diff --git a/deploy.py b/deploy.py
index 18b91be..7dbb383 100755
--- a/deploy.py
+++ b/deploy.py
@@ -2,17 +2,16 @@
 
 """Deploy executable and libraries to the roborio.
 
-After compiling the robot package, this script finds the roborio address, copies over the executable
-and wpilib libraries, and runs several scripts remotely.
+Referenced off of gradlerio (download an example C++ project and run gradle deploy to see the logs)
 
 positional arguments:
   package            robot package to deploy
 
 optional arguments:
   -h, --help         show this help message and exit
-  --verbose, -v      log shell commands
-  --skip-wpilib, -s  skip deploying wpilib libraries
-  --build, -b        run cargo build automatically before deploying
+  --skip-libs, -s    skip deploying shared libraries
+  --build, -b        run cargo build before deploying
+  --debug, -d        don't add --release flag to cargo build
 
 e.g. `./deploy.py rswerve -sb` build and deploys the rswerve package, skipping wpilib libraries
 """
@@ -22,11 +21,12 @@
 import sys
 from os import path
 
-EXECUTABLE_DIR = "target/arm-unknown-linux-gnueabi/release"
+EXECUTABLE_DIR = "target/arm-unknown-linux-gnueabi"
 SHARED_LIB_DIR = "frc-sys/lib/linux/athena/shared"
 
 WPILIB_LIBS = [
     "cameraserver",
+    "cscore",
     "ntcore",
     "wpiHal",
     "wpilibc",
@@ -34,6 +34,25 @@
     "wpiutil",
 ]
 
+THIRD_PARTY_LIBS = [
+    "opencv_stitching",
+    "opencv_videoio",
+    "opencv_flann",
+    "opencv_video",
+    "opencv_imgcodecs",
+    "opencv_highgui",
+    "opencv_objdetect",
+    "opencv_imgproc",
+    "opencv_calib3d",
+    "opencv_core",
+    "opencv_features2d",
+    "opencv_photo",
+    "opencv_ml",
+    "opencv_shape",
+    "opencv_superres",
+    "opencv_videostab",
+]
+
 ROBORIO_HOME_DIR = "/home/lvuser/"
 ROBORIO_LIB_DIR = "/usr/local/frc/third-party/lib"
 
@@ -48,44 +67,68 @@ def main():
 
     parser = ArgumentParser(description="Deploy code to the roborio.")
     parser.add_argument("package", type=str, help="robot package to deploy")
-    parser.add_argument("--verbose", "-v", action="store_true", help="log shell commands")
-    parser.add_argument("--skip-wpilib", "-s", action="store_true",
-                        help="skip deploying wpilib libraries")
+    parser.add_argument("--skip-libs", "-s", action="store_true",
+                        help="skip deploying shared libraries")
     parser.add_argument("--build", "-b", action="store_true",
-                        help="run cargo build automatically before deploying")
+                        help="run cargo build before deploying")
+    parser.add_argument("--debug", "-d", action="store_true",
+                        help="don't add --release flag to cargo build")
     args = parser.parse_args()
 
+    #####
+
+    # run cargo build, unless -b is passed
     if args.build:
-        build_package()
+        cmd(f"cargo build -p {args.package} {'' if args.debug else '--release'}",
+            suppress=False)
 
-    verify_executable()
-    address = find_roborio()
+    print(f"\n\nDeploying {args.package}")
+    print("(C: running command on robot, F: copying file to robot)\n\n")
 
-    if not args.skip_wpilib:
-        deploy_wpilib_libs()
+    # path to executable
+    exe = path.join(EXECUTABLE_DIR, "debug" if args.debug else "release", args.package)
 
-    run_predeploy()
-    deploy_executable()
-    run_postdeploy()
+    # verify executable exists
+    if not path.exists(exe):
+        sys.exit(f"Robot executable {exe} not found.")
 
