From 2b2416ac0091678e83d60599c074cd1b0d47028c Mon Sep 17 00:00:00 2001
From: Carl Hauser <carl.hauser@gmail.com>
Date: Wed, 27 Mar 2024 22:53:50 -0700
Subject: [PATCH] Further correction of the comments on
 PIDController.setIntegratorRange and PIDController::SetIntegratorRange

---
 .../wpi/first/math/controller/PIDController.java   | 14 +++++++++-----
 .../native/include/frc/controller/PIDController.h  | 14 ++++++++------
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index 32976869b54..5a75e893bf7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -337,14 +337,18 @@ public boolean isContinuousInputEnabled() {
   }
 
   /**
-   * Sets the minimum and maximum values for the integrator.
+   * Sets the minimum and maximum contributions of the integrator.
    *
-   * <p>If the integrator value is outside the range [minimumIntegral..maximumIntegral] the integral
-   * gain times the corresponding limit is added to the controller output rather than the integral
+   * <p>If the integrator value is outside the range [minimumIntegral/ki..maximumIntegral/ki] either
+   * minimumIntegral or maximumIntegral is added to the controller output instead of the integral
    * gain times the integrator value.
    *
-   * @param minimumIntegral The minimum value of the integrator.
-   * @param maximumIntegral The maximum value of the integrator.
+   * <p>Additionally, the integrator value is set to minimumIntegral/ki or maximumIntegral/ki
+   * whenever the integrator value would fall outside the range
+   * [minimumIntegral/ki..maximumIntegral/ki].
+   *
+   * @param minimumIntegral The minimum contribution of the integral term
+   * @param maximumIntegral The maximum contribution of the integral term
    */
   public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
     m_minimumIntegral = minimumIntegral;
diff --git a/wpimath/src/main/native/include/frc/controller/PIDController.h b/wpimath/src/main/native/include/frc/controller/PIDController.h
index f1e172f9ef4..40426033af2 100644
--- a/wpimath/src/main/native/include/frc/controller/PIDController.h
+++ b/wpimath/src/main/native/include/frc/controller/PIDController.h
@@ -179,14 +179,16 @@ class WPILIB_DLLEXPORT PIDController
   bool IsContinuousInputEnabled() const;
 
   /**
-   * Sets the minimum and maximum values for the integrator.
+   * Sets the minimum and maximum contributions of the integrator.
    *
-   * If the integrator value is outside the range [minimumIntegral..maximumIntegral]
-   * the integral gain times the corresponding limit is added to the controller output
-   * rather than the integral gain times the integrator value.
+   * <p>If the integrator value is outside the range [minimumIntegral/Ki..maximumIntegral/Ki]
+   * either minimumIntegral or maximumIntegral is added to the controller output
+   * instead of the integral gain times the integrator value.
+   * <p>Additionally, the integrator value is set to minimumIntegral/Ki or maximumIntegral/Ki whenever 
+   * the integrator value would fall outside the range [minimumIntegral/Ki..maximumIntegral/Ki].
    *
-   * @param minimumIntegral The minimum value of the integrator.
-   * @param maximumIntegral The maximum value of the integrator.
+   * @param minimumIntegral The minimum contribution of the integral term
+   * @param maximumIntegral The maximum contribution of the integral term
    */
   void SetIntegratorRange(double minimumIntegral, double maximumIntegral);