From ee3c3adfdff89a5eb1334f1b5c42dea68492aaf7 Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Fri, 21 Jun 2019 17:00:36 +0200 Subject: [PATCH] Tests that were failing are now behaving as expected --- Firmware/Tests/test_runner.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Firmware/Tests/test_runner.cpp b/Firmware/Tests/test_runner.cpp index 5f921645..0b3cc5e2 100644 --- a/Firmware/Tests/test_runner.cpp +++ b/Firmware/Tests/test_runner.cpp @@ -235,6 +235,7 @@ TEST_SUITE("delta_enc"){ TEST_SUITE("velLimiter") { // Velocity limiting in current mode #include +using doctest::Approx; auto limitVel(float vel_limit, float vel_estimate, float vel_gain, float Iq, float current_lim = 50.0f) { float Imax = std::min((vel_limit - vel_estimate) * vel_gain, current_lim); @@ -268,4 +269,9 @@ TEST_SUITE("velLimiter") { CHECK(limitVel(200000.0f, -195000.0f, 5.0E-4, 30.0f) == 30.0f); CHECK(limitVel(200000.0f, -205000.0f, 5.0E-4f, 30.0f) == 30.0f); } + + TEST_CASE("Over-Center"){ + CHECK(limitVel(20000.0f, 1000.0f, 5.0E-4f, 30.0f) == 9.5f); + CHECK(limitVel(20000.0f, -1000.0f, 5.0E-4f, 30.0f) == Approx(10.5f)); + } } \ No newline at end of file