diff --git a/971CV/src/org/frc971/DebugServerRun.java b/971CV/src/org/frc971/DebugServerRun.java
index 14b5239..c8146b1 100644
--- a/971CV/src/org/frc971/DebugServerRun.java
+++ b/971CV/src/org/frc971/DebugServerRun.java
@@ -1,25 +1,191 @@
 package org.frc971;
 
+import java.io.BufferedInputStream;
+import java.io.BufferedOutputStream;
+import java.io.BufferedReader;
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+import java.io.FileOutputStream;
 import java.io.IOException;
-import java.nio.channels.SocketChannel;
-import java.net.InetSocketAddress;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.io.InterruptedIOException;
+import java.io.PrintWriter;
 
-import aos.DebugServer;
-import aos.ChannelImageGetter;
+import java.net.InetSocketAddress;
+import java.net.ServerSocket;
+import java.net.Socket;
+import java.net.SocketException;
+import java.nio.ByteBuffer;
+import java.nio.CharBuffer;
+import java.nio.channels.FileChannel;
+import java.nio.channels.GatheringByteChannel;
+import java.nio.channels.ServerSocketChannel;
+import java.nio.channels.SocketChannel;
+
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
+import com.googlecode.javacv.OpenCVFrameGrabber;
+import com.googlecode.javacv.cpp.opencv_core.*;
+import static com.googlecode.javacv.cpp.opencv_highgui.*;
 
 public class DebugServerRun {
-	public static void main(final String args[]) {
+	
+		private final static Logger LOG = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME);
+		
+		final OpenCVFrameGrabber grabber = new OpenCVFrameGrabber(-1);
+		
+		private ServerSocketChannel sock;
+		private SocketChannel client;
+		
+		private BufferedReader sock_in;
+		private PrintWriter sock_out;
+		
+		private String ReadtoBoundary(String boundary) {
+			//reads from socket until it encounters a specific character combination
+			//if boundary is null, it reads until it runs out of data
+			ByteBuffer recvd = ByteBuffer.allocate(1024);
+			StringBuilder sb = new StringBuilder();
+			String message = "";
+			try {
+				int ret = 0;
+				while (ret != -1) {
+					ret = client.read(recvd);
+					//System.out.println(ret);
+					if (ret == 0) {
+						//finished receiving
+						message = sb.toString();
+						if (boundary == null)
+							break;
+					}
+					else {
+						for (int i = 0; i < recvd.capacity() - recvd.remaining(); i++) {
+							sb.append((char)recvd.get(i));
+						}
+						recvd.clear();
+						if (boundary != null) {
+							if (sb.toString().contains(boundary)) {
+								message = sb.toString();
+								break;
+							}
+							else {
+								continue;
+							}
+						}
+					}
+				}
+			}
+			catch (IOException e) {
+				LOG.severe("Socket read failed.");
+				return null;
+			}
+			return message;
+		}
+	
+	private ByteBuffer CreateTransmission(long content_length, double timestamp) {
+		StringBuilder ret = new StringBuilder();
+		ret.append("\r\n--boundarydonotcross\r\n");
+        ret.append("Content-Type: image/jpeg\r\n");
+        ret.append("Content-Length: ");
+        ret.append(content_length);
+        ret.append("\r\n");
+        ret.append("X-Timestamp: ");
+        ret.append(timestamp);
+        ret.append("\r\n\r\n");
+        return ByteBuffer.wrap(ret.toString().getBytes());
+	}
+	private void push() {
+		//push data to client
 		try {
-			DebugServer server = new DebugServer(9714);
-			System.out.println("Debug Server running on port 9714.");
-			SocketChannel client_sock = SocketChannel.open();
