In the Motors and Sensors Setup window, there is an option for “PID Control” for any motor that has an integrated encoder module. I have each of them clicked, but the robot is not capable of driving even close to straight. Why would it not be working? Is that not what the PID Control button is for, or is there something that you need to do other than setting up the encoders and clicking the button? I have tested the encoders, and I know that they are wired correctly and giving values.
Basically, is there anything you have to do for built-in PID Control other than setting up the robot, pressing the button, and setting the motor values (motor [motorName] = value;)