Add a few extra test cases.

controller/block/block_bridge_pwm.test.ctrl

+
+trigger {
+	{ "immediate" }
+}
+
+blocks (10.0, 0.0) {
+	{ "bridge_pwm", "pwm0" }
+	{ "bridge_pwm", "pwm1" }
+
+	{ "test_output_bool", "a0"   }
+	{ "test_output_bool", "b0"   }
+	{ "test_output_bool", "a1"   }
+	{ "test_output_bool", "b1"   }
+}
+
+blocks (1.0, 0.0) {
+	{ "test_input_float", "in" }	
+}
+
+links {
+	{ "in", "value", "pwm0", "in",  true }
+	{ "pwm0", "a",   "a0", "value", true }
+	{ "pwm0", "b",   "b0", "value", true }
+	{ "in", "value", "pwm1", "in",  true }
+	{ "pwm1", "a",   "a1", "value", true }
+	{ "pwm1", "b",   "b1", "value", true }
+}
+
+params {
+	{ "pwm0", "divider", 10 }
+	{ "pwm0", "continuous_on", true }
+	{ "pwm1", "divider", 10 }
+	{ "pwm1", "continuous_on", false }
+
+	{ "in", "value", 7, (float) 
+		{ 0.0, 1.0, -1.0, 0.5, 0.05, -0.5, 0.1 } 
+	}
+
+	{ "a0", "value", 70, 
+		(int) {
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 0, 0, 0, 0, 0, 0, 0, 0, 0
+		}
+	}
+	{ "b0", "value", 70, 
+		(int) {
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0
+		}
+	}
+	
+	{ "a1", "value", 70, 
+		(int) {
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 1, 1, 1, 0, 1,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 0, 0, 0, 0, 0, 0, 0, 0, 0
+		}
+	}
+	{ "b1", "value", 70, 
+		(int) {
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 1, 1, 1, 0, 1,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			1, 1, 1, 1, 1, 0, 0, 0, 0, 0,
+			0, 0, 0, 0, 0, 0, 0, 0, 0, 0
+		}
+	}
+}

controller/block/block_limit_var.test.ctrl

+
+trigger {
+	{ "immediate" }
+}
+
+blocks (10.0, 0.0) {
+	{ "limit_var", "limit_var" }
+	
+	{ "test_input_float", "in"    }
+	{ "test_input_float", "limit" }
+	
+	{ "test_output_float", "out"   }
+}
+
+links {
+	{ "in", "value",      "limit_var", "in",    true }
+	{ "limit", "value",   "limit_var", "limit", true }
+	{ "limit_var", "out", "out", "value",       true }
+}
+
+params {
+	{ "limit_var", "offset", 5.55 }
+	{ "limit_var", "gain",   1.5  }
+
+	{ "in", "value", 7, (float) 
+		{ 0.0, -100.0, -22.2, -22.0, 22.0, 22.2, 100.0 } 
+	}
+
+	{ "limit", "value", 7, (float) 
+		{ 11.1, 11.1, -11.1, -11.1, 11.1, 11.1, 11.1 } 
+	}
+
+	{ "out", "value", 7, 
+		(float) { 0.0, -22.2, -22.2, -22.0, 22.0, 22.2, 22.2 },
+		(float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
+	}
+}

controller/block/build.mk

@@ -83,9 +83,11 @@ CLEAN += $(BLOCK_TARGETS) $(BLOCK_OBJS) $(BLOCK_OBJS:.lo=.o)
 SRCS += $(BLOCK_SRCS)
 
 CTRL_TESTS += \
+	$(DIR)/block_bridge_pwm.test.ctrl \
 	$(DIR)/block_command_bool.test.ctrl \
 	$(DIR)/block_gain.test.ctrl \
 	$(DIR)/block_limit.test.ctrl \
+	$(DIR)/block_limit_var.test.ctrl \
 	$(DIR)/block_matrix_2x2.test.ctrl \
 	$(DIR)/block_not.test.ctrl \
 	$(DIR)/block_pid_aw.test.ctrl \