utils.hpp

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#pragma once
#include <Arduino.h>
 
#include "comm/communicatorSettings.hpp"
 
void create_left_wheel_msg(std::array<uint8_t, 5> &msg, double value) {
  value /= WHEEL_PRECISION;  // take precision off to send integer value
  if (value < 0) value = 0;
 
  msg[0] = LEFT_WHEEL_MSG;
  // Copy the bytes of the double value to msg[1] to msg[4]
  for (int i = 0; i < 4; i++)
    msg[i + 1] = static_cast<int>(value) >> (8 * i);  // shift 8(byte) to msb each time
}