From 5a5320e7e68857ea23776297fc7c23aacec19f52 Mon Sep 17 00:00:00 2001
From: David Forrest <drf5na@gmail.com>
Date: Thu, 2 Mar 2023 16:13:29 -0500
Subject: [PATCH] Add GetIntegral() and SetIntegral(double) for user-space
 anti-windup

---
 PID_v1.cpp | 14 ++++++++++++++
 PID_v1.h   |  2 ++
 2 files changed, 16 insertions(+)

diff --git a/PID_v1.cpp b/PID_v1.cpp
index cb6637c..6a5bcf8 100644
--- a/PID_v1.cpp
+++ b/PID_v1.cpp
@@ -182,6 +182,20 @@ void PID::SetMode(int Mode)
     inAuto = newAuto;
 }
 
+/* GetIntegral(...)*************************************************************
+ * Get Integral term for user access to anti-windup schemes
+ ******************************************************************************/
+double PID::GetIntegral(){
+    return outputSum; 
+}
+
+/* SetIntegral(...)*************************************************************
+ * Set Integral term for user access to anti-windup schemes
+ ******************************************************************************/
+void PID::SetIntegral(double Integral){
+    outputSum = Integral; 
+}
+
 /* Initialize()****************************************************************
  *	does all the things that need to happen to ensure a bumpless transfer
  *  from manual to automatic mode.
diff --git a/PID_v1.h b/PID_v1.h
index 9cba046..2be4723 100644
--- a/PID_v1.h
+++ b/PID_v1.h
@@ -50,6 +50,7 @@ class PID
 										  //   once it is set in the constructor.
     void SetSampleTime(int);              // * sets the frequency, in Milliseconds, with which 
                                           //   the PID calculation is performed.  default is 100
+    void SetIntegral(double);                // * sets the internal Integral term, in output units  
 										  
 										  
 										  
@@ -59,6 +60,7 @@ class PID
 	double GetKd();						  // where it's important to know what is actually 
 	int GetMode();						  //  inside the PID.
 	int GetDirection();					  //
+	double GetIntegral();					  //
 
   private:
 	void Initialize();