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/.gitignore b/.gitignore
index 4c59f92df6..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
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 164253f09f..053635c21d 100644
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -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 01ca0f6f1e..ba3affa574 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"
@@ -223,7 +231,12 @@ export default {
             duplicateDialog: false,
             showPipeTypeDialog: false,
             proposedPipelineType : 0,
-            pipeIndexToDuplicate: undefined
+            pipeIndexToDuplicate: undefined,
+            snack: false,
+            snackbar: {
+              color: "success",
+              text: "",
+            }
         }
     },
     computed: {
@@ -280,6 +293,51 @@ export default {
             this.handleInputWithIndex('pipelineType', newIdx);
             this.showPipeTypeDialog = false;
         },
+        changeCameraName() {
+            this.newCameraName = this.$store.getters.cameraList[this.currentCameraIndex];
+            this.isCameraNameEdit = true;
+        },
+        saveCameraNameChange() {
+            if (this.checkCameraName === "") {
+                this.axios.post('http://' + this.$address + '/api/settings/camera/setNickname',
+                    {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
+                    .then(response => {
+                      this.$emit('camera-name-changed')
+
+                      this.snackbar = {
+                        color: "success",
+                        text: response.data.text || response.data
+                      }
+                      this.snack = true;
+                    })
+                    .catch(error => {
+                      this.$emit('camera-name-changed')
+
+                      if(error.response) {
+                        this.snackbar = {
+                          color: "error",
+                          text:  error.response.data.text || error.response.data
+                        }
+                      } else if(error.request) {
+                        this.snackbar = {
+                          color: "error",
+                          text: "Error while trying to process the request! The backend didn't respond.",
+                        };
+                      } else {
+                        this.snackbar = {
+                          color: "error",
+                          text: "An error occurred while trying to process the request.",
+                        };
+                      }
+                      this.snack = true;
+                    })
+                this.discardCameraNameChange();
+            }
+        },
+        discardCameraNameChange() {
+            this.isCameraNameEdit = false;
+            this.newCameraName = "";
+        },
         toPipelineNameChange() {
             this.newPipelineName = this.$store.getters.pipelineList[this.currentPipelineIndex - 1];
             this.isPipelineNameEdit = true;
@@ -319,7 +377,3 @@ export default {
 
 }
 </script>
-
-<style scoped>
-
-</style>
diff --git a/photon-client/src/views/CamerasView.vue b/photon-client/src/views/CamerasView.vue
index ff1150ea3a..8362ca864d 100644
--- a/photon-client/src/views/CamerasView.vue
+++ b/photon-client/src/views/CamerasView.vue
@@ -348,6 +348,7 @@
               <v-col>
                 <v-btn
                   color="secondary"
+                  :disabled="isCalibrating"
                   small
                   style="width: 100%;"
                   @click="$refs.importCalibrationFromCalibdb.click()"
@@ -376,7 +377,7 @@
             style="border-radius: 5px;"
           />
           <v-dialog
-            v-model="snack"
+            v-model="calibrationDialog"
             width="500px"
             :persistent="true"
           >
@@ -445,12 +446,12 @@
     >
 
     <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>
@@ -489,11 +490,11 @@ export default {
             filteredVideomodeIndex: 0,
             settingsValid: true,
             unfilteredStreamDivisors: [1, 2, 4],
-            uploadSnackData: {
+            snackbar: {
               color: "success",
               text: "",
             },
-            uploadSnack: false,
+            snack: false,
         }
     },
     computed: {
@@ -711,43 +712,34 @@ 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 = {
-                      color: "error",
-                      text:
-                        "Error while uploading calibration file! Could not process provided file.",
-                    };
-                  } else if (err.request) {
-                    this.uploadSnackData = {
+                  if (err.request) {
+                    this.snackbar = {
                       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;
         },
@@ -841,15 +833,33 @@ 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.$store.getters.currentCameraSettings.calibrations
@@ -876,16 +886,13 @@ export default {
         sendCalibrationFinish() {
             console.log("finishing calibration for index " + this.$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/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 fa7c384eae..28948e740a 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",
+  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/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/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
index 8fd4dd47f9..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
@@ -128,7 +128,7 @@ private void translateLegacyIfPresent(Path folderPath) {
         }
     }
 
