int16_t constrain_int16_t(int16_t amt, int16_t low, int16_t high)//限幅
{
return ((amt)<(low)?(low):((amt) >(high)?(high):(amt)));
/*
if(amt<low) amt = low;
else amt = amt;
if(amt>high) amt = high;
else amt = amt;
*/
}