Drive train PID control

[curtis0gj]

Hello, my team this is looking at solutions for driving more accurately in autonomous. At this moment we are using this to drive a certain distance in autonomous.

if (encoderDistanceReading >= distance) {
				tankDrive.drive(0, 0);
				return;
			} else if (distance > encoderDistanceReading) {
				tankDrive.drive(-0.25, 0);
			} else {
				tankDrive.drive(0.25, 0);
			}

I am curious about using PID control to drive in autonomous with an encoder for input. I have looked at the Potentiometre PID example and read a bit about PID control (https://wpilib.screenstepslive.com/s...s-pid-control).

Our team is currently using the iterative robot template. The drive train is a four motored tank drive with 8 inch pneumatic tires. I have one encoder setup on the left small output shaft. We have a second encoder coming soon.