-    public static void saveUploadedSettingsZip(File uploadPath) {
+    public static boolean saveUploadedSettingsZip(File uploadPath) {
         // Unpack to /tmp/something/photonvision
         var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
         folderPath.mkdirs();
@@ -147,14 +147,16 @@ public static void saveUploadedSettingsZip(File uploadPath) {
 
             var sql = new SqlConfigProvider(getRootFolder());
             sql.setConfig(loadedConfig);
-            sql.saveToDisk();
+            return sql.saveToDisk();
         } else {
             // new structure -- just copy and save like we used to
             try {
                 org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
                 logger.info("Copied settings successfully!");
+                return true;
             } catch (IOException e) {
                 logger.error("Exception copying uploaded settings!", e);
+                return false;
             }
         }
     }
@@ -241,16 +243,16 @@ public Path getImageSavePath() {
         return imgFilePath.toPath();
     }
 
-    public void saveUploadedHardwareConfig(Path uploadPath) {
-        m_provider.saveUploadedHardwareConfig(uploadPath);
+    public boolean saveUploadedHardwareConfig(Path uploadPath) {
+        return m_provider.saveUploadedHardwareConfig(uploadPath);
     }
 
-    public void saveUploadedHardwareSettings(Path uploadPath) {
-        m_provider.saveUploadedHardwareSettings(uploadPath);
+    public boolean saveUploadedHardwareSettings(Path uploadPath) {
+        return m_provider.saveUploadedHardwareSettings(uploadPath);
     }
 
-    public void saveUploadedNetworkConfig(Path uploadPath) {
-        m_provider.saveUploadedNetworkConfig(uploadPath);
+    public boolean saveUploadedNetworkConfig(Path uploadPath) {
+        return m_provider.saveUploadedNetworkConfig(uploadPath);
     }
 
     public void requestSave() {
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
index f5078d5252..f827a99360 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java
@@ -24,15 +24,15 @@ public abstract class ConfigProvider {
 
     abstract void load();
 
-    abstract void saveToDisk();
+    abstract boolean saveToDisk();
 
     PhotonConfiguration getConfig() {
         return config;
     }
 
-    public abstract void saveUploadedHardwareConfig(Path uploadPath);
+    public abstract boolean saveUploadedHardwareConfig(Path uploadPath);
 
-    public abstract void saveUploadedHardwareSettings(Path uploadPath);
+    public abstract boolean saveUploadedHardwareSettings(Path uploadPath);
 
-    public abstract void saveUploadedNetworkConfig(Path uploadPath);
+    public abstract boolean saveUploadedNetworkConfig(Path uploadPath);
 }
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
index 2ce8c0dbf1..7051ab7ef9 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
@@ -184,7 +184,7 @@ public void load() {
     }
 
     @Override
-    public void saveToDisk() {
+    public boolean saveToDisk() {
         // Delete old configs
         FileUtils.deleteDirectory(camerasFolder.toPath());
 
@@ -239,6 +239,7 @@ public void saveToDisk() {
             }
         }
         logger.info("Settings saved!");
+        return false; // TODO, deal with this. Do I need to?
     }
 
     private HashMap<String, CameraConfiguration> loadCameraConfigs() {
@@ -400,19 +401,19 @@ public Path getNetworkConfigFile() {
         return this.networkConfigFile.toPath();
     }
 
-    public void saveUploadedHardwareConfig(Path uploadPath) {
-        FileUtils.deleteFile(this.getHardwareConfigFile());
-        FileUtils.copyFile(uploadPath, this.getHardwareConfigFile());
+    @Override
+    public boolean saveUploadedHardwareConfig(Path uploadPath) {
+        return FileUtils.replaceFile(uploadPath, this.getHardwareConfigFile());
     }
 
-    public void saveUploadedHardwareSettings(Path uploadPath) {
-        FileUtils.deleteFile(this.getHardwareSettingsFile());
-        FileUtils.copyFile(uploadPath, this.getHardwareSettingsFile());
+    @Override
+    public boolean saveUploadedHardwareSettings(Path uploadPath) {
+        return FileUtils.replaceFile(uploadPath, this.getHardwareSettingsFile());
     }
 
-    public void saveUploadedNetworkConfig(Path uploadPath) {
-        FileUtils.deleteFile(this.getNetworkConfigFile());
-        FileUtils.copyFile(uploadPath, this.getNetworkConfigFile());
+    @Override
+    public boolean saveUploadedNetworkConfig(Path uploadPath) {
+        return FileUtils.replaceFile(uploadPath, this.getNetworkConfigFile());
     }
 
     public void requestSave() {
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 014147dcec..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
@@ -79,15 +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);
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
index 3de6035c22..cad4325c4b 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
@@ -168,14 +168,15 @@ private void initDatabase() {
     }
 
     @Override
-    public void saveToDisk() {
+    public boolean saveToDisk() {
         logger.debug("Saving to disk");
         var conn = createConn();
-        if (conn == null) return;
+        if (conn == null) return false;
+
         synchronized (m_mutex) {
             if (config == null) {
                 logger.error("Config null! Cannot save");
-                return;
+                return false;
             }
 
             saveCameras(conn);
@@ -185,11 +186,14 @@ public void saveToDisk() {
             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
@@ -366,14 +370,16 @@ private void saveGlobal(Connection conn) {
         }
     }
 
-    private <T> void saveOneFile(String fname, Path path) {
+    private boolean saveOneFile(String fname, Path path) {
         Connection conn = null;
         PreparedStatement statement1 = null;
+
         try {
             conn = createConn();
             if (conn == null) {
-                return;
+                return false;
             }
+
             // Replace this camera's row with the new settings
             var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
 
@@ -382,36 +388,38 @@ private <T> void saveOneFile(String fname, Path path) {
             statement1.executeUpdate();
 
             conn.commit();
+            return true;
         } catch (SQLException | IOException e) {
-            logger.error("Err saving global", e);
+            logger.error("Error while saving file to global: ", e);
             try {
                 conn.rollback();
             } catch (SQLException e1) {
-                logger.error("Err rolling back changes: ", e);
+                logger.error("Error rolling back changes: ", e);
             }
+            return false;
         } finally {
             try {
                 if (statement1 != null) statement1.close();
                 conn.close();
             } catch (SQLException e) {
-                logger.error("SQL Err saving file " + fname, e);
+                logger.error("SQL Error saving file " + fname, e);
             }
         }
     }
 
     @Override
-    public void saveUploadedHardwareConfig(Path uploadPath) {
-        saveOneFile(TableKeys.HARDWARE_CONFIG, uploadPath);
+    public boolean saveUploadedHardwareConfig(Path uploadPath) {
+        return saveOneFile(TableKeys.HARDWARE_CONFIG, uploadPath);
     }
 
     @Override
-    public void saveUploadedHardwareSettings(Path uploadPath) {
-        saveOneFile(TableKeys.HARDWARE_SETTINGS, uploadPath);
+    public boolean saveUploadedHardwareSettings(Path uploadPath) {
+        return saveOneFile(TableKeys.HARDWARE_SETTINGS, uploadPath);
     }
 
     @Override
-    public void saveUploadedNetworkConfig(Path uploadPath) {
-        saveOneFile(TableKeys.NETWORK_CONFIG, uploadPath);
+    public boolean saveUploadedNetworkConfig(Path uploadPath) {
+        return saveOneFile(TableKeys.NETWORK_CONFIG, uploadPath);
     }
 
