Initial commit

First and incomplete version of the refactor, stage module works, including aborting moves.

README.md

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+# Firmware code for the sangaboard
+
+*This firmware is Work in Progress and has not reached feature parity with the original yet (see below for more details)*
+
+Firmware for the control board of OpenFlexure Microscope. This is a refactor of the (original arduino code](https://gitlab.com/bath_open_instrumentation_group/sangaboard/-/blob/master/arduino_code/README.md) with some improvements to the infrastructure and features.
+
+## Notable changes
+This version of the firmware uses PlatformIO rather than Arduino IDE.
+
+The code is split into the main part which mostly handles command parsing and modules which execute actual commands, allowing the firmware to be easily extensible with new features (add a module based on one of the existing ones and add a line to setup() to register it's commands and loop function).
+
+Motor moves now do not block command processing and a new command `stop` was added which aborts any move in progress.
+
+## Hardware
+
+Currently works on Arduino Nano + Sangaboard v0.2. Other platforms might work with appropriate `platform.ini` and `config.h` changes and will be supported in due course.
+
+## TODO list
+### Original firmware feature parity
+  - [] Implement Endstops module
+  - [] Implement Light sensor modules
+  - [] Handle Sangaboardv3
+  - [] Ensure responses to commands match the original version
+
+### Improvements and fixes
+  - [] Add a CI script
+  - [] Add tests (argument parsing)
+  - [] Test automatic building and upload
+  - [] Support other platforms
+  - [] Clean up some of the messier bits