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