Add method for reading the integral term

Author: usbalbin

src/lib.rs

@@ -264,12 +264,20 @@ where
         self.integral_term = T::zero();
     }
 
-    /// Set integral term to custom value. This might be important to set pid
-    /// controller to previous state after an interruption or crash
+    /// Set integral term to custom value, this may drastically change the control
+    /// output.
+    ///
+    /// This might be important to set pid controller to previous state
+    /// after an interruption or crash
     pub fn set_integral_term(&mut self, integral_term: impl Into<T>) -> &mut Self {
         self.integral_term = integral_term.into();
         self
     }
+
+    /// Get the integral term.
+    pub fn get_integral_term(&self) -> T {
+        self.integral_term
+    }
 }
 
 /// Saturating the input `value` according the absolute `limit` (`-abs(limit) <= output <= abs(limit)`).