Kp, Kd, Ki explained - Morasta/UrsaMajorFRC2025 GitHub Wiki

Kp

A proportional term entirely based on the error. Kp determines how quickly to turn steering when heading is off.

• Kp increases to ensure the robot goes in the correct direction.
• Kp decreased would lead to sluggish steering and reacting slowly to set heading changes.

Kd

A derivative term based on the rate of change of errors. Kd limits the speed of steering response when error is rapidly changing.

• Kd increased implies that the rate of change of error has increased over time. Double the error = double the force.

Ki

An integral term means that the error is increased over time. The robot would head in the right direction for an equal amount of time for integral to balance to 0

• Ki increased would add more steering action if error persists for too long.

the website with this info https://robotics.stackexchange.com/questions/9786/how-do-the-pid-parameters-kp-ki-and-kd-affect-the-heading-of-a-differential