Add missing argument to tests

Author: mtilda

src/lib.rs

@@ -12,20 +12,20 @@
 //! pid.p(10.0, 100.0);
 //!
 //! // Input a measurement with an error of 5.0 from our setpoint
-//! let output = pid.next_control_output(10.0);
+//! let output = pid.next_control_output(10.0, 1.0);
 //!
 //! // Show that the error is correct by multiplying by our kp
 //! assert_eq!(output.output, 50.0); // <--
 //! assert_eq!(output.p, 50.0);
 //!
 //! // It won't change on repeat; the controller is proportional-only
-//! let output = pid.next_control_output(10.0);
+//! let output = pid.next_control_output(10.0, 1.0);
 //! assert_eq!(output.output, 50.0); // <--
 //! assert_eq!(output.p, 50.0);
 //!
 //! // Add a new integral term to the controller and input again
 //! pid.i(1.0, 100.0);
-//! let output = pid.next_control_output(10.0);
+//! let output = pid.next_control_output(10.0, 1.0);
 //!
 //! // Now that the integral makes the controller stateful, it will change
 //! assert_eq!(output.output, 55.0); // <--
@@ -34,7 +34,7 @@
 //!
 //! // Add our final derivative term and match our setpoint target
 //! pid.d(2.0, 100.0);
-//! let output = pid.next_control_output(15.0);
+//! let output = pid.next_control_output(15.0, 1.0);
 //!
 //! // The output will now say to go down due to the derivative
 //! assert_eq!(output.output, -5.0); // <--
@@ -79,7 +79,7 @@ impl<T: PartialOrd + num_traits::Signed + Copy> Number for T {}
 /// p_controller.p(10.0, 100.0);
 ///
 /// // Get first output
-/// let p_output = p_controller.next_control_output(400.0);
+/// let p_output = p_controller.next_control_output(400.0, 1.0);
 /// ```
 ///
 /// This controller would give you set a proportional controller to `10.0` with a target of `15.0` and an output limit of `100.0` per [output](Self::next_control_output) iteration. The same controller with a full PID system built in looks like:
@@ -92,7 +92,7 @@ impl<T: PartialOrd + num_traits::Signed + Copy> Number for T {}
 /// full_controller.p(10.0, 100.0).i(4.5, 100.0).d(0.25, 100.0);
 ///
 /// // Get first output
-/// let full_output = full_controller.next_control_output(400.0);
+/// let full_output = full_controller.next_control_output(400.0, 1.0);
 /// ```
 ///
 /// This [`next_control_output`](Self::next_control_output) method is what's used to input new values into the controller to tell it what the current state of the system is. In the examples above it's only being used once, but realistically this will be a hot method. Please see [ControlOutput] for examples of how to handle these outputs; it's quite straight forward and mirrors the values of this structure in some ways.
@@ -141,7 +141,7 @@ pub struct Pid<T: Number> {
 /// pid.p(10.0, 100.0).i(1.0, 100.0).d(2.0, 100.0);
 ///
 /// // Input an example value and get a report for an output iteration
-/// let output = pid.next_control_output(26.2456);
+/// let output = pid.next_control_output(26.2456, 1.0);
 /// println!("P: {}\nI: {}\nD: {}\nFinal Output: {}", output.p, output.i, output.d, output.output);
 /// ```
 #[derive(Debug, PartialEq, Eq)]