CheesyVision C++ Port

[DjScribbles]

As a note, we had a rather mysterious issue with CheesyVision on Saturday, unfortunately I wasn't able to find a root cause, but it appeared that the laptop and robot were not able to communicate for some reason.

It had worked for us all day Friday, but our two matches on Saturday it didn't seem to connect properly, between the two matches I observed the issue in the pits, restarting the Robot did not fix the issue, nor did restarting the cheesy vision script. On a whim, I restarted the laptop, and that seemed to solve the problem in the pits, however it reappeared on the field (and subsequently looked fine in the pits).

Unfortunately, I did my testing rather hurriedly, and cannot be absolutely sure of my observations; I am inclined to think that something with the script was not properly reconnecting after being started in the queue as tethered and reconnecting again through the FMS, however I'm not sure anything changed in the drive-team's setup process, so it remains a mystery.