setIntegrationZone

Sets the Integration zone range.

When the absolute value of the position error is greater than the integration zone, the total accumulated error will reset to zero, disabling integral gain until the absolute value of the position error is less than the integration zone. This is used to prevent integral windup. Must be non-negative. Passing a value of zero will effectively disable integral gain. Passing a value of POSITIVE_INFINITY disables integration zone functionality.

Return

this

Since

6.1.1

Parameters

iZone

the zone where the integral term is active, where if the error is within this zone, the integral term is active