feat(pybot): bot4cj 的 Python 迁移版（.mt 解析 + 硬件驱动 + 插件系统）

- parser: FSM 解析器与仓颉版逐语义对齐，修 S01/S02/S04/Q05
- robot/hardvars: 六类硬件变量工厂，修 r.cj:911 重名 FIXME、Q07 倒序释放
- plugin: Python 插件替代 Lua 桥接，修 S07 三级路径查找
- hd: i2c(每fd锁 Q03/S06)/spi/servo/kalman/mpu6050(S05/Q06)/speaker(S03 实声)
- modules: PCA9685 与 Lua 版逐字节对齐；ADS1115 重写(experimental)；ADS1256 空桩
- tests: 42 项 pytest 全绿（Mock 总线 journal 断言）
- CLI: --dry-run / --test roundtrip / --verbose；运行时零第三方依赖

pybot/tests/test_mpu6050.py

@@ -0,0 +1,48 @@
+"""MPU6050 测试：14 字节连读解包（含负值符号，回归 S06）与采样滤波"""
+
+import struct
+
+from pybot.hd import i2c
+from pybot.hd.mpu6050 import (ACCEL_CONFIG, ACCEL_XOUT_H, ADDR_0, ADDR_1,
+                              GYRO_CONFIG, MPU6050, PWR_MGMT_1)
+
+
+def test_addr_constants():
+    """修复 S05：ADDR_1 必须是 0x69（仓颉版误写 0x68）"""
+    assert ADDR_0 == 0x68
+    assert ADDR_1 == 0x69
+
+
+def test_setup_sequence(mock_i2c):
+    fd = i2c.open_dev("/dev/i2c-1")
+    m = MPU6050(fd, ADDR_0)
+    m.setup()
+    writes = [(e[2], e[3]) for e in mock_i2c.journal if e[0] == "write_reg"]
+    assert writes == [(PWR_MGMT_1, 0x00),       # 解除休眠
+                      (GYRO_CONFIG, 0x08),      # ±500°/s
+                      (ACCEL_CONFIG, 0x10)]     # ±8g
+    assert ("set_addr", fd, ADDR_0) in mock_i2c.journal
+
+
+def test_read_sensor_signed(mock_i2c):
+    """负值（高字节 ≥ 0x80）必须正确解为负数——回归 S06 符号扩展错误"""
+    fd = i2c.open_dev("/dev/i2c-1")
+    m = MPU6050(fd)
+    # ax=-2 ay=3 az=4096 temp=999(跳过) gx=100 gy=-200 gz=300
+    mock_i2c.block_values[(fd, ACCEL_XOUT_H)] = struct.pack(
+        ">7h", -2, 3, 4096, 999, 100, -200, 300)
+    assert m.read_sensor() == (-2, 3, 4096, 100, -200, 300)
+
+
+def test_sample_and_latest(mock_i2c):
+    fd = i2c.open_dev("/dev/i2c-1")
+    m = MPU6050(fd)
+    # 静止平放：az=4096(+1g@±8g)，其余 0 → roll/pitch 趋近 0
+    mock_i2c.block_values[(fd, ACCEL_XOUT_H)] = struct.pack(
+        ">7h", 0, 0, 4096, 0, 0, 0, 0)
+    for _ in range(50):     # 多次采样让卡尔曼收敛
+        m._sample_once()
+    latest = m.latest()
+    assert abs(latest["roll"]) < 1.0
+    assert abs(latest["pitch"]) < 1.0
+    assert latest["az"] > 3000.0    # 滤波值向测量值收敛