doc: Added READMEs for TACOS usage

include/sta/README.md

@@ -0,0 +1,93 @@
+# TACOS.hpp
+
+The TACOS API is defined in the tacos.hpp, in normal use cases you should only need to include this file.
+
+## Functions
+
+```cpp
+uint16_t getState()
+```
+
+Retrieves the current state of the TACOS state machine.
+
+---
+```cpp
+void requestState(uint32_t from, uint32_t to, uint32_t lockout = 0, bool publish = true)
+```
+
+Requests a state transition. Invalid state transitions will be dismissed. First come, first serve.
+
+- **Parameters**:
+  - `from`: The starting state for the transition.
+  - `to`: The target state to transition to.
+  - `lockout`: (Optional) A timer to block further transitions.
+  - `publish`: (Optional) Whether to publish the state transition to the CAN bus.
+
+```cpp
+void forceState(uint32_t from, uint32_t to, uint32_t lockout = 0, bool publish = true)
+```
+
+Forces a state transition. Will be ignored if already in the given state. Triggers instantly.
+
+- **Parameters**:
+  - `from`: The starting state for the transition.
+  - `to`: The target state to transition to.
+  - `lockout`: (Optional) A timer to block further transitions.
+  - `publish`: (Optional) Whether to publish the state transition to the CAN bus.
+
+---
+
+```cpp
+void setStateTimed(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0, bool publish = false)
+```
+
+Requests a state transition after a specified time.
+
+- **Parameters**:
+  - `from`: The starting state.
+  - `to`: The target state.
+  - `millis`: The wait time in milliseconds before requesting the transition.
+  - `lockout`: (Optional) A timer for blocking subsequent transitions.
+
+---
+
+```cpp 
+template<typename T, typename ... Args> std::shared_ptr<T> addThread(std::set<uint16_t> states, Args ... args)
+```
+
+Registers a new thread to be run by TACOS.
+
+- **Template Parameters**:
+  - `T`: The class type of the thread, which should inherit from `TacosThread`.
+- **Parameters**:
+  - `states`: A set of states in which the thread should be active.
+  - `args`: The constructor arguments for the thread class.
+
+---
+
+### CAN Bus Functions (Conditional)
+
+The following functions are available only if `STA_TACOS_CAN_BUS_ENABLED` is defined:
+
+```cpp 
+bool queueCanBusMsg(CanSysMsg & msg, uint32_t timeout)
+```
+
+Queues a message to be sent over the CAN bus.
+
+- **Parameters**:
+  - `msg`: The message to be sent.
+  - `timeout`: The maximum time to wait for sending the message.
+
+---
+
+```cpp
+bool publishState(uint32_t from, uint32_t to, uint32_t timeout = 0)
+```
+
+Publishes a state transition message to the CAN bus.
+
+- **Parameters**:
+  - `from`: The starting state for the transition.
+  - `to`: The target state.
+  - `timeout`: (Optional) A timeout for CAN communication.