diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java
index a420463..9bbe5d2 100644
--- a/TeamCode/src/main/java/teamcode/RobotParams.java
+++ b/TeamCode/src/main/java/teamcode/RobotParams.java
@@ -148,9 +148,10 @@ public class RobotParams
         public static final boolean useWebCam                   = false;    // false to use Android phone camera.
         public static final boolean useBuiltinCamBack           = false;    // For Android Phone as Robot Controller.
         public static final boolean tuneColorBlobVision         = false;
+        public static final boolean useLimelightVision          = false;
+        public static final boolean useCameraStreamProcessor    = false;
         public static final boolean useAprilTagVision           = false;
         public static final boolean useColorBlobVision          = false;
-        public static final boolean useLimelightVision          = false;
         public static final boolean showVisionView              = !inCompetition;
         public static final boolean showVisionStat              = false;
         // Drive Base
diff --git a/TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java b/TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java
new file mode 100644
index 0000000..5328693
--- /dev/null
+++ b/TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java
@@ -0,0 +1,49 @@
+package teamcode.vision;
+
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+
+import org.firstinspires.ftc.robotcore.external.function.Consumer;
+import org.firstinspires.ftc.robotcore.external.function.Continuation;
+import org.firstinspires.ftc.robotcore.external.stream.CameraStreamSource;
+import org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration;
+import org.firstinspires.ftc.vision.VisionProcessor;
+import org.opencv.android.Utils;
+import org.opencv.core.Mat;
+
+import java.util.concurrent.atomic.AtomicReference;
+
+public class CameraStreamProcessor implements VisionProcessor, CameraStreamSource
+{
+    private final AtomicReference<Bitmap> lastFrame =
+        new AtomicReference<>(Bitmap.createBitmap(1, 1, Bitmap.Config.RGB_565));
+
+    @Override
+    public void init(int width, int height, CameraCalibration calibration)
+    {
+        lastFrame.set(Bitmap.createBitmap(width, height, Bitmap.Config.RGB_565));
+    }
+
+    @Override
+    public Object processFrame(Mat frame, long captureTimeNanos)
+    {
+        Bitmap b = Bitmap.createBitmap(frame.width(), frame.height(), Bitmap.Config.RGB_565);
+        Utils.matToBitmap(frame, b);
+        lastFrame.set(b);
+        return null;
+    }
+
+    @Override
+    public void onDrawFrame(
+        Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity,
+        Object userContext)
+    {
+        // do nothing
+    }
+
+    @Override
+    public void getFrameBitmap(Continuation<? extends Consumer<Bitmap>> continuation)
+    {
+        continuation.dispatch(bitmapConsumer -> bitmapConsumer.accept(lastFrame.get()));
+    }
+}
diff --git a/TeamCode/src/main/java/teamcode/vision/Vision.java b/TeamCode/src/main/java/teamcode/vision/Vision.java
index 6f4da00..4833ef1 100644
--- a/TeamCode/src/main/java/teamcode/vision/Vision.java
+++ b/TeamCode/src/main/java/teamcode/vision/Vision.java
@@ -89,6 +89,8 @@ public class Vision
     private final WebcamName webcam1, webcam2;
     private FtcRawEocvColorBlobPipeline rawColorBlobPipeline;
     public FtcRawEocvVision rawColorBlobVision;
+    public FtcLimelightVision limelightVision;
+    public CameraStreamProcessor cameraStreamProcessor;
     public FtcVisionAprilTag aprilTagVision;
     private AprilTagProcessor aprilTagProcessor;
     public FtcVisionEocvColorBlob redBlobVision;
@@ -96,7 +98,6 @@ public class Vision
     public FtcVisionEocvColorBlob blueBlobVision;
     private FtcEocvColorBlobProcessor blueBlobProcessor;
     public FtcVision vision;
-    public FtcLimelightVision limelightVision;
 
     /**
      * Constructor: Create an instance of the object.
@@ -156,6 +157,14 @@ public class Vision
             }
             // Creating Vision Processors for VisionPortal.
             ArrayList<VisionProcessor> visionProcessorsList = new ArrayList<>();
+
+            if (RobotParams.Preferences.useCameraStreamProcessor)
+            {
+                cameraStreamProcessor = new CameraStreamProcessor();
+                visionProcessorsList.add(cameraStreamProcessor);
+//                FtcDashboard.getInstance().startCameraStream(processor, 0);
+            }
+
             if (RobotParams.Preferences.useAprilTagVision)
             {
                 tracer.traceInfo(moduleName, "Starting AprilTagVision...");