From 229075f8a6e576faf348728ba3f5228a07cb8e08 Mon Sep 17 00:00:00 2001
From: Andru Liu <90433630+WallabyLester@users.noreply.github.com>
Date: Wed, 9 Oct 2024 16:00:30 -0700
Subject: [PATCH] Added test for update function.

---
 NP_Implementation/test/test_aPID_np.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/NP_Implementation/test/test_aPID_np.py b/NP_Implementation/test/test_aPID_np.py
index eff1e01..c500e84 100644
--- a/NP_Implementation/test/test_aPID_np.py
+++ b/NP_Implementation/test/test_aPID_np.py
@@ -15,5 +15,20 @@ class TestAdaptivePIDNP(unittest.TestCase):
         self.rbf = RBFNetwork(self.input_dim, self.n_centers)
         self.apid = AdaptivePIDNP(Kp, Ki, Kd, self.rbf)
 
+    def test_update(self):
+        """Test the update method."""
+        target = 10.0
+        measured_value = 8.0
+        dt = 0.1
+        
+        control_signal = self.apid.update(target, measured_value, dt)
+        
+        self.assertIsInstance(control_signal, float)        
+        self.assertGreater(control_signal, 0)
+        
+        measured_value = 9.0
+        control_signal_2 = self.apid.update(target, measured_value, dt)
+        self.assertNotEqual(control_signal, control_signal_2)
+
 if __name__ == '__main__':
     unittest.main()