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Commit eb4d06e4 authored by Charles JAVERLIAT's avatar Charles JAVERLIAT
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Merge branch 'test/split-tests' into 'chores/refactoring' 

Test/split tests

See merge request cdf2020/microcontrollers/motors-control-card/motors-control-card-driver!17
parents ace2434e 1ab32361
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2 merge requests!17Test/split tests,!16Refactoring
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    test/test_main.cpp
    + 24
    − 310
    View file @ eb4d06e4
    #include <mbed.h>
    #include <unity.h>
    #include <cmath>
    #include "regulator/PID.hpp"
    #include "odometry/Odometer.hpp"
    #include "motor/LeftMotor.hpp"
    #include "motor/RightMotor.hpp"
    #include "unit_tests/test_encoders.hpp"
    #include "unit_tests/test_motors.hpp"
    #include "unit_tests/test_pid.hpp"
    #include "unit_tests/test_odometer.hpp"
    void wait_for_enter()
    {
    int c;
    int c = -1;
    while ((c = getchar()) != '\n' && c != EOF)
    do
    {
    continue;
    }
    }
    DigitalOut led1(LED1);
    void test_led_builtin_pin_number()
    {
    TEST_ASSERT_EQUAL(0x13, LED1);
    }
    void test_led_state_high()
    {
    led1.write(1);
    wait_ms(50);
    TEST_ASSERT_EQUAL(1, led1.read());
    }
    void test_led_state_low()
    {
    led1.write(0);
    wait_ms(50);
    TEST_ASSERT_EQUAL(0, led1.read());
    }
    void test_pid_compute_all_Kp_Ki_Kd_1()
    {
    PID pid({1, 1, 1}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // last_error = error (as it is not set, we copy the error for this iteration)
    // out = kp * (1-0) + ki * (1-0) * 0.01 + kd * (last_error - error) / dt = 1 * 1 + 1 * 1 * 0.01 = 1.01
    TEST_ASSERT_EQUAL_DOUBLE(1.01, pid.compute(0.01));
    }
    void test_pid_compute_proportional_Kp1()
    {
    PID pid({1, 0, 0}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // out = kp * error = 1 * 1
    TEST_ASSERT_EQUAL_DOUBLE(1, pid.compute(0.01));
    pid.setProcessValue(1.2);
    // error = sp - pv = 1-1.2 = -0.2
    // out = kp * error = 1 * -0.2 = -0.2
    TEST_ASSERT_EQUAL_DOUBLE(-0.2, pid.compute(0.01));
    }
    void test_pid_cumpute_proportional_Kp2()
    {
    PID pid({2, 0, 0}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // out = kp * error = 2 * 1
    TEST_ASSERT_EQUAL_DOUBLE(2, pid.compute(0.01));
    }
    void test_pid_cumpute_integral_Ki_1()
    {
    PID pid({0, 1, 0}, -1, 1);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0 + 1 * 0.01 = 0.01
    // out = ki * accum = 1 * 0.01
    TEST_ASSERT_EQUAL_DOUBLE(0.01, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.01 + 1 * 0.01
    // out = ki * accum = 1 * 0.02
    TEST_ASSERT_EQUAL_DOUBLE(0.02, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.02 + 1 * 0.01
    // out = ki * accum = 1 * 0.03
    TEST_ASSERT_EQUAL_DOUBLE(0.03, pid.compute(0.01));
    }
    void test_pid_cumpute_integral_Ki_2()
    {
    PID pid({0, 2, 0}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0 + 1 * 0.01 = 0.01
    // out = ki * accum = 2 * 0.01
    TEST_ASSERT_EQUAL_DOUBLE(0.02, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.01 + 1 * 0.01 = 0.02
    // out = ki * accum = 2 * 0.02
    TEST_ASSERT_EQUAL_DOUBLE(0.04, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.02 + 1 * 0.01 = 0.03
    // out = ki * accum = 2 * 0.03
