From 3ae1fe5fa1cc3d5ccd9aaf7515f44d1d17940409 Mon Sep 17 00:00:00 2001
From: Ruben Nitsche <mail@rubennitsche.eu>
Date: Thu, 26 Oct 2023 10:19:15 +0200
Subject: [PATCH] Added Functionality to manually set the integral term. This
 might be important to set controller to previous state after an interruption
 or crash.

---
 src/lib.rs | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/lib.rs b/src/lib.rs
index db2f5c5..fdc9b25 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -263,6 +263,13 @@ where
     pub fn reset_integral_term(&mut self) {
         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
+    pub fn set_integral_term(&mut self, integral_term: impl Into<T>) -> &mut Self {
+        self.integral_term = integral_term.into();
+        self
+    }
 }
 
 /// Saturating the input `value` according the absolute `limit` (`-abs(limit) <= output <= abs(limit)`).