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The tests didn t test all the code that matters. That means all the code with logic in it, because each and every one of those could contain a potential bug. (Property getters and setters don t count as logic, unless you have some sort of logic inside them.) If it were easier to write the tests, you d be more inclined to write more of them, and get better coverage. In short, what you ve been missing is a framework for writing, running, and reviewing unit tests and their results. Figure 2.1 shows the areas in software development where a unit-testing framework has influence.

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the usual rule of thumb that motions with discontinuous accelerations or high values of jerk always have bad vibration characteristics From Fig 1310, we see that p 2X max 6, but if desired, further reduction is possible by increasing the ratios of A3/A1 and/or A3/A2 in Eq (1322) 1345 Conclusion The design of high-speed motions has been posed as an extremum problem The solutions thus obtained show that a trade-off exists between minimizing the imposed inertial force and reducing the additional force and loss of control associated with large vibrations In addition, examples were shown in which motions with discontinuous acceleration were found which have low vibration characteristics over a wide range of operating speeds, a signi cant contradiction to the generalized statements concerning the bad vibration characteristics of motions with high values of jerk In view of this, it is recommended that high-speed cam designs not be based upon rules of thumb, which rather arbitrarily specify peak values of acceleration and jerk Instead, at high speeds, each design should be evaluated separately based upon its particular requirements The methods presented here are well-suited for high-speed cam design All the important system parameters needed for these analyses are rarely known in advance with extreme accuracy In addition, damping will never be zero, as assumed in the calculations for the response to one cycle Therefore, the tuned cam design method of Sec 1343 could well result in poor vibration characteristics at the design speed Thus, this method should rarely be used in practice; rather, the mean squared error minimization method of Sec 1344 should be used For a constant speed system this method should be applied over a range of speeds bracketing the design speed and large enough to accommodate possible errors in the assumed parameters Similarly, in a variable speed system the desired speed range should be increased in the design process to account for errors Wiederrich (1981) showed that optimizing a design to minimize the residual vibrations over the range of speeds from zero to design speed, using the single degree of freedom model, also minimizes the response for the higher modes This procedure minimizes the de ciencies caused by the absence of higher modes in the one-degree-of-freedom model to obtain a near-optimal solution.

It becomes clear that these objectives must be traded off: information should be collected often enough, but not too often Such a system must be carefully designed and justified to optimize among them Two other objectives, although not essential, are highly desirable:

1351 Introduction Any cam design requires trade-offs between characteristics at the cam (such as contact stresses, lateral forces, etc) and at the output (such as vibrations, forces, etc) Any procedure that optimizes only one of these characteristics penalizes the others One method that provides an approach to optimizing several of these characteristics simultaneously is based on optimal control theory (Chew et al, Parts 1 and 2, 1983) Here, we de ne suitable optimality criteria and show how to use them to design systems to optimize several parameters simultaneously 1352 Symbols

Figure 2.1 Unit tests are written as code, using libraries from the unit-testing framework. Then the tests are run from a separate unit-testing tool, and the results are reviewed (either in the UI or as text) by the developer or an automated build process.

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