added test

nkoenig · nkoenig · commit c61837bc2fee · 2023-03-13T17:08:14.000-07:00
Signed-off-by: Nate Koenig &lt;natekoenig@gmail.com&gt;
diff --git a/src/PID_TEST.cc b/src/PID_TEST.cc
@@ -178,6 +178,9 @@ TEST(PidTest, Update)
   pid.SetIMin(0.0);
   result = pid.Update(5.0, 1.0, std::chrono::duration<double>(10.0));
   EXPECT_DOUBLE_EQ(result, -5.5);
+
+  result = pid.Update(5.0, 1.0, std::chrono::duration<double>(0.0));
+  EXPECT_DOUBLE_EQ(result, 0);
 }
 
 /////////////////////////////////////////////////

Original file line number	Diff line number	Diff line change
`@@ -178,6 +178,9 @@ TEST(PidTest, Update)`
`178`	`178`	`pid.SetIMin(0.0);`
`179`	`179`	`result = pid.Update(5.0, 1.0, std::chrono::duration<double>(10.0));`
`180`	`180`	`EXPECT_DOUBLE_EQ(result, -5.5);`
	`181`	`+`
	`182`	`+ result = pid.Update(5.0, 1.0, std::chrono::duration<double>(0.0));`
	`183`	`+ EXPECT_DOUBLE_EQ(result, 0);`
`181`	`184`	`}`
`182`	`185`
`183`	`186`	`/////////////////////////////////////////////////`