Flywheel speeds

So as we know motors don’t turn at the same speeds even when applied with the same power. This I can see as a problem for our double flywheel shooter as they will apply sidespin and become less accurate. Is there a way to maybe use PID or something in order to keep the speeds the same?
P.S I am VERY new to robotc (like first used it two days ago), so some example code would be extremely helpful. I’m a fast learner, but I’m not that good. While I’m here can anyone recommend any tutorials etc etc. i have learnt pretty much everything there is to learn on the robotc website via their videos, but i still feel very under equipped.