diff --git a/Software/workspace/YOLOProc/Jetson-TX2/Makefile b/Software/workspace/YOLOProc/Jetson-TX2/Makefile
@@ -0,0 +1,58 @@
+
+#SHELL = sh -xv
+FLAGS := -DCOMPILE_GPU=1 -DGPU -DOPENCV -DCUDNN -fPIC
+
+YOLO_LIBS=-L$(HOME)/darknet-cpp/lib
+
+LDIRS := $(YOLO_LIBS) -L/usr/local/lib -L/usr/local/cuda/lib -L/usr/local/cuda/targets/aarch64-linux/lib
+
+WPILIBS := -lntcore -lCameraServer -lcscore
+CVLIBS := -lopencv_highgui -lopencv_core -lopencv_calib3d -lopencv_contrib -lntcore -lopencv_imgproc -lopencv_video -lopencv_videoio 
+CUDALIBS := -lcudart -lopencv_cudaimgproc -lcudnn  -lcublas -lcurand
+CAFFELIBS := -lglog -lgflags -lprotobuf -lboost_system -lboost_filesystem -lboost_regex -lm -lhdf5_serial_hl -lhdf5_serial
+#YOLOLIB := -ldarknet_c -lstdc++ -pthread
+YOLOLIB := -ldarknet-cpp-shared -pthread
+
+LIBS := $(CVLIBS) $(CUDALIBS) $(WPILIBS) $(CAFFELIBS) $(YOLOLIB)
+
+LDFLAGS = `pkg-config --libs opencv` 
+CPP_SRCS := YOLOProc.cpp
+
+OBJS := YOLOProc.o
+
+SRCDIR=../src
+
+YOLO_INCLUDES=-I$(HOME)/darknet-cpp/src 
+
+INCLUDES=$(YOLO_INCLUDES) -I/usr/local/include -I/usr/local/cuda/targets/aarch64-linux/include  
+
+RPATH= -Xlinker -rpath $(YOLO_LIBS) -Xlinker -rpath -Xlinker -rpath /usr/local/lib
+
+# Add inputs and outputs from these tool invocations to the build variables 
+
+# All Target
+all: YOLOProc
+
+# Tool invocations
+YOLOProc: $(OBJS) Makefile
+	@echo 'Building target: $@'
+	g++ $(RPATH) $(FLAGS) $(LDIRS) -o "YOLOProc"  $(OBJS) $(LIBS) 
+	@echo 'Finished building target: $@'
+	@echo ' '
+
+# Other Targets
+clean:
+	-$(RM) $(OBJS) *.d YOLOProc
+	-@echo ' '
+
+# Each subdirectory must supply rules for building sources it contributes
+%.o: ../src/%.cpp Makefile
+	@echo 'Building file: $<'
+	@echo 'Invoking: Cross G++ Compiler'
+	g++ -std=c++11 -fpermissive $(INCLUDES) $(FLAGS) -O3 -Wall -c -fmessage-length=0 -o "$@" "$<"
+	@echo 'Finished building: $<'
+	@echo ' '
+
+YOLOProc.o: ../src/YOLOProc.cpp 
+
+
diff --git a/Software/workspace/YOLOProc/Jetson-TX2/gazebo_test.sh b/Software/workspace/YOLOProc/Jetson-TX2/gazebo_test.sh
@@ -0,0 +1,27 @@
+
+killall YOLOProc gazebo_test.sh
+
+APPDIR=$HOME/YOLOProc/Jetson-TX2
+DATADIR=$HOME/data/yolo
+
+
+WEIGHTS=${DATADIR}/yolo-300.weights
+CFG=${DATADIR}/yolo.2_balltote_300x300.cfg
+
+WEIGHTS=${DATADIR}/tiny-yolo-balltote_2000.weights
+CFG=${DATADIR}/tiny-yolo-balltote.cfg
+
+WEIGHTS=${DATADIR}/yolo-2.weights
+CFG=${DATADIR}/yolo.2_balltote.cfg
+
+
+WEIGHTS=${DATADIR}/yolo-300.weights
+CFG=${DATADIR}/yolo.2_balltote_300x300.cfg
+
+
+DATA=${DATADIR}/balltote.data
+
+STREAM="http://Ubuntu14.local:5002/?action=stream?dummy=param.mjpg"
+OUTPUT=Ubuntu14.local
+
+${APPDIR}/YOLOProc --thresh 0.3 --publish $OUTPUT --output "Annotated" ${DATA} ${CFG} ${WEIGHTS} ${STREAM}
diff --git a/Software/workspace/YOLOProc/Ubuntu/Makefile b/Software/workspace/YOLOProc/Ubuntu/Makefile
@@ -1,15 +1,19 @@
 CAFFE_ROOT=/usr/local/ssd-caffe
 #SHELL = sh -xv
-FLAGS := -DCOMPILE_GPU=1 -DGPU -DOPENCV -DCUDNN
+FLAGS := -DCOMPILE_GPU=1 -DGPU -DOPENCV -DCUDNN -fPIC
+
+#YOLO_LIBS=-L$(HOME)/AI/darknet-git 
+YOLO_LIBS=-L/usr/local/yolo/lib
 