+    # find roborio address
+    address = find_roborio()
 
-def build_package():
-    """Run cargo build --release on the robot package."""
+    cmd_ssh("sed -i -e 's/^StartupDLLs/;StartupDLLs/' /etc/natinst/share/ni-rt.ini")
 
-    print(f"Building {args.package}")
-    cmd(f"cargo build -p {args.package} --release", suppress=False)
+    # deploy shared libraries, unless -s is passed
+    if not args.skip_libs:
+        for lib in WPILIB_LIBS:
+            if args.debug:
+                f = path.join(SHARED_LIB_DIR, f"lib{lib}d.so")
+            else:
+                f = path.join(SHARED_LIB_DIR, f"lib{lib}.so")
+            scp(f, ROBORIO_LIB_DIR)
 
+        for lib in THIRD_PARTY_LIBS:
+            scp(path.join(SHARED_LIB_DIR, f"lib{lib}.so"), ROBORIO_LIB_DIR)
 
-def verify_executable():
-    """Verify that the robot executable exists.
+        cmd_ssh("chmod -R 777 \"/usr/local/frc/third-party/lib\" || true; chown -R lvuser:ni \"/usr/local/frc/third-party/lib\"")
+        cmd_ssh("ldconfig")
 
-    The robot package must be built in the release profile.
-    """
+    # kill robot and delete previous executable on robot
+    cmd_ssh(". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null")
+    cmd_ssh("rm -f \"/home/lvuser/frcUserProgram\"")
 
-    exe = path.join(EXECUTABLE_DIR, args.package)
-    if not path.exists(exe):
-        sys.exit(f"Robot executable {exe} not found.")
-    print(f"Executable found at {exe}")
+    # copy new executable to robot (named frcUserProgram)
+    scp(exe, path.join(ROBORIO_HOME_DIR, "frcUserProgram"))
+
+    cmd_ssh("echo ' \"/home/lvuser/frcUserProgram\" ' > /home/lvuser/robotCommand")
+    cmd_ssh("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+    cmd_ssh("chmod +x /home/lvuser/frcUserProgram; chown lvuser /home/lvuser/frcUserProgram")
+    cmd_ssh("chmod +x \"/home/lvuser/frcUserProgram\"; chown lvuser \"/home/lvuser/frcUserProgram\"")
+    cmd_ssh("setcap cap_sys_nice+eip \"/home/lvuser/frcUserProgram\"")
+    cmd_ssh("sync")
+    cmd_ssh("ldconfig")
+    cmd_ssh(". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r 2> /dev/null")
+
+    print("\n\nDone")
 
 
 def find_roborio():
@@ -102,8 +145,7 @@ def find_roborio():
 
     for address in addresses:
         print(f"Pinging {address}... ", end="", flush=True)
-        ping = cmd(f"ping -c 1 {address}")
-        if ping.returncode == 0:
+        if cmd(f"ping -c 1 {address}"):
             print("Success")
             return address
         else:
@@ -112,84 +154,33 @@ def find_roborio():
     sys.exit("Unable to connect to roborio.")
 
 
-def deploy_wpilib_libs():
-    """Copies wpilib libraries to the roborio."""
-
-    for lib in WPILIB_LIBS:
-        f = path.join(SHARED_LIB_DIR, f"lib{lib}.so")
-        print(f"Deploying vendor library: {f}")
-        scp(f, ROBORIO_LIB_DIR)
-
-
-def run_predeploy():
-    """Run predeploy scripts on the roborio.
-
-    Based on https://github.com/wpilibsuite/GradleRIO/blob/HEAD/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy
-    """
-
-    print("Running predeploy scripts")
-    commands = [
-        ". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null",
-        f"rm -f {path.join(ROBORIO_HOME_DIR, args.package)}"
-    ]
-
-    for c in commands:
-        cmd_ssh(c)
-
-
-def deploy_executable():
-    """Copies the robot executable to the roborio."""
-
-    f = path.join(EXECUTABLE_DIR, args.package)
-    print(f"Deploying executable: {f}")
-    cmd_ssh([f"rm -f /home/lvuser/{args.package}"])
-    scp(f, ROBORIO_HOME_DIR)
-
-
-def run_postdeploy():
-    """Runs postdeploy scripts on the roborio.
-
-    Based on https://github.com/wpilibsuite/GradleRIO/blob/HEAD/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy
-
-    Also updates the robotCommand file in the roborio.
-    """
-
-    print("Running postdeploy scripts")
-    file = path.join(ROBORIO_HOME_DIR, args.package)
-    commands = [
-        f"echo \"{file}\" > /home/lvuser/robotCommand",
-        "chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand",
-        f"chmod +x {file}; chown lvuser {file}",
-        "sync",
-        "ldconfig",
-        ". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r 2> /dev/null"
-    ]
-
-    for c in commands:
-        cmd_ssh(c)
-
-
 def cmd_ssh(command):
     """Run a command on the roborio."""
 
