My motors for driving wheels do not have integrated encoders. Is there a way in which I can use PID (I think) to make my robot go straight during autonomous?
Okay so are you using ROBOTC or easyC? In ROBOTC if you were using integrated motor encoders you can just check the PID box in motor and sensor setup.
The one important requirement is going to be that you need a sensor that measures your robot arcing to correct for that arcing.
Following a wall and using ultrasonic sensors
Gyro or encoders to measure as you turn
I use a gyroscope, then I set a target angle, and a PID loop keeps me at that angle, even when driving