message: Tests that were failing are now behaving as expected
diff: @@ -235,6 +235,7 @@ TEST_SUITE("delta_enc"){
  TEST_SUITE("velLimiter") {
  // Velocity limiting in current mode
  #include <algorithm>
  +using doctest::Approx;
  auto limitVel(float vel_limit, float vel_estimate, float vel_gain, float Iq, float current_lim = 50.0f) {
  float Imax = std::min((vel_limit - vel_estimate) * vel_gain, current_lim);
  @@ -268,4 +269,9 @@ TEST_SUITE("velLimiter") {
  CHECK(limitVel(200000.0f, -195000.0f, 5.0E-4, 30.0f) == 30.0f);
  CHECK(limitVel(200000.0f, -205000.0f, 5.0E-4f, 30.0f) == 30.0f);
  }
  +
  + TEST_CASE("Over-Center"){
  + CHECK(limitVel(20000.0f, 1000.0f, 5.0E-4f, 30.0f) == 9.5f);
  + CHECK(limitVel(20000.0f, -1000.0f, 5.0E-4f, 30.0f) == Approx(10.5f));
  + }
  }
  \ No newline at end of file
  