     private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
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 b63ed93a71..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
@@ -58,24 +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-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/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java
index acd9a71c27..b834ad4459 100644
--- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java
+++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java
@@ -285,7 +285,7 @@ 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).
      *
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 bc3a735e9d..9cdc1811fb 100644
--- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
+++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
@@ -25,20 +25,34 @@
 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 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 according 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
@@ -47,29 +61,37 @@ public class VisionEstimation {
      * <p><b>Note:</b> The returned transformation is from the field origin to the camera pose!
      * (Unless you only feed this one tag??)
      *
-     * @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
+     * @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
      */
     @Deprecated
     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);
             var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse());
             var altPose = new Pose3d();
             if (camToTag.ambiguity != 0)
@@ -99,9 +121,8 @@ 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);
             return new PNPResults(
                     camToOrigin.best.inverse(),
                     camToOrigin.alt.inverse(),
@@ -135,7 +156,7 @@ public static PNPResults estimateCamPoseSqpnp(
             return new PNPResults();
         }
         var objectTrls = new ArrayList<Translation3d>();
-        for (var tag : knownTags) objectTrls.addAll(kTagModel.getFieldVertices(tag.pose));
+        for (var tag : knownTags) objectTrls.addAll(TargetModel.kTag16h5.vertices);
         var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, corners);
         // var camToOrigin = OpenCVHelp.solveTagsPNPRansac(prop, objectTrls, corners);
         return new PNPResults(
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..710d7f49bf
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -0,0 +1,464 @@
+/*
+ * 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 = 90;
+    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);
+                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.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 a0ce8f37b2..9f301486a6 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;
@@ -31,11 +31,17 @@
 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.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..cec341b4d8
--- /dev/null
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
@@ -0,0 +1,337 @@
+/*
+ * 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");
+        // local IDE tests
+        String path = kLocalTagImagesPath + name + ".png";
+        // gradle tests
+        if (resource != null) {
+            path = resource.getPath();
+
+            // TODO why did we have this previously?
+            // if (path.startsWith("/")) path = path.substring(1);
+        }
+        Mat result = new Mat();
+        if (!path.startsWith("file")) result = Imgcodecs.imread(path, Imgcodecs.IMREAD_GRAYSCALE);
+        // reading jar file
+        if (result.empty()) {
+            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);
+                }
+            }
+        }
+        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..6a1c36cf3d
--- /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).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;
+    }
+}
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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/VisionSystemSimTest.java
similarity index 53%
rename from photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
rename to photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
index 524e8eff5a..f4d5806e43 100644
--- a/photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
+++ b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
@@ -28,6 +28,9 @@
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+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;
@@ -41,6 +44,7 @@
 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 java.util.stream.Stream;
@@ -52,18 +56,26 @@
 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.simulation.PhotonCameraSim;
+import org.photonvision.simulation.VisionSystemSim;
+import org.photonvision.simulation.VisionTargetSim;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
-class SimVisionSystemTest {
+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 SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 320, 240, 0);
-                    sysUnderTest.addSimVisionTarget(new SimVisionTarget(new Pose3d(), 1.0, 1.0, 42));
+                    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.processFrame(new Pose2d());
+                        sysUnderTest.update(new Pose2d());
                     }
                 });
     }
@@ -74,12 +86,25 @@ public static void setUp() {
         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(
-                    SimVisionSystem.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
+                    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) {
-            // TODO Auto-generated catch block
             e.printStackTrace();
         }
 
@@ -114,66 +139,74 @@ public static void shutDown() {}
     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));
+        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));
 
         // 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());
+        visionSysSim.update(robotPose);
+        assertFalse(camera.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());
+        visionSysSim.update(robotPose);
+        assertFalse(camera.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());
+        visionSysSim.update(robotPose);
+        assertFalse(camera.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());
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
 
         // now kick, now kick
         robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
 
         // now kick, now kick
         robotPose = new Pose2d(new Translation2d(2, 0), Rotation2d.fromDegrees(-5));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
+        visionSysSim.update(robotPose);
+        assertTrue(camera.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());
+        visionSysSim.update(robotPose);
+        assertFalse(camera.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());
+        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 sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3));
+        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));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
+        visionSysSim.update(robotPose);
+        assertTrue(camera.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());
+        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
@@ -181,50 +214,65 @@ 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());
+                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));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
+        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 sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 20.0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.1, 0.025, 24));
+        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));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
 
         robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
+        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 sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 10, 640, 480, 1.0);
-        sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 0.25, 78));
+        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));
-        sysUnderTest.processFrame(robotPose);
-        assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
+        visionSysSim.update(robotPose);
+        assertTrue(camera.getLatestResult().hasTargets());
 
         robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
-        sysUnderTest.processFrame(robotPose);
-        assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
+        visionSysSim.update(robotPose);
+        assertFalse(camera.getLatestResult().hasTargets());
     }
 
