feat: 添加了自动超参数整定

Cargo.toml

@@ -4,8 +4,13 @@ members = [
     "crates/motor-core",
     "crates/can-link",
     "crates/dji-esc",
+    "crates/dji-esc-sim",
     "crates/dji-esc-socketcan",
+    "crates/dji-esc-slcan",
     "crates/mecanum",
+    "crates/chassis-config",
+    "crates/chassis-bench",
+    "crates/chassis-tune",
     "crates/chassisd",
 ]
 
@@ -35,12 +40,33 @@ clap = { version = "4", features = ["derive"] }
 # 测试
 proptest = "1"
 approx = "0.5"
+# 自动整定工具（chassis-tune）
+#
+# `rand` 对齐 argmin 依赖的 0.9，避免依赖树里出现两个 rand 大版本；
+# `argmin-math` 必须显式开启 `vec`（argmin 自身只启 `primitives`），
+# 否则 `Vec<f64>` 参数向量没有 ArgminAdd/Sub/Mul 实现。
+argmin = { version = "0.11", default-features = false, features = ["rand"] }
+argmin-math = { version = "0.5", features = ["vec"] }
+rand = "0.9"
+rayon = "1"
+csv = "1.4"
+serde_json = "1"
+indicatif = "0.18"
+anyhow = "1"
+# 仅在 chassis-tune 的 `plot` feature 下引入：只要 SVG 后端与折线系列，
+# 但文字标签需要 `ttf`（字体加载），因此不能用纯 svg_backend 最小集。
+plotters = { version = "0.3", default-features = false, features = ["svg_backend", "line_series", "ttf"] }
 # workspace 内部 crate
 motor-core = { path = "crates/motor-core" }
 can-link = { path = "crates/can-link" }
 dji-esc = { path = "crates/dji-esc" }
+dji-esc-sim = { path = "crates/dji-esc-sim" }
 dji-esc-socketcan = { path = "crates/dji-esc-socketcan" }
+dji-esc-slcan = { path = "crates/dji-esc-slcan" }
 mecanum = { path = "crates/mecanum" }
+chassis-config = { path = "crates/chassis-config" }
+chassis-bench = { path = "crates/chassis-bench" }
+chassis-tune = { path = "crates/chassis-tune" }
 
 [workspace.lints.rust]
 unsafe_code = "forbid"