Does Vex Code pro have a built in motor speed controller?

Does set velocity or any other function have a built-in PID for controlling the RPM/Speed of the motor or do they all just send a constant percentage of the max current.

It would save me a lot of time.

Each V5 motor has an internal encoder and microprocessor which allows for each motor to maintain a set velocity or position. When you tell a motor to move at a certain velocity, the target velocity is sent to the motor and the motor begins using its internal control loop to spin at the specified velocity.

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