 #LDIRS := -L$(CAFFE_ROOT)/lib -L/usr/local/lib -L/usr/local/cuda/lib -L$(HOME)/wpilib/simulation/lib -L/usr/local/cuda/targets/x86_64-linux/lib -L/usr/local/yolo/lib
-LDIRS := -L/usr/local/lib -L/usr/local/cuda/lib -L/usr/local/cuda/targets/x86_64-linux/lib -L/usr/local/yolo/lib -L$(HOME)/wpilib/simulation/lib 
+LDIRS := -L/usr/local/lib -L/usr/local/cuda/lib -L/usr/local/cuda/targets/x86_64-linux/lib -L/usr/local/yolo/lib -L$(HOME)/wpilib/simulation/lib $(YOLO_LIBS)
 
 WPILIBS := -lntcore -lCameraServer -lcscore
 CVLIBS := -lopencv_highgui -lopencv_core -lopencv_calib3d -lopencv_contrib -lntcore -lopencv_imgproc -lopencv_video -lopencv_videoio 
 CUDALIBS := -lcudart -lopencv_cudaimgproc -lcudnn  -lcublas -lcurand
 CAFFELIBS := -lglog -lgflags -lprotobuf -lboost_system -lboost_filesystem -lboost_regex -lm -lhdf5_hl -lhdf5 # -lcaffe
-YOLOLIB := -ldarknet -lstdc++ -pthread
+#YOLOLIB := -ldarknet_c -lstdc++ -pthread
+YOLOLIB := -ldarknet -pthread
 
 LIBS := $(CVLIBS) $(CUDALIBS) $(WPILIBS) $(CAFFELIBS) $(YOLOLIB)
 
@@ -20,9 +24,14 @@ OBJS := YOLOProc.o
 
 SRCDIR=../src
 
-INCLUDES=-I../src -I$(CAFFE_ROOT)/include -I/usr/local/include -I$(HOME)/wpilib/simulation/include -I/usr/local/cuda/targets/x86_64-linux/include -I/usr/local/yolo/include 
+#YOLO_INCLUDES=-I$(HOME)/AI/darknet-git/src -I$(HOME)/AI/darknet-git/include
+YOLO_INCLUDES=-I/usr/local/yolo/include 
+
+#INCLUDES=-I../src -I$(CAFFE_ROOT)/include -I/usr/local/include -I$(HOME)/wpilib/simulation/include -I/usr/local/cuda/targets/x86_64-linux/include -I/usr/local/yolo/include 
+INCLUDES=$(YOLO_INCLUDES) -I$(CAFFE_ROOT)/include -I/usr/local/include -I$(HOME)/wpilib/simulation/include -I/usr/local/cuda/targets/x86_64-linux/include  
 #RPATH=-rpath $(HOME)/wpilib/simulation/lib:../build/lib
 RPATH= -Xlinker -rpath $(CAFFE_ROOT)/lib -Xlinker -rpath $(HOME)/wpilib/simulation/lib -Xlinker -rpath /usr/local/yolo/lib
+#RPATH= -Xlinker -rpath $(CAFFE_ROOT)/lib -Xlinker -rpath $(HOME)/wpilib/simulation/lib
 
