better code for controller

src/controller/controller_yuhesen/control/control_status.cpp

@@ -1,5 +1,10 @@
 #include <control/control_status.h>
 
+
+#define GET_HIGH_BYTE(x)  ((x >> 8) & 0xFF) 
+#define GET_LOW_BYTE(x)   (x & 0xFF)
+
+
 void iv::control::ControlStatus::set_head()
 {
     command.bit.head = 0xEB;
@@ -8,20 +13,20 @@ void iv::control::ControlStatus::set_head()
 void iv::control::ControlStatus::set_wheel_angle(float angle)
 {
     int ang = (int)(angle * 100);
-    command.bit.ang_H = (ang) >> 8;
-    command.bit.ang_L = (ang) % 256;
+    command.bit.ang_H = get_HIGH_BYTE(ang);
+    command.bit.ang_L = get_LOW_BYTE(ang);
 }
 
 void iv::control::ControlStatus::set_brake(bool enable)
 {
-    command.bit.brake=(unsigned)enable;
+    command.bit.brake=(unsigned char)enable;
 }
 
 void iv::control::ControlStatus::set_velocity(float vel)
 {
     int v = (int)(vel * 1000);
-    command.bit.vel_H = v >> 8;
-    command.bit.vel_L = v % 256;
+    command.bit.vel_H = get_HIGH_BYTE(v);
+    command.bit.vel_L = get_LOW_BYTE(v);
 }
 
 void iv::control::ControlStatus::set_left_light(bool enable)
@@ -42,7 +47,7 @@ void iv::control::ControlStatus::set_right_light(bool enable)
 
 void iv::control::ControlStatus::set_highbeam(bool enable)
 {
-    command.bit.high_beam = (char)enable;
+    command.bit.high_beam = (unsigned char)enable;
 }
 
 void iv::control::ControlStatus::set_dangwei(int dangwei)