添加差速舵轮旋转中心前馈与遥控器模式防抖，并补充ParkingRobot解决方案

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

MedullaAdapter/DiverCartDefinition.cs

@@ -67,6 +67,8 @@ namespace MedullaAdapter
         [AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
         [AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f;
         [AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f;
+        [AsInitParam(desc = "实体遥控器SB模式防抖时间，单位ms")]
+        public int TransmitterModeDebounceMilliseconds = 200;
         [AsInitParam(desc = "手动控制夹臂速度系数")] public float ManualArmSpeedFac = 1.0f;
         [AsInitParam(desc = "遥控转弯舵角同步限速宽度，单位为度")]
         public float ManualSteeringAlignmentSigmaDegrees = 8.0f;

MedullaAdapter/MotorRoutine.cs

@@ -11,6 +11,10 @@ namespace MedullaAdapter
     {
         private bool _wasTransmitterControlling;
         private DateTime _lastMoveTime = DateTime.Now;
+        private DiverCartDefinition.ManualControlMode?
+            _pendingTransmitterControlMode;
+        private DateTime _pendingTransmitterControlModeSince =
+            DateTime.MinValue;
         public override void Operation(int iteration)
         {
             if (!cart.GhostMode && cart.State == -1) return;
@@ -68,33 +72,81 @@ namespace MedullaAdapter
             // 更新红黄绿灯状态。
             UpdateLightMode();
         }
+        // M层物理遥控器：只有SB档位连续稳定指定时间后才确认模式切换。
+        private bool TryGetStableTransmitterControlMode(
+            out DiverCartDefinition.ManualControlMode stableMode)
+        {
+            stableMode = cart.TransmitterControlMode;
+
+            DiverCartDefinition.ManualControlMode? requestedMode;
+
+            switch (cart.Transmitter_SB)
+            {
+                case TransmitterState.Mode0:
+                    requestedMode =
+                        DiverCartDefinition.ManualControlMode.Normal;
+                    break;
+
+                case TransmitterState.Mode1:
+                    requestedMode =
+                        DiverCartDefinition.ManualControlMode.Crab;
+                    break;
+
+                case TransmitterState.Mode2:
+                    requestedMode =
+                        DiverCartDefinition.ManualControlMode.Spin;
+                    break;
+
+                default:
+                    _pendingTransmitterControlMode = null;
+                    _pendingTransmitterControlModeSince =
+                        DateTime.MinValue;
+                    return false;
+            }
+
+            if (_pendingTransmitterControlMode != requestedMode)
+            {
+                _pendingTransmitterControlMode = requestedMode;
+                _pendingTransmitterControlModeSince = DateTime.Now;
+                return false;
+            }
+
+            var debounceMilliseconds = Math.Max(
+                0,
+                cart.TransmitterModeDebounceMilliseconds);
+
+            if ((DateTime.Now -
+                 _pendingTransmitterControlModeSince)
+                .TotalMilliseconds < debounceMilliseconds)
+            {
+                return false;
+            }
+
+            stableMode = requestedMode.Value;
+            return true;
+        }
+
         // 物理遥控器设置
         public void TransmitterChassisControl()
         {
             var interval = DateTime.Now - cart.TransmitterLastTime;
-            switch (cart.Transmitter_SB)
+
+            if (!TryGetStableTransmitterControlMode(
+                    out var stableControlMode))
             {
-                case TransmitterState.Mode0:
-                    cart.TransmitterControlMode =
-                    DiverCartDefinition.ManualControlMode.Normal;
-                    break;
-                case TransmitterState.Mode1:
-                    cart.TransmitterControlMode =
-                        DiverCartDefinition.ManualControlMode.Crab;
-                    break;
-                case TransmitterState.Mode2:
-                    cart.TransmitterControlMode =
-                        DiverCartDefinition.ManualControlMode.Spin;
-                    break;
-                default:
-                    cart.ManualControl(
-                        cart.TransmitterControlMode,
-                        0, 0, 0,
-                        cart.TransmitterSpeed,
-                        interval);
-                    StopClampArms();
-                    return;
+                // SB处于中间档或尚未稳定时立即停车，
+                // 保持当前模式，不下发新的模式目标角。
+                cart.ManualControl(
+                    cart.TransmitterControlMode,
+                    0, 0, 0,
+                    cart.TransmitterSpeed,
+                    interval);
+                StopClampArms();
+                return;
             }
+
+            cart.TransmitterControlMode = stableControlMode;
+
             // SA关闭后立即停车。
             if (!cart.Transmitter_SA)
             {