This is our first year attempting swerve and we are borrowing MK4i modules from a local team to familiarize ourselves with the concept while we wait for our REV swerve modules to arrive.
What do teams do to lock the rotation of swerve modules during robot characterization (sysID)? 3D printed jigs? Or can you simply place the steering motor in brake mode? Or do you need to set up and tune a PID loop to get it stay put (not sure how I would implement this in the sysID tool)?
I see that REV might be shipping a device with their swerve modules to fix the rotation for such tasks. I was curious if the community has come up with something similar for SDS MK4i?