Add GetIntegral() and SetIntegral(double) for user-space anti-windup

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.

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();