Test Driven Development (TDD) with Rails?

The RSpec Book: Behaviour Driven Development with RSpec, Cucumber, and Friends . Focuses on BDD rather than TDD, but that's the whole point of RSpec and Cucumber. Not entirely specific to Rails, but has several chapters dedicated to it.

Well written and up to date (though still in beta).

Some of your questions are answered in different episodes of the Railscasts by Ryan Bates. Things like RSpec, Cucumber, factories instead of fixtures, Pickle, ...

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