[wpimath] PIDController: Add getters for position & velocity tolerances (#4458)

wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java

@@ -174,6 +174,24 @@ public class PIDController implements Sendable, AutoCloseable {
     return m_period;
   }
 
+  /**
+   * Returns the position tolerance of this controller.
+   *
+   * @return the position tolerance of the controller.
+   */
+  public double getPositionTolerance() {
+    return m_positionTolerance;
+  }
+
+  /**
+   * Returns the velocity tolerance of this controller.
+   *
+   * @return the velocity tolerance of the controller.
+   */
+  public double getVelocityTolerance() {
+    return m_velocityTolerance;
+  }
+
   /**
    * Sets the setpoint for the PIDController.
    *

wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java

@@ -131,6 +131,24 @@ public class ProfiledPIDController implements Sendable {
     return m_controller.getPeriod();
   }
 
+  /**
+   * Returns the position tolerance of this controller.
+   *
+   * @return the position tolerance of the controller.
+   */
+  public double getPositionTolerance() {
+    return m_controller.getPositionTolerance();
+  }
+
+  /**
+   * Returns the velocity tolerance of this controller.
+   *
+   * @return the velocity tolerance of the controller.
+   */
+  public double getVelocityTolerance() {
+    return m_controller.getVelocityTolerance();
+  }
+
   /**
    * Sets the goal for the ProfiledPIDController.
    *

wpimath/src/main/native/cpp/controller/PIDController.cpp

@@ -68,6 +68,14 @@ units::second_t PIDController::GetPeriod() const {
   return m_period;
 }
 
+double PIDController::GetPositionTolerance() const {
+  return m_positionTolerance;
+}
+
+double PIDController::GetVelocityTolerance() const {
+  return m_velocityTolerance;
+}
+
 void PIDController::SetSetpoint(double setpoint) {
   m_setpoint = setpoint;
 

wpimath/src/main/native/include/frc/controller/PIDController.h

@@ -101,6 +101,20 @@ class WPILIB_DLLEXPORT PIDController
    */
   units::second_t GetPeriod() const;
 
+  /**
+   * Gets the position tolerance of this controller.
+   *
+   * @return The position tolerance of the controller.
+   */
+  double GetPositionTolerance() const;
+
+  /**
+   * Gets the velocity tolerance of this controller.
+   *
+   * @return The velocity tolerance of the controller.
+   */
+  double GetVelocityTolerance() const;
+
   /**
    * Sets the setpoint for the PIDController.
    *

wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h

@@ -131,6 +131,24 @@ class ProfiledPIDController
    */
   units::second_t GetPeriod() const { return m_controller.GetPeriod(); }
 
+  /**
+   * Gets the position tolerance of this controller.
+   *
+   * @return The position tolerance of the controller.
+   */
+  double GetPositionTolerance() const {
+    return m_controller.GetPositionTolerance();
+  }
+
+  /**
+   * Gets the velocity tolerance of this controller.
+   *
+   * @return The velocity tolerance of the controller.
+   */
+  double GetVelocityTolerance() const {
+    return m_controller.GetVelocityTolerance();
+  }
+
   /**
    * Sets the goal for the ProfiledPIDController.
    *