So, if I got your point, you arbitrarily fixed some values for Ti and Td and then you played with the static gain K until you achieved the desired response? That simple?
In the first post he said he was making corrections at around 100Hz, because of that the PID values do not have to be perfect. The closer the PID values are the quicker the robot will stabilize and save power. The robot is relatively slow compared to the electronics controlling it so, if you overshoot your corrections you can still recover control.