Just example codes using PID and Odometry for good autons.
Videos and links for reference
PID
https://renegaderobotics.org/pid-beginners-guide/
https://www.youtube.com/watch?v=D0H4t4n5J6k
https://www.youtube.com/watch?v=_Itn-0d340g
Odometry
https://www.youtube.com/watch?v=GEZBYHVHmFQ Part 1