Tuning Gains

This section explains how VL.KP, VL.KI, and PL.KP gains function. Additional details on how each is set are explained in the Automatic Tuning, Slider Tuning, and Manual Tuning sections.

VL.KP

Velocity Loop proportional gain
This gain helps reduce the following error of your system. This is equivalent to derivative gain in a PID.

VL.KI

Velocity Loop integral gain
This gain increases the DC stiffness of your system. This is equivalent to integral gain in a PID.

PL.KP

Position Loop proportional gain
This term is equivalent to the proportional gain in a traditional PID loop.