Bidirectional Communication To PC/RPi 5 with LeRobot & More CAD changes

I setup a basic class for my robot in LeRobot (which was a little confusing) and then I also got communication between the Pico and my PC working. Originally I have SPI pins exposed on my mainboard PCB to connect to the RPi 5’s GPIO pins, but for some reason after lots of debugging, even running it at super low speeds it just would not work. So I switched to just using serial over USB, and using the SerialTransfer library to send data more reliably.

The script on the PC now can send target joint angles, and receive a lot of data back, like if the joint is online, temp, current, angle, homing sensor, home status, LED, firmware version, voltage, etc

I also iterated on the CAD for everything, and it should be done soon. It’s just a bunch of tolerance fixes to make everything fit at this point and some new things like mounts for encoders and DC buck modules and fixing the CAD for the custom MG996R case.