Fix edge case in coerce and add tests
This adds a baseline test case, as well as two tests (horizontal &
vertical) which failed prior to this change. I would encourage someone
to write more tests for the coerce goal functionality, but I am not
going to do it in this change :P
Change-Id: I76ee32cec46b9557fc5f5a09fa172be64b82cc70
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 17613ab..7d3b915 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -142,6 +142,22 @@
],
)
+cc_test(
+ name = "coerce_goal_test",
+ srcs = [
+ "coerce_goal_test.cc",
+ ],
+ linkopts = [
+ "-lm",
+ ],
+ deps = [
+ ":coerce_goal",
+ "//aos/controls:polytope",
+ "//aos/testing:googletest",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
# TODO(austin): Select isn't working right. We should be able to remove
# logging conditionally with select and have CPU constraints work correctly.
cc_library(