refactor: 重构架构并整理仓库

crates/chassis-tune/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "chassis-tune"
-description = "Automated PID gain search for the chassis velocity loop: offline sweep/refine plus bench (hardware-in-the-loop) verification"
+description = "Automated chassis velocity-loop tuning tool"
 version.workspace = true
 edition.workspace = true
 rust-version.workspace = true
@@ -10,32 +10,37 @@ license.workspace = true
 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"]
+plot = ['dep:plotters']
 
 [dependencies]
-can-link = { workspace = true }
-chassis-bench = { workspace = true }
+bench = { workspace = true }
+can = { workspace = true }
 chassis-config = { workspace = true }
+experiment = { workspace = true }
+motor = { workspace = true }
+esc-bus = { workspace = true }
+motor-protocol = { workspace = true }
+motor-control = { workspace = true }
+motor-model = { workspace = true }
+sim-harness = { workspace = true }
+tuning = { workspace = true }
+socketcan = { workspace = true }
+slcan = { 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 }
+clap = { workspace = true }
+serde = { workspace = true }
+serde_json = { workspace = true }
+toml = { workspace = true }
+csv = { workspace = true }
+indicatif = { workspace = true }
+rayon = { workspace = true }
+rand = { workspace = true }
+argmin = { workspace = true }
+argmin-math = { workspace = true }
+anyhow = { workspace = true }
 plotters = { workspace = true, optional = true }
 
 [dev-dependencies]