Common PID / Feedforward Gains

Commenly used / tweaked gains and their quick description for what they do have been listed here. For more in depth descriptions of others you may encounter can be located [1] and [2].

Gain	Description
kP	Position: how much output to add per unit of error (how far away is our current measured number from our target)
kV	Velocity: how much output to add per specified unit of velocity. This is mostly if not only used in velocity control and is often almost enough to move motors without other parameters.
kS	Static / Feed Forward: how much additional output to add. Often used to overcome friction in a system where it is not neglectable.
kG	Gravity: How much additional output to add in order for the system to maintain its position while at setpoint when affected by gravity. Note: for systems with non-constant gravity (such as an arm), this gain is used to keep the system at its setpoint where effects of gravity are the greatest.

[1] https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/device-specific/talonfx/basic-pid-control.html

[2] https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/device-specific/talonfx/closed-loop-requests.html