utils.hpp

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#include <Arduino.h>
#include "comm/communicatorSettings.hpp"
 
void create_left_wheel_msg(uint8_t *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
}