    TEST_ASSERT_EQUAL_DOUBLE(0.06, pid.compute(0.01));
    }
    void test_pid_compute_derivative_division_by_zero()
    {
    PID pid({0, 0, 1}, -1, 1);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // last_error = error (as it is not set, we copy the error for this iteration)
    // out = ki * accum = 1 * 0.02
    TEST_ASSERT_EQUAL_DOUBLE(0, pid.compute(0));
    }
    void test_odometer_init_values()
    {
    const Odom::Geometry geometry = {
    0.062, // Nominal wheel diameter
    0.342 // Nominal wheelbase
    };
    Encoder leftEncoder(D7, D8, 1024);
    Encoder rightEncoder(D10, D12, 1000);
    Odometer odom(geometry, leftEncoder, rightEncoder);
    // When creating the odometer, position should be all zeroes, same for speed
    TEST_ASSERT_EQUAL(0, odom.getPosition().x);
    TEST_ASSERT_EQUAL(0, odom.getPosition().y);
    TEST_ASSERT_EQUAL(0, odom.getPosition().theta);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().linearSpeed);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().angularSpeed);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().leftWheelSpeed);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().rightWheelSpeed);
    }
    void test_encoder_left_resolution_X4()
    {
    Encoder leftEncoder(D7, D8, 1024);
    TEST_ASSERT_EQUAL(1024 * 4, leftEncoder.getResolution());
    }
    void test_encoder_left_still()
    {
    Encoder leftEncoder(D7, D8, 1024);
    TEST_ASSERT_EQUAL(0, leftEncoder.getTicks());
    wait_ms(50);
    TEST_ASSERT_EQUAL(0, leftEncoder.getTicks());
    }
    void test_encoder_left_forward()
    {
    Encoder leftEncoder(D7, D8, 1024);
    printf(">> Turn left encoder forward and press [ENTER] to continue.\n");
    wait_for_enter();
    TEST_ASSERT_GREATER_OR_EQUAL(1, leftEncoder.getTicks());
    }
    void test_encoder_left_backward()
    {
    Encoder leftEncoder(D7, D8, 1024);
    printf(">> Turn left encoder backward and press [ENTER] to continue.\n");
    wait_for_enter();
    TEST_ASSERT_LESS_OR_EQUAL(-1, leftEncoder.getTicks());
    }
    void test_encoder_right_resolution_X4()
    {
    Encoder rightEncoder(D10, D12, 1000);
    TEST_ASSERT_EQUAL(1000 * 4, rightEncoder.getResolution());
    }
    void test_encoder_right_still()
    {
    Encoder rightEncoder(D10, D12, 1000);
    TEST_ASSERT_EQUAL(0, rightEncoder.getTicks());
    wait_ms(50);
    TEST_ASSERT_EQUAL(0, rightEncoder.getTicks());
    }
    void test_encoder_right_backward()
    {
    Encoder rightEncoder(D10, D12, 1000);
    printf(">> Turn right encoder backward and press [ENTER] when done.\n");
    wait_for_enter();
    TEST_ASSERT_LESS_OR_EQUAL(-1, rightEncoder.getTicks());
    }
    void test_encoder_right_forward()
    {
    Encoder rightEncoder(D10, D12, 1000);
    printf(">> Turn right encoder forward and press [ENTER] when done.\n");
    wait_for_enter();
    TEST_ASSERT_GREATER_OR_EQUAL(1, rightEncoder.getTicks());
    }
    void test_left_motor_init()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    }
    void test_right_motor_init()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    }
    if (c != '\r') // Prevent '\r\n' to display the message twice
    {
    printf("\t[>] Press 'enter' to continue.\n");
    }
    void test_left_motor_speed_0()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    TEST_MESSAGE("Left motor should hold position for 5sec.");
    leftMotor.enablePwm();
