diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index e7c525d..63e325c 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -33,6 +33,6 @@ dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.7"
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.8"
     implementation "com.acmerobotics.dashboard:dashboard:0.4.13"
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
index eae05fc..32b949a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
@@ -97,7 +97,7 @@ public final class TuningOpModes {
                         perpEncs,
                         md.imu,
                         md.voltageSensor,
-                        new MotorFeedforward(MecanumDrive.PARAMS.kS,
+                        () -> new MotorFeedforward(MecanumDrive.PARAMS.kS,
                                 MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick,
                                 MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick)
                 );
@@ -140,7 +140,7 @@ public final class TuningOpModes {
                         perpEncs,
                         td.imu,
                         td.voltageSensor,
-                        new MotorFeedforward(TankDrive.PARAMS.kS,
+                        () -> new MotorFeedforward(TankDrive.PARAMS.kS,
                                 TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick,
                                 TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick)
                 );