Tune swerve module PID constants

[SamCarlberg]

This will require the entire robot to be built to get accurate data. Accurate PID and feedforward values will be necessary for good autonomous pathfollowing

Run sysid characterization routines for dynamic and quasistatic forward and reverse routines, then load the data into the sysid desktop tool for analysis

See sysid documentation: https://docs.wpilib.org/en/stable/docs/software/advanced-controls/system-identification/introduction.html