is this for autonomous or driver control?
This is a user function i made to control the motors with the IME during autonomous. I have not tried it on a real robot yet, but it works with the regular encoders. It tracks distance of the motors. If it does not work for you come to my table at the next competition were both at.
To answer your other questions it is possible to program your robot with 1 IME on each side of your drive. My team did it last year at the middle, I was not lead programmer then. IME I believe only work with one motor to my understanding. Hope this helps.