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/JsonArrayPretty.cpp

@@ -0,0 +1,75 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <catch.hpp>
+
+static void checkArray(JsonArray array, std::string expected) {
+  std::string actual;
+  size_t actualLen = serializeJsonPretty(array, actual);
+  size_t measuredLen = measureJsonPretty(array);
+  CHECK(actualLen == expected.size());
+  CHECK(measuredLen == expected.size());
+  REQUIRE(expected == actual);
+}
+
+TEST_CASE("serializeJsonPretty(JsonArray)") {
+  DynamicJsonDocument doc(4096);
+  JsonArray array = doc.to<JsonArray>();
+
+  SECTION("Empty") {
+    checkArray(array, "[]");
+  }
+
+  SECTION("OneElement") {
+    array.add(1);
+
+    checkArray(array,
+               "[\r\n"
+               "  1\r\n"
+               "]");
+  }
+
+  SECTION("TwoElements") {
+    array.add(1);
+    array.add(2);
+
+    checkArray(array,
+               "[\r\n"
+               "  1,\r\n"
+               "  2\r\n"
+               "]");
+  }
+
+  SECTION("EmptyNestedArrays") {
+    array.createNestedArray();
+    array.createNestedArray();
+
+    checkArray(array,
+               "[\r\n"
+               "  [],\r\n"
+               "  []\r\n"
+               "]");
+  }
+
+  SECTION("NestedArrays") {
+    JsonArray nested1 = array.createNestedArray();
+    nested1.add(1);
+    nested1.add(2);
+
+    JsonObject nested2 = array.createNestedObject();
+    nested2["key"] = 3;
+
+    checkArray(array,
+               "[\r\n"
+               "  [\r\n"
+               "    1,\r\n"
+               "    2\r\n"
+               "  ],\r\n"
+               "  {\r\n"
+               "    \"key\": 3\r\n"
+               "  }\r\n"
+               "]");
+  }
+}