Adjust integral term

[usbalbin]

Add methods for getting/setting the integral term.

Add some more tests for integers

[usbalbin]

Let me know if you want me to remove the last commit

[usbalbin]

The tests you added look good, but they don't seem relevant to the methods you touched. I think they belong in a separate PR.

Done in #31

I rebased your branch locally, dropping the commit with the added tests, and pushed to a branch on my fork (commit).

Thanks :)

I cherry-picked that commit here. Feel free to merge this or your fork. Fine by me either way