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/MsgPackSerializer/misc.cpp

@@ -0,0 +1,46 @@
+#include <ArduinoJson.h>
+#include <catch.hpp>
+#include <limits>
+
+template <typename T>
+void check(T value, const std::string& expected) {
+  DynamicJsonDocument doc(4096);
+  doc.to<JsonVariant>().set(value);
+  char buffer[256] = "";
+  size_t returnValue = serializeMsgPack(doc, buffer, sizeof(buffer));
+  REQUIRE(expected == buffer);
+  REQUIRE(expected.size() == returnValue);
+}
+
+TEST_CASE("serializeMsgPack(MemberProxy)") {
+  DynamicJsonDocument doc(4096);
+  deserializeJson(doc, "{\"hello\":42}");
+  JsonObject obj = doc.as<JsonObject>();
+  std::string result;
+
+  serializeMsgPack(obj["hello"], result);
+
+  REQUIRE(result == "*");
+}
+
+TEST_CASE("serializeMsgPack(ElementProxy)") {
+  DynamicJsonDocument doc(4096);
+  deserializeJson(doc, "[42]");
+  JsonArray arr = doc.as<JsonArray>();
+  std::string result;
+
+  serializeMsgPack(arr[0], result);
+
+  REQUIRE(result == "*");
+}
+
+TEST_CASE("serializeMsgPack(JsonVariantSubscript)") {
+  DynamicJsonDocument doc(4096);
+  deserializeJson(doc, "[42]");
+  JsonVariant var = doc.as<JsonVariant>();
+  std::string result;
+
+  serializeMsgPack(var[0], result);
+
+  REQUIRE(result == "*");
+}