This is a part of the implementation for Test Driven Development.
Teams of two have implemented a stub for the class PID controller to be usd in ACME robot.
The project includes the stub and the test code for making sure the controller is working properly.

Driver - Vishaal KannaSivakumar
Navigator - Rishabh Singh

Driver - Sanchit Kedia
Navigator - Adarsh Malapaka

git clone https://github.com/Vishaal-Kanna/ENPM808X_TDD_group3_team2.git
cd
mkdir build
cd build
cmake ..
make
Run tests: ./test/cpp-test
Run program: ./app/pid_control

cd build
sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage

Upon discussion the following future changes/suggestions were agreed upon:

1. Include an Activity UML diagram.
   
2. Add More Test cases for the computeCommand function.
   
3. Test3 to check time step is redundant since there is no user input to set the value as negative.
   
4. The error threshold for convergence of the PID loop is currently set to 0.1, consider reducing this value.
   
5. Consider replacing pragma once with #ifndef guards in pid.hpp.
   
6. _tstep can be lumped into the Ki and Kd gains.