I don’t know much about Odometry and Rotational sensors, but my team does have a PID. Search up PID Controllers and watch a few videos. Also, check out this link and scroll down until you see “An introduction to PID Controllers” from the VEX Forum. It will help you download a really useful document that explains PID.
Finally, there is a vex forum that explains exactly how you can code a PID by @anon4126930. The link for the tutorial is here.
The only way I use the inertial sensor is to track how many degrees I turn using the following commands.
I do not use the inertial sensor for lateral PID. Instead, I just use the position of the motors.
Ex.
Hopefully this helped, and if you have any questions, I might be able to answer them. I am not in high school, so I may not be able to answer questions I don’t know the answer to.