#define OnRevSyncPID ( _ports,
_pwr,
_turnpct,
_p,
_i,
_d   )     OnRevSyncExPID(_ports, _pwr, _turnpct, RESET_BLOCKANDTACHO, _p, _i, _d)

Run motors backward synchronised with PID factors.

Run the specified outputs in reverse with regulated synchronization using the specified turn ratio. Specify proportional, integral, and derivative factors.

Parameters:
_ports Desired output ports. Can be a constant or a variable, see Output port constants. If you use a variable and want to control multiple outputs in a single call you need to use a byte array rather than a byte and store the output port values in the byte array before passing it into this function.
_pwr Output power, 0 to 100. Can be negative to reverse direction.
_turnpct Turn ratio, -100 to 100. The direction of your vehicle will depend on its construction.
_p Proportional factor used by the firmware's PID motor control algorithm. See PID constants.
_i Integral factor used by the firmware's PID motor control algorithm. See PID constants.
_d Derivative factor used by the firmware's PID motor control algorithm. See PID constants.

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