How to code Inertial Sensor in P control for drive distance

Programming Support VEXcode Pro V5 Text Tech Support
1

Issue in title.
introduction_to_pid_controllers_ed2 (3).pdf (444.1 KB)
I’ve used and understood this (George Gillard PID intro) but I don’t know how to put it in code, especially with an inertial sensor. I use V5’s C++.