<init>

RamseteFollower(drive: TankDrive, b: Double, zeta: Double, kV: Double, kA: Double, kStatic: Double, clock: NanoClock = NanoClock.system())

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

drive - tank drive

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

kV - feedforward velocity gain

kA - feedforward acceleration gain (currently unused)

kStatic - additive feedforward constant (used to overcome static friction)

clock - clock