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/swap.cpp

@@ -0,0 +1,27 @@
+#include <ArduinoJson.h>
+
+#include <catch.hpp>
+#include <string>
+#include <utility>
+
+using namespace std;
+
+TEST_CASE("std::swap") {
+  SECTION("DynamicJsonDocument*") {
+    DynamicJsonDocument *p1, *p2;
+    swap(p1, p2);  // issue #1678
+  }
+
+  SECTION("DynamicJsonDocument") {
+    DynamicJsonDocument doc1(0x10), doc2(0x20);
+    doc1.set("hello");
+    doc2.set("world");
+
+    swap(doc1, doc2);
+
+    CHECK(doc1.capacity() == 0x20);
+    CHECK(doc1.as<string>() == "world");
+    CHECK(doc2.capacity() == 0x10);
+    CHECK(doc2.as<string>() == "hello");
+  }
+}