RobotC PID speed control for IME encoders - unofficial reply

David, there is documentation.

Take a look at the VEX Cortex video trainer and specifically the section on movement, chapter 6. It explains the principles of PID and how to use the built in functionality of ROBOTC V4.XX.

Does this help?

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I watched the videos you posted and the RobotC built-in PID controller has sparked my curiosity. It looks like the controller can control the angular position of the motors via the distance functions. However, the video also mentions that it also performs some sort of control when you just set a motor value. Do you know what is being controlled in this case? Is it the angular velocity? Also, you can set your own PID constants for each motor, correct?

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