refactor: 重构架构并整理仓库

crates/chassis-config/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "chassis-config"
-description = "chassis.toml schema: parsing, semantic validation, and mapping to driver configuration"
+description = "chassis.toml schema and validation"
 version.workspace = true
 edition.workspace = true
 rust-version.workspace = true
@@ -10,9 +10,13 @@ license.workspace = true
 workspace = true
 
 [dependencies]
-dji-esc = { workspace = true }
+motor-control = { workspace = true }
 mecanum = { workspace = true }
-motor-core = { workspace = true }
+esc-bus = { workspace = true }
+motor-protocol = { workspace = true }
 serde = { workspace = true }
 toml = { workspace = true }
 thiserror = { workspace = true }
+
+[dev-dependencies]
+approx = { workspace = true }

crates/chassis-config/src/lib.rs

@@ -10,9 +10,10 @@
 
 use std::time::Duration;
 
-use dji_esc::{BusOptions, EscConfig, EscModel};
+use esc_bus::{BusOptions, EscConfig};
 use mecanum::Mecanum;
-use motor_core::VelocityGains;
+use motor_control::VelocityGains;
+use motor_protocol::EscModel;
 use serde::{Deserialize, Serialize};
 use thiserror::Error;
 
@@ -411,10 +412,6 @@ impl Config {
                 gear_ratio: m.gear_ratio,
                 direction: m.direction,
                 current_limit: m.current_limit,
-                kp: m.kp,
-                ki: m.ki,
-                kd: m.kd,
-                feedforward: m.feedforward,
             })
             .collect()
     }