From 90d186806e38fb485db3f3c2dc9c58e8b9438247 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 31 Dec 2023 16:29:39 +0100
Subject: [PATCH 1/4] Extend dummy test

---
 test/Dummy_test.cc | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/test/Dummy_test.cc b/test/Dummy_test.cc
index abba183..7608aeb 100644
--- a/test/Dummy_test.cc
+++ b/test/Dummy_test.cc
@@ -21,5 +21,14 @@ TEST(Dummy, Foo) {
                             Placement(&motorRight, Vector3(1, 0, 0)));
 
   Roboid *roboid = new Roboid(perception, propulsion);
+
+  bool obstacleLeft = roboid->perception->ObjectNearby(-30);
+  bool obstacleRight = roboid->perception->ObjectNearby(30);
+
+  EXPECT_FALSE(obstacleLeft);
+  EXPECT_FALSE(obstacleRight);
+
+  float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
+  float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
 }
 #endif

From b9be5e28aab059cbe70d8e9beb2ed40d9bd1a637 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 31 Dec 2023 16:33:43 +0100
Subject: [PATCH 2/4] Renamed dummy_test to bb2b_test

---
 test/{Dummy_test.cc => BB2B_Test.cc} | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)
 rename test/{Dummy_test.cc => BB2B_Test.cc} (97%)

diff --git a/test/Dummy_test.cc b/test/BB2B_Test.cc
similarity index 97%
rename from test/Dummy_test.cc
rename to test/BB2B_Test.cc
index 7608aeb..31438d9 100644
--- a/test/Dummy_test.cc
+++ b/test/BB2B_Test.cc
@@ -5,7 +5,7 @@
 #include "DistanceSensor.h"
 #include "Roboid.h"
 
-TEST(Dummy, Foo) {
+TEST(BB2B, Basics) {
   Motor motorLeft = Motor();
   Motor motorRight = Motor();
 

From 193f557d5e818329953958d56a8987b00ee2235b Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 31 Dec 2023 16:36:28 +0100
Subject: [PATCH 3/4] Change test script to BB2B

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ee14052..353dded 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,7 +57,7 @@ enable_testing()
 
 add_executable(
     RoboidControlTest
-    "test/Dummy_test.cc"
+    "test/BB2B_test.cc"
 )
 target_link_libraries(
     RoboidControlTest

From 238164399dd01dc8f08b217340523447c85e4d13 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 31 Dec 2023 16:39:11 +0100
Subject: [PATCH 4/4] Extend test script

---
 test/BB2B_Test.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/test/BB2B_Test.cc b/test/BB2B_Test.cc
index 31438d9..91d41b1 100644
--- a/test/BB2B_Test.cc
+++ b/test/BB2B_Test.cc
@@ -30,5 +30,10 @@ TEST(BB2B, Basics) {
 
   float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
   float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
+
+  DifferentialDrive *diffDrive = (DifferentialDrive *)&roboid->propulsion;
+  diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
+
+  // cannot chek verlocity in this branch?
 }
 #endif