#include <unity.h>

//#include "p_controller.h"
#include "pi_controller.h"

static const double KP = 2.0;
static const double KI = 1.0;
static const double T = 0.1;
static const double TOL = 1e-4; // Tolerance

void test_positive_error()
{
    PI_controller controller(KP, KI, T);

    double output = controller.update(10.0, 8.0);

    TEST_ASSERT_DOUBLE_WITHIN(TOL, 4.4, output);
}


int main()
{
    UNITY_BEGIN();

    RUN_TEST(test_positive_error);

    return UNITY_END();
}