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Updated README

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Motion controler code for the RPI Pico (RP2040)
Controller code for the RPI Pico W (RP2040)
===============================================
This project is the main controller firmware for the RPI Pico (RP2040), designed for the Eurobot 2025 Cup.
I2C description
-----------------------------------------------
The robot’s I2C communication works as follows:
* Send the device address + R/W bit (to select read or write mode).
* Send the target register address (to read from or write to).
* Read or write the register data. Multiple registers can be read/written sequentially, with the address auto-incrementing after each operation.
This code is designed to be the master in the i2c communication.
|Register |R/W|Description |Encoding |
|---------|:-:|-------------------------------|:-----------------:|
| 0x00 | W | Speed motor 1 |**-128** - **127** |
| 0x01 | W | Speed motor 2 |**-128** - **127** |
| 0x02 | W | Speed motor 3 |**-128** - **127** |
| 0x03 | W | Speed motor 4 |**-128** - **127** |
| 0x04 | W | Servo 1 position selection | **0** - **1** |
| 0x05 | W | Servo 2 position selection | **0** - **1** |
| 0x06 | W | Servo 3 position selection | **0** - **1** |
| 0x07 | W | Servo 4 position selection | **0** - **1** |
Motors communication description
-----------------------------------------------
Motors are «connected» to their respective I2C buffer address.
To control a motor you need to write data to its adress of the form :
>```C
>int8_t speed;
>```
Value goes from **-128** to **127**.
Servo motors communication description
-----------------------------------------------
Servo motors are «connected» to their respective I2C buffer address.
To control a servo motor you need to write data to its adress of the form :
>```C
>uint8_t close;
>```
Value is 0 or 1 for the open or the close pos.
This project is the controller firmware for the RPI Pico (RP2040), designed for the Eurobot 2025 Cup.
Internet communication description
-----------------------------------------------
The robot main_controller is a client connected to the wireless controller which is an udp server host. A buffer is used to store data received from host.
Speed on X and Y axis are not depending of the robot orientation.
Servo motors keep the same byte address in i2c buffer and udp payload.
|Byte |Description |Encoding |
|---------|-------------------------------------------------|:-----------------:|
| 0x00-01 | Robot angle (0x00 is the last significant byte) |**-180** - **180** |
| 0x02 | Speed x axis |**-128** - **127** |
| 0x03 | Speed y axis |**-128** - **127** |
| 0x04 | Servo 1 position selection | **0** - **1** |
| 0x05 | Servo 2 position selection | **0** - **1** |
| 0x06 | Servo 3 position selection | **0** - **1** |
| 0x07 | Servo 4 position selection | **0** - **1** |
Pinout description
-----------------------------------------------
|Pin |Description |GPIO Type |
|----|----------------------------------|-----------|
| 4 | I2C Bus SDA | I2C |
| 5 | I2C Bus SCL | I2C |
Motors placement
-----------------------------------------------
,-~***~-,
/1 2\
| |
| |
| |
\3 4/
`-.....-'
The robot controller is a access point server.