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/createNested.cpp

@@ -0,0 +1,66 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <catch.hpp>
+
+TEST_CASE("JsonDocument::createNestedArray()") {
+  DynamicJsonDocument doc(4096);
+
+  SECTION("promotes to array") {
+    doc.createNestedArray();
+
+    REQUIRE(doc.is<JsonArray>());
+  }
+}
+
+TEST_CASE("JsonDocument::createNestedArray(key)") {
+  DynamicJsonDocument doc(4096);
+
+  SECTION("key is const char*") {
+    SECTION("promotes to object") {
+      doc.createNestedArray("hello");
+
+      REQUIRE(doc.is<JsonObject>());
+    }
+  }
+
+  SECTION("key is std::string") {
+    SECTION("promotes to object") {
+      doc.createNestedArray(std::string("hello"));
+
+      REQUIRE(doc.is<JsonObject>());
+    }
+  }
+}
+
+TEST_CASE("JsonDocument::createNestedObject()") {
+  DynamicJsonDocument doc(4096);
+
+  SECTION("promotes to array") {
+    doc.createNestedObject();
+
+    REQUIRE(doc.is<JsonArray>());
+  }
+}
+
+TEST_CASE("JsonDocument::createNestedObject(key)") {
+  DynamicJsonDocument doc(4096);
+
+  SECTION("key is const char*") {
+    SECTION("promotes to object") {
+      doc.createNestedObject("hello");
+
+      REQUIRE(doc.is<JsonObject>());
+    }
+  }
+
+  SECTION("key is std::string") {
+    SECTION("promotes to object") {
+      doc.createNestedObject(std::string("hello"));
+
+      REQUIRE(doc.is<JsonObject>());
+    }
+  }
+}