From 2a98d6b5d7bf31d038ada5e85a8b3a449fb0bf1d Mon Sep 17 00:00:00 2001
From: Justin <7595639+tervay@users.noreply.github.com>
Date: Tue, 25 Oct 2022 19:10:19 -0400
Subject: [PATCH] [wpimath] PIDController: Add getters for position & velocity
 tolerances (#4458)

---
 .../first/math/controller/PIDController.java   | 18 ++++++++++++++++++
 .../math/controller/ProfiledPIDController.java | 18 ++++++++++++++++++
 .../native/cpp/controller/PIDController.cpp    |  8 ++++++++
 .../include/frc/controller/PIDController.h     | 14 ++++++++++++++
 .../frc/controller/ProfiledPIDController.h     | 18 ++++++++++++++++++
 5 files changed, 76 insertions(+)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index 49c077dad0..de4559feff 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
+++ b/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.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
index fd3587ebc5..681e3fc54b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
+++ b/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.
    *
diff --git a/wpimath/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
index 63255a6f34..6c89d2585b 100644
--- a/wpimath/src/main/native/cpp/controller/PIDController.cpp
+++ b/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;
 
diff --git a/wpimath/src/main/native/include/frc/controller/PIDController.h b/wpimath/src/main/native/include/frc/controller/PIDController.h
index 98625f8c14..d6a41d1949 100644
--- a/wpimath/src/main/native/include/frc/controller/PIDController.h
+++ b/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.
    *
diff --git a/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h b/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
index 1d8d5fc249..086c53ebe0 100644
--- a/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
+++ b/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.
    *