def pid_controller():
inp = Mock()
inp.return_value = 0
controller = PIDController(0.05, 0.0, 0.0, measurement_source=inp)
controller.setInputRange(-input_range / 2, input_range / 2)
yield controller
controller.close()
def pid_controller():
controller = PIDController(0.05, 0.0, 0.0)
controller.enableContinuousInput(-input_range / 2, input_range / 2)
yield controller
controller.close()