Bring in firmware to monorepo

.github/workflows/frontend_CI.yml

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+name: Frontend CI
+
+on:
+  push:
+    branches:
+      - '**'
+    paths:
+      - 'frontend/**'
+      - '.github/workflows/frontend_CI.yml'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - 'frontend/**'
+      - '.github/workflows/frontend_CI.yml'
+
+jobs:
+  typecheck-and-build:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: frontend
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-node@v4
+        with:
+          node-version: '20'
+          cache: 'npm'
+          cache-dependency-path: frontend/package-lock.json
+
+      - name: Install dependencies
+        run: npm ci
+
+      - name: Type check
+        run: npm run typecheck
+
+      - name: Build
+        run: npm run build

.github/workflows/motor_microcontroller_CI.yml

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+name: Motor Microcontroller CI
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - "**"
+    paths:
+      - "firmware/motor_microcontroller/**"
+  pull_request:
+    branches:
+      - "**"
+    paths:
+      - "firmware/motor_microcontroller/**"
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    if: github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name != github.event.pull_request.base.repo.full_name
+
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: ${{ runner.os }}-pio
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - name: Install PlatformIO Core
+        run: |
+          curl -fsSL -o get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
+          python3 get-platformio.py
+          mkdir -p /usr/local/bin
+          ln -s ~/.platformio/penv/bin/platformio /usr/local/bin/platformio
+          ln -s ~/.platformio/penv/bin/pio /usr/local/bin/pio
+          ln -s ~/.platformio/penv/bin/piodebuggdb /usr/local/bin/piodebuggdb
+      - name: Copy custom ROS interfaces
+        run: |
+          mkdir -p firmware/motor_microcontroller/extra_packages
+          cp -r src/autogiro_interfaces firmware/motor_microcontroller/extra_packages/
+      - name: Build PlatformIO Project
+        run: pio run -e pico -e ROS
+        working-directory: firmware/motor_microcontroller
+      - name: Upload firmware
+        uses: actions/upload-artifact@v4
+        with:
+          name: motor_firmware.uf2
+          path: firmware/motor_microcontroller/.pio/build/ROS/firmware.uf2
+          if-no-files-found: warn

.github/workflows/sensor_microcontroller_CI.yml

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+name: Sensor Microcontroller CI
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - "**"
+    paths:
+      - "firmware/sensor_microcontroller/**"
+  pull_request:
+    branches:
+      - "**"
+    paths:
+      - "firmware/sensor_microcontroller/**"
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    if: github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name != github.event.pull_request.base.repo.full_name
+
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: ${{ runner.os }}-pio
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - name: Install PlatformIO Core
+        run: |
+          curl -fsSL -o get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
+          python3 get-platformio.py
+          mkdir -p /usr/local/bin
+          ln -s ~/.platformio/penv/bin/platformio /usr/local/bin/platformio
+          ln -s ~/.platformio/penv/bin/pio /usr/local/bin/pio
+          ln -s ~/.platformio/penv/bin/piodebuggdb /usr/local/bin/piodebuggdb
+      - name: Copy custom ROS interfaces
+        run: |
+          mkdir -p firmware/sensor_microcontroller/extra_packages
+          cp -r src/autogiro_interfaces firmware/sensor_microcontroller/extra_packages/
+      - name: Build PlatformIO Project
+        run: pio run -e regular -e ROS
+        working-directory: firmware/sensor_microcontroller
+      - name: Upload firmware
+        uses: actions/upload-artifact@v4
+        with:
+          name: sensor_firmware.uf2
+          path: firmware/sensor_microcontroller/.pio/build/ROS/firmware.uf2
+          if-no-files-found: warn

firmware/motor_microcontroller/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
+.idea
+.vscode
+.DS_Store

firmware/motor_microcontroller/README.md

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+[![PlatformIO CI](https://github.com/WheelchairSeniorDesign/MotorMicrocontroller/actions/workflows/Platformio_CI.yml/badge.svg)](https://github.com/WheelchairSeniorDesign/MotorMicrocontroller/actions/workflows/Platformio_CI.yml)
+
+# MotorMicrocontroller
+
+Brake, Enable, Direction (per each motor), DAC clock, DAC data