-			client_sock.connect(new InetSocketAddress("192.168.0.137", 9714));
-			ChannelImageGetter client = new ChannelImageGetter(client_sock);
-			client.getJPEG();
-			System.out.println(client.getTimestamp());
+			grabber.start();
 		}
-		catch (IOException e) {
-			System.out.println(e.getMessage());
+		catch (Exception e) {
+			LOG.severe("Could not start frame grabber.");
+			return;
 		}
+		IplImage img;
+		long content_size;
+		File buff_file;
+		InputStream input;
+		double timestamp;
+		while (true) {
+			//get some image data
+			try {
+				img = grabber.grab();
+				timestamp = System.currentTimeMillis();
+				cvSaveImage("/dev/shm/DebugServerBuffer.jpg", img);
+				buff_file = new File("/dev/shm/DebugServerBuffer.jpg");
+				content_size = buff_file.length();
+				int totalBytesRead = 0;
+		        input = new BufferedInputStream(new FileInputStream(buff_file));
+		        byte[] result = new byte[(int)content_size];
+		        while(totalBytesRead < result.length){
+		          int bytesRemaining = result.length - totalBytesRead;
+		          //input.read() returns -1, 0, or more :
+		          int bytesRead = input.read(result, totalBytesRead, bytesRemaining); 
+		          if (bytesRead > 0){
+		            totalBytesRead = totalBytesRead + bytesRead;
+		          }
+		        }
+		        ByteBuffer header = CreateTransmission(content_size, timestamp);
+		        ByteBuffer bbuf = ByteBuffer.wrap(result);
+		        ByteBuffer to_send = ByteBuffer.allocate(header.capacity() + bbuf.capacity());
+		        to_send.put(header);
+		        to_send.put(bbuf);
+		        to_send.rewind();
+		        while (to_send.remaining() > 0) {
+		        	client.write(to_send);
+		        }
+			}
+			catch (Exception e) {
+				LOG.warning("Could not grab frame.");
+				continue;
+			}
+		}
+	}
+		
+	public void Connect() throws IOException {
+		client = sock.accept();
+		client.configureBlocking(false);
+		//sock_in = new BufferedReader(new InputStreamReader(client.socket().getInputStream()));
+		//sock_out = new PrintWriter(client.socket().getOutputStream(), true);
+		//we are now connected to our client. Wait for them to send us a header.
+		LOG.info("Reading headers...");
+		ReadtoBoundary("\r\n\r\n");
+		//send one back
+		LOG.info("Writing headers...");
+		String ending = "donotcross\r\n";
+		ByteBuffer buff = ByteBuffer.wrap(ending.getBytes());
+		while (buff.remaining() > 0) {
+			client.write(buff);
+		}
+	}
+	
+	public DebugServerRun(final int port) throws IOException {
+		sock = ServerSocketChannel.open();
+		sock.socket().bind(new InetSocketAddress(9714));
+	}
+	public static void main(final String args[]) throws IOException{
+		//main function for server
+		
+		//set logger to log everything
+        LOG.setLevel(Level.ALL);
+        try {
+        	LogHandler handler = new LogHandler("../src/org/frc971/ds_vision.log");
+        	TimeFormatter formatter = new TimeFormatter();
+            handler.setFormatter(formatter);
+            LOG.addHandler(handler);
+        }
+        catch (FileNotFoundException e) {
+        	System.err.println("Warning: Logging initialization failed.");
+        }
+        
+		DebugServerRun server = new DebugServerRun(9714);
+		new TestClient();
+		server.Connect();
+		server.push();
 	}
 }
diff --git a/971CV/src/org/frc971/HTTPClient.java b/971CV/src/org/frc971/HTTPClient.java
index e5ea204..4c7d0af 100644
--- a/971CV/src/org/frc971/HTTPClient.java
+++ b/971CV/src/org/frc971/HTTPClient.java
@@ -2,17 +2,28 @@
 
