Useful Links

WPILib Docs

How to implement Ramsete

https://docs.wpilib.org/en/stable/docs/software/examples-tutorials/trajectory-tutorial/index.html

Advanced Controls Section

Explanation of geometry classes such as Translation2d, Rotation2d and Pose2d https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/pose.html#translation-rotation-and-pose

What SimpleMotorFeedforward does https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/feedforward.html#simplemotorfeedforward

More info on RamseteCommand https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/ramsete.html

List of all TrajectoryConstraints https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/constraints.html

Troubleshooting Ramsete https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/troubleshooting.html

Github Code files

Comment at top of RamseteController.java has an explanation of why Ramsete only considers the centre of the robot vs PathFinder which planned left and right at the same time. https://github.com/wpilibsuite/allwpilib/blob/f57c188f2e3d0e9cf0de80e2a1cbb76f10a3e8fa/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java

RamseteCommand.java on Github https://github.com/wpilibsuite/allwpilib/blob/main/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java

Another example RamseteCommmand project. Though I recommend using the one in this repo since it is tailored for Merge. https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand