# Advancing Velocity

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**Advancing Velocity** is the speed at which your opponent is moving toward you (perpendicular to Lateral Velocity). For example, a bot moving full speed straight at you would have an advancing velocity of 8, a robot moving full speed straight away from you would have an advancing Velocity of -8, and a robot moving full speed perpendicular to you would have an advancing velocity of 0. A stationary bot will always have an advancing velocity of 0, no matter which direction it's moving.

## Calculation

A simple formula for advancing velocity is:

```
double advancingVelocity = -Math.cos(e.getHeadingRadians() -
(e.getBearingRadians() + getHeadingRadians())) * e.getVelocity();
```

Where `e`

is a ScannedRobotEvent.