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103 lines
2.1 KiB
C++
103 lines
2.1 KiB
C++
//
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// FILE: unit_test_001.cpp
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// AUTHOR: Rob Tillaart
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// DATE: 2020-12-15
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// PURPOSE: unit tests for the PID_RT library
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// https://github.com/RobTillaart/PID_RT
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// https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
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//
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// supported assertions
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// ----------------------------
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// assertEqual(expected, actual)
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// assertNotEqual(expected, actual)
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// assertLess(expected, actual)
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// assertMore(expected, actual)
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// assertLessOrEqual(expected, actual)
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// assertMoreOrEqual(expected, actual)
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// assertTrue(actual)
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// assertFalse(actual)
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// assertNull(actual)
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#include <ArduinoUnitTests.h>
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#include "PID_RT.h"
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unittest_setup()
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{
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}
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unittest_teardown()
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{
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}
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unittest(test_constructor)
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{
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PID_RT PID;
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PID.reset();
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assertFalse(PID.isRunning());
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PID.start();
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assertTrue(PID.isRunning());
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PID.stop();
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assertFalse(PID.isRunning());
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assertEqual(0, PID.getSetPoint());
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PID.setPoint(152.45);
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float diffSetPoint = abs(152.45 - PID.getSetPoint());
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assertMoreOrEqual(0.01, diffSetPoint);
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assertFalse(PID.getReverse());
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PID.setReverse(true);
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assertTrue(PID.getReverse());
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PID.setReverse(false);
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assertFalse(PID.getReverse());
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assertEqual(250, PID.getInterval());
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PID.setInterval(125);
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assertEqual(125, PID.getInterval());
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assertEqual(0, PID.getOutputMin());
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assertEqual(100, PID.getOutputMax());
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PID.setOutputRange(125, 250);
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assertEqual(125, PID.getOutputMin());
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assertEqual(250, PID.getOutputMax());
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assertEqual(0, PID.getKp());
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assertEqual(0, PID.getKi());
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assertEqual(0, PID.getKd());
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PID.setK(3, 2, 1);
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assertEqual(3, PID.getKp());
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assertEqual(2, PID.getKi());
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assertEqual(1, PID.getKd());
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assertTrue(PID.isPropOnInput());
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assertFalse(PID.isPropOnError());
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PID.setPropOnError();
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assertFalse(PID.isPropOnInput());
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assertTrue(PID.isPropOnError());
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PID.setPropOnInput();
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assertTrue(PID.isPropOnInput());
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assertFalse(PID.isPropOnError());
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}
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unittest(test_compute)
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{
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PID_RT PID;
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PID.reset();
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assertFalse(PID.isRunning());
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// TODO how to test this
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assertEqual(1, 1);
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}
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unittest_main()
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// --------
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