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✨ feat(*): 添加触发样本偏移与实发轨迹分析导出

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* 为 RobotConfig 增加 trigger_sample_index_offset_cycles 配置
  * 让 DO 事件携带示教点关节角并按最接近 sample 绑定触发
  * 调整运行时 IO 地址位掩码映射并补充 ShotEvents 导出
  * 新增 2026042802-1 抓包分析脚本、数据产物与结论文档
  * 补齐配置兼容、规划绑定和运行时触发相关测试
This commit is contained in:
yunxiao.zhu
2026-05-09 11:12:31 +08:00
parent 1779067b5c
commit f7e2bb0e7b
35 changed files with 5772 additions and 55 deletions
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21
analysis/2026042802-1/2026042802-1_analysis_summary.json Normal file
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{
"pcap_path": "D:\\Dev\\Codes\\rvbust-code\\FlyingShotPkg_3.15_VDA\\Rvbust\\uttc-20260428\\2026042802-1.pcap",
"all_command_count": 1788,
"trigger_count": 17,
"existing_runtime_actual_send_exists": true,
"existing_runtime_actual_send_has_io_columns": false,
"existing_shot_events_exists": true,
"pcap_specific_combined_export_preexisting": false,
"average_max_error_deg": 4.241583591714439,
"max_error_deg": 11.130744251720401,
"average_rms_error_deg": 2.5406136706026206,
"max_error_axis_counter": {
"J6": 9,
"J4": 5,
"J5": 1,
"J2": 1,
"J1": 1
},
"order_only_addr_mismatch_count": 14,
"real_addr_mismatch_count": 0
}