Support for non-tank style drivetrains?

[r4stered]

Will there be support for drivetrains that are non-tank style? For example, a swerve or mecanum style robot where the yaw can be decoupled from the translation of the robot?

For example, having something follow a path with arbitrary angles in the middle of the path but only adjusting the path shape based on the exit angle?

Thanks!

[JaciBrunning]

This is planned, yes, but perhaps not for the initial release. The general idea right now is to have the position be driven by the path, and a velocity-only profile for the angle throughout the path