diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index 479308666e8c..4d9937226f5c 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:14c7f4ca9a"
+    implementation "com.github.jdhs-ftc:road-runner-ftc-otos:622d5b95a5"
 }
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 7ad0fd2e1a8c..75471c09dd94 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PinpointDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PinpointDrive.java
@@ -110,12 +110,7 @@ public PoseVelocity2d updatePoseEstimate() {
 
         FlightRecorder.write("ESTIMATED_POSE", new PoseMessage(pose));
 
-        Pose2d velocity = pinpoint.getVelocity();
-        // RR localizer note
-        // "velocity.position" is a little weird
-        // it's because velocity is stored as a roadrunner pose2d right now
-        // maybe not ideal for this, probably I should change it to use a PoseVelocity2d directly instead
-        return new PoseVelocity2d(new Vector2d(velocity.position.x, velocity.position.y),velocity.heading.toDouble());
+        return pinpoint.getVelocity();
     }