RamseteFollower(drive: TankDrive, b: Double, zeta: Double, kV: Double, kA: Double, kStatic: Double, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system())
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
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)
admissibleError - admissible/satisfactory pose error at the end of each move