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Adjust integral term #25

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Merged
merged 1 commit into from
Mar 29, 2025
Merged

Adjust integral term #25

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10 changes: 8 additions & 2 deletions src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -264,12 +264,18 @@ 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.
/// Use this to return the PID controller to a 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)`).
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