look up the wikipedia article for PID tuning. There is a gif on the page about half way down that changes to show the effect of increasing P, I and D values. Very roughly, P is how quickly it reacts (how quickly it applies motor current), I is the aggressiveness (how much current it applies), and D is like a smoothing filter. None of these descriptions is technically correct but it can be a lot easier to understand to this way than fully understanding the maths behind it. I had noticed that