feat: error wrap callback

src/pid.ts

@@ -2,6 +2,7 @@ export interface PIDParameters {
   kP: number;
   kI: number;
   kD: number;
+  errorWrap?: (error: number) => number;
 }
 
 export type PIDReport = {
@@ -44,7 +45,11 @@ export class PID {
 
   public update(measuredValue: number): number {
     const currentTime = os.epoch("utc");
-    const error = this.setpoint - measuredValue;
+
+    const rawError = this.setpoint - measuredValue;
+    const error = this.params.errorWrap
+      ? this.params.errorWrap(rawError)
+      : rawError;
 
     let deltaTime = 0;
     if (this.lastTime !== null) {