     @ParameterizedTest
@@ -232,34 +280,43 @@ public void testNotVisibleTooFarForLEDs() {
     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 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));
-        sysUnderTest.processFrame(robotPose);
-        var res = sysUnderTest.cam.getLatestResult();
+        visionSysSim.update(robotPose);
+        var res = camera.getLatestResult();
         assertTrue(res.hasTargets());
         var tgt = res.getBestTarget();
-        assertEquals(tgt.getYaw(), testYaw, 0.0001);
+        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) {
-        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));
+        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
-        sysUnderTest.moveCamera(
+        visionSysSim.adjustCamera(
+                cameraSim,
                 new Transform3d(
                         new Translation3d(), new Rotation3d(0, Units.degreesToRadians(testPitch), 0)));
-        sysUnderTest.processFrame(robotPose);
-        var res = sysUnderTest.cam.getLatestResult();
+        visionSysSim.update(robotPose);
+        var res = camera.getLatestResult();
         assertTrue(res.hasTargets());
         var tgt = res.getBestTarget();
 
@@ -267,29 +324,29 @@ public void testCameraPitch(double testPitch) {
         // the
         // lower half of the image
         // which should produce negative pitch.
-        assertEquals(testPitch * -1, tgt.getPitch(), 0.0001);
+        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, 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));
+                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
@@ -306,29 +363,32 @@ public void testDistanceCalc(double testDist, double testPitch, double testHeigh
                         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();
+        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(tgt.getYaw(), 0.0, 0.0001);
+        assertEquals(0.0, tgt.getYaw(), kRotDeltaDeg);
+
         double distMeas =
                 PhotonUtils.calculateDistanceToTargetMeters(
                         robotToCamera.getZ(),
                         targetPose.getZ(),
-                        Units.degreesToRadians(testPitch),
+                        Units.degreesToRadians(-testPitch),
                         Units.degreesToRadians(tgt.getPitch()));
-        assertEquals(Units.feetToMeters(testDist), distMeas, 0.001);
+        assertEquals(Units.feetToMeters(testDist), distMeas, kTrlDelta);
     }
 
     @Test
@@ -339,92 +399,87 @@ public void testMultipleTargets() {
                 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(
+        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())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         1));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseC.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         2));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseR.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         3));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseL.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         4));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseC.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         5));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
-                        targetPoseR.transformBy(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
+                        targetPoseL.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         6));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseL.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         7));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseC.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         8));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseL.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         9));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseR.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         10));
-        sysUnderTest.addSimVisionTarget(
-                new SimVisionTarget(
+        visionSysSim.addVisionTargets(
+                new VisionTargetSim(
                         targetPoseL.transformBy(
                                 new Transform3d(new Translation3d(0, 0, 0.25), new Rotation3d())),
-                        0.25,
-                        0.25,
+                        TargetModel.kTag16h5,
                         11));
 
         var robotPose = new Pose2d(new Translation2d(6.0, 0), Rotation2d.fromDegrees(0.25));
-        sysUnderTest.processFrame(robotPose);
-        var res = sysUnderTest.cam.getLatestResult();
+        visionSysSim.update(robotPose);
+        var res = camera.getLatestResult();
         assertTrue(res.hasTargets());
         List<PhotonTrackedTarget> tgtList;
         tgtList = res.getTargets();
-        assertEquals(tgtList.size(), 11);
+        assertEquals(11, tgtList.size());
     }
 }
diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
index 8d399cdb09..7e363ac8c5 100644
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -370,6 +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 64f048a6ea..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;
@@ -48,170 +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.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
@@ -220,150 +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 908ca24e60..a15fca87d5 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
@@ -118,14 +118,14 @@ 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