 # Add inputs and outputs from these tool invocations to the build variables 
 

diff --git a/Software/workspace/YOLOProc/Ubuntu/YOLOProc b/Software/workspace/YOLOProc/Ubuntu/YOLOProc
diff --git a/Software/workspace/YOLOProc/Ubuntu/gazebo_test-2016.sh b/Software/workspace/YOLOProc/Ubuntu/gazebo_test-2016.sh
@@ -8,9 +8,11 @@ cd $APPDIR
 export WEIGHTS=weights/tiny-yolo-balltote_2000.weights
 export CFG=cfg/tiny-yolo-2class.cfg
 export DATA=cfg/balltote.data
-export VIDEO="http://192.168.1.107:5002/?action=stream?dummy=param.mjpg"
+#export VIDEO="http://192.168.1.107:5002/?action=stream?dummy=param.mjpg"
+export VIDEO="http://Ubuntu14.local:5002/?action=stream?dummy=param.mjpg"
+
 #export VIDEO=$HOME/data/videos/balltote3.mp4
 
 export OUTPUT=Ubuntu14.local
-
-Ubuntu/YOLOProc --thresh 0.4 --publish $OUTPUT --output "Annotated" --print ${DATA} ${CFG} ${WEIGHTS} ${VIDEO}
+rm /tmp/target-camera/*
+Ubuntu/YOLOProc --flush 3 --thresh 0.4 --publish $OUTPUT --output "Annotated" --print ${DATA} ${CFG} ${WEIGHTS} ${VIDEO}
diff --git a/Software/workspace/YOLOProc/Ubuntu/yoloproc-test.sh b/Software/workspace/YOLOProc/Ubuntu/yoloproc-test.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+cd ../
+
+WEIGHTS=weights/tiny-yolo-balltote_2000.weights
+
+CFG=cfg/tiny-yolo-2class.cfg
+DATA=cfg/balltote.data
+#FILE="http://192.168.1.107:5002/?action=stream?dummy=param.mjpg"
+FILE=$HOME/data/videos/balltote3.mp4
+
+#darknet detector demo cfg/balltote.data ${CFG} ${WEIGHTS} ${FILE} -thresh 0.2 -w 320 -h 240 -fps 20 -clear
+Ubuntu/YOLOProc ${DATA} ${CFG} ${WEIGHTS} ${FILE} --thresh 0.58 --print
+
diff --git a/Software/workspace/YOLOProc/cfg/tiny-yolo-2class.cfg b/Software/workspace/YOLOProc/cfg/tiny-yolo-2class.cfg
@@ -1,6 +1,6 @@
 [net]
-batch=64
-subdivisions=16
+batch=1
+subdivisions=1
 width=416
 height=416
 channels=3

diff --git a/Software/workspace/YOLOProc/scripts/yoloproc-test.sh b/Software/workspace/YOLOProc/scripts/yoloproc-test.sh
@@ -2,7 +2,6 @@
 
 cd ../
 
-rm -f /tmp/target-camera/*
 WEIGHTS=weights/tiny-yolo-balltote_2000.weights
 
 CFG=cfg/tiny-yolo-2class.cfg

diff --git a/Software/workspace/YOLOProc/src/YOLOProc.cpp b/Software/workspace/YOLOProc/src/YOLOProc.cpp
@@ -13,6 +13,9 @@
 #include <stdlib.h>
 #include <ctime>
 
