PID control

So I am trying to use a PID controller for my robot for autonomous, I have it checked for PID control on the motor and sensor setup.

  1. How do I get it to start (like move 500 units foward). Like for a tank drive.
  2. Would I need sensors for every motor on the drive?

You set the variable of the target sensor count (or a delta from the current sensor value). Then the PID routine starts moving the motor tied to that sensor to that value.

Having sensors on every motor is not necessary if they are geared/chained together. But having a separate left and right control is very desirable. So one set on the left one on the right. Each set has its own PID controller. You can then get more complex from there. But get yourself to control both left and right coded up first.