configuration for testing

lib/mock_interfaces/Filter_IIR.h

@@ -0,0 +1,48 @@
+/* IIR digital low pass filter */
+#ifndef __FILTER_IIR__
+#define __FILTER_IIR__
+
+#include <stdint.h>
+
+#define DEFAULT_ALPHA 0.0
+
+template <typename dataType>
+class Filter_IIR
+{
+
+public:
+    /**
+     * Constructors
+     */
+    Filter_IIR(float alpha, dataType init_val=0) {
+        set_alpha(alpha);
+        prev_reading = init_val;
+    }
+    Filter_IIR() {
+        Filter_IIR(DEFAULT_ALPHA);
+    }
+
+    void set_alpha(float alpha);
+    dataType get_prev_reading() const {return prev_reading;}
+
+    dataType filtered_result(dataType new_val);
+
+private:    
+    float alpha;
+    dataType prev_reading;
+};
+
+template <typename dataType, int N>
+class FilterIIRMulti
+{
+protected:
+    Filter_IIR<dataType> filter_channels_[N];
+public:
+    virtual void setAlphas(int channel, float alpha) 
+    {
+    filter_channels_[channel].set_alpha(alpha);
+    }
+};
+
+#endif
+#pragma once

test/test_systems/main.cpp

@@ -1,11 +1,11 @@
 #include <gtest/gtest.h>
 
 #include "state_machine_test.h"
-#include "pedals_system_test.h"
+// #include "pedals_system_test.h"
 #include "torque_controller_mux_test.h"
 #include "drivetrain_system_test.h"
 #include "safety_system_test.h"
-#include "test_CASE.h"
+// #include "test_CASE.h"
 // #include "param_system_test.h"
 
 int main(int argc, char **argv)