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/JsonObject.cpp

@@ -0,0 +1,119 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <catch.hpp>
+#include <string>
+
+static void checkObject(const JsonObject obj, const std::string& expected) {
+  char actual[256];
+  memset(actual, '!', sizeof(actual));
+
+  size_t actualLen = serializeJson(obj, actual);
+  size_t measuredLen = measureJson(obj);
+
+  REQUIRE(expected.size() == measuredLen);
+  REQUIRE(expected.size() == actualLen);
+  REQUIRE(actual[actualLen] == 0);  // serializeJson() adds a null terminator
+  REQUIRE(expected == actual);
+}
+
+TEST_CASE("serializeJson(JsonObject)") {
+  DynamicJsonDocument doc(4096);
+  JsonObject obj = doc.to<JsonObject>();
+
+  SECTION("EmptyObject") {
+    checkObject(obj, "{}");
+  }
+
+  SECTION("TwoStrings") {
+    obj["key1"] = "value1";
+    obj["key2"] = "value2";
+
+    checkObject(obj, "{\"key1\":\"value1\",\"key2\":\"value2\"}");
+  }
+
+  SECTION("RemoveFirst") {
+    obj["key1"] = "value1";
+    obj["key2"] = "value2";
+    obj.remove("key1");
+
+    checkObject(obj, "{\"key2\":\"value2\"}");
+  }
+
+  SECTION("RemoveLast") {
+    obj["key1"] = "value1";
+    obj["key2"] = "value2";
+    obj.remove("key2");
+
+    checkObject(obj, "{\"key1\":\"value1\"}");
+  }
+
+  SECTION("RemoveUnexistingKey") {
+    obj["key1"] = "value1";
+    obj["key2"] = "value2";
+    obj.remove("key3");
+
+    checkObject(obj, "{\"key1\":\"value1\",\"key2\":\"value2\"}");
+  }
+
+  SECTION("ReplaceExistingKey") {
+    obj["key"] = "value1";
+    obj["key"] = "value2";
+
+    checkObject(obj, "{\"key\":\"value2\"}");
+  }
+
+  SECTION("TwoIntegers") {
+    obj["a"] = 1;
+    obj["b"] = 2;
+    checkObject(obj, "{\"a\":1,\"b\":2}");
+  }
+
+  SECTION("serialized(const char*)") {
+    obj["a"] = serialized("[1,2]");
+    obj["b"] = serialized("[4,5]");
+    checkObject(obj, "{\"a\":[1,2],\"b\":[4,5]}");
+  }
+
+  SECTION("Two doubles") {
+    obj["a"] = 12.34;
+    obj["b"] = 56.78;
+    checkObject(obj, "{\"a\":12.34,\"b\":56.78}");
+  }
+
+  SECTION("TwoNull") {
+    obj["a"] = static_cast<char*>(0);
+    obj["b"] = static_cast<char*>(0);
+    checkObject(obj, "{\"a\":null,\"b\":null}");
+  }
+
+  SECTION("TwoBooleans") {
+    obj["a"] = true;
+    obj["b"] = false;
+    checkObject(obj, "{\"a\":true,\"b\":false}");
+  }
+
+  SECTION("ThreeNestedArrays") {
+    DynamicJsonDocument b(4096);
+    DynamicJsonDocument c(4096);
+
+    obj.createNestedArray("a");
+    obj["b"] = b.to<JsonArray>();
+    obj["c"] = c.to<JsonArray>();
+
+    checkObject(obj, "{\"a\":[],\"b\":[],\"c\":[]}");
+  }
+
+  SECTION("ThreeNestedObjects") {
+    DynamicJsonDocument b(4096);
+    DynamicJsonDocument c(4096);
+
+    obj.createNestedObject("a");
+    obj["b"] = b.to<JsonObject>();
+    obj["c"] = c.to<JsonObject>();
+
+    checkObject(obj, "{\"a\":{},\"b\":{},\"c\":{}}");
+  }
+}