Merge f6b8c2ff37 into 32c10482d9

drivers/pid/pid.cpp

@@ -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;
+  }
+}

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;