Using RKDP (Dorman-Prince) integration in WPILib Sim Wrapper classes

[narmstro2020]

So could the RKDP algorithm be used to handle ks discontinuities in the wrapper classes in a similar vain to how Elevator and Arm Sims use Rk4 for their affine/nonlinear -ness thereby providing a mechanism to introduce the static friction constants into said sim classes.