-    cmd(f"ssh admin@{address} '{command}'")
+    print(f"C: {command}")
+    cmd(f"ssh admin@{address} \"{command}\"")
 
 
 def scp(source, target):
     """Copy files from local to the roborio."""
 
+    print(f"F: {source} -> {target}")
     cmd(f"scp {source} admin@{address}:{target}")
 
 
 def cmd(command, suppress=True):
-    """Run a command (suppresses output)."""
+    """Run a command."""
 
-    if args.verbose:
-        print(command)
     if suppress:
-        return subprocess.run(command, shell=True, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+        result = subprocess.run(command, shell=True,
+                                stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
     else:
-        return subprocess.run(command, shell=True)
+        result = subprocess.run(command, shell=True)
+
+    if result.returncode != 0:
+        sys.exit(f"Previous command exited with code {result.returncode}")
+
+    return result
 
 
 if __name__ == "__main__":
diff --git a/frc-sys/build.rs b/frc-sys/build.rs
index 040fcad..e58c4a4 100644
--- a/frc-sys/build.rs
+++ b/frc-sys/build.rs
@@ -20,12 +20,17 @@ const STATIC_LIBS: &[&str] = &[
     "SparkMaxDriver",
 ];
 
-const SHARED_LIBS: &[&str] = &[
+const WPILIB_LIBS: &[&str] = &[
     "wpilibc",
     "ntcore",
     "wpiHal",
     "wpiutil",
     "wpimath",
+    "cameraserver",
+    "cscore",
+];
+
+const SHARED_LIBS: &[&str] = &[
     "RoboRIO_FRC_ChipObject",
     "FRC_NetworkCommunication",
     "visa",
@@ -37,7 +42,22 @@ const SHARED_LIBS: &[&str] = &[
     "niriodevenum",
     "NiFpgaLv",
     "niriosession",
-    "cameraserver",
+    "opencv_stitching",
+    "opencv_videoio",
+    "opencv_flann",
+    "opencv_video",
+    "opencv_imgcodecs",
+    "opencv_highgui",
+    "opencv_objdetect",
+    "opencv_imgproc",
+    "opencv_calib3d",
+    "opencv_core",
+    "opencv_features2d",
+    "opencv_photo",
+    "opencv_ml",
+    "opencv_shape",
+    "opencv_superres",
+    "opencv_videostab",
 ];
 
 // Path to libraries
@@ -101,26 +121,34 @@ fn main() {
             .blocklist_function("wpi::.*"),
     );
 
+    // Search for libraries
+    for i in &["static", "shared"] {
+        println!(
+            "cargo:rustc-link-search={}",
+            CWD.join(LIB_DIR).join(i).to_str().unwrap(),
+        );
+    }
+
     // Link with static libraries
-    println!(
-        "cargo:rustc-link-search={}",
-        CWD.join(LIB_DIR).join("static").to_str().unwrap(),
-    );
     for lib in STATIC_LIBS {
         println!("cargo:rustc-link-lib={}", lib);
     }
 
-    // Link with shared libraries
-    println!(
-        "cargo:rustc-link-search={}",
-        CWD.join(LIB_DIR).join("shared").to_str().unwrap(),
-    );
+    // Link with wpilib libraries
+    let is_debug = env::var("PROFILE").unwrap() == "debug";
+    for lib in WPILIB_LIBS {
+        // Debug versions of wpilib libraries are postfixed with "d"
+        if is_debug {
+            println!("cargo:rustc-link-lib={}d", lib)
+        } else {
+            println!("cargo:rustc-link-lib={}", lib)
+        }
+    }
+
+    // Link with other shared libraries
     for lib in SHARED_LIBS {
         println!("cargo:rustc-link-lib={}", lib)
     }
-
-    // Link with stdc++
-    println!("cargo:rustc-link-lib=stdc++");
 }
 
 fn compile_cc(name: &str) {
diff --git a/frc-sys/install_deps.py b/frc-sys/install_deps.py
index 11608da..6790b43 100755
--- a/frc-sys/install_deps.py
+++ b/frc-sys/install_deps.py
@@ -4,6 +4,8 @@
 
