LTVDifferentialDriveController repro code

Robot.Java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LTVDifferentialDriveController;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends TimedRobot {
  LTVDifferentialDriveController ltv;

  @Override
  public void robotInit() {
    Timer t = new Timer();
    SmartDashboard.putString("InitStatus", "RobotInit");
    System.out.println("Timer Starting");
    t.start();
    ltv = new LTVDifferentialDriveController(
      LinearSystemId.identifyDrivetrainSystem(
        0.00052047, 
        0.00036209, 
        0.00051414, 
        7.7103E-05, 
        0.014367
      ), 
      0.014367,
      // states = x pos, y pos, angle, left speed, right speed
      VecBuilder.fill(0.1, 0.1, 0.1, 0.5, 0.5),
      // inputs = left volts, right volts 
      VecBuilder.fill(7.0, 7.0),
      0.02
    );
    SmartDashboard.putString("InitStatus", "LTV Started");
    SmartDashboard.putNumber("LTV Time", t.get());
    t.stop();
  }
}