[cstelter]

Rereading the original post, I realize my example using tankDrive is a bit off the mark, but one can call mecanumDrive and keep track of magnitude, Direction, and rotation instead of leftSpeed and rightSpeed and call mecanum_Polar instead of tankDrive on the RobotDrive class.

Also, I am not sure what the term 'Pd loop' means in your subject. Do you mean PID loop? If so that's a whole different discussion