11 #include <gtest/gtest.h>
13 namespace etrobocon2018_test {
24 TEST(PidTest, CalculateTest1)
29 pid.
setPid(0.5, 0.5, 0.5, 30.0);
37 TEST(detectBarrierTest, CalculateTest2)
42 pid.
setPid(0.5, 0.5, 0.5, 30.0);
50 TEST(PidTest, limitOutputTest1)
55 pid.
setPid(0.5, 0.5, 0.5, 30.0);
60 ASSERT_GE(output, 100.0);
64 TEST(PidTest, limitOutputTest2)
69 pid.
setPid(0.5, 0.5, 0.5, 300.0);
74 ASSERT_GE(output, -100.0);
78 TEST(PidTest, limitOutputTest3)
83 pid.
setPid(0.5, 0.5, 0.5, 30.0);
88 ASSERT_DOUBLE_EQ(output, 0.0);
void calculate(double light_value)
void calculate(double now_value)
void setPid(double p_gain_, double i_gain_, double d_gain_, double target_)
TEST(AIAnswerArrayTest, construct)
double limitOutput(double pid_value)
double limitOutput(double pid_value)