| 36 | |
| 37 | |
| 38 | unittest(test_constructor) |
| 39 | { |
| 40 | PID_RT PID; |
| 41 | PID.reset(); |
| 42 | |
| 43 | assertFalse(PID.isRunning()); |
| 44 | PID.start(); |
| 45 | assertTrue(PID.isRunning()); |
| 46 | PID.stop(); |
| 47 | assertFalse(PID.isRunning()); |
| 48 | |
| 49 | assertEqual(0, PID.getSetPoint()); |
| 50 | PID.setPoint(152.45); |
| 51 | float diffSetPoint = abs(152.45 - PID.getSetPoint()); |
| 52 | assertMoreOrEqual(0.01, diffSetPoint); |
| 53 | |
| 54 | assertFalse(PID.getReverse()); |
| 55 | PID.setReverse(true); |
| 56 | assertTrue(PID.getReverse()); |
| 57 | PID.setReverse(false); |
| 58 | assertFalse(PID.getReverse()); |
| 59 | |
| 60 | assertEqual(250, PID.getInterval()); |
| 61 | PID.setInterval(125); |
| 62 | assertEqual(125, PID.getInterval()); |
| 63 | |
| 64 | assertEqual(0, PID.getOutputMin()); |
| 65 | assertEqual(100, PID.getOutputMax()); |
| 66 | PID.setOutputRange(125, 250); |
| 67 | assertEqual(125, PID.getOutputMin()); |
| 68 | assertEqual(250, PID.getOutputMax()); |
| 69 | |
| 70 | assertEqual(0, PID.getKp()); |
| 71 | assertEqual(0, PID.getKi()); |
| 72 | assertEqual(0, PID.getKd()); |
| 73 | PID.setK(3, 2, 1); |
| 74 | assertEqual(3, PID.getKp()); |
| 75 | assertEqual(2, PID.getKi()); |
| 76 | assertEqual(1, PID.getKd()); |
| 77 | |
| 78 | assertTrue(PID.isPropOnInput()); |
| 79 | assertFalse(PID.isPropOnError()); |
| 80 | |
| 81 | PID.setPropOnError(); |
| 82 | assertFalse(PID.isPropOnInput()); |
| 83 | assertTrue(PID.isPropOnError()); |
| 84 | |
| 85 | PID.setPropOnInput(); |
| 86 | assertTrue(PID.isPropOnInput()); |
| 87 | assertFalse(PID.isPropOnError()); |
| 88 | } |
| 89 | |
| 90 | |
| 91 | unittest(test_compute) |
nothing calls this directly
no test coverage detected