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

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Brendan Raykoff
2024-07-21 02:17:13 -04:00
committed by GitHub
parent eda63dc162
commit 45f3e3a069
5 changed files with 40 additions and 0 deletions
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wpimath/src/main/native/cpp/controller/PIDController.cpp
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@@ -110,6 +110,10 @@ double PIDController::GetVelocityTolerance() const {
return m_velocityTolerance;
}
double PIDController::GetAccumulatedError() const {
return m_totalError;
}
void PIDController::SetSetpoint(double setpoint) {
m_setpoint = setpoint;
m_haveSetpoint = true;