TankPIDVAFollower(drive: TankDrive, displacementCoeffs: PIDCoefficients, crossTrackCoeffs: PIDCoefficients, kV: Double, kA: Double, kStatic: Double, clock: NanoClock = NanoClock.system())
Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.
displacementCoeffs - PID coefficients for the robot axial (x) controller
crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error
kV - feedforward velocity gain
kA - feedforward acceleration gain
kStatic - signed, additive feedforward constant (used to overcome static friction)