(t *testing.T)
| 344 | mockFrequencyGetter.EXPECT().FreqPPB().Return(1.0, nil), |
| 345 | mockFrequencyGetter.EXPECT().MaxFreqAdjPPB().Return(3.0, nil), |
| 346 | ) |
| 347 | |
| 348 | servo, err := NewPiServo(time.Duration(1), time.Duration(1), time.Duration(0), mockFrequencyGetter, 0.0) |
| 349 | |
| 350 | require.NoError(t, err) |
| 351 | require.Equal(t, int64(1), servo.FirstStepThreshold) |
| 352 | require.Equal(t, true, servo.FirstUpdate) |
| 353 | require.Equal(t, -1.0, servo.MeanFreq()) |
| 354 | require.Equal(t, "INIT", servo.GetState().String()) |
| 355 | require.Equal(t, 3.0, servo.GetMaxFreq()) |
| 356 | } |
| 357 | |
| 358 | func TestNewPiServoFreqPPBError(t *testing.T) { |
| 359 | ctrl := gomock.NewController(t) |
| 360 | defer ctrl.Finish() |
| 361 | mockFrequencyGetter := NewMockFrequencyGetter(ctrl) |
| 362 | gomock.InOrder( |
| 363 | mockFrequencyGetter.EXPECT().FreqPPB().Return(1.0, fmt.Errorf("error")), |
| 364 | ) |
| 365 | |
| 366 | _, err := NewPiServo(time.Duration(1), time.Duration(1), time.Duration(0), mockFrequencyGetter, 0.0) |
nothing calls this directly
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