+#include <chrono>
+#include <thread>
+
 #include <network.h>
 #include <parser.h>
 #include <option_list.h>
@@ -36,23 +39,22 @@ extern image ipl_to_image(IplImage* src);
 extern void draw_box(image a, int x1, int y1, int x2, int y2, float r, float g, float b);
 void draw_bbox(image a, box bbox, int w, float r, float g, float b);
 
+//#define SIMULATION
 #define IMAGE_WIDTH 320
 #define IMAGE_HEIGHT 240
 
-DEFINE_double(thresh, 0.3,
+DEFINE_double(thresh, 0.4,
         "Only pass detections with confidence scores higher than this [default=0.3]");
 DEFINE_string(publish, "",
         "NetTables publish URL [no NetTables output if not specified]");
-DEFINE_string(output, "Annotated",
+DEFINE_string(output, "",
         "Output video Name [no image output if not specified]");
 DEFINE_bool(timeit, false,
         "display cycle-time and FPS if true [default=false]");
 DEFINE_bool(print, false,
         "display bounding box detection info if true [default=false]");
-DEFINE_bool(nobuffer, false,
-        "disable image buffer if true [default=false]");
-DEFINE_bool(nodisplay, false,
-        "Don't sent annotated images if set");
+DEFINE_int32(flush, 0,
+        "flush image buffer by dummy reads if set");
 DEFINE_bool(usage, false,
         "print usage if set");
 
@@ -144,23 +146,42 @@ int main(int argc, char *argv[]) {
     bool publish=publish_addrs.empty()?false:true;
     std::shared_ptr<NetworkTable> table;
     const std::string& output_name = FLAGS_output;
-    const bool display = !FLAGS_nodisplay;
+    const bool display = output_name.empty()?false:true;
+    int skip_frames= FLAGS_flush;
     cs::CvSource outputStream;
-    int classes;
 
+    int classes;
     char *name_list;
     char **names;
-
+    std::string camname;
+    cs::CvSink cvSink;
+
     cv::Scalar color0(0, 255, 255);
     cv::Scalar color1(255, 255, 0);
     cv::Scalar target_color(0, 0, 255);
 
     if(publish){
-         std::cout << "Starting SSDProc nettables="<<publish_addrs<<std::endl;
+         std::cout << "Starting YOLOProc nettables="<<publish_addrs<<std::endl;
          NetworkTable::SetClientMode();
          NetworkTable::SetIPAddress(llvm::StringRef(publish_addrs));
          table=NetworkTable::GetTable("datatable");
     }
+#ifdef SIMULATION
+    camname="simcam";
+    cs::HttpCamera simcam(camname, videoAddress);
+    cvSink = frc::CameraServer::GetInstance()->GetVideo(simcam);
+#else
+    camname="Logitech";
+
+    cs::UsbCamera camera1 = frc::CameraServer::GetInstance()->StartAutomaticCapture(camname,1);
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+    camera1.SetResolution(640, 480);
+
+    //camera1.SetFPS(10);
+    cvSink = frc::CameraServer::GetInstance()->GetVideo(camera1);
+#endif
+
     if(display)
         outputStream = frc::CameraServer::GetInstance()->PutVideo(output_name, IMAGE_WIDTH, IMAGE_HEIGHT);
 
@@ -177,22 +198,16 @@ int main(int argc, char *argv[]) {
     set_batch_network(&net, 1);
     layer l = net.layers[net.n-1];
 
-    printf("video file: %s\n", videoAddress);
+    printf("video stream: %s\n", videoAddress);
+
+//    cv::VideoCapture vcap;
+//    vcap.set(CV_CAP_PROP_BUFFERSIZE, 1); // set frame buffer depth to 1 (doesn't work on pi-3)
+//    if(!vcap.open(videoAddress))
+//        error("Couldn't connect to video\n");
+//    else
+//        std::cout << "Video Stream captured "<<videoAddress << std::endl;
 
