[Geek 2.0]

I'm actually in the process of doing that, and just found a strange problem...

I found this in the PIDController class in WPILibJ:

if (((m_totalError + m_error) * m_I < m_maximumOutput)
                        && ((m_totalError + m_error) * m_I > m_minimumOutput))
{
       m_totalError += m_error;
}

m_result = (m_P * m_error + m_I * m_totalError + m_D * (m_error - m_prevError));
m_prevError = m_error;

By the looks of it, it's saying that it won't add the error to the total error if the result would be outside the maximum and minimum output. Does that seem wrong to anyone else? Shouldn't it add the error no matter what, and then clip off the result to fit in the max and min output?