[wpimath] Add getAccumulatedError() to PIDController #6813
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spacey-sooty
reviewed
Jul 9, 2024
wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
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spacey-sooty
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Jul 11, 2024
calcmogul
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Jul 21, 2024
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Adds a method
getAccumulatedError()(GetAccumulatedError()in cpp) to get the accumulated value used for the integral gain of the PID controllers. This can be useful in debugging to determine how high the integral accumulates over time.This has Java and CPP implementations for PIDController and ProfiledPIDController.