(t *testing.T)
| 376 | mockFrequencyGetter.EXPECT().FreqPPB().Return(1.0, nil), |
| 377 | mockFrequencyGetter.EXPECT().MaxFreqAdjPPB().Return(12345.0, fmt.Errorf("error")), |
| 378 | ) |
| 379 | |
| 380 | servo, err := NewPiServo(time.Duration(1), time.Duration(1), time.Duration(0), mockFrequencyGetter, 0.0) |
| 381 | |
| 382 | require.NoError(t, err) |
| 383 | require.Equal(t, int64(1), servo.FirstStepThreshold) |
| 384 | require.Equal(t, true, servo.FirstUpdate) |
| 385 | require.Equal(t, -1.0, servo.MeanFreq()) |
| 386 | require.Equal(t, "INIT", servo.GetState().String()) |
| 387 | require.Equal(t, 500000.0, servo.GetMaxFreq()) |
| 388 | } |
| 389 | |
| 390 | func TestNewPiServoUseMaxFreq(t *testing.T) { |
| 391 | ctrl := gomock.NewController(t) |
| 392 | defer ctrl.Finish() |
| 393 | mockFrequencyGetter := NewMockFrequencyGetter(ctrl) |
| 394 | gomock.InOrder( |
| 395 | mockFrequencyGetter.EXPECT().FreqPPB().Return(1.0, nil), |
| 396 | ) |
| 397 | |
| 398 | servo, err := NewPiServo(time.Duration(1), time.Duration(1), time.Duration(0), mockFrequencyGetter, 2.0) |
nothing calls this directly
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