From d7c9b20f66d9655e4d242282d4820c5e123eb9f4 Mon Sep 17 00:00:00 2001
From: David Forrest <drf5na@gmail.com>
Date: Fri, 3 Mar 2023 09:49:40 -0500
Subject: [PATCH] Expose integral to enable user-space hacking

---
 PID_v1.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/PID_v1.h b/PID_v1.h
index 9cba046..8734108 100644
--- a/PID_v1.h
+++ b/PID_v1.h
@@ -52,6 +52,8 @@ class PID
                                           //   the PID calculation is performed.  default is 100
 										  
 										  
+	void Initialize();		  // * bumpless update of internal variables.
+	double outputSum;		  // * internal integrator state for understanding and user-space control
 										  
   //Display functions ****************************************************************
 	double GetKp();						  // These functions query the pid for interal values.
@@ -61,7 +63,6 @@ class PID
 	int GetDirection();					  //
 
   private:
-	void Initialize();
 	
 	double dispKp;				// * we'll hold on to the tuning parameters in user-entered 
 	double dispKi;				//   format for display purposes
@@ -80,7 +81,7 @@ class PID
                                   //   what these values are.  with pointers we'll just know.
 			  
 	unsigned long lastTime;
-	double outputSum, lastInput;
+	double lastInput;
 
 	unsigned long SampleTime;
 	double outMin, outMax;