From 281b41011ca812f1c3a512c11c9d89efc77d6f27 Mon Sep 17 00:00:00 2001
From: Albin Hedman <albin.hedman@dectron.se>
Date: Wed, 19 Jun 2024 14:45:09 +0200
Subject: [PATCH] Add method for reading the integral term; Update comment on
 setter

---
 src/lib.rs | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index 54583ae..e1af45f 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -264,12 +264,18 @@ where
         self.integral_term = T::zero();
     }
 
-    /// Set integral term to custom value. This might be important to set pid
-    /// controller to previous state after an interruption or crash
+    /// Set integral term to custom value.
+    /// This may drastically change the control output.
+    /// Use this to return the PID controller to a previous state after an interruption or crash.
     pub fn set_integral_term(&mut self, integral_term: impl Into<T>) -> &mut Self {
         self.integral_term = integral_term.into();
         self
     }
+
+    /// Get the integral term.
+    pub fn get_integral_term(&self) -> T {
+        self.integral_term
+    }
 }
 
 /// Saturating the input `value` according the absolute `limit` (`-abs(limit) <= output <= abs(limit)`).