feat: 添加了自动超参数整定

2026-09-23 00:42:26 +08:00
parent 7d87987e41
commit 680adae339
56 changed files with 13664 additions and 245 deletions
@@ -0,0 +1,42 @@
+[package]
+name = "chassis-tune"
+description = "Automated PID gain search for the chassis velocity loop: offline sweep/refine plus bench (hardware-in-the-loop) verification"
+version.workspace = true
+edition.workspace = true
+rust-version.workspace = true
+license.workspace = true
+
+[lints]
+workspace = true
+
+[features]
+default = []
+# 可选：用 plotters 输出 best.svg（默认关闭，避免 CI 依赖系统字体与更长编译）。
+plot = ["dep:plotters"]
+
+[dependencies]
+can-link = { workspace = true }
+chassis-bench = { workspace = true }
+chassis-config = { workspace = true }
+tokio = { workspace = true }
+dji-esc = { workspace = true }
+dji-esc-sim = { workspace = true }
+motor-core = { workspace = true }
+argmin = { workspace = true }
+argmin-math = { workspace = true }
+rand = { workspace = true }
+rayon = { workspace = true }
+indicatif = { workspace = true }
+csv = { workspace = true }
+serde = { workspace = true }
+serde_json = { workspace = true }
+toml = { workspace = true }
+clap = { workspace = true }
+anyhow = { workspace = true }
+thiserror = { workspace = true }
+tracing = { workspace = true }
+tracing-subscriber = { workspace = true }
+plotters = { workspace = true, optional = true }
+
+[dev-dependencies]
+approx = { workspace = true }