From e7dceb740d831226a64781a118fe671c93b078b7 Mon Sep 17 00:00:00 2001
From: CL16gtgh <ryang359@gatech.edu>
Date: Sun, 12 May 2024 22:06:24 -0400
Subject: [PATCH] configuration for testing

---
 lib/mock_interfaces/Filter_IIR.h | 48 ++++++++++++++++++++++++++++++++
 test/test_systems/main.cpp       |  4 +--
 2 files changed, 50 insertions(+), 2 deletions(-)
 create mode 100644 lib/mock_interfaces/Filter_IIR.h

diff --git a/lib/mock_interfaces/Filter_IIR.h b/lib/mock_interfaces/Filter_IIR.h
new file mode 100644
index 000000000..312b2f795
--- /dev/null
+++ b/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
\ No newline at end of file
diff --git a/test/test_systems/main.cpp b/test/test_systems/main.cpp
index 6a3061db6..8a56a607e 100644
--- a/test/test_systems/main.cpp
+++ b/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)