PID parameters calculation (Kp,KI, KD)

you cannot calculate everything, you have to try the basic parameters. Take a look to your motor to determine the speed loop first. What is the rpm/volt operating voltage and what is your amplifier gain? This will give a rough result for your proportional value.

No try to operate your system with this value and see, that the result will be an oscillating system. Therefore go down with the Kp value to about 1/2 or 1/10 of the first estimated value. After this add more and more Ki until the system does not oscillate any more. The more Ki you have, the higher the gain is allowed. What is feasable depends from the motor power and final load and inertia to move. If operation is almost ok, you can try to add KD to increase acceleration but you will see, that high KD make the system unstable again.

If this speed loop is ok, you can start trying the position loop. Of coarse you can take a look in the theory of schoolbooks but practially you always have to analyze your mechanic first.