code.
             // "localhost" for photon on desktop, or "photonvision.local" / "[ip-address]" for coprocessor
@@ -51,6 +54,10 @@ public void robotInit() {
 
         m_controller = new XboxController(0);
         m_drive = new Drivetrain();
+
+        // Flush NetworkTables every loop. This ensures that robot pose and other values
+        // are sent during every iteration. This only applies to local NT connections!
+        setNetworkTablesFlushEnabled(true);
     }
 
     @Override
diff --git a/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java b/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
index 6675b89ca9..2686a202ba 100644
--- a/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
+++ b/photonlib-java-examples/simaimandrange/src/main/java/frc/robot/sim/DrivetrainSim.java
@@ -41,8 +41,8 @@
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.Robot;
-import org.photonvision.SimVisionSystem;
-import org.photonvision.SimVisionTarget;
+import org.photonvision.simulation.SimVisionSystem;
+import org.photonvision.simulation.SimVisionTarget;
 
 /**
  * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
diff --git a/photonlib-java-examples/simposeest/src/main/java/frc/robot/Constants.java b/photonlib-java-examples/simposeest/src/main/java/frc/robot/Constants.java
index d3d7fdf7ae..e5e8ca9caa 100644
--- a/photonlib-java-examples/simposeest/src/main/java/frc/robot/Constants.java
+++ b/photonlib-java-examples/simposeest/src/main/java/frc/robot/Constants.java
@@ -30,7 +30,7 @@
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.math.util.Units;
-import org.photonvision.SimVisionTarget;
+import org.photonvision.simulation.SimVisionTarget;
 
 /**
  * Holding class for all physical constants that must be used throughout the codebase. These values
diff --git a/photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainSim.java b/photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainSim.java
index 2eeaaa106b..7d1eee2d47 100644
--- a/photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainSim.java
+++ b/photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainSim.java
@@ -38,7 +38,7 @@
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.simulation.PWMSim;
-import org.photonvision.SimVisionSystem;
+import org.photonvision.simulation.SimVisionSystem;
 
 /**
  * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
diff --git a/scripts/install.sh b/scripts/install.sh
index 8e00390c03..cfbaa2fa06 100755
--- a/scripts/install.sh
+++ b/scripts/install.sh
@@ -53,13 +53,13 @@ else
     echo 'GOVERNOR=performance' > /etc/default/cpufrequtils
 fi
 
-echo "Installing the JDK..."
-if ! package_is_installed openjdk-11-jdk-headless
+echo "Installing the JRE..."
+if ! package_is_installed openjdk-11-jre-headless
 then
    apt-get update
-   apt-get install --yes openjdk-11-jdk-headless
+   apt-get install --yes openjdk-11-jre-headless
 fi
-echo "JDK installation complete."
+echo "JRE installation complete."
 
 if [ "$ARCH" == "aarch64" ]
 then