I am trying to sync motors on a VEX Cortex based robot and have had mixed success using the encoders with position control. I noticed that the motor setup directive
#pragma config(Motor, port2, motorA, tmotorVex393, PIDControl, encoder, encoderPort, I2C_1, 1000)
has a parameter "PIDControl" but I cannot find any documentation as to what it actually does.
I see on the encoder documentation page here that the encoder provides velocity output, but it is not apparently built into the API. So my question is two fold:
1) What does the "PIDControl" directive actually do?
2) How can I use the encoder to control the speed of the motors?