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Documentation Index

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DriveSignal is the output value returned by Follower.update(). It carries five scalar components — robot-frame forward velocity, strafe velocity, forward acceleration, strafe acceleration, and a heading correction turn — that MecanumDrive.drive() converts into per-wheel motor powers using kS/kV/kA feedforward with voltage compensation. Package: org.firstinspires.ftc.teamcode.odyssey.follower

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Constructor

public DriveSignal(
    double forwardVelocity,
    double strafeVelocity,
    double forwardAcceleration,
    double strafeAcceleration,
    double turn
)
All fields are final — DriveSignal is immutable once constructed. Follower creates a new instance on every update() call.
​
forwardVelocity
double
required
Robot-frame forward velocity in mm/s. Positive values command forward motion; negative values command reverse motion.
​
strafeVelocity
double
required
Robot-frame strafe velocity in mm/s. Positive values command rightward lateral motion; negative values command leftward lateral motion.
​
forwardAcceleration
double
required
Feedforward acceleration in the forward direction (mm/s²). Combined with kA in MecanumDrive to reduce velocity lag during acceleration and deceleration phases of the profile.
​
strafeAcceleration
double
required
Feedforward acceleration in the strafe direction (mm/s²). Combined with kA in MecanumDrive. Non-zero on curved path segments where the centripetal acceleration vector has a lateral component in the robot frame.
​
turn
double
required
Output of the heading PID controller. Used directly as an angular velocity command — MecanumDrive scales it against k = lX + lY when distributing it to the four wheels.

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Methods

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getForwardVelocity()
double
Robot-frame forward velocity component (mm/s). Mapped to all four wheels in equal measure by MecanumDrive.drive().
​
getStrafeVelocity()
double
Robot-frame strafe velocity component (mm/s). Flips sign for front vs. back wheels to produce lateral motion via the mecanum rollers.
​
getTurn()
double
Heading PID output used as the angular velocity command. MecanumDrive applies it as ±k·w per wheel, where k = lX + lY (sum of the robot’s half-track widths).
​
getForwardAcceleration()
double
Feedforward acceleration in the forward direction (mm/s²). Added to each wheel’s power computation as kA · a.
​
getStrafeAcceleration()
double
Feedforward acceleration in the strafe direction (mm/s²). Flips sign across front/back wheel pairs, mirroring the same layout as strafe velocity.

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How MecanumDrive uses DriveSignal

MecanumDrive.drive() decomposes the signal into per-wheel velocities and accelerations, then applies kS/kV/kA feedforward with real-time voltage compensation: 
v_FL = forwardVelocity - strafeVelocity - k·turn
v_FR = forwardVelocity + strafeVelocity + k·turn
v_BL = forwardVelocity + strafeVelocity - k·turn
v_BR = forwardVelocity - strafeVelocity + k·turn

a_FL = forwardAcceleration - strafeAcceleration
a_FR = forwardAcceleration + strafeAcceleration
a_BL = forwardAcceleration + strafeAcceleration
a_BR = forwardAcceleration - strafeAcceleration

voltageComp = 12.0 / batteryVoltage

p_i = (kS·sign(v_i) + kV·v_i + kA·a_i) · voltageComp
If any wheel power magnitude exceeds 1.0, all four powers are normalized by the maximum so the ratio between wheels is preserved.

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Stop signal

To bring the robot to an immediate halt, send a zero DriveSignal. All motors will receive setPower(0) and, because MecanumDrive configures motors with ZeroPowerBehavior.BRAKE, the robot will lock in place: 
drive.drive(new DriveSignal(0, 0, 0, 0, 0)); // zero velocity and acceleration

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