# Key Terms with Tuning

#### Error

- The difference between 2 lines (i.e. Position & Reference or Velocity & ReferenceSlope)

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#### Gain

- Tuned values such as kP, kS, or kV

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#### kP

- The larger the difference between the current and target positions, the more power it puts to the motor to reduce the error
- Typically will cause some oscillation

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#### kI

- If there is a consistent error between 2 lines, this gain will gradually reduce the difference between them

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#### kD

- Resists change in movement of the motor
- This gain helps to dampen the effects of kP, reducing egregious amounts of oscillation

#### kS

- The 'S' stands for Static Friction
- The amount of extra force needed when the motor starts up to combat the Static Friction

#### kV

#### kA

- This gain increases the acceleration of the motor
- This makes something line the *Position* line steeper the more it's increased

#### kG

- This is the amount of extra force the motor needs to combat the force of gravity
- This is especially important in an elevator to make sure it keeps its vertical position