📦 Project structure: PlatformIO configs, proper file extensions, wiring docs

- Rename .txt firmware files to proper extensions (.cpp, .ino, .py)
  so GitHub provides syntax highlighting and IDEs detect them correctly
- Add PlatformIO project configs (platformio.ini) for both Rocket and
  Launcher firmware with all library dependencies pinned, enabling
  one-command builds: `pio run -e rocket -t upload`
- Add requirements.txt for the Python telemetry dashboard
- Add .gitignore for PlatformIO, Arduino IDE, Python, and editor artifacts
- Add docs/WIRING.md with complete pin assignments, I2C addresses,
  servo calibration values, and UDP protocol reference
  (reverse-engineered from firmware source)
- Rename Simulation/fdsdf.png to OpenRocket_3D_View.png

No functional changes to any firmware or software code.

Firmware/Rocket/platformio.ini

@@ -0,0 +1,19 @@
+; PlatformIO Project Configuration - Rocket Flight Computer
+; 
+; Build & upload:
+;   pio run -e rocket -t upload
+;
+; Monitor serial:
+;   pio device monitor -b 115200
+
+[env:rocket]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
+lib_deps =
+    adafruit/Adafruit MPU6050@^2.2.6
+    adafruit/Adafruit Unified Sensor@^1.1.14
+    madhephaestus/ESP32Servo@^3.0.5
+    Wire
+upload_speed = 921600

