Pinpoint tuner always reports FORWARD: read direction before Stop

[forlack]

Problem

The Pinpoint tuner reports every odometry pod as FORWARD, regardless of which way the robot is pushed. Robots whose pods actually need REVERSED get a wrong config, and with it an inverted axis.

Both direction steps (PinpointForwardDirection, PinpointStrafeDirection) read their result after the OpMode is stopped:

while (!isStopRequested()) {
    localizer.update();
}
return localizer.pose().y() < 0;

By the time that line runs, the Pinpoint has reset its pose to zero, so y < 0 is false and the step returns "not reversed".

Evidence

I added logging to the strafe step on a goBILDA 4-bar Pinpoint (strafe pod physically reversed) and pushed the robot 15" left:

strafe live y=-1.63   heading=356.5  rawStrafe=-822
strafe live y=-14.88  heading=3.1    rawStrafe=-7602
strafe live y=-14.96  heading=3.4    rawStrafe=-7641    <- holding, still correct
strafe FINAL y=0.0    rawStrafe=150077  returns reversed=false   <- after Stop

During the push the localizer correctly reads y ≈ −15" with the heading steady, which should produce REVERSED. After Stop it reads y = 0.0 (and a garbage raw count), and the step returns FORWARD.

The forward step has the same flaw (x < 0). It is only hidden on robots whose forward pod happens to be FORWARD.

Fix

Keep the last reading taken before Stop, and return based on that:

double y = 0;
while (!isStopRequested()) {
    localizer.update();
    if (!isStopRequested()) {
        y = localizer.pose().y();
    }
}
return y < 0;

Same change for x in the forward step.

Tested

On the same robot, the unmodified tuner returned yPodDirection FORWARD / yPodOffset -6.58 on every run. That config inverted the strafe axis: the Tests hold test drifted when pushed instead of resisting, and the pod test failed. With this fix, the tuner returns REVERSED / +6.62 on its own. That matches a hand-verified config, and Tests pass.

https://claude.ai/code/session_01XpssWQZ6aU4sZnFsKwFz4x

[BaronClaps]

Thank you.

[forlack]

No problem thanks for merging