一个双轮自平衡小车的源代码 请参考有关资料，合理利用-After running across David Anderson s impressive balancing robot on the Internet, I decided it was too cool, and I had to have one like it. So, shamelessly ripping off his great idea, I created my own version of this two-w

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We assume that denominator and numerator are normalized as, for instance, typical for floating-point mantissa values, to the interval 1 ≤ N, D < 2. This normalization step may require essential addition resources (leading-zero detection and two ba