Firmware/Rocket/src/main.cpp

@@ -0,0 +1,160 @@
+/*
+ * ROCKET ESP32 CODE (Flight Computer + Stabilization)
+ * V4 - Final stable build with Physical Skew Telemetry
+ */
+
+#include <Arduino.h>
+#include <Wire.h>
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <ESP32Servo.h>
+
+const int RX2_PIN = 16;
+const int TX2_PIN = 17;
+const int IGNITE_SERVO_PIN = 5;
+
+const int LEFT_SERVO_PIN = 26;
+const int RIGHT_SERVO_PIN = 25;
+const int UP_SERVO_PIN = 27;
+const int DOWN_SERVO_PIN = 14;
+
+const int IGNITE_SERVO_ON = 150;
+const int IGNITE_SERVO_OFF = 35;
+
+const int LEFT_CENTER = 115;
+const int RIGHT_CENTER = 80;
+const int UP_CENTER = 80;
+const int DOWN_CENTER = 115;
+const int MAX_DEFLECTION = 12;
+
+Servo igniteServo;
+Servo leftServo, rightServo, upServo, downServo;
+Adafruit_MPU6050 mpu;
+
+String sysState = "IDLE"; 
+float Kp = 0.5;
+float Kd = 0.2;
+String cmdBuffer = ""; 
+
+float roll = 0;
+float gyroX_offset = 0;
+float physical_skew_angle = 0.0;
+
+unsigned long last_time;
+unsigned long lastTelemetrySent = 0;
+unsigned long lastReadySent = 0;
+unsigned long igniteStartTime = 0;
+
+void calibrateGyro() {
+    float sumGyroX = 0, sumAccY = 0, sumAccZ = 0;
+    int samples = 200;
+    for (int i = 0; i < samples; i++) {
+        sensors_event_t a, g, temp;
+        mpu.getEvent(&a, &g, &temp);
+        sumGyroX += g.gyro.x;
+        sumAccY += a.acceleration.y;
+        sumAccZ += a.acceleration.z;
+        delay(5);
+    }
+    gyroX_offset = sumGyroX / samples;
+    float avgY = sumAccY / samples;
+    float avgZ = sumAccZ / samples;
+    physical_skew_angle = atan2(avgY, avgZ) * 180.0 / PI; 
+    roll = 0.0; 
+    last_time = millis(); 
+}
+
+void setup() {
+    Serial.begin(115200); 
+    Serial2.begin(115200, SERIAL_8N1, RX2_PIN, TX2_PIN); 
+    Serial2.setTimeout(20); 
+    delay(1500); 
+    Wire.begin(21, 22);
+    if (mpu.begin()) {
+        mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
+        mpu.setGyroRange(MPU6050_RANGE_500_DEG);
+        mpu.setFilterBandwidth(MPU6050_BAND_10_HZ);
+    }
+    ESP32PWM::allocateTimer(0);
+    ESP32PWM::allocateTimer(1);
+    igniteServo.setPeriodHertz(50);
+    igniteServo.attach(IGNITE_SERVO_PIN);
+    igniteServo.write(IGNITE_SERVO_OFF); 
+    leftServo.setPeriodHertz(50);   leftServo.attach(LEFT_SERVO_PIN, 500, 2400);
+    rightServo.setPeriodHertz(50);  rightServo.attach(RIGHT_SERVO_PIN, 500, 2400);
+    upServo.setPeriodHertz(50);     upServo.attach(UP_SERVO_PIN, 500, 2400);
+    downServo.setPeriodHertz(50);   downServo.attach(DOWN_SERVO_PIN, 500, 2400);
+    leftServo.write(LEFT_CENTER);
+    rightServo.write(RIGHT_CENTER);
+    upServo.write(UP_CENTER);
+    downServo.write(DOWN_CENTER);
+    calibrateGyro();
+}
+
+void loop() {
+    unsigned long current_time = millis();
+    float dt = (current_time - last_time) / 1000.0;
+    if (dt <= 0) dt = 0.001; 
+    last_time = current_time;
+
+    sensors_event_t a, g, temp;
+    mpu.getEvent(&a, &g, &temp);
+
+    float raw_rate_rad = g.gyro.x - gyroX_offset;
+    float rate_deg_s = raw_rate_rad * 180.0 / PI;
+    roll += rate_deg_s * dt;
+
+    float output = (Kp * roll) + (Kd * rate_deg_s);
+    int servo_offset = constrain((int)output, -MAX_DEFLECTION, MAX_DEFLECTION);
+
+    if (sysState == "FLIGHT") {
+        leftServo.write(LEFT_CENTER + servo_offset);
+        rightServo.write(RIGHT_CENTER + servo_offset);
+        upServo.write(UP_CENTER + servo_offset);
+        downServo.write(DOWN_CENTER + servo_offset);
+    } else {
+        leftServo.write(LEFT_CENTER);
+        rightServo.write(RIGHT_CENTER);
+        upServo.write(UP_CENTER);
+        downServo.write(DOWN_CENTER);
+        servo_offset = 0; 
+    }
+
+    if (sysState == "IGNITING" && (current_time - igniteStartTime > 2500)) {
+        igniteServo.write(IGNITE_SERVO_OFF);
+        sysState = "FLIGHT";          
+        Serial2.println("IGNITED");   
+    }
+
+    if (current_time - lastTelemetrySent >= 50) {
+        // Telemetry payload including Skew Angle
+        String payload = "DATA," + String(a.acceleration.x, 2) + "," + 
+                         String(a.acceleration.y, 2) + "," + String(a.acceleration.z, 2) + "," +
+                         String(roll, 2) + "," + String(rate_deg_s, 2) + "," + 
+                         String(servo_offset) + "," + sysState + "," + 
+                         String(Kp, 2) + "," + String(Kd, 2) + "," + 
+                         String(physical_skew_angle, 2);
+        Serial2.println(payload);
+        lastTelemetrySent = current_time;
+    }
+
+    if (sysState == "IDLE" && (current_time - lastReadySent >= 1000)) {
+        Serial2.println("READY");
+        lastReadySent = current_time;
+    }
+
+    while (Serial2.available()) {
+        char c = Serial2.read();
+        if (c == '\n') {
+            cmdBuffer.trim(); 
+            if (cmdBuffer == "ARM" && sysState == "IDLE") { sysState = "ARMED"; calibrateGyro(); }
+            else if (cmdBuffer == "IGNITE") { sysState = "IGNITING"; igniteStartTime = millis(); igniteServo.write(IGNITE_SERVO_ON); }
+            else if (cmdBuffer == "CALIBRATE") { calibrateGyro(); }
+            else if (cmdBuffer.startsWith("PID,")) {
+                int c1 = cmdBuffer.indexOf(','), c2 = cmdBuffer.indexOf(',', c1 + 1);
+                if (c1 > 0 && c2 > 0) { Kp = cmdBuffer.substring(c1 + 1, c2).toFloat(); Kd = cmdBuffer.substring(c2 + 1).toFloat(); }
+            }
+            cmdBuffer = ""; 
+        } else if (c != '\r') { cmdBuffer += c; }
+    }
+}