// 调用这个即可
void Gyroscope::Routine(void) {
  seft_standardize();
  switch (mode_) {
    case (NEGATIVE_LOGIC): this->seft_invert();
  }
}
// 调用这个即可
void Stick::seft_convert(void) {
  seft_standardize();
  switch (mode_) {
    case (NEGATIVE_LOGIC): this->seft_invert();
  }
}