 //@author: daniel
 
+import static com.googlecode.javacv.cpp.opencv_highgui.cvEncodeImage;
+
 import java.io.*;
 import java.net.*;
 
 import java.awt.image.BufferedImage;
 
+import java.nio.channels.FileChannel;
 import java.nio.channels.SocketChannel;
 import java.nio.ByteBuffer;
 
+import java.util.Iterator;
 import java.util.logging.Logger;
 
 import javax.imageio.ImageIO;
+import javax.imageio.ImageReadParam;
+import javax.imageio.ImageReader;
+import javax.imageio.stream.ImageInputStream;
+
+import com.googlecode.javacv.cpp.opencv_core.CvArr;
+import com.googlecode.javacv.cpp.opencv_core.CvMat;
+import com.googlecode.javacv.cpp.opencv_core.IplImage;
 
 import aos.ChannelImageGetter;
 
@@ -30,7 +41,7 @@
 	private BufferedReader sock_in;
 	private PrintWriter sock_out;
 	
-	private final String ATOM_IP = "10.9.71.6";
+	private final String ATOM_IP = "192.168.0.137";
 	
 	private ChannelImageGetter cgetter;
 	
@@ -44,45 +55,42 @@
 	private String ReadtoBoundary(String boundary) {
 		//reads from socket until it encounters a specific character combination
 		//if boundary is null, it reads until it runs out of data
-		StringBuilder recvd = new StringBuilder();
+		ByteBuffer recvd = ByteBuffer.allocate(1024);
+		StringBuilder sb = new StringBuilder();
 		String message = "";
 		try {
-			core_sock.setSoTimeout(10000);
-		}
-		catch (SocketException e) {
-			LOG.warning("Could not set socket timeout.");
-		}
-		try {
 			int ret;
-			while ((ret = sock_in.read()) != -1) {
+			while ((ret = sock.read(recvd)) != -1) {
 				if (ret == 0) {
 					//finished receiving
-					message += recvd.toString();
-					recvd.setLength(0);
+					message = sb.toString();
 					if (boundary == null)
 						break;
 				}
 				else {
-					recvd.append((char)ret);
+					for (int i = 0; i < recvd.capacity() - recvd.remaining(); i++) {
+						sb.append((char)recvd.get(i));
+					}
+					recvd.clear();
 					if (boundary != null) {
-						if (message.contains(boundary))
+						if (sb.toString().contains(boundary)) {
+							message = sb.toString();
 							break;
-						else
+						}
+						else {
 							continue;
+						}
 					}
 				}
 			}
 		}
-		catch (InterruptedIOException e) {
-			LOG.warning("Image receive timed out.");
-			return null;
-		}
 		catch (IOException e) {
 			LOG.severe("Socket read failed.");
 			return null;
 		}
 		return message;
 	}
+	
 	public HTTPClient() {
 		//Initialize socket connection to robot
 		try {
@@ -90,12 +98,17 @@
 			core_sock = sock.socket();
 			WriteDebug("Connecting to server at " + ATOM_IP);
 			sock.connect(new InetSocketAddress(ATOM_IP, 9714));
-			sock_in = new BufferedReader(new InputStreamReader(core_sock.getInputStream()));
-			sock_out = new PrintWriter(core_sock.getOutputStream(), true);
+			sock.configureBlocking(false);
+			//sock_in = new BufferedReader(new InputStreamReader(core_sock.getInputStream()));
+			//sock_out = new PrintWriter(core_sock.getOutputStream(), true);
 			//Write headers
 			//HTTPStreamer does not actually use the headers, so we can just write terminating chars.
 			WriteDebug("Writing headers...");
-			sock_out.println("\r\n\r\n");
+			String ending = "\r\n\r\n";
+			ByteBuffer header = ByteBuffer.wrap(ending.getBytes());
+			while (header.remaining() > 0) {
+				sock.write(header);
+			}
 			//Receive headers
 			WriteDebug("Reading headers...");
 			ReadtoBoundary("donotcross\r\n");
@@ -107,7 +120,7 @@
 			System.exit(1);
 		}
 		catch (IOException e) {
-			LOG.severe("Socket IO failed.");
+			LOG.severe("Socket IO failed: " + e.getMessage());
 			System.exit(2);
 		}
 		
@@ -117,16 +130,17 @@
 		ImageWithTimestamp final_image = new ImageWithTimestamp();
 		ByteBuffer binary_image = cgetter.getJPEG();
 		//Decode ByteBuffer into an IplImage
-		InputStream in = new ByteArrayInputStream(binary_image.array());
+		byte[] b = new byte[binary_image.remaining()];
+		binary_image.get(b);
 		try {
-			BufferedImage bImageFromConvert = ImageIO.read(in);
+			InputStream iis = new ByteArrayInputStream(b);
+			BufferedImage bImageFromConvert = ImageIO.read(iis);
 			final_image.image = new WPIColorImage(bImageFromConvert);
 			final_image.timestamp = cgetter.getTimestamp();
 			WriteDebug("Image processing successful.");
 			return final_image;
 		}
 		catch (IOException e) {
-			LOG.warning("Image processing failed.");
 			return null;
 		}
 	}	
diff --git a/971CV/src/org/frc971/VisionTuner.java b/971CV/src/org/frc971/VisionTuner.java
index 4d062dc..a6f08c2 100644
--- a/971CV/src/org/frc971/VisionTuner.java
+++ b/971CV/src/org/frc971/VisionTuner.java
@@ -61,6 +61,8 @@
     private double maxMsec;
     
     private TestImageGetter getter;
+    
+    private WPIColorImage current;
 
     public VisionTuner() {
     	//set logger to log everything
@@ -94,7 +96,7 @@
                         hueMinSlider.getValue(), hueMaxSlider.getValue(),
                         satMinSlider.getValue(),
                         valMinSlider.getValue());
-                processImage(getter.GetCurrent());
+                processImage(current);
             }
         };
 
@@ -136,6 +138,7 @@
      */
 
     private void processImage(WPIColorImage cameraImage) {
+    	current = cameraImage;
         cameraFrame.setTitle("Input:");
 
         long startTime = System.nanoTime();
diff --git a/971CV/src/org/frc971/private_aos_camera_jar.jar b/971CV/src/org/frc971/private_aos_camera_jar.jar
index e675c2e..a1b8467 100644
--- a/971CV/src/org/frc971/private_aos_camera_jar.jar
+++ b/971CV/src/org/frc971/private_aos_camera_jar.jar
Binary files differ