The v5 motors are pretuned and operate at 10ms intervals. However without documentation, there isn’t a lot we can do short of testing to see how the tuning works in scenarios of higher inertia, friction, or directional bias (like gravity with a lift).
Lets say that you are using a vision sensor as an aimbot, to track and follow blocks. Is it better to output frequent and constantly changing rotateTo/For(position) commands to the motors, or program a custom PID in the brain and output just a motor value to the motors?
Also, which situations in general constitute the need for custom PID controllers instead of using the one built into the motors?