Tuning steps are mostly the same as https://rr.brott.dev/docs/v1-0/tuning/ differences: ensure you configure the Pinpoint in hardwaremap as pinpoint by default or change in PinpointDrive Leave inPerTick at 1.0 in MecanumDrive and skip ForwardPushTest; instead configure encoder resolution in PinpointDrive to one of the presets for gobilda odometry Also, ensure that you use DeadWheelDirectionDebugger and properly reverse the wheels in PinpointDrive Also change the drive class in TuningOpModes, SplineTest, and your op modes to PinpointDrive Then you can move on with tuning in https://rr.brott.dev/docs/v1-0/tuning/ as normal.
TODO: expand these docs