Add acceleration() getter

CHANGELOG.md

@@ -1,6 +1,11 @@
 ContinuousStepper: changelog
 ============================
 
+HEAD
+----
+
+* Add `acceleration()` getter
+
 3.0.2
 -----
 

README.md

@@ -141,6 +141,9 @@ public:
   // Call isSpinning() to know when the motion is complete.
   void stop();
 
+  // Gets the acceleration in steps/s².
+  float_t acceleration() const;
+
   // Returns the current speed.
   // During accelerations and decelerations, this value differs from the
   // target speed configured with spin().

extras/tests/ContinuousStepperTests/CMakeLists.txt

@@ -1,4 +1,5 @@
 add_executable(ContinuousStepperTests
+  acceleration.cpp
   begin.cpp
   powerOff.cpp
   powerOn.cpp

extras/tests/ContinuousStepperTests/acceleration.cpp

@@ -0,0 +1,24 @@
+#include <ContinuousStepper.h>
+#include <TestFixtures.hpp>
+
+TEST_CASE("ContinuousStepper<StepperDriver>::acceleration()") {
+  ContinuousStepper<StepperDriver> stepper;
+
+  GIVEN("setAcceleration() was NOT called") {
+    WHEN("acceleration() is called") {
+      THEN("it should return the default acceleration") {
+        CHECK(stepper.acceleration() == 1000);
+      }
+    }
+  }
+
+  GIVEN("setAcceleration(10) was called") {
+    stepper.setAcceleration(10);
+
+    WHEN("acceleration() is called") {
+      THEN("it should return 10") {
+        CHECK(stepper.acceleration() == 10);
+      }
+    }
+  }
+}

src/ContinuousStepper/ContinuousStepperImpl.hpp

@@ -50,6 +50,10 @@ class ContinuousStepperImpl : public TTicker, TickListener, public TStepper, Ste
     targetSpeed_ = 0;
   }
 
+  float_t acceleration() const {
+    return acceleration_;
+  }
+
   float_t speed() const {
     return currentSpeed_;
   }