feat: 增加上下位机通信接口 (底盘速度和位置控制)

2024-04-24 23:22:21 +08:00
parent 7123fb2f25
commit 1c3131e9c7
14 changed files with 560 additions and 294 deletions
--- a/app/by_utils.c
+++ b/app/by_utils.c
@@ -0,0 +1,7 @@
+#include "by_utils.h"
+
+inline int32_t clip_s32(int32_t x, int32_t low, int32_t up)
+{
+  return (x > up ? up : x < low ? low
+                                : x);
+}