(t *testing.T)
| 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) |
| 399 | |
| 400 | require.NoError(t, err) |
| 401 | require.Equal(t, int64(1), servo.FirstStepThreshold) |
| 402 | require.Equal(t, true, servo.FirstUpdate) |
| 403 | require.Equal(t, -1.0, servo.MeanFreq()) |
| 404 | require.Equal(t, "INIT", servo.GetState().String()) |
| 405 | require.Equal(t, 2.0, servo.GetMaxFreq()) |
| 406 | } |
| 407 | |
| 408 | func TestNewPiServoStepth(t *testing.T) { |
| 409 | ctrl := gomock.NewController(t) |
| 410 | defer ctrl.Finish() |
| 411 | mockFrequencyGetter := NewMockFrequencyGetter(ctrl) |
| 412 | gomock.InOrder( |
| 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) |
nothing calls this directly
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