diff --git a/lib/Controller.cpp b/lib/Controller.cpp
index 919ee7e..670c2e0 100644
--- a/lib/Controller.cpp
+++ b/lib/Controller.cpp
@@ -100,7 +100,7 @@ void FullController::FBControl() {
 int16_t FullController::pwmFunc(K_MAP consts, Errors errs) {
   if (oor) return 0;
   Constants constants = (errs.e < 0) ? consts.attracting : consts.repelling;
-  return (int)constrain(constants.K*(errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff), -(float)CAP,(float)CAP);
+  return (int)constrain(constants.kp*errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff, -(float)CAP,(float)CAP);
 }
 
 int16_t FullController::slewLimit(int16_t target, int16_t prev) {
diff --git a/lib/Controller.hpp b/lib/Controller.hpp
index eb5272d..e878577 100644
--- a/lib/Controller.hpp
+++ b/lib/Controller.hpp
@@ -17,7 +17,7 @@
 #define CAP 200
 
 typedef struct Constants {
-  float K;
+  float kp;
   float ki;
   float kd;
 } Constants;
diff --git a/lib/PseudoSensorControl.cpp b/lib/PseudoSensorControl.cpp
index b323bc0..3b68923 100644
--- a/lib/PseudoSensorControl.cpp
+++ b/lib/PseudoSensorControl.cpp
@@ -59,7 +59,7 @@ void PseudoSensorController::control() {
 int16_t PseudoSensorController::pwmFunc(K_MAP consts, Errors errs) {
   if (oor) return 0;
   Constants constants = (errs.e < 0) ? consts.attracting : consts.repelling;
-  return (int)constrain(constants.K*(errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff), -(float)CAP,(float)CAP);
+  return (int)constrain(constants.kp*errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff, -(float)CAP,(float)CAP);
 }
 
 int16_t PseudoSensorController::slewLimit(int16_t target, int16_t prev) {
diff --git a/lib/PseudoSensorControl.hpp b/lib/PseudoSensorControl.hpp
index 95ad9d2..457b58a 100644
--- a/lib/PseudoSensorControl.hpp
+++ b/lib/PseudoSensorControl.hpp
@@ -26,7 +26,7 @@ extern PinPair pinMap[4];
 #define CAP 200
 
 typedef struct Constants {
-  float K;
+  float kp;
   float ki;
   float kd;
 } Constants;