diff --git a/src/command_parser.rs b/src/command_parser.rs
index 17a4077..dbb6ab4 100644
--- a/src/command_parser.rs
+++ b/src/command_parser.rs
@@ -461,7 +461,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 1,
             pin: PwmPin::ISet,
-            value: 16383,
+            value: 16383.0,
         }));
     }
 
@@ -470,7 +470,6 @@ mod test {
         let command = Command::parse(b"pwm 0 pid");
         assert_eq!(command, Ok(Command::PwmPid {
             channel: 0,
-            pin: PwmPin::ISet,
         }));
     }
 
@@ -480,7 +479,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxIPos,
-            value: 7,
+            value: 7.0,
         }));
     }
 
@@ -490,7 +489,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxINeg,
-            value: 128,
+            value: 128.0,
         }));
     }
 
@@ -500,7 +499,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxV,
-            value: 32768,
+            value: 32768.0,
         }));
     }
 
diff --git a/src/main.rs b/src/main.rs
index 0e915d9..e97136e 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,11 +1,11 @@
-#![no_std]
-#![no_main]
+#![cfg_attr(not(test), no_std)]
+#![cfg_attr(not(test), no_main)]
 #![feature(maybe_uninit_extra, maybe_uninit_ref)]
 // TODO: #![deny(warnings, unused)]
 
-#[cfg(not(feature = "semihosting"))]
+#[cfg(not(any(feature = "semihosting", test)))]
 use panic_abort as _;
-#[cfg(feature = "semihosting")]
+#[cfg(any(feature = "semihosting", not(test)))]
 use panic_semihosting as _;
 
 use log::{info, warn};
@@ -80,6 +80,7 @@ const TCP_PORT: u16 = 23;
 
 
 /// Initialization and main loop
+#[cfg(not(test))]
 #[entry]
 fn main() -> ! {
     init_log();
diff --git a/src/pid.rs b/src/pid.rs
index dbf70fa..b17dfff 100644
--- a/src/pid.rs
+++ b/src/pid.rs
@@ -103,7 +103,7 @@ mod test {
         const DELAY: usize = 10;
 
         let mut pid = Controller::new(PARAMETERS.clone());
-        pid.set_target(TARGET);
+        pid.target = TARGET;
 
         let mut values = [DEFAULT; DELAY];
         let mut t = 0;
@@ -118,6 +118,5 @@ mod test {
             t = next_t;
             total_t += 1;
         }
-        dbg!(values[t], total_t);
     }
 }