def test_set_vel(self):
mc = MotionControl()
t = Twist()
t.linear.x = 0.6
t.angular.z = 0.12
mc.set_vel(t)
self.assertEquals(mc.vel_pid.target, 0.6)
self.assertEquals(mc.rot_pid.target, 0.12)
def test_set_vel(self):
mc = MotionControl()
t = Twist()
t.linear.x = 0.6
t.angular.z = 0.12
mc.set_vel(t)
self.assertEquals(mc.vel_pid.target, 0.6)
self.assertEquals(mc.rot_pid.target, 0.12)
