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Ran 01 May 2026 12:15AM UTC

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Committed 01 May 2026 12:15AM UTC coverage: 62.721% (+1.2%) from 61.522%

Job # 25195830425.1

Build Type

Pull #23

github

Committed by

kaidokert

Commit Message

Fix 3 review issues: clear_integral, zc snapshot, target_e_com_time setter

- Add Pid::clear_integral() that only zeros integral (matching C
  behavior). Speed control was using reset() which also cleared
  derivative state — behavioral change from C.
- Pass captured zc snapshot to tick_speed_control instead of reading
  shared.zero_crosses() directly, which could change mid-tick via
  desync reset.
- Add PidState::set_target_e_com_time() — field was private with no
  setter, leaving speed PID target stuck at 0.

Pull Request Pull Request #23: Make Pid and PidState fields private, extract tick methods

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