diff --git a/components/base/sensorcontrolled/sensorcontrolled_test.go b/components/base/sensorcontrolled/sensorcontrolled_test.go
index 13a22f705f1..10828ccbd85 100644
--- a/components/base/sensorcontrolled/sensorcontrolled_test.go
+++ b/components/base/sensorcontrolled/sensorcontrolled_test.go
@@ -534,4 +534,10 @@ func TestSensorBaseDoCommand(t *testing.T) {
 	resp, err := b.DoCommand(ctx, req)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, resp, test.ShouldResemble, expectedeMap)
+
+	emptyMap := make(map[string]interface{})
+	req["get_tuned_pid"] = false
+	resp, err = b.DoCommand(ctx, req)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, resp, test.ShouldResemble, emptyMap)
 }
diff --git a/components/motor/gpio/controlled_test.go b/components/motor/gpio/controlled_test.go
index fd53032b653..9b40a805175 100644
--- a/components/motor/gpio/controlled_test.go
+++ b/components/motor/gpio/controlled_test.go
@@ -114,4 +114,10 @@ func TestControlledMotorCreation(t *testing.T) {
 	resp, err := m.DoCommand(context.Background(), req)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, resp, test.ShouldResemble, expectedeMap)
+
+	emptyMap := make(map[string]interface{})
+	req["get_tuned_pid"] = false
+	resp, err = cm.DoCommand(context.Background(), req)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, resp, test.ShouldResemble, emptyMap)
 }
diff --git a/control/setup_control.go b/control/setup_control.go
index deb3ef86e66..eba74b25c9d 100644
--- a/control/setup_control.go
+++ b/control/setup_control.go
@@ -482,12 +482,9 @@ func UpdateTrapzBlock(ctx context.Context, name string, maxVel float64, dependsO
 // TunedPIDErr returns an error with the stored tuned PID values.
 func TunedPIDErr(name string, tunedVals []PIDConfig) error {
 	var tunedStr string
-	for i, pid := range tunedVals {
-		if i > 0 {
-			tunedStr += `, `
-		}
+	for _, pid := range tunedVals {
 		if !pid.NeedsAutoTuning() {
-			tunedStr += fmt.Sprintf(`{"p": %v, "i": %v, "d": %v, "type": "%v"}`, pid.P, pid.I, pid.D, pid.Type)
+			tunedStr += fmt.Sprintf(`{"p": %v, "i": %v, "d": %v, "type": "%v"} `, pid.P, pid.I, pid.D, pid.Type)
 		}
 	}
 	return fmt.Errorf(`%v has been tuned, please copy the following control values into your config: %v`, name, tunedStr)