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Add get_error_sum and reset_error_sum methods to PID class #935

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Add get_error_sum and reset_error_sum methods to PID class #935

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10 changes: 9 additions & 1 deletion drivers/pid/pid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,4 +27,12 @@ namespace pimoroni {

return (error * kp) + (error_sum * ki) - (value_change * kd);
}
}

float PID::get_error_sum() const {
return error_sum;
}

void PID::reset_error_sum() {
error_sum = 0.0f;
}
}
3 changes: 3 additions & 0 deletions drivers/pid/pid.hpp
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Expand Up @@ -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;
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