PID and IMEs in Robot C 4.X

I’ve been seeing a lot of discussion recently around using IMEs to control the speed of the flywheels on robots. I know that PID can be used to control the velocity, however do I need to write a PID function to control the velocity of the wheels, or does Robot C have a function to directly control the velocity of the wheels?

which wheels? drive wheels or flywheels?

Take a look at this thread.