-#define USE_VCAP
 
-#ifdef USE_VCAP
-    cv::VideoCapture vcap;
-    vcap.set(CV_CAP_PROP_BUFFERSIZE, 1); // set frame buffer depth to 1 (doesn't work on pi-3)
-    if(!vcap.open(videoAddress))
-        error("Couldn't connect to video\n");
-    else
-        std::cout << "Video Stream captured "<<videoAddress << std::endl;
-#else
-    CvCapture * cap = cvCaptureFromFile(videoAddress);
-    if(!cap)
-       error("Couldn't connect to video\n");
-#endif
     int num=l.w*l.h*l.n;
     std::cout << "net:"<<net.n<<"x"<<net.w<<"x"<<net.h<<" l:"<<l.w<<"x"<<l.h<<"x"<<l.n<<std::endl;
     boxes = (box *)calloc(num, sizeof(box));
@@ -201,38 +216,24 @@ int main(int argc, char *argv[]) {
         probs[j] = (float *)calloc(l.classes, sizeof(float));
     int count = 0;
     double before_frame = get_wall_time();
-    while(1){
+    while(true){
         ++count;
         cv::Mat img;
         cv::Mat mat;
         image im;
-#define VCAP_BUFFER_HACK
 
-#define SKIP_FRAMES 3
-#ifdef USE_VCAP
-#ifdef VCAP_BUFFER_HACK
-        for(int i=0;i<SKIP_FRAMES;i++) // discard any images that were pre-loaded or arrived during previous processing
-            vcap.read(img);
-#endif
-        if(!vcap.read(img))
+        if (cvSink.GrabFrame(img) == 0) {
             continue;
-        im = mat_to_image(img);
-#else
-        IplImage* src;
-#ifdef VCAP_BUFFER_HACK
-        for(int i=0;i<SKIP_FRAMES;i++) // discard any images that were pre-loaded or arrived during previous processing
-            src = cvQueryFrame(cap);
-#endif
-        src = cvQueryFrame(cap);
-        if(!src){
-             std::cout << "Stream closed"<<std::endl;
-             break;
         }
-       im = ipl_to_image(src);
-       rgbgr_image(im);
-       img = cv::cvarrToMat(src);
-#endif
-       img.copyTo(mat);
+
+//       for(int i=0;i<skip_frames;i++) // discard any images that were pre-loaded or arrived during previous processing
+//            vcap.read(img);
+//        if(!vcap.read(img)){
+//            std::cout << "Waiting for image"<<videoAddress << std::endl;
+//            continue;
+//        }
+        im = mat_to_image(img);
+        img.copyTo(mat);
 
         if(!im.data){
             std::cout << "Stream closed"<<std::endl;
@@ -267,7 +268,7 @@ int main(int argc, char *argv[]) {
                 cv::Point ctr((int)(b.x*im.w),(int)(b.y*im.h));
 
                 if(display){
-                    int lw=prob>0.8 ? 2:1;
+                    int lw=prob>0.8 ? 3:2;
                     cv::Scalar color=class1==0?color0:color1;
                     cv::Point tl(left,top);
                     cv::Point br(right,bot);

diff --git a/Solidworks/Exported/2016-Robot_Exported/vision-test.world b/Solidworks/Exported/2016-Robot_Exported/vision-test.world
@@ -897,13 +897,13 @@
         <sensor name='Sim' type='camera'>
           <visualize>1</visualize>
           <always_on>1</always_on>
-          <update_rate>50</update_rate>
+          <update_rate>60</update_rate>
           <pose frame=''>-0.124207 0.303145 -0.122065 1.5708 -0 3.14159</pose>
           <camera name='Cam'>
             <horizontal_fov>0.87</horizontal_fov>
             <image>
-              <width>320</width>
-              <height>240</height>
+              <width>640</width>
+              <height>480</height>
             </image>
             <clip>
               <near>0.1</near>