    leftMotor.setSpeed(0);
    wait_ms(5000);
    leftMotor.disablePwm();
    TEST_PASS();
    }
    c = getchar();
    void test_right_motor_speed_0()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    TEST_MESSAGE("Right motor should hold position for 5sec.");
    rightMotor.enablePwm();
    rightMotor.setSpeed(0);
    wait_ms(5000);
    rightMotor.disablePwm();
    TEST_PASS();
    } while (c != '\n' && c != EOF);
    }
    void test_left_motor_fullspeed_forward()
    int wait_for_yes_no()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    TEST_MESSAGE("Left motor should go fullspeed forward for 2sec.");
    leftMotor.enablePwm();
    leftMotor.setSpeed(1);
    wait_ms(2000);
    leftMotor.disablePwm();
    TEST_PASS();
    }
    void test_right_motor_fullspeed_forward()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    TEST_MESSAGE("Right motor should go fullspeed forward for 2sec.");
    rightMotor.enablePwm();
    rightMotor.setSpeed(1);
    wait_ms(2000);
    rightMotor.disablePwm();
    TEST_PASS();
    }
    int c;
    void test_left_motor_fullspeed_backward()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    TEST_MESSAGE("Left motor should go fullspeed backward for 2sec.");
    leftMotor.enablePwm();
    leftMotor.setSpeed(-1);
    wait_ms(2000);
    leftMotor.disablePwm();
    TEST_PASS();
    }
    do
    {
    printf("\t[>] Press 'y' or 'n'.\n");
    c = getchar();
    } while (c != 'y' && c != 'n');
    void test_right_motor_fullspeed_backward()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    TEST_MESSAGE("Right motor should go fullspeed backward for 2sec.");
    rightMotor.enablePwm();
    rightMotor.setSpeed(-1);
    wait_ms(2000);
    rightMotor.disablePwm();
    TEST_PASS();
    return c;
    }
    int main()
    ......@@ -303,36 +42,11 @@ int main()
    UNITY_BEGIN();
    RUN_TEST(test_led_builtin_pin_number);
    RUN_TEST(test_led_state_high);
    RUN_TEST(test_led_state_low);
    RUN_TEST(test_pid_compute_proportional_Kp1);
    RUN_TEST(test_pid_cumpute_proportional_Kp2);
    RUN_TEST(test_pid_cumpute_integral_Ki_1);
    RUN_TEST(test_pid_cumpute_integral_Ki_2);
    RUN_TEST(test_pid_compute_derivative_division_by_zero);
    RUN_TEST(test_pid_compute_all_Kp_Ki_Kd_1);
    RUN_TEST(test_odometer_init_values);
    RUN_TEST(test_encoder_left_resolution_X4);
    RUN_TEST(test_encoder_right_resolution_X4);
    RUN_TEST(test_encoder_left_still);
    RUN_TEST(test_encoder_right_still);
    RUN_TEST(test_encoder_left_forward);
    RUN_TEST(test_encoder_left_backward);
    RUN_TEST(test_encoder_right_forward);
    RUN_TEST(test_encoder_right_backward);
    //encoders_tests::run_all();
    motors_tests::run_all();
    RUN_TEST(test_left_motor_init);
    RUN_TEST(test_right_motor_init);
    RUN_TEST(test_left_motor_speed_0);
    RUN_TEST(test_right_motor_speed_0);
    RUN_TEST(test_left_motor_fullspeed_forward);
    RUN_TEST(test_right_motor_fullspeed_forward);
    RUN_TEST(test_left_motor_fullspeed_backward);
    RUN_TEST(test_right_motor_fullspeed_backward);
    pid_tests::run_all();
    odometer_tests::run_all();
    UNITY_END();
    }
    \ No newline at end of file
    test/unit_tests/test_encoders.hpp 0 → 100644
    + 93
    − 0
    View file @ eb4d06e4
    #ifndef TEST_ENCODERS_HPP
    #define TEST_ENCODERS_HPP
    #include <unity.h>
    #include <mbed.h>
    #include "Encoder.hpp"
    // Provided by test_main.cpp
