well, there are really three main ways to go about the drive portion for autons. There is time code, encoder based, and the most complex p/pi/pd/pid controllers. Time code tells the motors to spin for a certain amount of time. I do not like time code as it can be inconsistent and there are better ways of doing things, although with V5 time code has become more accurate. My personal recommendation for new teams is to read this post and set up a motor group and a drivetrain. That way you can use commands like, robotdrive.driveFor(direction, distance, units, velocity, velocity units). This uses the integrated encoders and some math to calculate how much the motors need to rotate in order for the robot to move a certain distance. The third type, pid controllers, use constants to adjust the motor speed and lower it as it approaches the target. This is a litter complex and I would not recommend it for starters, however, there are plenty of topics related to this if they want to learn later on. VEXcode, motor groups and drivetrain example