v2 API - Add PWM and Servo Support

[brentru]

This pull request introduces support for pwm.proto and servo.proto messages, as part of the WipperSnapper_Proto v2 API refactor.

PWM Support:

• New PWMController class to manage PWM operations
• API for attaching, detaching, duty cycle control, and frequency control
• Support for ESP32x LEDC API and Arduino Wiring API

Servo Support:

• New ServoController class to manage servo operations
• API for attaching, writing pulse width values, and removing servos
• Support for ESP32x LEDC API and the Arduino Servo library

Resolves: #641

[brentru]

Testing: pwm.proto

Test Setup:

• ESP32, Wokwi Simulator with 1x LED for PWMWriteDuty.
• Feather ESP32-S2 with 1x Piezo Speaker for PWMWriteFrequency
  Unit Tests:

• PWMAdd ✅ 2025-04-22
  • Called with valid parameters ✅ 2025-04-22
  • Called with invalid parameters (non-PWM capable pins) ✅ 2025-04-22
  • Called with GPIO pin that already has a PWM channel in-use ✅ 2025-04-22
  • Invalid frequency range value of 0Hz ✅ 2025-04-22
  • Invalid resolution range value of 0 bits ✅ 2025-04-22
• PWMAdded ✅ 2025-04-22
  • Returns from a call to PWMAdd with valid params. with true boolean field and valid pin value ✅ 2025-04-22
  • Returns from a call to PWMAdd with invalid params with false boolean field and valid pin value ✅ 2025-04-22
• PWMWriteDuty ✅ 2025-04-22
  • Test 0% duty cycle (fully off) ✅ 2025-04-22
  • Test 50% duty cycle (half on) ✅ 2025-04-22
  • Test 100% duty cycle (fully on) ✅ 2025-04-22
  • Test 25% ✅ 2025-04-22
  • Test 500% duty cycle (exceeds range) ✅ 2025-04-22
• PWMWriteFrequency
  • Test minimum frequency.
  • Test 1kHz, 5kHz, 10kHz tones
  • Test maximum frequency
• PWMRemove ✅ 2025-04-22
  • Remove an previously initialized PWM Pin ✅ 2025-04-22
  • Remove a non-previously initialized PWM Pin ✅ 2025-04-22

Integration Test(s)

• Add 2x PWM components ✅ 2025-04-22
  • Add LED 1 on D12 ✅ 2025-04-22
  • Add LED2 on D13 ✅ 2025-04-22
  • Set LED1 ✅ 2025-04-22
  • Remove LED1 ✅ 2025-04-22
  • Attempt to set LED 1 - should be an error ✅ 2025-04-22
  • Set LED 2 - should be OK ✅ 2025-04-22
  • Remove LED 2 ✅ 2025-04-22
  • Attempt to set LED2 ✅ 2025-04-22

[brentru]

Testing: servo.proto

Test Setup:

• ESP32, Wokwi Simulator with 3x Servo Motors

Unit Tests:

• Message: ServoAdd
  • Test create a servo with valid parameters
    • Parameters Tested: D13, 50Hz, 500uS, 2500uS
  • Test create a servo with identical pin name as already initialized servo
  • Test add servo to D13, and another to D15
• Message: ServoAdded
  • Did ServoAdd test .proto file wrappers updated #1 return a ServoAdded message to the broker?
    • ServoAdded contains the same pin name?
    • ServoAdded contains success boolean set to true
  • Did ServoAdd test .proto file wrappers updated #2 return a ServoAdded message to the broker?
    • ServoAdded contains the same pin name?
    • Expected Error: ServoAdded contains success boolean set to false
• Message ServoRemove
  • Test remove a valid servo pin
  • Test remove an invalid servo pin
    • Input: A pin which wasn't initialized as a servo
• Message ServoWrite
  • Valid ServoWrite message
    • Ensure servo angle matches pulse_width
  • Boundary tests
    • pulse_width to 0uS minimum
    • pulse_width to 2500uS maximum
    • pulse_width to an out of range value
  • Invalid pin/empty pin
    • Expected Error:
  • Test writing before adding
    Integration Tests
• Servo Lifecycle
  • Add servo to pin D13 with default params.
  • Verify ServoAdded success field is true
  • Test writing 45deg, 90deg, 135deg, 180deg, 0 deg, 180deg positions to the servo
    • 0°500μs45°1000μs90°1500μs135°2000μs180°2500μs
  • Test removing servo
• Multiple Servos
  • Add servo to pin D13 with default params.
    • Verify ServoAdded
  • Add servo to pin D12 with default params
    • Verify ServoAdded
  • Write both servos to different positions
    • servo d13 to 1000uS
    • servo d12 to 2000uS
  • Remove both servos
• Weird issue at 2500 boundary - isn't writing full 2500?
  • Go to 2000
  • Go to 2500
  • Go to 500 (zero)

[brentru]

✅ Tested PWMWriteFrequency with an Adafruit FunHouse ESP32S2

[brentru]

✅ Performed self review, pushing to tyeth for final review