Integrated Shaft Encoder Module

We are using an encoder module to power the claw on our robot, and I have a few questions to confirm:

  1. The encoder modules can keep the two claw arms from moving separately when the motors are powered, correct?
  2. How can we program the encoder modules to work the way as described above, if possible?
  1. Yes
  2. PID Control Loop(Hint: Use the faster side of the claw as the target value when determining error)

If you don’t know what PID is, there are plenty of guides and videos that explain it pretty well. My personal favorite is this one:

Correct on both accounts. If you can’t tell which side is faster, it’s generally good enough to just choose a side arbitrarily.