diff --git a/vision/OpenCVWorkTask.cpp b/vision/OpenCVWorkTask.cpp
index 5c420d3..df4d450 100644
--- a/vision/OpenCVWorkTask.cpp
+++ b/vision/OpenCVWorkTask.cpp
@@ -14,6 +14,7 @@
 #include "aos/atom_code/camera/Buffers.h"
 #include "aos/externals/libjpeg/include/jpeglib.h"
 #include "aos/atom_code/init.h"
+#include "aos/common/logging/logging.h"
 
 #include "vision/OpenCVWorkTask.h"
 #include "vision/CameraProcessor.h"
@@ -22,7 +23,6 @@
 #include "vision/JPEGRoutines.h"
 
 
-
 namespace frc971 {
 namespace vision {
 
@@ -33,6 +33,27 @@
   frc971::vision::BinaryServer test(8020,notify);
 }
 
+namespace {
+void SaveImageToFile(IplImage *image, const char *filename) {
+  FILE *file = fopen(filename, "w");
+
+  fputs("P3\n320 240\n255\n", file);
+  ::cv::Mat img(image);
+  for (int i = 0; i < img.rows; i++) {
+    for (int j = 0; j < img.cols; j++) {
+      // You can now access the pixel value with cv::Vec3b
+      fprintf(file, "%d %d %d ",
+          img.at<cv::Vec3b>(i,j)[0],
+          img.at<cv::Vec3b>(i,j)[1],
+          img.at<cv::Vec3b>(i,j)[2]);
+
+    }
+    fputs("\n", file);
+  }
+  fclose(file);
+}
+}
+
 #include "frc971/queues/CameraTarget.q.h"
 using frc971::vision::targets;
 
@@ -48,59 +69,69 @@
   ProcessorData processor(size.width, size.height, false);
 
   printf("started sender main\n");
+  LOG(INFO, "Camera server started\n");
   while(true){
     //usleep(7500);
     size_t data_size;
   	timeval timestamp_timeval;
     const void *image = buffers.GetNext(
-			true, &data_size, &timestamp_timeval, NULL);
-	::aos::time::Time timestamp(timestamp_timeval);
+		    true, &data_size, &timestamp_timeval, NULL);
+    ::aos::time::Time timestamp(timestamp_timeval);
 
     //TODO(pschuh): find proper way to cast away const for this: :(
-	// parker you prolly want const_cast<type>(var);
-    printf("\nNew Image Recieved\n");
-    std::cout << timestamp << std::endl; 
+    // parker you prolly want const_cast<type>(var);
+    LOG(INFO, "Got new image\n");
     unsigned char *buffer = (unsigned char *)notify->GetBuffer();
-	frc971::vision::process_jpeg(buffer, (unsigned char *)image, data_size);
+    frc971::vision::process_jpeg(buffer, (unsigned char *)image, data_size);
+
     // build the headers on top of the buffer
-	cvSetData(processor.src_header_image,
-			buffer,
-			::aos::camera::Buffers::Buffers::kWidth * 3);
+    cvSetData(processor.src_header_image,
+              buffer,
+              ::aos::camera::Buffers::Buffers::kWidth * 3);
 
-	// transform the buffer into targets
-	processor.threshold(buffer);
-	processor.getContours();
-	processor.filterToTargets();
+    // Reset.
+    processor.clear();
+    // transform the buffer into targets
+    processor.threshold(buffer);
 
-	// could be used for debug ie drawContours
-	//std::vector<std::vector<cv::Point> > target_contours;
-	//std::vector<std::vector<cv::Point> > best_contours;
-	std::vector<Target>::iterator target_it;
-	Target *best_target = NULL;
-	// run through the targets
-	for(target_it = processor.target_list.begin();
-			target_it != processor.target_list.end(); target_it++){
-		//target_contours.push_back(*(target_it->this_contour));
-		// select the highest target
-		if (best_target == NULL) {
-			best_target = &*target_it;
-		} else {
-			if (target_it->height < best_target->height) {
-				best_target = &*target_it;
-			}
-		}
-	}
-	// if we found one then send it on
-	if (best_target != NULL) {
-        targets.MakeWithBuilder()
-          .percent_azimuth_off_center(
-		  		  best_target->rect.centroid.y / (double)::aos::camera::Buffers::kHeight - 0.5)
-          .percent_elevation_off_center(
-		  		  best_target->rect.centroid.x / (double)::aos::camera::Buffers::kWidth - 0.5)
-          .timestamp(timestamp.ToNSec())
-          .Send();
+    processor.getContours();
+    processor.filterToTargets();
+
+    // could be used for debug ie drawContours
+    //std::vector<std::vector<cv::Point> > target_contours;
+    //std::vector<std::vector<cv::Point> > best_contours;
+    std::vector<Target>::iterator target_it;
+    Target *best_target = NULL;
+    // run through the targets
+    LOG(INFO, "Found %u targets\n", processor.target_list.size());
+    for(target_it = processor.target_list.begin();
+        target_it != processor.target_list.end(); target_it++){
+      //target_contours.push_back(*(target_it->this_contour));
+      // select the highest target
+      if (best_target == NULL) {
+        best_target = &*target_it;
+      } else {
+        if (target_it->height < best_target->height) {
+          best_target = &*target_it;
+        }
+      }
+    }
+    // if we found one then send it on
+    if (best_target != NULL) {
+      LOG(INFO, "Target is %f\n", best_target->rect.centroid.x);
+      targets.MakeWithBuilder()
+        .percent_azimuth_off_center(
+            best_target->rect.centroid.y / (double)::aos::camera::Buffers::kHeight - 0.5)
+        .percent_elevation_off_center(
+            best_target->rect.centroid.x / (double)::aos::camera::Buffers::kWidth - 0.5)
+        .timestamp(timestamp.ToNSec())
+        .Send();
     }
     notify->Notify();
+    //static int counter = 0;
+    //if (++counter > 2) {
+      //break;
+    //}
   }
   ::aos::Cleanup();
 }