From 7e0b287cd09b5893f5569f1ae2d852b6402032d5 Mon Sep 17 00:00:00 2001
From: j5155 <54331556+j5155@users.noreply.github.com>
Date: Wed, 25 Sep 2024 21:07:42 -0800
Subject: [PATCH] bump lib

---
 TeamCode/build.gradle                                       | 2 +-
 .../java/org/firstinspires/ftc/teamcode/PinpointDrive.java  | 6 +++---
 .../ftc/teamcode/SensorGoBildaPinpointExample.java          | 4 ++--
 .../firstinspires/ftc/teamcode/tuning/TuningOpModes.java    | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index 4d9937226f5c..1cba582e72c3 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -38,5 +38,5 @@ dependencies {
     implementation "com.acmerobotics.roadrunner:core:1.0.0"
     implementation "com.acmerobotics.roadrunner:actions:1.0.0"
     implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
-    implementation "com.github.jdhs-ftc:road-runner-ftc-otos:622d5b95a5"
+    implementation "com.github.jdhs-ftc:road-runner-ftc-otos:447094304b"
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PinpointDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PinpointDrive.java
index 3bc2a8c8269a..9a83c6208327 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PinpointDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PinpointDrive.java
@@ -97,9 +97,9 @@ public PoseVelocity2d updatePoseEstimate() {
             // Potential alternate solution: timestamp the pose set and backtrack it based on speed?
             pinpoint.setPosition(pose);
         }
-        pinpoint.bulkUpdate(); // RR LOCALIZER NOTE: this is not ideal for loop times.
+        pinpoint.updatePoseAndVelocity(); // RR LOCALIZER NOTE: this is not ideal for loop times.
         // Driver needs update to be optimized
-        pose = pinpoint.getPosition();
+        pose = pinpoint.getPositionRR();
         lastPinpointPose = pose;
 
         // RR standard
@@ -110,7 +110,7 @@ public PoseVelocity2d updatePoseEstimate() {
 
         FlightRecorder.write("ESTIMATED_POSE", new PoseMessage(pose));
 
-        return pinpoint.getVelocity();
+        return pinpoint.getVelocityRR();
     }
 
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorGoBildaPinpointExample.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorGoBildaPinpointExample.java
index 1c55aab37ba7..75851aa830c9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorGoBildaPinpointExample.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorGoBildaPinpointExample.java
@@ -160,7 +160,7 @@ of time each cycle takes and finds the frequency (number of updates per second)
             /*
             gets the current Position (x & y in inches, and heading in radians) of the robot, and prints it.
              */
-            Pose2d pos = odo.getPosition();
+            Pose2d pos = odo.getPositionRR();
             String data = String.format(Locale.US, "{X: %.3f, Y: %.3f, H: %.3f}", pos.position.x, pos.position.y, pos.heading.toDouble());
             telemetry.addData("Position", data);
 
@@ -168,7 +168,7 @@ gets the current Position (x & y in inches, and heading in radians) of the robot
             /*
             gets the current Velocity (x & y in inches/sec and heading in radians/sec) and prints it.
              */
-            PoseVelocity2d vel = odo.getVelocity();
+            PoseVelocity2d vel = odo.getVelocityRR();
             String velocity = String.format(Locale.US,"{XVel: %.3f, YVel: %.3f, HVel: %.3f}", vel.linearVel.x, vel.linearVel.y, vel.angVel);
             telemetry.addData("Velocity", velocity);
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
index f98166115b61..9b06e84d7a48 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
@@ -44,8 +44,8 @@ public static void register(OpModeManager manager) {
 
                     List<Encoder> leftEncs = new ArrayList<>(), rightEncs = new ArrayList<>();
                     List<Encoder> parEncs = new ArrayList<>(), perpEncs = new ArrayList<>();
-                    parEncs.add(new PinpointEncoder(pd.pinpoint,false, PinpointDrive.PARAMS.xDirection == GoBildaPinpointDriver.EncoderDirection.FORWARD, pd.leftBack));
-                    perpEncs.add(new PinpointEncoder(pd.pinpoint,true,PinpointDrive.PARAMS.yDirection == GoBildaPinpointDriver.EncoderDirection.FORWARD, pd.leftBack));
+                    parEncs.add(new PinpointEncoder(pd.pinpoint,false, pd.leftBack));
+                    perpEncs.add(new PinpointEncoder(pd.pinpoint,true, pd.leftBack));
 
                     return new DriveView(
                             DriveType.MECANUM,