PIDFController(pid: PIDCoefficients, kV: Double = 0.0, kA: Double = 0.0, kStatic: Double = 0.0, kF: (Double) -> Double = { 0.0 }, clock: NanoClock = NanoClock.system())
PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.
pid - traditional PID coefficients
kV - feedforward velocity gain
kA - feedforward acceleration gain
kStatic - additive feedforward constant
kF - custom, position-dependent feedforward (e.g., a gravity term for arms)