diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index ef612bc8cc90..13ecf4b651c4 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -27,13 +27,16 @@ repositories {
     maven {
         url = 'https://maven.brott.dev/'
     }
+    maven {
+        url = 'https://jitpack.io'
+    }
 }
 
 dependencies {
     implementation project(':FtcRobotController')
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.13"
-    implementation "com.acmerobotics.roadrunner:core:1.0.0"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.0"
+    implementation 'com.github.jdhs-ftc:road-runner-ftc-otos:master-SNAPSHOT'
+    implementation "com.acmerobotics.roadrunner:core:1.0.0-beta8"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta8"
     implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
index afdc28e19fb8..a0c6f4d6bc3f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -126,7 +126,7 @@ public class DriveLocalizer implements Localizer {
         public final Encoder leftFront, leftBack, rightBack, rightFront;
         public final IMU imu;
 
-        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
+        private double lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
         private Rotation2d lastHeading;
         private boolean initialized;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
index d4aaf45231fc..cc24b138bb1e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -31,7 +31,7 @@ public static class Params {
 
     public final double inPerTick;
 
-    private int lastPar0Pos, lastPar1Pos, lastPerpPos;
+    private double lastPar0Pos, lastPar1Pos, lastPerpPos;
     private boolean initialized;
 
     public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
@@ -70,9 +70,9 @@ public Twist2dDual<Time> update() {
             );
         }
 
-        int par0PosDelta = par0PosVel.position - lastPar0Pos;
-        int par1PosDelta = par1PosVel.position - lastPar1Pos;
-        int perpPosDelta = perpPosVel.position - lastPerpPos;
+        double par0PosDelta = par0PosVel.position - lastPar0Pos;
+        double par1PosDelta = par1PosVel.position - lastPar1Pos;
+        double perpPosDelta = perpPosVel.position - lastPerpPos;
 
         Twist2dDual<Time> twist = new Twist2dDual<>(
                 new Vector2dDual<>(
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
index edc4e85b4511..33ba97388215 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
@@ -34,7 +34,7 @@ public static class Params {
     public final Encoder par, perp;
     public final IMU imu;
 
-    private int lastParPos, lastPerpPos;
+    private double lastParPos, lastPerpPos;
     private Rotation2d lastHeading;
 
     private final double inPerTick;
@@ -91,8 +91,8 @@ public Twist2dDual<Time> update() {
             );
         }
 
-        int parPosDelta = parPosVel.position - lastParPos;
-        int perpPosDelta = perpPosVel.position - lastPerpPos;
+        double parPosDelta = parPosVel.position - lastParPos;
+        double perpPosDelta = perpPosVel.position - lastPerpPos;
         double headingDelta = heading.minus(lastHeading);
 
         Twist2dDual<Time> twist = new Twist2dDual<>(