Add doctest based tests ported from br3ttb/Arduino-PID-Library#107

Author: adisbladis

PIDController_test.cpp

@@ -0,0 +1,168 @@
+#define DOCTEST_CONFIG_IMPLEMENT_WITH_MAIN
+#include <doctest/doctest.h>
+
+// Test cases adapted from https://github.com/br3ttb/Arduino-PID-Library/pull/107
+
+#include "PID_v1.h"
+
+TEST_CASE("direct") {
+  // Define Variables we'll be connecting to
+  double Setpoint, Input, Output;
+
+  // Specify the links and initial tuning parameters
+  PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, DIRECT);
+
+  // initialize the variables we're linked to
+  Input = 50;
+  Setpoint = 100;
+
+  unsigned long ms = 0;
+
+  // turn the PID on
+  myPID.Begin(AUTOMATIC, ms);
+  for (int i = 0; i < 1000; i++) {
+    ms += 200;
+
+    if (myPID.Compute(ms)) {
+      Input = Input + (Output - Input) / 25.6;
+    }
+  }
+
+  CHECK(Setpoint == round(Input));
+}
+
+TEST_CASE("reverse") {
+  // Define Variables we'll be connecting to
+  double Setpoint, Input, Output;
+
+  // Specify the links and initial tuning parameters
+  PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
+
+  // initialize the variables we're linked to
+  Input = 50;
+  Setpoint = 100;
+
+  unsigned long ms = 0;
+
+  // turn the PID on
+  myPID.Begin(AUTOMATIC, ms);
+  for (int i = 0; i < 1000; i++) {
+    ms += 200;
+
+    if (myPID.Compute(ms)) {
+      Input = Input + (Input - Output) / 25.6;
+    }
+  }
+
+  CHECK(Setpoint == round(Input));
+}
+
+TEST_CASE("mode") {
+  // Define Variables we'll be connecting to
+  double Setpoint, Input, Output;
+
+  // Specify the links and initial tuning parameters
+  PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
+
+  // initialize the variables we're linked to
+  Input = 50;
+  Setpoint = 100;
+
+  unsigned long ms = 0;
+
+  // turn the PID on
+  myPID.Begin(MANUAL, ms);
+  for (int i = 0; i < 1000; i++) {
+    ms += 200;
+
+    if (myPID.Compute(ms)) {
+      Input = Input + (Input - Output) / 25.6;
+    }
+  }
+
+  CHECK(50 == round(Input));
+}
+
+
+TEST_CASE("getFunctions") {
+
+  // Define Variables we'll be connecting to
+  double Setpoint, Input, Output;
+
+  // Specify the links and initial tuning parameters
+  PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
+
+  // initialize the variables we're linked to
+  Input = 50;
+  Setpoint = 100;
+
+  // turn the PID on
+  myPID.SetMode(AUTOMATIC);
+
+  // std::cout << "Input = " << Input << "; Output = " << Output << std::endl;
+  CHECK(2 == myPID.GetKp());
+  CHECK(5 == myPID.GetKi());
+  CHECK(1 == myPID.GetKd());
+  CHECK(REVERSE == myPID.GetDirection());
+  CHECK(AUTOMATIC == myPID.GetMode());
+}
+
+TEST_CASE("sampleTimeWorks") {
+
+  // Define Variables we'll be connecting to
+  double Setpoint, Input, Output;
+
+  // Specify the links and initial tuning parameters
+  PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
+
+  // initialize the variables we're linked to
+  Input = 50;
+  Setpoint = 100;
+
+  unsigned long ms = 0;
+
+  bool flag = false;
+
+
+  // turn the PID on
+  myPID.SetMode(AUTOMATIC);
+  for (int i = 0; i < 1000; i++) {
+    ms += 200;
+
+    if (myPID.Compute(ms)) {
+      flag = true;
+      Input = Input + (Input - Output) / 25.6;
+    }
+  }
+
+  CHECK(flag == true);
+}
+
+TEST_CASE("sampleTimeNotWorks") {
+
+  // Define Variables we'll be connecting to
+  double Setpoint, Input, Output;
+
+  // Specify the links and initial tuning parameters
+  PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
+
+  // initialize the variables we're linked to
+  Input = 50;
+  Setpoint = 100;
+
+  unsigned long ms = 0;
+
+  bool flag = false;
+
+  // turn the PID on
+  myPID.Begin(MANUAL, ms);
+  for (int i = 0; i < 1000; i++) {
+    ms += 199;
+    if (myPID.Compute(ms)) {
+      flag = true;
+      Input = Input + (Input - Output) / 25.6;
+    }
+  }
+
+  CHECK(flag == false);
+}

shell.nix

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+let
+  pkgs = import <nixpkgs> { };
+in pkgs.mkShell {
+  packages = [
+    pkgs.doctest
+  ];
+}