firmware/motor_microcontroller/include/BatteryFunctions.h

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+//
+// Created by Laxman on 4/9/25.
+//
+
+#ifndef BATTERYFUNCTIONS_H
+#define BATTERYFUNCTIONS_H
+
+#include <Arduino.h>
+#include "hardware/adc.h"
+
+// ADC pin and configuration
+#define ADC_PIN 28
+#define VREF 3.3
+#define ADC_MAX 4095.0
+#define OPAMP_GAIN 10.1
+#define VOLTAGE_DIVIDER_RATIO 0.01205
+
+// Battery voltage range
+#define BATTERY_VOLTAGE_MAX 27.0
+#define BATTERY_VOLTAGE_MIN 21.0
+
+void initBatterySensor();
+float readBatteryVoltage();
+int8_t calculateBatteryPercentage(float battery_voltage);
+
+#endif // BATTERYFUNCTIONS_H
+

firmware/motor_microcontroller/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

firmware/motor_microcontroller/include/RefSpeed.h

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+//
+// Created by Robbie on 12/8/24.
+//
+
+#ifndef MOTORMICROCONTROLLER_REFSPEED_H
+#define MOTORMICROCONTROLLER_REFSPEED_H
+
+#include <Arduino.h>
+
+/**
+ * Struct representing the reference speed and direction.
+ */
+struct refSpeed {
+    int8_t leftSpeed{};      ///< Speed of the left wheel.
+    int8_t rightSpeed{};     ///< Speed of the right wheel.
+};
+
+
+#endif //MOTORMICROCONTROLLER_REFSPEED_H

firmware/motor_microcontroller/include/globals.h

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+//
+// Created by Robbie on 5/14/25.
+//
+
+#ifndef GLOBALS_H
+#define GLOBALS_H
+
+extern float speedR;
+extern float speedL;
+
+#endif //GLOBALS_H

firmware/motor_microcontroller/include/microRosFunctions.h

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+//
+// Created by leslier on 12/8/2024.
+//
+
+#ifndef MOTORMICROCONTROLLER_MICROROSFUNCTIONS_H
+#define MOTORMICROCONTROLLER_MICROROSFUNCTIONS_H
+
+#include <Arduino.h>
+#include "RefSpeed.h"
+
+extern bool eBrake;
+
+
+bool create_entities();
+
+void destroy_entities();
+
+void microRosTick();
+
+/**
+ * Transmits the message over ROS. Not in use right now
+ * @param /
+ */
+//void transmitMsg();
+
+
+/**
+ * Function to get the reference speed from the ROS topic.
+ * @return The reference speed using the refSpeed struct.
+ */
+refSpeed getRefSpeed();
+
+
+void transmitDac(int16_t leftDacValue, int16_t rightDacValue);
+
+#endif //MOTORMICROCONTROLLER_MICROROSFUNCTIONS_H

firmware/motor_microcontroller/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

firmware/motor_microcontroller/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:pico]
+platform = raspberrypi
+board = pico
+framework = arduino
+lib_deps = 
+	adafruit/Adafruit MCP4725@^2.0.2
+
+[env:ROS]
+platform = raspberrypi
+board = pico
+framework = arduino
+lib_deps = 
+	adafruit/Adafruit MCP4725@^2.0.2
+	https://github.com/micro-ROS/micro_ros_platformio
+build_flags =
+	-D ROS
+
+board_microros_distro = humble
+board_microros_transport = serial
+
+[env:ROS-debug]
+platform = raspberrypi
+board = pico
+framework = arduino
+lib_deps = 
+	adafruit/Adafruit MCP4725@^2.0.2
+	https://github.com/micro-ROS/micro_ros_platformio
+
+build_flags = 
+	-D ROS_DEBUG
+board_microros_distro = humble
+board_microros_transport = serial