[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 }