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

2026-06-20 00:51:42 +00:00 · 2022-10-25 19:10:19 -04:00
parent 9f36301dc8
commit 2a98d6b5d7
5 changed files with 76 additions and 0 deletions
--- 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;