How do I set up 393 IMEs to ensure two motors are rotating at the same speed (on joystick control)?

[Carson]

I’m currently using some very basic code to run the robot, and would like to use the IMEs to fix some drag we are experiencing. I have set up the IMEs such that they are reading correct data.

Basic code:

#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, I2C_1,  Left_IEM,       sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_2,  Right_IEM,      sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Motor,  port1,           right,         tmotorVex393_HBridge, openLoop, reversed, encoderPort, I2C_2)
#pragma config(Motor,  port6,           claw,          tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           arm,           tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port10,          left,          tmotorVex393_HBridge, openLoop, encoderPort, I2C_1)

//

task main()
{
	while(1 == 1)
	{
		motor[left] = vexRT[Ch2];
		motor[right] = vexRT[Ch3];
		motor[center] = (vexRT[Ch1]/2 + vexRT[Ch4]/2);
		motor[arm]= (vexRT[Btn5U]*-70 + vexRT[Btn5D]*70);
		motor[claw]= (vexRT[Btn6U]*-50 + vexRT[Btn6D]*50);
	}
}

[sazrocks]

To make sure that both are running at the same velocity, you will need some kind of PID controller for each motor. If these are on a drive, you will also need another controller to ensure that the robot drives straight.