[wpimath] Add getAccumulatedError() to PIDController (#6813)

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

@@ -241,6 +241,15 @@ public class PIDController implements Sendable, AutoCloseable {
     return m_velocityTolerance;
   }
 
+  /**
+   * Returns the accumulated error used in the integral calculation of this controller.
+   *
+   * @return The accumulated error of this controller.
+   */
+  public double getAccumulatedError() {
+    return m_totalError;
+  }
+
   /**
    * Sets the setpoint for the PIDController.
    *

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

@@ -186,6 +186,15 @@ public class ProfiledPIDController implements Sendable {
     return m_controller.getVelocityTolerance();
   }
 
+  /**
+   * Returns the accumulated error used in the integral calculation of this controller.
+   *
+   * @return The accumulated error of this controller.
+   */
+  public double getAccumulatedError() {
+    return m_controller.getAccumulatedError();
+  }
+
   /**
    * Sets the goal for the ProfiledPIDController.
    *