From 80e6d2d0978664ec214ed1377503a29c90799c73 Mon Sep 17 00:00:00 2001
From: Albin Hedman <albin.hedman@dectron.se>
Date: Wed, 19 Jun 2024 14:46:25 +0200
Subject: [PATCH] Add more tests

---
 src/lib.rs | 48 ++++++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 44 insertions(+), 4 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index 54583ae..58a813a 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -407,20 +407,60 @@ mod tests {
         }
     }
 
-    // NOTE: use for new test in future: /// Full PID operation with mixed signed integer checking to make sure they're equal
+    /// Full PID operation with mixed signed integer checking to make sure they're equal
     /// PID operation with zero'd values, checking to see if different floats equal each other
     #[test]
-    fn signed_integers_zeros() {
+    fn signed_integers() {
         let mut pid_i8 = Pid::new(10i8, 100);
         pid_i8.p(0, 100).i(0, 100).d(0, 100);
 
+        let mut pid_i16 = Pid::new(10i16, 100i16);
+        pid_i16.p(0i16, 100i16).i(0i16, 100i16).d(0i16, 100i16);
+
         let mut pid_i32 = Pid::new(10i32, 100);
         pid_i32.p(0, 100).i(0, 100).d(0, 100);
 
+        let mut pid_i64 = Pid::new(10i64, 100);
+        pid_i64.p(0, 100).i(0, 100).d(0, 100);
+
+        let mut pid_i128 = Pid::new(10i128, 100);
+        pid_i128.p(0, 100).i(0, 100).d(0, 100);
+
+        for _ in 0..5 {
+            assert_eq!(
+                pid_i8.next_control_output(0i8).output as i16,
+                pid_i16.next_control_output(0i16).output,
+            );
+
+            assert_eq!(
+                pid_i16.next_control_output(0i16).output as i32,
+                pid_i32.next_control_output(0i32).output,
+            );
+
+            assert_eq!(
+                pid_i32.next_control_output(0i32).output as i64,
+                pid_i64.next_control_output(0i64).output
+            );
+
+            assert_eq!(
+                pid_i64.next_control_output(0i64).output as i128,
+                pid_i128.next_control_output(0i128).output
+            );
+        }
+    }
+
+    #[test]
+    fn float_match_integers() {
+        let mut pid_i32 = Pid::new(10i32, 100);
+        pid_i32.p(0, 100).i(0, 100).d(0, 100);
+
+        let mut pid_f32 = Pid::new(10.0f32, 100.0);
+        pid_f32.p(0.0, 100.0).i(0.0, 100.0).d(0.0, 100.0);
+
         for _ in 0..5 {
             assert_eq!(
-                pid_i32.next_control_output(0).output,
-                pid_i8.next_control_output(0i8).output as i32
+                pid_i32.next_control_output(0i32).output as f32,
+                pid_f32.next_control_output(0f32).output
             );
         }
     }