From f6b8c2ff37a33a28273cf53c3160d8cb67578872 Mon Sep 17 00:00:00 2001
From: Rob Berwick <rob.berwick@gmail.com>
Date: Sun, 21 Apr 2024 20:34:40 +0100
Subject: [PATCH] Add get_error_sum and reset_error_sum methods

---
 drivers/pid/pid.cpp | 10 +++++++++-
 drivers/pid/pid.hpp |  3 +++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/drivers/pid/pid.cpp b/drivers/pid/pid.cpp
index 0d8cdb4f2a..8ccb47bf84 100644
--- a/drivers/pid/pid.cpp
+++ b/drivers/pid/pid.cpp
@@ -27,4 +27,12 @@ namespace pimoroni {
 
     return (error * kp) + (error_sum * ki) - (value_change * kd);
   }
-}
\ No newline at end of file
+
+  float PID::get_error_sum() const {
+    return error_sum;
+  }
+
+  void PID::reset_error_sum() {
+    error_sum = 0.0f;
+  }
+}
diff --git a/drivers/pid/pid.hpp b/drivers/pid/pid.hpp
index ef60394199..0aa84c6859 100644
--- a/drivers/pid/pid.hpp
+++ b/drivers/pid/pid.hpp
@@ -14,6 +14,9 @@ namespace pimoroni {
     float calculate(float value);
     float calculate(float value, float value_change);
 
+    [[nodiscard]] float get_error_sum() const;
+    void reset_error_sum();
+
   public:
     float kp;
     float ki;