完善原地自转控制逻辑并加入纵向速度死区与实验绘图改进

Co-authored-by: Cursor <cursoragent@cursor.com>

MultiWheelC/Movements/TrajectoryTrackingMovement.cs

@@ -75,6 +75,12 @@ namespace MultiWheelC
         /// </summary>
         public double MaximumIntegralCorrectionMetersPerSecond = 0.05;
 
+        /// <summary>
+        /// 纵向PID不进行反馈修正的速度误差死区，单位为m/s。
+        /// </summary>
+        public double LongitudinalSpeedErrorDeadbandMetersPerSecond =
+            0.025;
+
         /// <summary>
         /// 底盘纵向命令速度绝对值上限，单位为m/s。
         /// </summary>
@@ -90,7 +96,7 @@ namespace MultiWheelC
         /// 前后GCP目标转角最大变化率，单位为rad/s。
         /// </summary>
         public double MaximumGcpAngleRateRadiansPerSecond =
-            AngleMath.DegreesToRadians(10.0);
+            AngleMath.DegreesToRadians(15.0);
 
         /// <summary>
         /// 终点位置和剩余弧长的完成容差，单位为m。
@@ -164,7 +170,8 @@ namespace MultiWheelC
                     LongitudinalKiPerSecond,
                     LongitudinalKdSeconds,
                     MaximumIntegralCorrectionMetersPerSecond,
-                    MaximumCommandSpeedMetersPerSecond);
+                    MaximumCommandSpeedMetersPerSecond,
+                    LongitudinalSpeedErrorDeadbandMetersPerSecond);
             var gcpAllocator =
                 new AckermannGcpAllocator(
                     controlPointRadiusMeters,