Does Sysid work with Swerve?

Does WPILIB’s sysid tool work with Swerve? I’ve been trying to use it, yet the motors option seems to be set up for tank, with paired left and right motors.
Edit: Any alternative solutions?

Welp it looks like the answer is no

Use general mechanism system ID for module heading. After that, you’ll need a way to lock the module headings all in the same direction (probably mechanically). After that, you can run general mechanism system ID with all four velocity motors added at the same time.

The module locking step could be hard to do, but the alternative is having a two-stage characterization process supported by the tool where it configures module PID. That could turn into a mess on the backend because there’s so many hardware configurations we have to support.


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