Tuning PIDConstants for HolonomicPathFollowerConfig

[tbeadle]

I'm struggling to tune the translation and rotation PIDConstants for our HolonomicPathFollowerConfig and am looking for guidance on how to do that. I got our swerve modules pretty well tuned so that they spin at the requested velocity by using a command to just drive straight at a couple different velocities and comparing the requested velocity with the velocity recorded for the motors in AdvantageScope. But now when I try to use PathPlanner to follow a path, even just a straight path at 0.5 m/s, it's a bit erratic. What is a good strategy for tuning those values? Is there anything else that I should be considering? Is there a good way to use Shuffleboard to be able to test different values without having to re-deploy the code?