Yes, P control is often all you need for a drive base… momentum is a substitute for I and (with V5) braketype(hold) can stand in for D.
has more than you want to know, but also some pseudocode at the bottom.
This forum has a multitude of threads on PID, A PID controller in RobotC by jPearman would be a good place to start (just don’t post to that 9 year old thread)!