    void wait_for_enter();
    int wait_for_yes_no();
    namespace encoders_tests
    {
    void test_encoder_left_resolution_X4()
    {
    Encoder leftEncoder(D7, D8, 1024);
    TEST_ASSERT_EQUAL(1024 * 4, leftEncoder.getResolution());
    }
    void test_encoder_left_still()
    {
    Encoder leftEncoder(D7, D8, 1024);
    TEST_ASSERT_EQUAL(0, leftEncoder.getTicks());
    wait_ms(50);
    TEST_ASSERT_EQUAL(0, leftEncoder.getTicks());
    }
    void test_encoder_left_forward()
    {
    Encoder leftEncoder(D7, D8, 1024);
    printf("[*] Turn left encoder forward.\n");
    wait_for_enter();
    TEST_ASSERT_GREATER_OR_EQUAL(1, leftEncoder.getTicks());
    }
    void test_encoder_left_backward()
    {
    Encoder leftEncoder(D7, D8, 1024);
    printf("[*] Turn left encoder backward.\n");
    wait_for_enter();
    TEST_ASSERT_LESS_OR_EQUAL(-1, leftEncoder.getTicks());
    }
    void test_encoder_right_resolution_X4()
    {
    Encoder rightEncoder(D10, D12, 1000);
    TEST_ASSERT_EQUAL(1000 * 4, rightEncoder.getResolution());
    }
    void test_encoder_right_still()
    {
    Encoder rightEncoder(D10, D12, 1000);
    TEST_ASSERT_EQUAL(0, rightEncoder.getTicks());
    wait_ms(50);
    TEST_ASSERT_EQUAL(0, rightEncoder.getTicks());
    }
    void test_encoder_right_backward()
    {
    Encoder rightEncoder(D10, D12, 1000);
    printf("[*] Turn right encoder backward.\n");
    wait_for_enter();
    TEST_ASSERT_LESS_OR_EQUAL(-1, rightEncoder.getTicks());
    }
    void test_encoder_right_forward()
    {
    Encoder rightEncoder(D10, D12, 1000);
    printf("[*] Turn right encoder forward.\n");
    wait_for_enter();
    TEST_ASSERT_GREATER_OR_EQUAL(1, rightEncoder.getTicks());
    }
    void run_all()
    {
    printf("\n*===============================*\n\tTesting encoders\n*===============================*\n\n");
    RUN_TEST(test_encoder_left_resolution_X4);
    RUN_TEST(test_encoder_right_resolution_X4);
    RUN_TEST(test_encoder_left_still);
    RUN_TEST(test_encoder_right_still);
    RUN_TEST(test_encoder_left_forward);
    RUN_TEST(test_encoder_left_backward);
    RUN_TEST(test_encoder_right_forward);
    RUN_TEST(test_encoder_right_backward);
    }
    }
    #endif
    \ No newline at end of file
    test/unit_tests/test_motors.hpp 0 → 100644
    + 121
    − 0
    View file @ eb4d06e4
    #ifndef TEST_MOTORS_HPP
    #define TEST_MOTORS_HPP
    #include <unity.h>
    #include <mbed.h>
    #include "motor/LeftMotor.hpp"
    #include "motor/RightMotor.hpp"
    // Provided by test_main.cpp
    void wait_for_enter();
    int wait_for_yes_no();
    namespace motors_tests
    {
    void test_left_motor_init()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    }
    void test_right_motor_init()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    }
    void test_left_motor_speed_0()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    leftMotor.enablePwm();
    leftMotor.setSpeed(0);
    printf("[?] Is the left motor holding position ? (y/n)\n");
    TEST_ASSERT_EQUAL_CHAR('y', wait_for_yes_no());
    leftMotor.disablePwm();
    TEST_PASS();
    }
    void test_right_motor_speed_0()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    rightMotor.enablePwm();
    rightMotor.setSpeed(0);
    printf("[?] Is the right motor holding position ? (y/n)\n");
    TEST_ASSERT_EQUAL_CHAR('y', wait_for_yes_no());
    rightMotor.disablePwm();
