Drive train Velocity Control during telop

has anyone tried velocity control of there drive train during telop. It is something we are thinking about doing in the off season for a fun project and just wanted to know if anyone currently does it and if it is worth the extra complexity

Certainly makes driving nicer. Tuning PIDF constants is a bit of a pain, but it’s worth it.

It is so worth it. Makes control so much easier!

does it make control of the robot in Auto easier or manual control of the robot.

Does anyone have any code for an example?