Does anyone have any suggestions for using PID with the CORTEX?

We have some tutorials produced in the Movement section of the VEX Cortex Video Trainer that use the encoders to self-correct the movement of the robot: http://www.education.rec.ri.cmu.edu/pro ... index.html

Currently, you can't get true closed-loop control between the encoders and motors, so we haven't been able to provide built in PID control for the VEX. VEX Robotics is creating encoders that will attach directly to the new 2-wire motors. When released, we'll also include built-in PID functionality in ROBOTC for these motors.