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Basic PWM implementation #1

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Basic PWM implementation #1

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liamgilligan
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This PR adds two main features:

  1. Ability to generate PWM: The Pico will listen for an array of PWM values on the "pwm_values" topic, then set the PWM generators on the Pico to match those values.
  2. Ability to communicate with micro-ROS agent over UART: The Pico transport functions were modified to allow for communication over UART.

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@mike-matera mike-matera Awaiting requested review from mike-matera

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@liamgilligan @steph1111