    TEST_PASS();
    }
    void test_left_motor_fullspeed_forward()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    leftMotor.enablePwm();
    leftMotor.setSpeed(1);
    printf("[?] Is the left motor going fullspeed forward ? (y/n)\n");
    TEST_ASSERT_EQUAL_CHAR('y', wait_for_yes_no());
    leftMotor.disablePwm();
    TEST_PASS();
    }
    void test_right_motor_fullspeed_forward()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    rightMotor.enablePwm();
    rightMotor.setSpeed(1);
    printf("[?] Is the right motor going fullspeed forward ? (y/n)\n");
    TEST_ASSERT_EQUAL_CHAR('y', wait_for_yes_no());
    rightMotor.disablePwm();
    TEST_PASS();
    }
    void test_left_motor_fullspeed_backward()
    {
    LeftMotor leftMotor;
    TEST_ASSERT_TRUE(leftMotor.init());
    leftMotor.enablePwm();
    leftMotor.setSpeed(-1);
    printf("[?] Is the left motor going fullspeed backward ? (y/n)\n");
    TEST_ASSERT_EQUAL_CHAR('y', wait_for_yes_no());
    leftMotor.disablePwm();
    TEST_PASS();
    }
    void test_right_motor_fullspeed_backward()
    {
    RightMotor rightMotor;
    TEST_ASSERT_TRUE(rightMotor.init());
    rightMotor.enablePwm();
    rightMotor.setSpeed(-1);
    printf("[?] Is the right motor going fullspeed backward ? (y/n)\n");
    TEST_ASSERT_EQUAL_CHAR('y', wait_for_yes_no());
    rightMotor.disablePwm();
    TEST_PASS();
    }
    void run_all()
    {
    printf("\n*===============================*\n\tTesting motors\n*===============================*\n\n");
    printf("[!] Make sure that power is ON and the wheels don't touch the floor.\n");
    wait_for_enter();
    RUN_TEST(test_left_motor_init);
    RUN_TEST(test_right_motor_init);
    RUN_TEST(test_left_motor_speed_0);
    RUN_TEST(test_right_motor_speed_0);
    RUN_TEST(test_left_motor_fullspeed_forward);
    wait_ms(1000); // Wait for PWM to properly shut down
    RUN_TEST(test_left_motor_fullspeed_backward);
    wait_ms(1000);
    RUN_TEST(test_right_motor_fullspeed_forward);
    wait_ms(1000);
    RUN_TEST(test_right_motor_fullspeed_backward);
    }
    }
    #endif
    \ No newline at end of file
    test/unit_tests/test_odometer.hpp 0 → 100644
    + 46
    − 0
    View file @ eb4d06e4
    #ifndef TEST_ODOMETER_HPP
    #define TEST_ODOMETER_HPP
    #include <unity.h>
    #include <mbed.h>
    #include "odometry/Odometer.hpp"
    // Provided by test_main.cpp
    void wait_for_enter();
    int wait_for_yes_no();
    namespace odometer_tests
    {
    void test_odometer_init_values()
    {
    const Odom::Geometry geometry = {
    0.062, // Nominal wheel diameter
    0.342 // Nominal wheelbase
    };
    //TODO(cjaverliat): Mock encoders
    Encoder leftEncoder(D7, D8, 1024);
    Encoder rightEncoder(D10, D12, 1000);
    Odometer odom(geometry, leftEncoder, rightEncoder);
    // When creating the odometer, position should be all zeroes, same for speed
    TEST_ASSERT_EQUAL(0, odom.getPosition().x);
    TEST_ASSERT_EQUAL(0, odom.getPosition().y);
    TEST_ASSERT_EQUAL(0, odom.getPosition().theta);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().linearSpeed);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().angularSpeed);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().leftWheelSpeed);
    TEST_ASSERT_EQUAL(0, odom.getSpeed().rightWheelSpeed);
    }
    void run_all()
    {
    printf("\n*===============================*\n\tTesting odometer\n*===============================*\n\n");
