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Tests that were failing are now behaving as expected

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Paul Guenette
2019-06-21 17:00:36 +02:00
parent 4c623f2068
commit ee3c3adfdf
1 changed files with 6 additions and 0 deletions
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Firmware/Tests/test_runner.cpp
+6
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@@ -235,6 +235,7 @@ TEST_SUITE("delta_enc"){
TEST_SUITE("velLimiter") {
// Velocity limiting in current mode
#include <algorithm>
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));
}
}