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kaidokert / rm32 / 25190758151
63%

Build:
DEFAULT BRANCH: main
Ran 30 Apr 2026 09:42PM UTC
Jobs 1
Files 34
Run time 1min
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30 Apr 2026 09:42PM UTC coverage: 61.828% (+0.7%) from 61.133%
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Adopt PidState into MainState, remove 8 loose PID fields (#16)

* Adopt PidState into MainState, remove 8 loose PID fields

MainState had 8 PID-related fields scattered as loose scalars
(current_pid, speed_pid, stall_pid, use_current_limit, etc.) while
PidState in control/state.rs already defined the correct decomposition.

Consolidate into MainState::pid: PidState. Add stall_protect_target_interval
and target_e_com_time to PidState where they belong. Delete the
duplicated loose fields from MainState.

Also converts the test helper make_test_main_state() to use the shared
MainState::new() constructor instead of manual field init.

* Reset current PID state when gains change in apply_motor_config

apply_motor_config can be called at runtime (harness load_eeprom),
so accumulated integral/error from old gains could cause output
spikes with new gains. Call pid.current.reset() after updating gains.

12 of 35 new or added lines in 3 files covered. (34.29%)

1 existing line in 1 file now uncovered.

3267 of 5284 relevant lines covered (61.83%)

596.34 hits per line

Uncovered Changes

Lines Coverage ∆ File
21
67.96
6.24% rm32/src/main_state.rs
2
0.0
0.0% rm32/src/bin/harness.rs

Coverage Regressions

Lines Coverage ∆ File
1
67.96
6.24% rm32/src/main_state.rs
Jobs
ID Job ID Ran Files Coverage
1 25190758151.1 30 Apr 2026 09:42PM UTC 34
61.83
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Source Files on build 25190758151
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Coverage ∆ File Lines Relevant Covered Missed Hits/Line
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