    RUN_TEST(test_odometer_init_values);
    }
    }
    #endif
    \ No newline at end of file
    test/unit_tests/test_pid.hpp 0 → 100644
    + 119
    − 0
    View file @ eb4d06e4
    #ifndef TEST_PID_HPP
    #define TEST_PID_HPP
    #include <unity.h>
    #include <mbed.h>
    #include "regulator/SpeedRegulator.hpp"
    // Provided by test_main.cpp
    void wait_for_enter();
    int wait_for_yes_no();
    namespace pid_tests
    {
    void test_pid_compute_all_Kp_Ki_Kd_1()
    {
    PID pid({1, 1, 1}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // last_error = error (as it is not set, we copy the error for this iteration)
    // out = kp * (1-0) + ki * (1-0) * 0.01 + kd * (last_error - error) / dt = 1 * 1 + 1 * 1 * 0.01 = 1.01
    TEST_ASSERT_EQUAL_DOUBLE(1.01, pid.compute(0.01));
    }
    void test_pid_compute_proportional_Kp1()
    {
    PID pid({1, 0, 0}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // out = kp * error = 1 * 1
    TEST_ASSERT_EQUAL_DOUBLE(1, pid.compute(0.01));
    pid.setProcessValue(1.2);
    // error = sp - pv = 1-1.2 = -0.2
    // out = kp * error = 1 * -0.2 = -0.2
    TEST_ASSERT_EQUAL_DOUBLE(-0.2, pid.compute(0.01));
    }
    void test_pid_cumpute_proportional_Kp2()
    {
    PID pid({2, 0, 0}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // out = kp * error = 2 * 1
    TEST_ASSERT_EQUAL_DOUBLE(2, pid.compute(0.01));
    }
    void test_pid_cumpute_integral_Ki_1()
    {
    PID pid({0, 1, 0}, -1, 1);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0 + 1 * 0.01 = 0.01
    // out = ki * accum = 1 * 0.01
    TEST_ASSERT_EQUAL_DOUBLE(0.01, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.01 + 1 * 0.01
    // out = ki * accum = 1 * 0.02
    TEST_ASSERT_EQUAL_DOUBLE(0.02, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.02 + 1 * 0.01
    // out = ki * accum = 1 * 0.03
    TEST_ASSERT_EQUAL_DOUBLE(0.03, pid.compute(0.01));
    }
    void test_pid_cumpute_integral_Ki_2()
    {
    PID pid({0, 2, 0}, -5, 5);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0 + 1 * 0.01 = 0.01
    // out = ki * accum = 2 * 0.01
    TEST_ASSERT_EQUAL_DOUBLE(0.02, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.01 + 1 * 0.01 = 0.02
    // out = ki * accum = 2 * 0.02
    TEST_ASSERT_EQUAL_DOUBLE(0.04, pid.compute(0.01));
    // error = sp - pv = 1-0
    // accum = accum + error * 0.01 = 0.02 + 1 * 0.01 = 0.03
    // out = ki * accum = 2 * 0.03
    TEST_ASSERT_EQUAL_DOUBLE(0.06, pid.compute(0.01));
    }
    void test_pid_compute_derivative_division_by_zero()
    {
    PID pid({0, 0, 1}, -1, 1);
    pid.setSetpoint(1);
    pid.setProcessValue(0);
    // error = sp - pv = 1-0
    // last_error = error (as it is not set, we copy the error for this iteration)
    // out = ki * accum = 1 * 0.02
    TEST_ASSERT_EQUAL_DOUBLE(0, pid.compute(0));
    }
    void run_all()
    {
    printf("\n*===============================*\n\tTesting PID\n*===============================*\n\n");
    RUN_TEST(test_pid_compute_proportional_Kp1);
    RUN_TEST(test_pid_cumpute_proportional_Kp2);
    RUN_TEST(test_pid_cumpute_integral_Ki_1);
    RUN_TEST(test_pid_cumpute_integral_Ki_2);
    RUN_TEST(test_pid_compute_derivative_division_by_zero);
    RUN_TEST(test_pid_compute_all_Kp_Ki_Kd_1);
    }
    }
    #endif
    \ No newline at end of file
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