Add PlatformIO project setup, local libraries, and PCB Gerber files

- Add platformio.ini for ESP32 DevKit (Arduino framework, espressif32 6.10.0)
- Vendor ArduinoJson, MPU6050_tockn, SCServo, Simple_FOC, and WebSockets
  so a fresh clone builds without downloading dependencies
- Add .gitignore rules for PlatformIO/IDE build artifacts
- Add controller PCB Gerber and drill files

3.Software/libraries/ArduinoJson/extras/tests/JsonDocument/compare.cpp

@@ -0,0 +1,103 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <catch.hpp>
+
+TEST_CASE("DynamicJsonDocument::operator==(const DynamicJsonDocument&)") {
+  DynamicJsonDocument doc1(4096);
+  DynamicJsonDocument doc2(4096);
+
+  SECTION("Empty") {
+    REQUIRE(doc1 == doc2);
+    REQUIRE_FALSE(doc1 != doc2);
+  }
+
+  SECTION("With same object") {
+    doc1["hello"] = "world";
+    doc2["hello"] = "world";
+    REQUIRE(doc1 == doc2);
+    REQUIRE_FALSE(doc1 != doc2);
+  }
+  SECTION("With different object") {
+    doc1["hello"] = "world";
+    doc2["world"] = "hello";
+    REQUIRE_FALSE(doc1 == doc2);
+    REQUIRE(doc1 != doc2);
+  }
+}
+
+TEST_CASE("DynamicJsonDocument::operator==(const StaticJsonDocument&)") {
+  DynamicJsonDocument doc1(4096);
+  StaticJsonDocument<256> doc2;
+
+  SECTION("Empty") {
+    REQUIRE(doc1 == doc2);
+    REQUIRE_FALSE(doc1 != doc2);
+  }
+
+  SECTION("With same object") {
+    doc1["hello"] = "world";
+    doc2["hello"] = "world";
+    REQUIRE(doc1 == doc2);
+    REQUIRE_FALSE(doc1 != doc2);
+  }
+
+  SECTION("With different object") {
+    doc1["hello"] = "world";
+    doc2["world"] = "hello";
+    REQUIRE_FALSE(doc1 == doc2);
+    REQUIRE(doc1 != doc2);
+  }
+}
+
+TEST_CASE("StaticJsonDocument::operator==(const DynamicJsonDocument&)") {
+  StaticJsonDocument<256> doc1;
+  DynamicJsonDocument doc2(4096);
+
+  SECTION("Empty") {
+    REQUIRE(doc1 == doc2);
+    REQUIRE_FALSE(doc1 != doc2);
+  }
+
+  SECTION("With same object") {
+    doc1["hello"] = "world";
+    doc2["hello"] = "world";
+    REQUIRE(doc1 == doc2);
+    REQUIRE_FALSE(doc1 != doc2);
+  }
+
+  SECTION("With different object") {
+    doc1["hello"] = "world";
+    doc2["world"] = "hello";
+    REQUIRE_FALSE(doc1 == doc2);
+    REQUIRE(doc1 != doc2);
+  }
+}
+
+TEST_CASE("JsonDocument::operator==(const JsonDocument&)") {
+  StaticJsonDocument<256> doc1;
+  StaticJsonDocument<256> doc2;
+  const JsonDocument& ref1 = doc1;
+  const JsonDocument& ref2 = doc2;
+
+  SECTION("Empty") {
+    REQUIRE(ref1 == ref2);
+    REQUIRE_FALSE(ref1 != ref2);
+  }
+
+  SECTION("With same object") {
+    doc1["hello"] = "world";
+    doc2["hello"] = "world";
+    REQUIRE(ref1 == ref2);
+    REQUIRE_FALSE(ref1 != ref2);
+  }
+
+  SECTION("With different object") {
+    doc1["hello"] = "world";
+    doc2["world"] = "hello";
+    REQUIRE_FALSE(ref1 == ref2);
+    REQUIRE(ref1 != ref2);
+  }
+}