Revert "Document IZone (#2257)" (#2262)

The corresponding PR has not been merged wpilibsuite/allwpilib#5315, and
stable is still linked to main.

This reverts commit c8a1fb8.

source/docs/software/advanced-controls/controllers/pidcontroller.rst

@@ -126,29 +126,6 @@ The range limits may be increased or decreased using the ``setIntegratorRange()`
     // the total loop output
     pid.SetIntegratorRange(-0.5, 0.5);
 
-Disabling Integral Gain if the Error is Too High
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Another way integral "wind-up" can be alleviated is by limiting the error range where integral gain is active. This can be achieved by setting ``IZone``.
-
-By default, ``IZone`` is disabled.
-
-``IZone`` may be increased or decreased using the ``setIZone()`` method. To disable it, set it to infinity.
-
-.. tabs::
-
-  .. code-tab:: java
-
-    // Integral gain will not be applied if the absolute value of the error is
-    // more than 2
-    pid.setIZone(2);
-
-  .. code-tab:: c++
-
-    // Integral gain will not be applied if the absolute value of the error is
-    // more than 2
-    pid.SetIZone(2);
-
 Setting Continuous Input
 ^^^^^^^^^^^^^^^^^^^^^^^^
 

source/docs/software/advanced-controls/introduction/common-control-issues.rst

@@ -11,7 +11,7 @@ Beware that if :math:`K_i` is too large, integral windup can occur. Following a
 There are a few ways to mitigate this:
 
 1. Decrease the value of :math:`K_i`, down to zero if possible.
-2. Add logic to reset the integrator term to zero if the :term:`output` is too far from the :term:`setpoint`. Some smart motor controllers and WPILib's ``PIDController`` implement this with a ``setIZone()`` method.
+2. Add logic to reset the integrator term to zero if the :term:`output` is too far from the :term:`setpoint`. Some smart motor controllers implement this with a ``setIZone()`` method.
 3. Cap the integrator at some maximum value. WPILib's ``PIDController`` implements this with the ``setIntegratorRange()`` method.
 
 .. important:: Most mechanisms in FRC do not require any integral control, and systems that seem to require integral control to respond well probably have an inaccurate feedforward model.