PROS C++ motor APIs - move vs. move_velocity vs. move_voltage

what is the difference between PROS C++ motor APIs - move() vs. move_velocity() vs. move_voltage()? Our team used move(100) when click a button to lift DR4B. We have 2 lift motors and DR4B moved very slowly. However, we tried move_voltage(12000). Now the DR4B moves up and down very swiftly with no issue. Just wondering what is the difference and when to use what.

Here is the API docs for motor functions.

motor() uses pros joystick range +/-127
motor_velocity() uses +/- rpm which is dependent on the cartridge
motor_voltage() use the range +/- 12000 which is in millivolts so +/-12V max

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