Merge branch 'master' into pinpoint

# Conflicts:
#	TeamCode/build.gradle

README.md

@@ -15,7 +15,8 @@ The custom localization is implemented using the SparkFunOTOSDrive class, which
 This means that all of RoadRunner's standard tuning should remain in MecanumDrive, but you should use SparkFunOTOSDrive
 in your OpModes.
 
-I eventually plan to PR this in some form once it's been more extensively tested.
+~~I eventually plan to PR this in some form once it's been more extensively tested.~~ 
+11/13/24 edit: I have opened PRs for the underlying library changes required for my integration, but they have not been merged; it seems like rbrott would prefer an official integration to rethink the tuning process entirely (which is reasonable but not something I personally have the time/knowledge for). See https://github.com/acmerobotics/road-runner-ftc/issues/8 and the linked PR's for further discussion.
 
 ## When things go wrong…
 This quickstart has not been extensively tested, and you are likely to encounter bugs and issues. 

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 "page.j5155.roadrunner:ftc-otos:0.1.0+0.1.14"
+    implementation "page.j5155.roadrunner:ftc-otos:0.1.2+0.1.14"
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java

@@ -63,8 +63,8 @@ public static class Params {
                 RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
 
         // drive model parameters
-        public double inPerTick = 1; // SparkFun OTOS Note: you can probably leave this at 1
-        public double lateralInPerTick = inPerTick;
+        public double inPerTick = 1; // If you're using OTOS/Pinpoint leave this at 1 (all values will be in inches, 1 tick = 1 inch)
+        public double lateralInPerTick = inPerTick; // Tune this with LateralRampLogger (even if you use OTOS/Pinpoint)
         public double trackWidthTicks = 0;
 
         // feedforward parameters (in tick units)