引入最短舵角行驶的CommonUsage并更新项目引用

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

CommonUsage-MultiVehicleSync/commonusage/Chassis/DiffSteerWheel.cs

@@ -0,0 +1,47 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+
+namespace CommonUsage.Chassis
+{
+    public class DiffSteerWheel:SteerWheel
+    {
+        public DiffSteerWheel(float wheelDistance,Vector2 position, float angleLowerLimit, float angleUpperLimit, Action<float> speedWriter,
+            Func<float> speedReader, Action<float> angleWriter, Func<float> angleReader, Action<float> leftSpeedWriter, Action<float> rightSpeedWriter,
+            float angleLimitMarginDeg = 15f) : base(position,
+            angleLowerLimit, angleUpperLimit, speedWriter, speedReader, angleWriter, angleReader, angleLimitMarginDeg)
+        {
+            _leftSpeedWriter = leftSpeedWriter;
+            _rightSpeedWriter = rightSpeedWriter;
+            WheelDistance = wheelDistance;
+        }
+
+        public float GetLeftSendSpeed()
+        {
+            return _leftSendSpeed;
+        }
+
+        public float GetRightSendSpeed()
+        {
+            return _rightSendSpeed;
+        }
+
+        public void WriteLeftSpeed(float speed)
+        {
+            _leftSpeedWriter(_leftSendSpeed = speed);
+        }
+
+        public void WriteRightSpeed(float speed)
+        {
+            _rightSpeedWriter(_rightSendSpeed = speed);
+        }
+
+        public float WheelDistance;
+        private readonly Action<float> _leftSpeedWriter;
+        private readonly Action<float> _rightSpeedWriter;
+
+        private float _leftSendSpeed;
+        private float _rightSendSpeed;
+    }
+}