 Compiled libraries and headers are downloaded from each vendor's maven repository linked in
 vendordeps JSON files.
+
+See vendordeps/README.md
 """
 
 from datetime import datetime
@@ -16,19 +18,17 @@
 import sys
 from urllib import request
 
-VENDORDEPS_DIR = "vendordeps"
+VENDOR_DEPS_DIR = "vendordeps"
+WPILIB_DEPS_DIR = "vendordeps/wpilib"
+
 INCLUDE_DIR = "include"
 LIB_DIR = "lib"
 
-WPILIB_DEP = "wpilib"
-ROBORIO_DEP = "roborio"
-VENDOR_DEPS = ["navx_frc", "Phoenix-latest", "REVColorSensorV3", "REVRobotics"]
-
 
 def main():
     # Clean include and lib directories before downloading new deps
     for dir in [INCLUDE_DIR, LIB_DIR]:
-        # Delete all contents except hidden files (doesn't delete .gitkeep)
+        # Delete all contents except hidden files (except .gitkeep)
         for f in os.listdir(dir):
             if f == ".gitkeep":
                 continue
@@ -39,47 +39,34 @@ def main():
             else:
                 shutil.rmtree(p)
 
-    # Download all wpilib deps
-    with open(path.join(VENDORDEPS_DIR, f"{WPILIB_DEP}.json"), 'r') as wpilib_dep_file:
-        j = json.load(wpilib_dep_file)
-        for dep in j['dependencies']:
-            install_dep(
-                'wpilib',
-                j['mavenUrl'],
-                f"edu.wpi.first.{dep}",
-                f"{dep}-cpp",
-                j['version'],
-                static=False,
-                headers=True,
-            )
-
-    # Download all roborio runtime dpes
-    with open(path.join(VENDORDEPS_DIR, f"{ROBORIO_DEP}.json"), 'r') as roborio_dep_file:
-        j = json.load(roborio_dep_file)
-        for dep in j['dependencies']:
-            install_dep(
-                dep['name'],
-                j['mavenUrl'],
-                "",
-                dep['name'],
-                dep['version'],
-                static=False,
-                headers=False,
-            )
-
-    # Download all vendor deps
-    for vendor_dep in VENDOR_DEPS:
-        with open(path.join(VENDORDEPS_DIR, f"{vendor_dep}.json"), 'r') as vendordep_file:
-            j = json.load(vendordep_file)
+    # Download wpilib related deps
+    for vendordep in glob(path.join(WPILIB_DEPS_DIR, "*.json")):
+        with open(vendordep, 'r') as f:
+            j = json.load(f)
+            for dep in j['dependencies']:
+                # Files usually located in /<dep>/<dep>-<cpp>, except for ni-libraries
+                group_id = dep if j['name'] != "ni-libraries" else ""
+                artifact_id = f"{dep}-cpp" if j['name'] != "ni-libraries" else dep
+
+                install_dep(
+                    j['mavenUrl'],
+                    group_id,
+                    artifact_id,
+                    j['version'],
+                    static=False,
+                    headers=j['headers'],
+                )
 
+    # Download vendor dependencies
+    for vendordep in glob(path.join(VENDOR_DEPS_DIR, "*.json")):
+        with open(vendordep, 'r') as f:
+            j = json.load(f)
             for dep in j['cppDependencies']:
                 # Skip dependencies that arent compiled for roborio (probably simulation stuff)
                 if "linuxathena" not in dep['binaryPlatforms']:
-                    # print(f"Skipping {dep['groupId']}-{dep['artifactId']}")
                     continue
 
                 install_dep(
-                    j['name'],
                     j['mavenUrls'][0],
                     dep['groupId'],
                     dep['artifactId'],
@@ -90,9 +77,12 @@ def main():
 
     full_lib_dir = path.join(LIB_DIR, "linux", "athena", "shared")
 
-    # Delete debug versions (e.g. libwpilibc.so.debug)
-    for f in glob(path.join(full_lib_dir, f"*.debug")):
-        os.remove(f)
+    # Rename debug versions (e.g. libwpilibc.so.debug -> libwpilibcd.so)
+    r = re.compile('(.*)\.so\.debug')
+    for f in os.listdir(full_lib_dir):
+        m = r.match(f)
+        if m:
+            os.rename(path.join(full_lib_dir, f), path.join(full_lib_dir, f"{m.group(1)}d.so"))
 
