refactor: 重构架构并整理仓库

crates/chassisd/Cargo.toml

@@ -1,28 +1,28 @@
 [package]
 name = "chassisd"
+description = "Mecanum chassis daemon"
 version.workspace = true
 edition.workspace = true
 rust-version.workspace = true
 license.workspace = true
-description = "Mecanum chassis daemon: configuration, 1 kHz control loop, safety supervision, and mock mode"
 
 [lints]
 workspace = true
 
 [dependencies]
-chassis-config = { workspace = true }
-motor-core = { workspace = true }
-dji-esc = { workspace = true }
-dji-esc-sim = { workspace = true }
-dji-esc-socketcan = { workspace = true }
+can = { workspace = true }
+motor = { workspace = true }
+esc-bus = { workspace = true }
+motor-control = { workspace = true }
 mecanum = { workspace = true }
+chassis-config = { workspace = true }
+sim-harness = { workspace = true }
+socketcan = { workspace = true }
 tokio = { workspace = true }
-thiserror = { workspace = true }
+clap = { workspace = true }
 tracing = { workspace = true }
 tracing-subscriber = { workspace = true }
-clap = { workspace = true }
 
 [dev-dependencies]
-proptest = { workspace = true }
-approx = { workspace = true }
 tokio = { workspace = true, features = ["test-util"] }
+approx = { workspace = true }