(t *testing.T)
| 413 | mockFrequencyGetter.EXPECT().FreqPPB().Return(1.0, nil), |
| 414 | ) |
| 415 | |
| 416 | servo, err := NewPiServo(time.Duration(1), time.Duration(1), time.Duration(10), mockFrequencyGetter, 2.0) |
| 417 | |
| 418 | require.NoError(t, err) |
| 419 | require.Equal(t, int64(1), servo.FirstStepThreshold) |
| 420 | require.Equal(t, true, servo.FirstUpdate) |
| 421 | require.Equal(t, -1.0, servo.MeanFreq()) |
| 422 | require.Equal(t, "INIT", servo.GetState().String()) |
| 423 | require.Equal(t, 2.0, servo.GetMaxFreq()) |
| 424 | require.Equal(t, int64(10), servo.StepThreshold) |
| 425 | } |
| 426 | |
| 427 | func TestNewPiServoNoFirstStep(t *testing.T) { |
| 428 | ctrl := gomock.NewController(t) |
| 429 | defer ctrl.Finish() |
| 430 | mockFrequencyGetter := NewMockFrequencyGetter(ctrl) |
| 431 | gomock.InOrder( |
| 432 | mockFrequencyGetter.EXPECT().FreqPPB().Return(1.0, nil), |
| 433 | ) |
| 434 | |
| 435 | servo, err := NewPiServo(time.Duration(1), time.Duration(0), time.Duration(0), mockFrequencyGetter, 2.0) |
nothing calls this directly
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