     # Create symlinks to shared libraries with version numbers (e.g. libNiFpga.so -> libNiFpga.so.19.0.0)
     r = re.compile('(.*\.so)\..*')
@@ -103,7 +93,7 @@ def main():
 
     # Delete misc files (notices, licenses, etc.)
     for dir in [INCLUDE_DIR, LIB_DIR]:
-        for g in ["LICENSE.*", "RequiredVersion.txt", "ThirdPartyNotices.txt"]:
+        for g in ["LICENSE*", "RequiredVersion.txt", "ThirdPartyNotices.txt"]:
             for f in glob(path.join(dir, g)):
                 os.remove(f)
 
@@ -113,7 +103,7 @@ def main():
             f.write(f"Files downloaded by ../install_deps.py on {datetime.now()}")
 
 
-def install_dep(vendor_name, maven_url, group_id, artifact_id, version, static, headers):
+def install_dep(maven_url, group_id, artifact_id, version, static, headers):
     """Download a dependency headers and static library."""
 
     url = urljoin(maven_url, group_id.replace('.', '/'), artifact_id, version)
@@ -144,7 +134,9 @@ def download_and_unzip(url, dir, name):
 
 
 def urljoin(*components):
-    """Join url pieces together."""
+    """Join url path components together."""
+
+    components = filter(lambda c: c, components)
     return '/'.join([c.strip('/') for c in components])
 
 
diff --git a/frc-sys/vendordeps/roborio.json b/frc-sys/vendordeps/roborio.json
deleted file mode 100644
index 44b06b4..0000000
--- a/frc-sys/vendordeps/roborio.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-    "mavenUrl": "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/ni-libraries/",
-    "dependencies": [
-        {
-            "name": "chipobject",
-            "version": "2020.9.2"
-        },
-        {
-            "name": "netcomm",
-            "version": "2020.9.2"
-        },
-        {
-            "name": "runtime",
-            "version": "2020.10.1"
-        },
-        {
-            "name": "visa",
-            "version": "2020.10.1"
-        }
-    ]
-}
\ No newline at end of file
diff --git a/frc-sys/vendordeps/wpilib/ni-libraries.json b/frc-sys/vendordeps/wpilib/ni-libraries.json
new file mode 100644
index 0000000..8430ff2
--- /dev/null
+++ b/frc-sys/vendordeps/wpilib/ni-libraries.json
@@ -0,0 +1,12 @@
+{
+    "name": "ni-libraries",
+    "mavenUrl": "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/ni-libraries/",
+    "headers": false,
+    "version": "2020.10.1",
+    "dependencies": [
+        "chipobject",
+        "netcomm",
+        "runtime",
+        "visa"
+    ]
+}
\ No newline at end of file
diff --git a/frc-sys/vendordeps/wpilib/opencv.json b/frc-sys/vendordeps/wpilib/opencv.json
new file mode 100644
index 0000000..512a220
--- /dev/null
+++ b/frc-sys/vendordeps/wpilib/opencv.json
@@ -0,0 +1,9 @@
+{
+    "name": "opencv",
+    "mavenUrl": "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/thirdparty/frc2021",
+    "headers": false,
+    "version": "3.4.7-5",
+    "dependencies": [
+        "opencv"
+    ]
+}
\ No newline at end of file
diff --git a/frc-sys/vendordeps/wpilib.json b/frc-sys/vendordeps/wpilib/wpilib.json
similarity index 55%
rename from frc-sys/vendordeps/wpilib.json
rename to frc-sys/vendordeps/wpilib/wpilib.json
index c3f2652..b1a121c 100644
--- a/frc-sys/vendordeps/wpilib.json
+++ b/frc-sys/vendordeps/wpilib/wpilib.json
@@ -1,8 +1,11 @@
 {
-    "mavenUrl": "https://frcmaven.wpi.edu/artifactory/release/",
+    "name": "wpilib",
+    "mavenUrl": "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first",
+    "headers": true,
     "version": "2021.3.1",
     "dependencies": [
         "cameraserver",
+        "cscore",
         "hal",
         "ntcore",
         "wpilibc",