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/JsonSerializer/CustomWriter.cpp

@@ -0,0 +1,51 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <catch.hpp>
+
+class CustomWriter {
+ public:
+  CustomWriter() {}
+  CustomWriter(const CustomWriter&) = delete;
+  CustomWriter& operator=(const CustomWriter&) = delete;
+
+  size_t write(uint8_t c) {
+    _str.append(1, static_cast<char>(c));
+    return 1;
+  }
+
+  size_t write(const uint8_t* s, size_t n) {
+    _str.append(reinterpret_cast<const char*>(s), n);
+    return n;
+  }
+
+  const std::string& str() const {
+    return _str;
+  }
+
+ private:
+  std::string _str;
+};
+
+TEST_CASE("CustomWriter") {
+  DynamicJsonDocument doc(4096);
+  JsonArray array = doc.to<JsonArray>();
+  array.add(4);
+  array.add(2);
+
+  SECTION("serializeJson()") {
+    CustomWriter writer;
+    serializeJson(array, writer);
+
+    REQUIRE("[4,2]" == writer.str());
+  }
+
+  SECTION("serializeJsonPretty") {
+    CustomWriter writer;
+    serializeJsonPretty(array, writer);
+
+    REQUIRE("[\r\n  4,\r\n  2\r\n]" == writer.str());
+  }
+}