Bump roadrunner-ftc and fix misc 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 "com.github.jdhs-ftc:road-runner-ftc-otos:447094304b"
+    implementation "com.github.jdhs-ftc:road-runner-ftc-otos:60262dd686"
 }

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

@@ -10,6 +10,7 @@
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.FlightRecorder;
 import com.acmerobotics.roadrunner.ftc.GoBildaPinpointDriver;
+import com.acmerobotics.roadrunner.ftc.GoBildaPinpointDriverRR;
 import com.qualcomm.hardware.sparkfun.SparkFunOTOS;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@@ -47,7 +48,7 @@ the tracking point the Y (strafe) odometry pod is: forward of the center is a po
         To get this value from inPerTick, first convert the value to millimeters (multiply by 25.4)
         and then take its inverse (one over the value)
          */
-        public double encoderResolution = GoBildaPinpointDriver.goBILDA_4_BAR_POD;
+        public double encoderResolution = GoBildaPinpointDriverRR.goBILDA_4_BAR_POD;
 
         /*
         Set the direction that each of the two odometry pods count. The X (forward) pod should
@@ -59,19 +60,21 @@ increase when you move the robot forward. And the Y (strafe) pod should increase
     }
 
     public static Params PARAMS = new Params();
-    public GoBildaPinpointDriver pinpoint;
+    public GoBildaPinpointDriverRR pinpoint;
     private Pose2d lastPinpointPose = pose;
 
     public PinpointDrive(HardwareMap hardwareMap, Pose2d pose) {
         super(hardwareMap, pose);
-        pinpoint = hardwareMap.get(GoBildaPinpointDriver.class,"pinpoint");
+        pinpoint = hardwareMap.get(GoBildaPinpointDriverRR.class,"pinpoint");
 
         // RR localizer note: don't love this conversion (change driver?)
         pinpoint.setOffsets(DistanceUnit.MM.fromInches(PARAMS.xOffset), DistanceUnit.MM.fromInches(PARAMS.yOffset));
 
 
         pinpoint.setEncoderResolution(PARAMS.encoderResolution);
 
+        pinpoint.setEncoderDirections(PARAMS.xDirection, PARAMS.yDirection);
+
         /*
         Before running the robot, recalibrate the IMU. This needs to happen when the robot is stationary
         The IMU will automatically calibrate when first powered on, but recalibrating before running
@@ -97,8 +100,7 @@ public PoseVelocity2d updatePoseEstimate() {
             // Potential alternate solution: timestamp the pose set and backtrack it based on speed?
             pinpoint.setPosition(pose);
         }
-        pinpoint.updatePoseAndVelocity(); // RR LOCALIZER NOTE: this is not ideal for loop times.
-        // Driver needs update to be optimized
+        pinpoint.update();
         pose = pinpoint.getPositionRR();
         lastPinpointPose = pose;
 

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

@@ -25,6 +25,7 @@
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.PoseVelocity2d;
 import com.acmerobotics.roadrunner.ftc.GoBildaPinpointDriver;
+import com.acmerobotics.roadrunner.ftc.GoBildaPinpointDriverRR;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
@@ -63,7 +64,7 @@
 //@Disabled
 public class SensorGoBildaPinpointExample extends LinearOpMode {
 
-    GoBildaPinpointDriver odo; // Declare OpMode member for the Odometry Computer
+    GoBildaPinpointDriverRR odo; // Declare OpMode member for the Odometry Computer
 
     double oldTime = 0;
 
@@ -74,7 +75,7 @@ public void runOpMode() {
         // Initialize the hardware variables. Note that the strings used here must correspond
         // to the names assigned during the robot configuration step on the DS or RC devices.
 
-        odo = hardwareMap.get(GoBildaPinpointDriver.class,"odo");
+        odo = hardwareMap.get(GoBildaPinpointDriverRR.class,"odo");
 
         /*
         Set the odometry pod positions relative to the point that the odometry computer tracks around.
@@ -134,7 +135,7 @@ increase when you move the robot forward. And the Y (strafe) pod should increase
             Request a bulk update from the Pinpoint odometry computer. This checks almost all outputs
             from the device in a single I2C read.
              */
-            odo.bulkUpdate();
+            odo.update();
 
 
             if (gamepad1.a){

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java

@@ -4,18 +4,26 @@
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.SparkFunOTOSDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-import org.firstinspires.ftc.teamcode.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.TwoDeadWheelLocalizer;
+import org.firstinspires.ftc.teamcode.*;
 
 public final class ManualFeedbackTuner extends LinearOpMode {
     public static double DISTANCE = 64;
 
     @Override
     public void runOpMode() throws InterruptedException {
-        if (TuningOpModes.DRIVE_CLASS.equals(SparkFunOTOSDrive.class)) {
+        if (TuningOpModes.DRIVE_CLASS.equals(PinpointDrive.class)) {
+            PinpointDrive drive = new PinpointDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+            waitForStart();
+
+            while (opModeIsActive()) {
+                Actions.runBlocking(
+                        drive.actionBuilder(new Pose2d(0, 0, 0))
+                                .lineToX(DISTANCE)
+                                .lineToX(0)
+                                .build());
+            }
+        } else if (TuningOpModes.DRIVE_CLASS.equals(SparkFunOTOSDrive.class)) {
             SparkFunOTOSDrive drive = new SparkFunOTOSDrive(hardwareMap, new Pose2d(0, 0, 0));
 
             waitForStart();
@@ -29,7 +37,7 @@ public void runOpMode() throws InterruptedException {
             }
         } else if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
             MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-            
+
             if (drive.localizer instanceof TwoDeadWheelLocalizer) {
                 if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
                     throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
@@ -43,10 +51,10 @@ public void runOpMode() throws InterruptedException {
 
             while (opModeIsActive()) {
                 Actions.runBlocking(
-                    drive.actionBuilder(new Pose2d(0, 0, 0))
-                            .lineToX(DISTANCE)
-                            .lineToX(0)
-                            .build());
+                        drive.actionBuilder(new Pose2d(0, 0, 0))
+                                .lineToX(DISTANCE)
+                                .lineToX(0)
+                                .build());
             }
         } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
             TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
@@ -64,10 +72,10 @@ public void runOpMode() throws InterruptedException {
 
             while (opModeIsActive()) {
                 Actions.runBlocking(
-                    drive.actionBuilder(new Pose2d(0, 0, 0))
-                            .lineToX(DISTANCE)
-                            .lineToX(0)
-                            .build());
+                        drive.actionBuilder(new Pose2d(0, 0, 0))
+                                .lineToX(DISTANCE)
+                                .lineToX(0)
+                                .build());
             }
         } else {
             throw new RuntimeException();