BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external.control.pid/PIDFController/setIntegrationBounds

setIntegrationBounds

@NonNull
open fun setIntegrationBounds(integralMin: Double, integralMax: Double): PIDFController

Set the bounds for the integral term.

The internal integrator is clamped so that the integral term's contribution to the output stays between minimumIntegral and maximumIntegral. This prevents integral windup.

Return

this

Parameters

integralMin

The minimum value for the integral term. Defaults to -1.0

integralMax

The maximum value for the integral term. Defaults to 1.0