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/JsonVariant/stl_containers.cpp

@@ -0,0 +1,138 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <stdint.h>
+#include <catch.hpp>
+
+#include <array>
+#include <string>
+#include <vector>
+
+namespace ArduinoJson {
+template <typename T>
+struct Converter<std::vector<T>> {
+  static void toJson(const std::vector<T>& src, JsonVariant dst) {
+    JsonArray array = dst.to<JsonArray>();
+    for (T item : src)
+      array.add(item);
+  }
+
+  static std::vector<T> fromJson(JsonVariantConst src) {
+    std::vector<T> dst;
+    for (T item : src.as<JsonArrayConst>())
+      dst.push_back(item);
+    return dst;
+  }
+
+  static bool checkJson(JsonVariantConst src) {
+    JsonArrayConst array = src;
+    bool result = array;
+    for (JsonVariantConst item : array)
+      result &= item.is<T>();
+    return result;
+  }
+};
+
+template <typename T, size_t N>
+struct Converter<std::array<T, N>> {
+  static void toJson(const std::array<T, N>& src, JsonVariant dst) {
+    JsonArray array = dst.to<JsonArray>();
+    for (T item : src)
+      array.add(item);
+  }
+
+  static std::array<T, N> fromJson(JsonVariantConst src) {
+    std::array<T, N> dst;
+    dst.fill(0);
+    size_t idx = 0;
+    for (T item : src.as<JsonArrayConst>())
+      dst[idx++] = item;
+    return dst;
+  }
+
+  static bool checkJson(JsonVariantConst src) {
+    JsonArrayConst array = src;
+    bool result = array;
+    size_t size = 0;
+    for (JsonVariantConst item : array) {
+      result &= item.is<T>();
+      size++;
+    }
+    return result && size == N;
+  }
+};
+}  // namespace ArduinoJson
+
+TEST_CASE("vector<int>") {
+  SECTION("toJson") {
+    std::vector<int> v = {1, 2};
+
+    StaticJsonDocument<128> doc;
+    doc.set(v);
+    REQUIRE(doc.as<std::string>() == "[1,2]");
+  }
+
+  SECTION("fromJson") {
+    StaticJsonDocument<128> doc;
+    doc.add(1);
+    doc.add(2);
+
+    auto v = doc.as<std::vector<int>>();
+    REQUIRE(v.size() == 2);
+    CHECK(v[0] == 1);
+    CHECK(v[1] == 2);
+  }
+
+  SECTION("checkJson") {
+    StaticJsonDocument<128> doc;
+    CHECK(doc.is<std::vector<int>>() == false);
+
+    doc.add(1);
+    doc.add(2);
+    CHECK(doc.is<std::vector<int>>() == true);
+
+    doc.add("foo");
+    CHECK(doc.is<std::vector<int>>() == false);
+  }
+}
+
+TEST_CASE("array<int, 2>") {
+  typedef std::array<int, 2> array_type;
+
+  SECTION("toJson") {
+    array_type v;
+    v[0] = 1;
+    v[1] = 2;
+
+    StaticJsonDocument<128> doc;
+    doc.set(v);
+    REQUIRE(doc.as<std::string>() == "[1,2]");
+  }
+
+  SECTION("fromJson") {
+    StaticJsonDocument<128> doc;
+    doc.add(1);
+    doc.add(2);
+
+    auto v = doc.as<array_type>();
+    REQUIRE(v.size() == 2);
+    CHECK(v[0] == 1);
+    CHECK(v[1] == 2);
+  }
+
+  SECTION("checkJson") {
+    StaticJsonDocument<128> doc;
+    CHECK(doc.is<array_type>() == false);
+
+    doc.add(1);
+    CHECK(doc.is<array_type>() == false);
+
+    doc.add(2);
+    CHECK(doc.is<array_type>() == true);
+
+    doc[0] = "foo";
+    CHECK(doc.is<array_type>() == false);
+  }
+}