you have 2 options , proptrional and bang bang , bang bang is on / off , its etierh full speed ot nothing , in bth directions. Proportional control gives you an invinitely adjustable speed , so you can go round corners like you would in a car , not turning on the spot.

Prportional gives much finer control so is better for fast robots and robots with big budgets but tends to be a lot lot lot more expemsive than bang bang. Id recomend bang bang.